JP2006026761A - Robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problems of a robot including a separate body part separably connected to a robot body, wherein since the separate body part just has a function as a control device for the robot body, it cannot communicate with a user or obtain a feeling of psychological contact. <P>SOLUTION: This separate body 50 displays an image P of the robot body 10 on an LCD panel 51 in the state of separating from the robot body 10. The separate body part 50 modifies the status data such as character and experience stored by a memory 66 on the basis of the information input by a microphone 52, a camera 53, operation buttons 55 to 57 or the like and outputs the voice according to the input information and the status data from a microphone 54. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot used in homes and the like, and more specifically, includes a robot main body and a separating unit that is detachably connected to the robot main body and functions like an avatar (separator) of the robot main body. Regarding robots.

2. Description of the Related Art Conventionally, a robot has been proposed in which a portable information terminal device equipped with a CPU is combined with a robot body, and sensor information processing when the robot body is driven is performed by the CPU of the portable information terminal device.
JP-A-8-137546

  In the above-described conventional robot, the portable information terminal device merely has a function as a robot control device, and the portable information terminal device alone communicates with the user or feels psychologically connected. It was not enough to get.

In order to solve the above problems, the present invention provides:
In a robot comprising a robot body (10) and a separating part (50) that is separably connected to the robot body (10) and can communicate with the robot body (10),
The splitting unit (50) is configured to control the robot body (10) based on information input from the outside and the robot-specific state data stored in advance and appropriately modify the state data. There,
A display (51) for displaying images,
Storage means (66) for storing the state data;
Input means (52, 53, 55, 56, 57) for inputting the information;
Data modification means (S220 to S300, S320 to S390, S420 to S490) for modifying the storage contents of the storage means (66) based on the information input by the input means (52, 53, 55, 56, 57) When,
Connection state detection means (S110, S120) for detecting the connection state with the robot body (10),
When the connection state detection means (S110, S120) detects that the robot body (10) is separated, the image (P) of the robot body (10) is displayed on the display (51). Output means (S130);
Control means (65) for controlling the output means (S130) based on the information input by the input means (52, 53, 55, 56, 57) and the state data;
It is characterized by having.

  According to the present invention, since the image of the robot main body is displayed on the display when the separating unit is separated from the robot main body, it is possible to give a sense of familiarity to the user. In addition, when the user inputs information with the input means, the storage contents of the storage means are modified, and even if the split part alone changes or grows, it is as if the split part is an avatar of the robot body. A sense like (alternate) can be given to the user. Therefore, it is possible to communicate with the user in a close sense, and to give the user a psychological connection.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 is a front view of a robot 1 according to an embodiment of the present invention, FIG. 2 is a side view of FIG. 1, FIG. 3 is a cross-sectional view taken along the line AA in FIG. FIG. 5 is a control block diagram of the robot 1.

  The robot 1 according to the present embodiment is used in a home or office, and includes a robot main body 10 and a separating unit 50 that is detachably attached to the robot main body 10 as shown in FIG. Yes.

  The splitting unit 50 includes an LCD panel 51 with a touch panel (display), a microphone 52 (input means), a camera 53 (input means), a speaker 54, and operation buttons 55 to 57 (input means).

  The splitting unit 50 can be used as an independent portable information terminal device, and can be used as the brain of the robot body 10 by combining it with the robot body 10. The microphone 52 can be used as an audio input device, and the camera 53 can be used as an image input device.

  The LCD panel 51 can display characters and images in color. The operation buttons 55 to 57 enable operations similar to those of a normal portable information terminal device, and the left operation button 55 can be used to move the cursor on the LCD panel 51.

  Further, as shown in FIG. 3, concave grooves 58 extending in the longitudinal direction are provided on both side surfaces of the split part 50. Further, as shown in FIG. 4, terminals 59 to 61, a light emitting unit 62, and a light receiving unit 63 are provided on the bottom surface of the splitting unit 50, and exchange signals with the robot body 10 through these.

  As shown in FIGS. 1 and 2, the robot body 10 includes a trunk portion 11, a head portion 12 provided on the upper portion thereof, a pair of left and right arm portions 13 and 14 provided on both sides of the trunk portion 11, and arms. Arm rollers 15 and 16 rotatably attached to the tips of the portions 13 and 14 and a pair of left and right waist rollers 17 and 18 provided at the lower portion of the trunk portion 11 are provided.

  The arm portions 13 and 14 are rotatable about the upper end portion in a direction parallel to the paper surface of FIG. 2, and the robot 1 is moved forward and backward by drive control of the arm portions 13 and 14 and the arm rollers 15 and 16. Operations such as turning right or turning left are possible. Further, either one of the arm portions 13 and 14 can be raised.

  A substantially rectangular parallelepiped pocket-shaped holder 19 is provided on the front surface of the body portion 11, and the split body portion 50 is mounted on the holder 19 through an opening (not shown) formed on the upper surface thereof. Removably attached. A window 20 is provided on the front surface of the holder 19, and a part of the split body 50 is exposed to the outside through the window 20.

  As shown in FIG. 3, protruding ridges 21 extending vertically are formed on both inner side surfaces of the holder 19, and the protruding ridges 21 slide in recessed grooves 58 formed on both side surfaces of the split portion 50. It engages freely and guides the division part 50 in the loading / unloading direction.

  In addition, a pair of left and right stoppers 22 are provided on the upper front surface of the holder 19, and these stoppers 22 generate a frictional force between the body 50 and the body 50 on the robot body 10 side. By pressing, the falling of the split part 50 from the holder 19 is prevented.

  Further, as shown in FIG. 4, the inner bottom surface of the holder 19 corresponds to the signal input / output terminals 59 to 61, the light emitting unit 62, and the light receiving unit 63 provided on the bottom of the split part 50. The connectors 23 to 25, the light receiving unit 26, and the light emitting unit 27 are provided. The connectors 23 to 25 are biased upward by springs 28 to 30 and are pressed against the terminals 59 to 61, respectively.

  The connector 23 and the terminal 59 correspond to the data DAT, the connector 24 and the terminal 60 correspond to the ground GND, the connector 25 and the terminal 61 correspond to the serial signal clock CLK, respectively, and bidirectional between the robot body 10 and the dividing unit 50. Communication is possible. In this case, a signal such as 12C may be used.

  The light receiving unit 26 and the light emitting unit 62 are systems that send data from the separating unit 50 side to the robot body 10 side, and the light emitting unit 27 and the light receiving unit 63 send data from the robot body 10 side to the separating unit 50 side. It is a system. In this case, for example, IrDA may be used.

  In this embodiment, two signal transmission paths for the connector and optical communication are provided, but any one of them may be used.

  As shown in FIG. 1, the head 12 is rotatably attached to the trunk 4 via a vertical rotation shaft 31 and is rotatable 360 ° in the horizontal direction. In addition, a pair of LED arrays 32 constituting an eye portion are provided in the front portion of the head portion 12. The LED array 32 is formed by arranging LEDs in a matrix of 5 rows × 5 columns, for example.

  As shown in FIG. 5, the robot body 10 includes an LED driver 33 and a motor control unit 34 as drive units for the LED array 32, and these are connected to a mechanical control CPU 35.

  When the LED driver 33 selectively drives a large number of LEDs constituting the LED array 32, an expression can be expressed by a lighting pattern. For example, FIG. 6A shows a joyful expression, (b) shows a surprised expression, (c) shows a sad expression, and (d) shows a normal expression. In this drawing, the black circle is in the lit state and the white circle is in the unlit state. However, the lighting state and the unlit state may be reversed to represent facial expressions.

  The motor control unit 34 includes a head drive motor 36 as a drive unit for the head 5, a left arm drive motor 37 as a drive unit for the left arm unit 13, a right arm drive motor 38 as a drive unit for the right arm unit 14, A left waist drive motor 39 as a drive unit for the waist roller 17 and a right waist drive motor 40 as a drive unit for the right waist roller 18 are provided, and angle sensors 41 to 45 are respectively provided to these motors 36 to 40. It is attached. The motors 36 to 40 and the sensors 41 to 45 are connected to the motor control CPU / driver 36.

  The division unit 50 includes a CPU 65, a memory 66 as storage means, and a wireless communication circuit 67. The memory 66 stores a control program and an image captured by the camera 53. The camera 53 captures an image under the control of the CPU 65. The wireless communication circuit 67 transmits and receives characters, image data, programs, and the like.

  In the autonomous mode in which the robot 1 moves autonomously, the robot 1 can move based on an image input from the camera 53 or can chase a ball of a predetermined color. That is, the CPU 65 of the splitting unit 50 captures an image from the camera 53 and performs image recognition. When a predetermined color ball is recognized, the CPU 65 issues a command to the mechanical control CPU 35 so that the robot body 10 faces that direction.

  First, the mechanical control CPU 35 rotates the waist rollers 17 and 18 in the reverse direction so that the robot body 10 faces the ball. Then, the waist rollers 17 and 18 are rotated in the same direction to advance the robot body 10.

  As described above, the dividing unit 50 functions as a control device of the robot body 10. Further, voice control can be realized by recognizing voice input from the microphone 52 as a command and issuing a command to the mechanical control CPU 35.

  In addition, when the mail is received at the splitting unit 50, the arms 13 and 14 are raised, and the lighting pattern of the LED array 32 which is the eye is set to a predetermined one, so that an incoming notification with rich entertainment can be realized. can do.

  Furthermore, the state of the driven part can be detected by sending the angle data of the driven parts such as the arm parts 13 and 14 to the CPU 65 of the split part 50. For example, it is possible to know that a malfunction or somewhere has made it impossible to drive. At this time, the CPU 65 of the dividing unit 50 can also take measures such as turning off the power of the robot 1.

  When upgrading the control program of the mechanical control CPU 35, if it is performed via the separating unit 50, a portable memory medium or wire connection is not required, and it can be realized easily and at low cost. Specifically, as shown in FIG. 7, a program received by the wireless communication circuit 67 via a wireless LAN or the like is downloaded to the memory 66 of the dividing unit 50 (step S10), and this is written into the memory of the mechanical control CPU 35 ( This can be realized by step S20).

  When the user goes out, the robot body 10 can be placed at home or in the office, and the user can go out with the body 50 and use it for schedule management, memos, and the like. The body part 50 is the brain part of the robot 1. In this case, as shown in FIG. 8, the image image P of the robot body 10 is displayed on the LCD panel 51, so that the user can be involved in and think about the robot 1. It is possible to realize a psychologically friendly relationship with the robot 1. Such a virtual robot displayed on the splitting unit 50 represents the same image as the actual situation and the individuality of the robot 1.

  This image is stored in the memory 66 of the division unit 50 and displayed on the LCD panel 51 when the division unit 50 is detached from the robot body 10. Thus, by displaying the image of the robot main body 10 on the LCD panel 51 when the division unit 50 leaves the robot main unit 10, an image in which the robot 1 exists virtually in the division unit 50 is expressed. It becomes possible to do.

  It is even better if this image is an animation image, that is, a moving image. Furthermore, a simple conversation can be realized by voice input through the microphone 52, voice recognition by the CPU 65, determination / processing, and voice synthesis, and a more realistic virtual robot state can be realized. .

  Further, if notification is made when the date and time of the schedule comes based on the schedule data stored in the memory 66, an image like a secretary is obtained. When the body 50 is combined with the robot body 10, the actual robot 1 appears to be speaking, and when the body 50 is separated from the robot body 10, the robot body on the screen of the LCD panel 51. 10 is displayed, and a good feeling can be obtained in all cases.

  An application that trains the robot 1 by operation can also be realized. This is like a pet that grows as data increases. These are realized by data stored in the memory 66.

  FIG. 9 shows an example of state data stored on the memory 66. The growth state indicates the growth state in the training program. For example, age or health. It is possible to realize an application in which the age increases each time the robot 1 is operated, and the response improves as the age increases, or the health condition deteriorates and the response becomes dull if the operation is not performed for a long time.

  Personality data realizes an application in which the frequency of the motion pattern is increased by complimenting a certain autonomous operation of the robot 1, or the frequency is decreased if a habit reaction is performed on the contrary. Complimenting and wandering can be realized by displaying a menu on the LCD panel 51 of the splitting unit 50 and inputting the menu with the operation buttons 55 to 57.

  Recognition data 1 is information on recent speech recognition data. For example, it is possible to realize an application that remembers commands instructed by voice and changes the response to the same command input.

  The recognition data 2 is stored for recent image recognition data. For example, it is possible to realize an application that expresses a joyful operation by determining that the person is the same person when data matching a face remembered by face recognition is recognized.

  The schedule data is the schedule data input to the splitting unit 50, and functions such as an alarm can be realized based on the schedule data. Memo data can be used as a memorandum. The access data is data obtained by accessing the Internet via a wireless LAN or the like and storing these histories. As a result, it is possible to realize an application that remembers the user's preferences and is used as a topic for conversation.

  Even if the splitting unit 50 is separated from the robot body 10, the basic functions of the robot 1 can be inherited as they are. In addition, when the separating unit 50 is combined with the robot body 10, the state experienced in the virtual robot state separated from the robot body 10 can be reproduced by the data in the separating unit 50, and the virtual robot state ( The split part 50 is separated from the robot main body 10) and the actual robot state (the split part 50 is combined with the robot main body 10) can be used as a continuous application.

  If a wireless communication circuit is also provided on the robot body 10 side, the robot body 10 can be controlled via the wireless communication circuit 67 even when the separating unit 50 is separated from the robot body 10. By receiving data representing the state of the main body 10 and displaying it on the LCD panel 51, the state of the robot main body 10 can also be grasped. This display can be freely performed, for example, by replacing the image of the robot or displaying the image simultaneously by a two-screen display.

  FIG. 10 is a flowchart showing a procedure for determining the state of the robot 1 and setting the control mode. First, the CPU 65 checks the connection state between the separating unit 50 and the robot body 10 by exchanging signals between the connectors 23 to 25, the light emitting unit 26, and the light receiving unit 27 shown in FIG. 4 (step S110).

  For example, a predetermined signal is transmitted from the splitting unit 50 (either optical communication or communication via a connector may be used). If there is a response from the robot body 10, the connection state is established, and if there is no response, the connection state is established. .

  In the disconnected state, that is, in the virtual robot state, the image image of the robot 1 and its moving image are displayed on the LCD panel 51 of the splitting unit 50. Further, if a response is made in response to voice input from the microphone 52, a sense integrated with the actual robot state is obtained (steps S120 and S130).

  If it is in a connected state, that is, if it is a real robot state, it enters a mode for controlling the robot body 10, and commands related to the operation of the arm portions 13 and 14 are transmitted to the robot body 10 (steps S120 and S140).

  Steps S110 to S120 correspond to connection state detection means of the present invention, and step S130 corresponds to output means of the present invention.

  FIG. 11 is a flowchart showing a control procedure when wrinkling the robot 1. First, when the user selects the 躾 button displayed on the LCD panel 51 (step S210), a menu such as “praise” or “push” is displayed on the LCD panel 51.

  When “praise” is selected and input with the operation buttons 55 to 57, the praise value increases and the praise value decreases (steps S220 and S230). The “praise value” and “surprise value” are constituted by count values, and are values that affect the personality. When the value is praised, the CPU 65 expresses joy by making the LED array 32 a joyful expression, or uttering a joyful word from the speaker 54 (step S240).

  Note that if “Karuru” is selected and input with the operation buttons 55 to 57, the praise value goes down and the wink value goes up (steps S250 and S260). When the compliment value is reduced, the CPU 65 expresses sadness by making the LED array 32 a sad expression or uttering a sad word from the speaker 54 (step S270).

  When joy or sadness is expressed, the operation count is increased (step S280). This operation count is the number of times the operation buttons 55 to 57 are pressed. Further, the CPU 65 reads the power ON time (step S290), and stores the operation count, the praise value, the measurement value, and the operation time in the memory 66 (step S300). The operation count is the number of times the operation buttons 55 to 57 are pressed, and the operation time is the total time when the power is on. This value represents the growth state such as age.

  FIG. 12 is a flowchart showing a control procedure (voice recognition) when the robot 1 responds to the user. First, when a user's voice is input to the microphone 52 (step S310), the CPU 65 recognizes the voice pattern (step S320) and determines whether the voice is a registrant's voice stored in the memory 66 (step S330). ).

  If the user is a registrant, the registrant closeness value stored in the memory 66 is increased (step S340) and the LED driver 33, motors 36 to 40, speaker 54, etc. are driven to express pleasure (step S350). Further, a keyword representing the content of the conversation with the user is stored in the memory 66 (step S390).

  If the voice recognized in step S320 is not registered in the memory 66, a message as to whether or not to register in the LCD panel 51 is displayed (step S360), and the user selects registration (step S370). Then, the CPU 65 greets the user by driving the LED driver 33, the motors 36 to 40, the speaker 54, and the like (step S380). Then, the newly registered user's registrant closeness value and the keyword representing the conversation content are stored in the memory 66 (step S390).

  FIG. 13 is a flowchart showing a procedure (image recognition) when the robot 1 responds to the user. First, when a user image is input to the camera 53 (step S410), the CPU 65 recognizes the image (step S420) and determines whether the face is a registrant face stored in the memory 66 (step S420). Step S430).

  If the user is a registrant, the registrant closeness value stored in the memory 66 is increased (step S440) and the LED driver 33, motors 36 to 40, speaker 54, etc. are driven to express pleasure (step S450).

  If the image recognized in step S420 is not registered in the memory 66, a message as to whether to register in the LCD panel 51 is displayed (step S460), and the user selects registration (step S470). Then, the CPU 65 greets the user by driving the LED driver 33, the motors 36 to 40, the speaker 54, and the like (step S480). Then, the registrant closeness value and face image of the newly registered user are stored in the memory 66 (step S490).

  11 to 13 is performed not only in the real robot state in which the robot body 10 and the separating unit 50 are combined, but also in the separating unit 50 in a virtual robot state separated from the robot body 10. Needless to say.

  The operation count, the praise value, the luck value, the operation time, the registrant closeness value, etc. correspond to the status data of the present invention, and the processing from step S220 to step S300, step S320 to step S390, and step S420 to step S490 is performed. Corresponds to the data modifying means of the present invention.

  The robot 1 can give a sense of familiarity to the user by displaying the image P of the robot body 10 on the LCD panel 51 when the separating unit 50 is separated from the robot body 10. In addition, when the user inputs information with the microphone 52, the camera 53, the operation buttons 55 to 57, etc., the state data such as personality and experience stored in the memory 66 is modified, and the personality 50 alone has the personality. Since it changes or grows, and the output corresponding to it changes via the microphone 54 or the like, the splitting unit 50 can give the user a feeling like an avatar of the robot body 10. . Therefore, it is possible to communicate with the user in a close sense, and to obtain a psychological sense of connection.

  Moreover, in this embodiment, since the portable information terminal device is used as the division part 50, cost reduction can be aimed at compared with the case where the division part designed exclusively is used. Moreover, since the control program of the robot 1 can be developed using a portable information terminal device, even a child or a person with little technical knowledge can easily program, and it can be a toy that nurtures creativity. In this case, a USB keyboard or the like may be used.

  Further, in the present embodiment, rich emotional expression is performed by appropriately combining the lighting pattern of the LED array 32, the sound from the speaker 54, and the operation of the driven parts (for example, the arm parts 13 and 14) of the robot body 10. And high entertainment properties can be realized.

  In addition, the output which the division part 50 performs with respect to a user is not restricted to an audio | voice, The image displayed on the LCD panel 51, a character, or another thing may be sufficient.

  In the above embodiment, the robot body 10 is controlled by the CPU 65 and the memory 66 of the dividing unit 50. However, as shown in FIG. 14, a main CPU 68 and a memory 69 are provided on the robot body 10 side, and the separation is performed. The data stored in the memory 66 of the body unit 50 may be stored in the memory 69 of the robot body 10, and the main CPU 68 may control the robot body 10.

  In addition, various modifications can be made to the above embodiment without departing from the gist of the present invention.

The front view of the robot 1 which is one Embodiment of this invention. The side view of FIG. AA sectional view taken on the line AA of FIG. The enlarged view of the connection part of the robot main body 10 and the splitting part 50. FIG. FIG. 3 is a control block diagram of the robot 1. The figure which shows the lighting pattern of the LED array 32 which comprises the eyes of the robot. 5 is a flowchart showing a procedure for upgrading a control program of the robot body 10; The figure which shows the state which separated the body part 50 from the robot main body 10. FIG. The figure which shows the content of the status data memorize | stored in the memory. The flowchart which shows the procedure which discriminate | determines the state of the robot 1, and sets a control mode. 5 is a flowchart showing a control procedure when performing a trap on the robot 1. The flowchart which shows the control procedure (voice recognition) at the time of a robot responding with respect to a user. The flowchart which shows the control procedure (image recognition) when a robot responds with respect to a user. The control block diagram of other embodiment of this invention.

Explanation of symbols

1 Robot 10 Robot main body 50 Body part 51 LCD panel (display)
52 Microphone (input means)
53 Camera (input means)
54 Speaker (output means)
55 Operation buttons (input means)
56 Operation buttons (input means)
57 Operation buttons (input means)
65 CPU (control means)
66 Memory (memory means)
S110, S120 Connection state detection means S130 Output means S220 to S300 Data modification means S320 to S390 Data modification means S420 to S490 Data modification means

Claims (1)

In a robot provided with a robot main body and a separating part that is separably connected to the robot main body and can communicate with the robot main body,
The splitting unit is configured to control the robot main body based on information input from the outside and the state data unique to the robot stored in advance and appropriately change the state data,
A display for displaying images,
Storage means for storing the state data;
Input means for inputting the information;
Data modifying means for modifying the storage content of the storage means based on information input by the input means;
Connection state detection means for detecting a connection state with the robot body;
Output means for displaying an image of the robot body on the display when it is detected by the connection state detection means that the robot body is separated from the robot body;
Control means for controlling the output means based on the information inputted by the input means and the state data;
A robot characterized by comprising:

Images