JP2003190650A - False creature device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a false creature device capable of forming action patterns by which a psychological gap is produced and an emotion is amplified in a person. <P>SOLUTION: A place corresponding to a comfortable condition is searched for from inputted information to instruct an action performing means to move to the place. When the arrival of the means to the place is recognized, the stop of movement is instructed. After that, when the place does not correspond to the comfortable condition, or when a prescribed time passes after the movement is stopped, a person is searched for and the action performing means is instructed to approach to the person under a control. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pseudo biological device (pet robot) imitating a living thing such as a dog or a cat.

[0002]

2. Description of the Related Art As a conventional technique of this kind of pseudo-biological equipment, a computer system is provided inside a robot having an appearance resembling a creature such as a dog or cat, and an image pickup device such as CCD arranged in the eyes or ears. In general, an infrared sensor or the like recognizes a person or an object and instructs a corresponding action to the drive unit of the hand or leg.

As a prior art of such a pseudo-biological device, there is JP-A-11-126017. In this prior art, the control program of the computer system refers to internal parameters generated by the "emotional model part" and the "learning function part" so as not to get tired of the person facing the life object (pseudo biological device). We are making it possible to execute various behavior patterns while updating.

More specifically, parameters indicating emotions such as anger, enjoyment, surprise, fear, and sadness of the living body object are prepared in the internal memory, and when an input corresponding to "praise" is made. , The "anger" parameter is reduced, and the action pattern of the life object is updated.

As described above, in the prior art, the owner (owner) is prevented from getting tired by a variety of changing behavior patterns.

[0006]

In the prior arts described above, the behaviors of the pets are simulated in that the reactions of human voices and motions are detected to change the parameters and make them learn. Although it was successful in producing, it was a disappointment for humans who have actually kept dogs and cats.

[0007] For example, an actual dog or cat pet may behave in a manner contrary to the owner's will, or, conversely, may behave in a cute way where the owner does not expect. This kind of staging action was not taken into consideration in the kind of pseudo-biological device.

The present invention has been made in view of the above circumstances, and when the pseudo biological device is in a place comfortable for the preset device, dislikes human interference and keeps sitting there. The technical task was to express the character of a pet by acting for people when the place became uncomfortable.

[0009]

In order to solve the above problems, the present invention employs the following means.

That is, according to the present invention, information for recognizing the surrounding environment and a person is input, and a comfortable condition for storing a condition of a place or a person in which a predetermined supposed creature is comfortable is stored in advance, It is a pseudo-biological device that operates the device itself based on this comfort condition. More specifically, it searches for a place that matches the comfort condition from the input information and acts to move to the place. If the execution means is instructed to recognize that the place has arrived and then the movement is stopped, then when the place does not meet the comfortable condition or when a certain time has elapsed after the movement is stopped, the person is stopped. Control is performed so as to instruct the action executing means to seek out and approach a person.

The input means includes, for example, an infrared sensor and a temperature sensor, and this pseudo-biological device is a place where the supposed creature is considered to be comfortable (for example, if the assumed creature is a cat, a kotatsu or a sun rim). When it finds, it moves to that location, and ignores it for a while, and ignores it, and maintains a behavior that is devoted to comfort. Then, when it becomes uncomfortable (for example, when the electricity of the kotatsu is cut off or the sun on the veranda hangs) or when a certain period of time elapses, it is possible to search for a person as a comfortable condition for the device and find a person. It causes an approaching movement, such as leaning against a person or diving into a futon where the person is sleeping.

As described above, according to the present invention, first of all, it is frustrating that a person does not go as he or she desires.
Can generate emotions. Then, when the comfort condition changes for the pseudo biological device, a comfortable condition is sought for the person, and a behavioral action is performed. This makes it possible for a person to have the feeling that he / she is “a person who is desired” and that he / she is a guardian for the device. In particular, the emotional change can be more strongly embraced by the gap in the action production when the comfort condition changes from person to person, so that it is possible to realize a pseudo biological device that expresses a pseudo emotion change that has never existed before.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Prior to an embodiment of the present invention, the concept of a pseudo biological device which is the basis of the present invention will be described.

FIG. 1 is a functional block diagram illustrating the concept underlying the present invention.

As shown in the figure, in the pseudo-biological device of the present invention, the external information obtained from the external event is recognized by the "input information recognition section" and input to the "action determination section" as recognition information. The “behavior determination unit” to which the recognition information is input calls the previous action history from the “learning function unit” and refers to the “emotion model” to determine the action that the “device” should take,
Output as an action instruction to the "action execution unit".

Next, the "action executing section" to which the action instruction is output from the "action determining section" executes the action in accordance with the instruction.
As described above, the pseudo-biological device can execute various action patterns by using the “emotion model unit” and the “learning function unit” in the action determination.

As will be described in detail later, the various behavior patterns executed by the pseudo-biological device of the present invention have the effect of imparting curiosity and enjoyment to the psychology of human beings so as not to get tired. In addition, the curiosity and enjoyment that a person feels appears in the behavior (or behavior) of the person as a reaction. The human reaction is an external event for the simulated biological device and affects the behavior of the device. External events for this device are generated not only by human reactions, but also by the external environment surrounding this device.

FIG. 2 is a conceptual diagram for explaining the roles of the emotion model unit and the learning function unit in FIG. The “emotion model unit” has a function of generating individuality and emotion, and the “learning function unit” has a function of generating memory. The individuality and emotion generated by the “emotion model section” have a role of expressing the expression and the state of the individual in the action execution of this device. The memory created by the "learning function section" is "device".
Has the role of expressing growth in the action execution of.

Here, the conventional device of this type has an appearance imitating some living thing and processes external information to determine an action. Various behavior patterns were executed by referring to and updating the internal parameters generated by the “section” and the “learning function section”. In other words, it was a “device” that responded to the acquired external information with various action patterns. The response in the various action patterns referred to here means, for example, that different actions are performed even in the same situation, or that actions are changed by accumulating situations.

With respect to this point, the present invention is to simply move the conventional "device imitating a living thing" capable of executing a variety of behavior patterns to make the device behave "more like a living thing". In other words, the "devices" that have been used so far only entertain people with a variety of behavioral patterns without making them tired, and have not yet reached the stage of making them act "more biologically."

FIG. 3 is a functional block diagram for explaining the concept of the pseudo biological device of the present invention. In the present embodiment, the simulated biological device searches for a place where the simulated creature is comfortable and stays there. In this state, the device ignores human input. In other words, even if a person shows an action to play with a device,
The lever will not move. However, another operation may be performed for a strong input that is considered dangerous.

This device does not move while the place is comfortable in this way, and when it becomes uncomfortable or when a predetermined time elapses (when it recognizes that the environment has changed), it searches for a person. When they move and discover a person, they perform obedience behavior that relies on the person.

A series of operations of such a pseudo biological device is as follows.
From the human side, it is as follows. First of all, when a person ignores a pseudo-biological device, he / she feels "frustration" at a device that does not ask. Next, when the device recognizes the environmental changes in the pseudo-biological device and takes the obedience behavior that the device relies on a person, the person feels the sense and kindness of the guardian to the pseudo-biological device that rubs in in an unexpected scene. Or In this way, by creating a gap in emotions given to a person by a series of actions of the pseudo biological device, it is possible to realize a pseudo biological device that is inexhaustible to the human eye.

FIG. 4 is a block diagram for explaining the psychology of a person with respect to the behavior change of the pseudo biological device in FIG. In the present embodiment, first, due to the behavior of disobedience of the pseudo-biological device, the psychology of the owner or the superiors (hereinafter referred to as the owner) as viewed from the pseudo-biological device is compared with the pseudo-biological device in which the owner does not hear. It creates emotional conflicts like those found in.

Next, the changed behavior of the pseudo-biological device causes the owner's psychology to generate a feeling of a guardian who thinks it would be useless without him, and promotes a re-recognition of the owner's psychology. In this way, by eliminating the gap in the psychology of a person and the conflict due to the gap in the behavior change of the pseudo biological device, the parent's sense is effectively amplified. Furthermore, by changing from obedience behavior to playful behavior,
You can make people feel like a biological device and bring out the satisfaction of people.

FIG. 5 is a conceptual diagram showing a psychological effect on a person by the action of the pseudo biological device of this embodiment. This figure is for supplementing FIG. 4 described above. As shown by the part surrounded by the broken line in the figure, the conventional device of this type is "device" by performing playful actions by various action patterns.
It gave people a sense of satisfaction. On the other hand, the pseudo-biological device according to the present embodiment has an effect of amplifying a sense of satisfaction of a person playing with the "device" by the effect of causing the device to behave "more biologically".

FIG. 6 is a block diagram showing the hardware configuration of the pseudo biological device of this embodiment. The simulated biological device of the present embodiment is configured as a computer system in which an arithmetic unit (CPU), an execution unit memory, and a database (DB) are connected around a bus. Note that the database is built in a large-scale storage device such as a hard disk device (HD), and in addition to various data, a program for executing the processing procedure described from FIG. 7 onward is installed in this database (DB). ing.

Further, the database (DB) includes a comfortable condition table, and is constructed so that a place corresponding to the comfortable condition table can be searched based on the information input by the infrared sensor, the temperature sensor and the like. That is, the comfort condition table stores conditions (for example, ambient temperature conditions) that are assumed to be comfortable for the assumed creature set in "this device". More specifically, when the assumed creature is a "cat", conditions such as sun and kotatsu in the winter season and shade in the summer are set to match the places where these supposed creatures prefer.

The "infrared sensor" is, for example, a pyroelectric sensor or a thermopile. It is possible to identify the temperature distribution of the surroundings, and to find the location of the temperature at which the creature is comfortable. It can also be used as an auxiliary sensor for identifying a person in combination with a visual sensor.

The "temperature sensor" is, for example, a thermistor or the like, and can confirm what kind of temperature situation the pseudo biological device is in.

The "tactile sensor" is composed of a piezoelectric sensor, a micro switch, etc., can detect the direction and strength of the stimulus from the outside, and can be "touched", "stroked" by the processing of the arithmetic unit, " You will be able to recognize the difference such as "struck".

The "attitude sensor" can be composed of an acceleration sensor, a tilt sensor, etc., and can recognize the current attitude (tilt) and shake of this device.

The "auditory sensor" is composed of, for example, a microphone and can acquire voice information from the outside. By providing a plurality of the hearing sensors, it is possible to recognize the direction of the sound source from the input difference of the voice information.

The "visual sensor" is composed of a CCD camera or the like, and an image picked up by this visual sensor is processed by the image processing unit and input to the space recognition unit.

The "distance sensor" is for measuring the distance and assisting image recognition, and can be constituted by an "ultrasonic sensor" or the like. In this way, space recognition is possible based on the image information and the distance information.

The "voice recognition unit" is a functional unit for recognizing a specific speaker, and enables voice recognition by comparing a given voice signal with a reference voice pattern and matching them.

The "voice output section" is composed of, for example, a "speaker". "Serial communication I / F circuit" is for externally monitoring the internal status of this equipment.
This is a circuit for connecting an external communication unit, and the "serial communication port" has a USB socket or an infrared light emitting / receiving unit.

The "internal power supply" is composed of a rechargeable battery so that the device can operate without a cable. This battery is attachable to and detachable from the device and is composed of a “NiCd (NiCd) battery”, a “lithium ion (Li-ion) battery” or the like.

The "actuator controller section" is a functional section for controlling the mechanical drive of the present apparatus, and can control the actuator to realize a walking motion or the like.

Although not shown in FIG. 6, the arithmetic unit has a clock and has a calendar function. With this calendar function, the pseudo biological device can recognize the season and the date and time.

The hardware configuration shown in FIG. 6 is merely an example, and the configuration may be changed according to the purpose and the required function.

FIG. 7 is a basic flowchart of the control procedure executed by the arithmetic unit of this embodiment. That is, this figure is a flowchart showing the functional block diagram of FIG.

The arithmetic unit searches the comfortable condition table based on the input information from each sensor, and executes the search action for a comfortable place. Searching for a comfortable place here is "equipment"
Although it depends on the living thing (assumed living thing) imitated by, a comfortable temperature zone is set for each living thing, and it means performing an action to approach the place detected by an infrared sensor or the like.

Next, when a comfortable place is found, the user moves to the place and sits there. Here, sitting in a comfortable place means an action in which the “device” ignores an input that reacts in a normal mode (a mode in which it autonomously moves) and does not move from the same place.

Next, when the comfort condition environment changes due to input from various sensors and the comfort condition does not match the comfortable condition, or when a predetermined time has passed after sitting, the computing device stops the sitting action. , Instruct the actuator controller to perform human-dependent obedience behavior.

Here, the obedience behavior means to rub against a person, to make a sweet cry, and the like. Also,
“Fun to play with people” refers to actions in which a “device” and a person interact with each other while being influenced by each other.
It means to play with playing, to put on your lap and to stroke. FIG. 12 illustrates such a series of behavior patterns in an easy-to-understand manner.

FIG. 8 is a flowchart (1) of the control procedure executed by the arithmetic unit. The figure illustrates the process of “search for a comfortable place” described in FIG. 7 in more detail.

The computing device determines when the season is in operation by the above-mentioned calendar function, and sets the temperature zone in which the "device" is comfortable from the comfort condition table of the database (DB). For example, if the season is winter, the comfortable temperature of the "equipment" should be 20 to 24 degrees Celsius, and it should be moved around warm heating equipment or in the sun. If it is summer, the temperature can be set at 24 to 28 degrees Celsius, and it can be set to prefer a cool place in the shade rather than a window. This device moves while searching for surrounding conditions using infrared sensors, temperature sensors, and visual sensors.

Since the date and time can be recognized by the calendar function, the arithmetic unit determines that it is time to eat at 12 o'clock in the day based on the comfortable condition table, and the actuator control unit searches for a person and begs for food. You may instruct.

FIG. 9 is a flowchart (2) of the control procedure executed by the arithmetic unit. The figure illustrates in more detail the process of “execute the action of sitting in a comfortable place” described in FIG. 7.

Here, sitting in a comfortable place means an action in which the "device" ignores an input that reacts in the normal mode and does not move from the same place. The reaction input is, for example, a gesture such as a voice from a person or "come and come". It means ignoring such a person's behavior and staying in a place that meets comfortable conditions. At this time, the computing device instructs the actuator control section to perform a behavior peculiar to the supposed organism, for example, in the case of a cat, when the season is winter, the body curls up and crouches, and in the summer, throws out its limbs and lays down. And produce a living thing.

It should be noted that it is also possible to give a charming effect by having a person put a pillow on his arm and lie down. Being seated is not the same as turning off the power, and if there is a strong input that makes a creature feel dangerous, for example, if it is struck or flipped over, take another action to avoid danger. Good.

FIG. 10 is a flowchart (3) of the control procedure executed by the arithmetic unit. The figure illustrates in more detail the process of “execution of obedience action relying on a person” described in FIG. 7.

Based on the comfort condition table, the computing device
From the behavior of sitting down, it starts to move actively, and first, the person's search behavior is executed. The search action of a person means an action of searching for a person to be played with by using a visual sensor, an auditory sensor, and an infrared sensor.

Next, when a person cannot be detected by various sensors, the next action is randomly determined using the random number generating function of the arithmetic unit. In some cases, other actions such as playing alone are executed, and in other cases, the action returns to the initial stage and the action of sitting in a comfortable place is repeated.

Next, when a person is found through various sensors, the arithmetic unit instructs the actuator controller to operate the actuator to move close to the person, rub against the person, squeak with a soft voice, etc. , Perform actions like asking for spoilers. These actions are stored in the database (DB) as actuator operation programs, and the arithmetic unit reads out these operation programs from the database (DB) as necessary and instructs the actuator controller section.

FIG. 11 is a flowchart (4) of the control procedure executed by the arithmetic unit. This figure illustrates in more detail the process of “execute a play with a person” described with reference to FIG. 7.

The computing device "executes the obedience action depending on the person"
When there is no input from a person through the various sensors in response to the execution of the step (1), another action such as playing alone is executed. At this time, when there is an input from a person, a program relating to action execution is read from a database (DB) according to how the person contacts, and an operation based on the operation pattern program is instructed to the actuator controller unit, To operate.

EFFECTS OF THE INVENTION According to the present invention, the comfort condition of the pseudo-biological device is changed to make the user feel tired by making a feeling of a frustrating emotion and a sense of guardian. It is possible to realize a pseudo-biological device that can maintain an unprecedented interest.

[Brief description of drawings]

FIG. 1 is a functional block diagram illustrating the concept underlying the present invention.

FIG. 2 is a conceptual diagram illustrating the roles of the emotion model unit and the learning function unit in FIG.

FIG. 3 is a functional block diagram illustrating the concept of the pseudo biological device of the present invention.

FIG. 4 is a block diagram illustrating the concept of behavior change of the pseudo biological device in FIG.

FIG. 5 is a conceptual diagram showing a psychological effect of a person by the action of the pseudo biological device of the present embodiment.

FIG. 6 is a block diagram showing the hardware configuration of the pseudo biological device of the present embodiment.

FIG. 7 is a basic flowchart of a control procedure executed by the arithmetic unit of this embodiment.

FIG. 8 is a flowchart (1) of a control procedure executed by the arithmetic device.

FIG. 9 is a flowchart (2) of a control procedure executed by the arithmetic device.

FIG. 10 is a flowchart (3) of a control procedure executed by the arithmetic device.

FIG. 11 is a flowchart (4) of a control procedure executed by the arithmetic device.

FIG. 12 is a diagram for easily explaining a series of behavior patterns of the pseudo biological device of the present invention.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Toshiya Mori             Shiokyo-ku, Kyoto-shi, Kyoto Prefecture             801 Kudo-cho Omron Co., Ltd. F-term (reference) 2C150 CA02 DA05 DA24 DA26 DA27                       DA28 DF03 DF04 DF06 DF33                       ED10 ED42 ED47 ED52 EF07                       EF16 EF17 EF22 EF23 EF28                       EF29 EF33 EF36

Claims (3)

[Claims] 1. An input means for inputting information for recognizing a surrounding environment and a person, a comfort condition storage means for storing a condition of a place or a person where a predetermined assumed creature is comfortable, and the device itself. The action executing means to be operated and a place that matches the comfortable condition are searched for based on the input information from the input means, the action executing means is instructed to move to the place, and when the user arrives at the place, the movement Instructing the action executing means to stop, when the place does not match the comfortable condition, or when a certain time has elapsed after the stop of the movement, search for a person based on the input information from the input means, A pseudo-biological device comprising: a control means for instructing the action executing means to take an action to contact the person when the person is recognized. 2. An input means for inputting information for recognizing a surrounding environment and a person, a comfort condition storage means for storing a condition of a place or a person where a predetermined assumed creature is comfortable, and this comfort condition storage. A method for controlling a biomimetic device in which a control means controls an action execution means for operating the equipment itself based on condition information of the means, the control means controlling the location that matches the comfort condition from the input information. Finding out, instructing the action executing means to move to the place, recognizing that it has arrived at the place, instructing the action executing means to stop the movement, when the place does not meet the comfortable condition, or After recognizing that a certain period of time has passed since the movement was stopped, a person is searched for from the input information, and when the person is recognized, a pseudo creature that instructs the action executing means to approach the person. Method of controlling the vessel. 3. An input means for inputting information for recognizing a surrounding environment and a person, a comfort condition storage means for storing conditions of a place or a person where a predetermined assumed creature is comfortable, and this comfort condition storage. A control program for a pseudo-biological device that controls the action executing means for operating the device itself based on the condition information of the means by a control means, finds a place that matches the comfortable condition from the input information, and goes to the place. The movement executing means to recognize the arrival at the place, and to instruct the action executing means to stop the movement, when the place does not meet the comfortable condition, or after the movement stops. After recognizing that a certain period of time has passed, a person is searched from the input information, and a program for instructing the action executing means to approach the person when the person is recognized is stored. Computer-executable storage medium.