JP2007044798A - Robot communication system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot communication system capable of outputting the voice of a user himself together with an action desired by the user via a robot. <P>SOLUTION: This system is provided with a robot device 2 provided with a speaker, each part driving means, a control part for controlling them and a communication means, and a mobile phone device 1 provided with normal mobile phone functions, a transmission/reception means for transmitting/receiving action command data and message data to make the robot perform various kinds of operations by performing communication with the robot device 2, and a storing means for storing the data information. Message data constituted of void data of the user and the action command data to make the robot perform the various kinds of operations are transmitted from the mobile phone device 1 to the robot device 2 by the transmission/reception means. The robot device 2 performs reproduction of the voice data of the user and action operations based on the received message data and action command data. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a communication system with a robot in which a message and an action accompanying the robot are added to the robot and the robot communicates with the third party through the message and the action.

  Small robots for homes or toys such as pet-type robots and humanoid robots have attracted attention. These small robots operate autonomously according to built-in programs, or interact with users and users interactively through various sensors and built-in cameras provided in the robot, so that they can operate as love toys. Or a remote control operation by a user connecting a robot to a personal computer using a wireless LAN card or the like is known.

  It is conceivable to use these small robots as communication tools. In conventional small robots, operations and utterances based on built-in programs are performed, but in order for users to perform their own operations, tasks such as rewriting built-in programs using a personal computer etc. Is necessary, difficult to work, and generally difficult to use.

On the other hand, e-mail using a mobile phone, a mobile communication terminal, or the like has become widespread, and a system and an apparatus for outputting e-mail notification and its contents by voice have been developed. For example, when a stuffed toy auxiliary device is connected to the receiving communication terminal and an e-mail containing specific action information sent from the transmitting communication terminal is received, the auxiliary device outputs an audio output together with the action operation. A system has been proposed (see Patent Document 1).
JP 2003-157221 A

  In the thing of the above-mentioned patent document 1, the content of an electronic mail can be voice-outputted using apparatuses, such as a speech synthesizer which an auxiliary | assistance apparatus has with action action. However, in the above apparatus, a message cannot be output from the auxiliary device by the user's voice. Intimate communication can be achieved by outputting a message from the robot with its own voice.

  Therefore, an object of the present invention is to provide a robot communication system that can output a user's own voice together with an action desired by the user via a robot.

  A robot communication system according to the present invention includes a speaker, a robot provided with each unit driving means, a control unit that controls these, and a communication unit, and a mobile communication device as main components. Transmitting / receiving means for transmitting / receiving action command data and message data for performing various operations by communicating with a mobile communication function and the robot, and storage means for storing the data information, and the mobile communication The device transmits message data composed of voice data of the user and action command data for performing various operations of the robot from the transmission / reception means to the robot, and the robot uses the data based on the received message data and action command data. Perform voice action and action The features.

  The mobile communication device may be configured to store teaching data that associates various robot operations with action command data information, and to store action command data based on the teaching data.

  The robot communication system according to the present invention includes a speaker, a driving unit for each unit, a control unit for controlling these circuits, a communication unit, a mobile communication device, and a mobile communication device via a network. The data communication means connected to each other is a main component, and the mobile communication device is configured to transmit action command data and message data for performing various operations by communicating with a normal mobile communication function and the robot. Transmission / reception means for performing transmission / reception, and storage means for storing these data information, wherein the data supply device stores action command data information and message data for performing various operations of the robot; Based on instruction information from the mobile communication device, the action command data and Means for transmitting message data to a mobile communication device, and message data composed of voice data of a user from the mobile communication device and action command data for performing various operations of the robot via the network. Uploaded to the data supply means, the message data stored from the data supply means and action command data for performing various operations of the robot are downloaded to the mobile communication device via the network, and the downloaded mobile communication device Message data and action command data for performing various operations of the robot are transmitted to the robot, and the robot reproduces the user's voice data and performs an action operation based on the received voice data and action data. And

  The data supply means may be configured to transmit the action command data together with the voice data to the requested mobile communication device via a network in response to a request from the mobile communication device.

  The mobile communication device may be configured to store teaching data that associates various robot operations with action command data information, and to store action command data based on the teaching data.

  Further, message data and data specifying action command data for performing various operations of the robot from the mobile communication device and data specifying the mobile communication device receiving these data are transmitted to the data supply means, and the data supply means May be configured to transmit notification data notifying the specified mobile communication device that there is data to be received.

  Also, there are at least two mobile communication devices, and data specifying message data and action command data for performing various operations of the robot from the first mobile communication device and a mobile communication device receiving these data are specified. Data can be transmitted to the data supply means, and the second mobile communication device can be configured to receive the action data along with the message data via a network by accessing the data management device.

  The mobile communication device may be a mobile phone device, and the teaching data may be displayed on a display device of the mobile phone device, and action data information may be selected using a key input unit according to this display.

  Further, communication between the mobile communication device and the robot device can be performed by infrared communication.

  As described above, according to the present invention, since the action operation is performed together with the voice of the person recorded by the robot, a friendly message can be transmitted to the user, and further uses of the robot can be developed.

  Embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated in order to avoid duplication of description.

  FIG. 1 is a block diagram showing an external appearance of a robot communication system according to a first embodiment of the present invention. FIG. 2 is a block diagram showing an embodiment of a circuit of a mobile phone device used in the robot communication system according to the present invention. 3 is a block diagram showing an embodiment of a circuit of the robot apparatus 2 used in the robot communication system according to the present invention.

  In the first embodiment of the present invention, an infrared communication function such as an IrDA (Infrared Data Association) standard or a wireless standard such as a Bluetooth (registered trademark) standard between the mobile phone device 1 and the humanoid robot device 2 is used. Data is transmitted and received using the communication function.

  The cellular phone device 1 includes a liquid crystal display unit 11, a key input unit 12, an antenna unit 13, a speaker 14, a microphone 15, an infrared communication function, and the like.

  The robot apparatus 2 includes a head portion 21, a torso portion 22, left and right arm portions 23 and 24, and left and right leg portions 25 and 26, and movements such as rotation of the head portion 21 and vertical movements of the arm portions 23 and 24, leg portions 25. , 26 movements such as walking movements are performed by controlling the internal driving device.

  The eyes 210 and 210 of the head 21 are configured such that, for example, LEDs are arranged in a matrix and the pattern and shape of the eyes can be changed. A speaker is embedded in the mouth 211, so that voice data stored therein, transmitted sound, voice, and the like can be output. Although not shown, a CCD camera, a sound collecting microphone, and the like are attached. For example, ambient information is read by a CCD camera, and the head direction and movement are controlled based on the read information. In addition, surrounding sounds and voices can be picked up by the sound collecting microphone.

  Further, as will be described later, the robot device 2 includes a data communication unit 221 that performs communication with the mobile phone device 1.

  A circuit configuration of an embodiment of the cellular phone device 1 used in the robot communication system according to the present invention will be described with reference to FIG.

  The circuit unit of the mobile phone device 1 includes an infrared transmission / reception unit 18 for direct communication with the robot device 2 and a communication unit 19 that performs normal mobile phone communication and also performs wireless communication with the robot device 2. . The mobile phone device 1 includes a CPU 16 that controls the entire mobile phone and a memory unit 17 that stores various programs.

  The memory unit 17 has a program for operating a mobile phone such as calling, receiving, calling, and sending / receiving mail as a normal mobile phone, and a command for accessing the robot device 2 and instructing robot operation and the like. A program for performing such operations is stored. Further, the memory unit 17 also stores various data such as mail data and voice data recorded by the user.

  The CPU 16 reads out a program for operating the mobile phone from the memory unit 17 and performs various control operations of the mobile phone such as calling, receiving, calling, and sending / receiving mail as a normal mobile phone. The program for controlling the robot operation and the like is read from the memory unit 17 and the robot device 2 is accessed, and functions as a robot control function unit 16b that performs various controls such as various commands.

  Each circuit of the cellular phone device 1 and the CPU 16 are connected via the bus 100, and the key input given from the key input unit 12 is given from the bus 100 to the CPU 16, and the CPU 16 executes the command inputted by the key. At the same time, the liquid crystal display unit 11 performs a predetermined display. Therefore, the CPU 16 sends display data and the like via the bus 100 to the drive circuit unit 110 that drives the liquid crystal. The drive circuit unit 110 displays numbers, characters, images, and the like on the liquid crystal display unit 11 according to the transmitted data.

  The speaker 14 and the microphone 15 are used when making a call as a mobile phone, and are also used when recording a message in the memory unit 17 and confirming the recorded message. The voice data input from the microphone 15 is converted into voice-compressed digital voice data such as MP3 and WMA by the CPU 16 and stored in the memory unit 17.

  A circuit configuration of an embodiment of the robot apparatus 2 used in the robot communication system according to the present invention will be described with reference to FIG.

  The robot apparatus 2 includes a CPU 220 and a memory unit 222, and various processes are performed by the CPU 220 executing a control program stored in the memory unit 222. A data communication unit 221 for performing data communication with the mobile phone device 1 is connected to the CPU 220, and commands, voice data, and the like given from the mobile phone device 1 through the data communication unit 221 are stored in the memory via the CPU 220. Stored in the unit 222. An infrared transmission / reception new element and / or antenna 221a is connected to the preceding stage of the data communication unit 221, and when performing data communication with the mobile phone device 1 having the infrared communication function, the infrared transmission / reception unit 18 of the mobile phone device 1 Data communication is performed between the infrared transmitting / receiving elements 221a. In addition, when performing data communication with the wireless communication function of the mobile phone device 1, data communication is performed via the antenna 221a.

  The memory unit 222 stores programs for operating the head 21, left arm 23, right arm 24, left leg 25, and right leg 26 of the robot apparatus 2. In this case, a program for operating the actuator in the hand drive unit 229 and raising the hand up is stored. These programs are programs that correspond to respective requests such as a single basic motion of each part of the head 21, the left and right arm portions 23 and 24, and the left and right leg portions 25 and 26, and a standard motion combining a plurality of these basic motions. Is stored.

  Further, the memory unit 222 also stores voice data of the robot apparatus 2 itself and voice data such as melody sounds.

  A decoder 223, a sound source unit 226, and a drive control unit 227 are connected to the CPU 220, and operations of each unit are performed based on the control of the CPU 220. The decoder 223 decodes the voice compression data sent from the mobile phone device 1 or the voice data of the robot itself, and gives the decoded voice data to the digital analog (D / A) conversion unit 224. Then, the analog signal converted by the D / A conversion unit 224 is given to the speaker 225 to output sound.

  The sound source unit 226 creates a melody sound from the sound source data based on the melody sound data stored in the memory unit 222, gives the melody sound to the D / A conversion unit 224, converts the analog signal into the analog signal by the D / A conversion unit 224, and From 225, a melody sound is output. In addition, the D / A conversion unit 224 is configured to be able to synthesize voice data and melody sound and output from the speaker 225.

  The drive control unit 227 controls the operation of the actuators of the hand drive unit 229, the foot drive unit 230, and the head drive unit 231 according to the robot operation command read out from the memory unit 222 by the CPU 220. A signal is sent to each of the drive units 229 to 231 via the (I / F) 228.

  Next, an operation procedure of the robot communication system according to the embodiment of the present invention will be described with reference to FIGS.

  FIG. 4 is a flowchart showing a message registration operation using the mobile phone device in the robot communication system according to the embodiment of the present invention. FIG. 5 shows a registration operation of the robot device in the robot communication system according to the embodiment of the present invention. A flowchart and FIG. 6 are flowcharts showing a reproduction operation of a message or the like of the robot apparatus in the robot communication system according to the embodiment of the present invention.

  The mobile phone device 1 is equipped with a program execution environment (Java virtual machine) created in the Java (registered trademark) language, and can execute application software created in the Java language. In this cellular phone device 1, as one of application software, a robot control program that can easily register a message to the robot device 2 and select an action operation program can be downloaded from a server or the like and executed. It is configured as follows. In addition, by operating an application program from the mobile phone device 1, an operation command or the like can be uploaded to the server, the robot device 2, etc., and data can be stored in the server, the robot device 2.

  A case where the user registers a message using the mobile phone device 1 will be described with reference to FIG. As shown in FIG. 4, the key input unit 12 is used to wait until a function for performing message registration in the robot apparatus 2 is selected (step S1). Please register "and instruct the user to record a message using the microphone (step S2). For example, the user records a message “I love” from the microphone (step S3). The voice data input from the microphone 17 is converted into voice-compressed digital voice data such as MP3 and WMA by the CPU 16 and stored in the memory unit 17.

  Subsequently, it is determined whether or not the message recording is finished (step S4). For example, the message recording can be ended by displaying an icon indicating whether or not to end the message recording on the liquid crystal display unit 11 and inputting the corresponding key to instruct the end of the message registration. Good. Until the end of message recording is instructed, the process returns to step S3 and the message registration operation is continued. When the message registration end is instructed, the process proceeds to step S5.

  In step S5, the message data is transmitted to the robot apparatus 2. In this embodiment, since data communication is performed between the mobile phone device 1 and the robot device 2 using infrared communication, the infrared transmission / reception unit 18 of the mobile phone device 1 is directed to the infrared transmission / reception element 221a of the robot device 2, Transmits message data. The robot device 2 stores the message data sent via the data communication unit 221 in the memory unit 222 and then returns information indicating that the message storage is completed to the mobile phone device 1. When receiving the return signal, the cellular phone device 1 displays that the message is stored in the robot device 2 on the liquid crystal display unit 11, and then displays a screen for setting the action of the robot device 2. When there is a key input from the key input unit 12, it is determined whether or not the command is for executing action setting (step S6). In the case of a command for executing action setting, an action setting screen is displayed on the liquid crystal display unit 11 (step S7). This screen displays, for example, how to move the arms, legs, and head in an interactive manner. For example, when moving the right arm, selecting the right arm and selecting the item “Like a hand”, a command for selecting a program that allows the right arm to move the hand is selected. In addition, commands indicating standard actions such as “joy”, “sadness”, “anger”, “laughter” are registered in advance, and when these commands are selected, the robot apparatus 2 performs the standard actions. It is configured so that a command to be performed can be selected, and a mode that can simplify a user's command selection operation can also be adopted. In addition, as an action program for the mobile phone device 1, an arranger that can freely combine actions and a composer program that can freely create new actions are provided. By combining these, users who want to do this The robot apparatus 2 may be configured to give a command for performing the operation in response to the above request.

  When key input other than action setting is performed, the process proceeds to step S8. In step S8, it is determined whether or not a key indicating the end of the operation is pressed. When the key indicating the end of the operation is pressed, the operation ends. . If the key is other than an operation end key, the process returns to step S7.

  The user selects an action operation while looking at the action setting screen, selects an action to be operated on the robot apparatus 2 and transmits the action to the robot apparatus 2 (step S9). A command for instructing is sent. The robot apparatus 2 stores the sent command in the memory unit 222.

  The process returns to step S7 until the command for ending the action setting operation is input, and the above-described operation is repeated (step S10). When the action setting operation ends, the message registration operation for the robot device 2 in the mobile phone device 1 ends.

  Next, the registration operation of the robot apparatus in the robot communication system according to the embodiment of the present invention will be described with reference to FIG.

  The robot device 2 can operate autonomously by a built-in program and also performs an operation based on a command transmitted from the mobile phone device 1. For this reason, data communication is performed between the mobile phone device 1 and the robot device 2, and commands, messages, etc. sent from the mobile phone device 1 are stored, and messages are reproduced and operated based on these commands. .

  When the user performs a registration operation of a message or the like to the robot device using the mobile phone device 1, the robot device 2 operates as shown in FIG.

  It waits until there is data communication from the cellular phone device 1 (step S21), and it is determined whether or not the data received by the data communication unit 221 is message data recording a message (step S22). The received message data is written in an area for storing audio data in the memory unit 222 (step S23). If the sent data is not message data, the process proceeds to step S25.

  After storing the data in the memory unit 222, the robot device 2 transmits information notifying that the message has been stored to the mobile phone device 1 (step S24).

  Subsequently, in step S25, the data transmitted from the mobile phone device 1 is determined, and it is determined whether or not the transmitted data is a command for executing action setting. In the case of a command for setting an action, the action command is stored in the memory unit 222 (step S26), and information notifying that the action command has been stored is transmitted to the mobile phone device 1 (step S27). And it returns to step S22 and repeats the above-mentioned operation | movement.

  On the other hand, if it is determined in step S25 that the command is not an action command, the process proceeds to step S28. In step S28, it is determined whether the information indicates the end of the operation. The registration operation ends. If it is not information indicating the end of the operation, the process returns to step S22 and the above-described operation is repeated.

  Next, an operation for reproducing a message together with an action of the robot apparatus 2 will be described with reference to FIGS. FIG. 6 is a flowchart showing an operation of reproducing a message or the like of the robot apparatus in the robot communication system according to the embodiment of the present invention, and FIG. 7 is a schematic diagram showing the robot apparatus at the time of reproducing the message or the like.

  When a message or the like is stored in the robot apparatus 2, for example, when the robot apparatus 2 is operated, the robot apparatus 2 reproduces the voice of the robot from the speaker 225 such as “I have a message”, and the user has a message. To be notified. With this configuration, messages can be transmitted smoothly. There are various methods such as calling attention by blinking eyes 210 instead of voice.

  When the message is reproduced, for example, when a command for reproduction is input or the robot apparatus 2 is activated, a command for reproducing the message is determined in advance. When the user gives a command or the like for message playback to the robot apparatus 2, the robot apparatus 2 determines that a message playback request has been made (step S31), and the CPU 220 reads the recorded message from the memory unit 222 and sends it to the decoder 223. Send (step S32).

  Subsequently, the CPU 220 reads out an action command from the memory unit 222 and gives it to the drive control unit 227 (step S33).

  Subsequently, in step S34, the decoder 223 decodes the compressed audio data, and the voice of the recorded person is uttered from the speaker 225. Simultaneously with the utterance, the drive control unit 227 sends a control signal for operating the hand drive unit 229, the foot drive unit 230, and the head drive unit 231 so as to perform an operation based on the designated action operation. Then, it is determined whether or not the message operation is finished. If it is not finished, the process returns to step S34 to perform the above-described operation. When the message operation ends, the robot operation ends (step S35).

  For example, if the recorded message is “I love” and the action is an action of raising both hands, the robot apparatus 2 raises the arms 23 and 24 and “loves” from the speaker 225 as shown in FIG. Say with the voice of the person who recorded.

  In this way, since the robot apparatus 2 performs the action operation together with the voice of the person recorded, a friendly message can be transmitted to the user.

  Further, it is possible to cope by repeatedly uttering a message, continuously uttering different messages, or storing various motions from the mobile phone device 1 in the robot device 2 in advance.

  Further, various actions such as a continuous action can be associated with the action action.

  Furthermore, in the above embodiment, the microphone 15 of the mobile phone device 1 is used to store the sound reproduced by the robot device 2 in the memory unit 17, but the music is downloaded and the music data is stored in the robot device. It is also possible to configure such that it is transmitted to 2 and reproduced by the robot apparatus 2. At this time, if the mobile phone device 1 is configured to select an action action according to music and transmit it to the robot device 2, the robot device 2 can easily program to perform an action that dances to music. can do.

  In the above-described embodiment, the robot device 2 and the mobile phone device 1 are configured to transmit and receive data by infrared communication. However, communication using Bluetooth or the communication unit 19 of the mobile phone device 1 is used. You may comprise so that data communication may be performed by communication etc. using.

  Next, a second embodiment of the present invention will be described with reference to the drawings. In the first embodiment described above, messages and action actions are registered in the robot device 2 from the mobile phone device 1, but in this second embodiment, a plurality of mobile phone devices are used to move away. The robot apparatus 2 is configured to be able to register messages and action actions.

  FIG. 8 is an explanatory diagram showing the configuration of the robot communication system according to the second embodiment of the present invention, and FIG. 9 is the configuration of the data supply device 50 used in the robot communication system according to the second embodiment of the present invention. FIG. 10 is an explanatory diagram showing the operation of the robot apparatus in the robot communication system according to the second embodiment of the present invention.

  In these drawings, the cellular phone devices 1A and 1B and the robot device 2 are configured in the same manner as in the first embodiment described above. The cellular phone devices 1A and 1B are connected to a cellular phone network 40. The cellular phone network 40 is connected to a cellular phone network control unit 45 including a cellular phone base station, and transmission / reception is performed in each cellular phone device. The mobile phone controller 45 is connected to the Internet 46 and is connected to the data supply device 50 via the Internet 46.

  The data supply device 50 stores a database of commands, programs, and the like for the robot device 2 to perform an action operation. In this embodiment, the user of the mobile phone device 1A (1B) sends and receives data to and from the data supply device 50 via the Internet 46 and the mobile phone network 40 using the application program of the mobile phone device. It is configured to be able to do.

  As shown in FIG. 8 and FIG. 10, the data supply device 50 in this embodiment is connected to the Internet 46, and exchanges data with the mobile phone device 1A (1B). In this embodiment, data such as a message and an action command for the robot apparatus 2 is uploaded to the data supply apparatus 50 from the mobile phone apparatus 1A. The data supply device 50 downloads a message, an action operation program, and the like based on data uploaded in response to a request from the mobile phone device 1B.

  As shown in FIG. 9, the data supply device 50 includes a network control unit 501, an action data expansion / storage unit 502, a counterpart data storage unit 503, and a voice data storage unit 504.

  The network control unit 501 stores a protocol for performing data communication with the mobile phone device 1A (1B) via the Internet 46, and stores commands and messages uploaded via the Internet 46 in a predetermined storage unit. And the operation of downloading the requested data or the like via the Internet 46 is controlled.

  The action data expansion / storage unit 502 stores an action operation command of the robot apparatus 2 and the like, and a robot corresponding to the action based on the action command of the robot apparatus 2 sent from the mobile phone apparatus (1A). It is expanded into the operation program and stored with the command.

  The other party data storage unit 503 stores the mail address of the other party's mobile phone device (1B) to be downloaded. The data supply device 50 notifies the counterpart mobile phone device (1B) stored in the counterpart data storage unit 503 that there is a message to be downloaded and downloads it to the counterpart mobile phone device (1B). Request to do.

  The voice data storage unit 504 stores message voice from the user uploaded from the mobile phone device (1A) as voice-compressed data.

  Further, in this embodiment, the data supply device 50 is connected to a database 500, and the database 500 includes a program for controlling various operations of the robot device 2, voices and music uttered by the robot device 2, and the like. Content etc. are stored.

  Next, the operation of the second embodiment of the present invention will be described with reference to the flowcharts of FIGS. FIG. 11 is a flowchart showing an operation of uploading data from the mobile phone device to the data supply device in the second embodiment of the present invention, and FIG. 12 is a download from the data supply device to the mobile phone device in the embodiment of the present invention. It is a flowchart which shows operation | movement.

  First, an operation of uploading data from the mobile phone device 1A to the data supply device 50 will be described with reference to FIG.

  The cellular phone device 1A operates an application program and accesses the data supply device 50 from the cellular phone device 1A. The data supply device 50 is accessed from the mobile phone device 1A via the mobile phone network 40, the mobile phone network control unit 45, and the Internet 46 (step S51). When the data supply device 50 receives an access from the mobile phone device 1A, it is determined whether or not there is an access right (step S52). If there is no access right, the communication is terminated (step S71). If there is an access right, the mobile phone device 1A is notified to perform an operation for message registration (step S53).

  In the cellular phone device 1A, a screen for inputting a message is displayed on the liquid crystal display unit 11 in accordance with the notification from the data supply device 50 (step S54). On the liquid crystal display unit 11, for example, a message that starts the message registration to the robot apparatus and “Please input the address of the other party” is displayed so that the user can understand the operation to be performed. The user of the mobile phone device 1A uses the key input unit 12 to input the address of the counterpart mobile phone device 1B to which a message or the like should be sent according to the display (step S55). Then, the address data input to the data supply device 50 is transmitted (step S56).

  The data supply device 50 stores the address data sent from the mobile phone device 1A in the counterpart data storage unit 503 (step S57), and then notifies the mobile phone device 1A to perform the next registration operation. This is performed (step S58).

  In the cellular phone device 1A, a screen for inputting a voice message is displayed on the liquid crystal display unit 11 in accordance with the notification from the data supply device 50 (step S59). The liquid crystal display unit 11 displays, for example, “Start voice message registration to the robot apparatus” or “Record a message”. The user of the cellular phone device 1A inputs a message from the microphone 15 according to the display, and stores the voice-compressed user message in the memory unit 17 (step S60). Then, it is determined whether or not the message registration has instructed the end (step S61). If the end of the message is not instructed, the process returns to step S59 to repeat the above-described operation. When the message registration is completed, the process proceeds to step S62, and the recorded message data is transmitted to the data supply device 50 (step S62).

  In the data supply device 50, the message data sent from the mobile phone device 1A is stored in the voice data storage unit 504 in association with the other party to which it is sent (step S63), and then the next registration operation in the mobile phone device 1A. Notification for performing is performed (step S64).

  In the cellular phone device 1A, a screen for setting the action of the robot is displayed according to the notification from the data supply device 50 (step S65). Subsequently, a command for executing action setting is input (step S66) and stored in the memory unit 17. The command for setting the action is set and input in an interactive manner with the action setting screen displayed on the liquid crystal display unit 11. On this screen, for example, to move the right arm, select the right arm, select the item “Like your hand”, and select the program that allows you to move the right arm to move your hand. Is selected. In addition, commands indicating standard actions such as “joy”, “sadness”, “anger”, “laughter” are registered in advance, and when these commands are selected, the robot apparatus 2 performs the standard actions. It is configured so that a command to be performed can be selected, and a mode that can simplify a user's command selection operation can also be adopted. The command input in this way is transmitted to the data supply device 50 (step S67).

  In the data supply device 50, the action command data sent from the mobile phone device 1A is stored in the action data expansion / storage unit 502 in association with the destination to be sent (step S68). The registration operation and notification for completing the operation are performed (step S69).

  In the cellular phone device 1A, it is determined whether or not the key indicating the end of the operation has been pressed (step S70). When the key indicating the end of the operation is pressed, the process proceeds to step S71, communication is terminated, and the line is disconnected. If the key is other than the key indicating the end of the operation, the process returns to step S65 to repeat the above-described operation.

  In this manner, the other party, the voice message, the command for performing the action operation, and the like are uploaded from the mobile phone device 1A to the data supply device 50.

  Next, an operation of downloading a voice message, a command for performing an action operation, and the like from the data supply device 50 to the mobile phone device 1B will be described with reference to FIG.

  The data supply device 50 notifies that the message is registered in the other party's mobile phone, in this embodiment, the mobile phone device 1B, according to the address stored in the destination data storage unit 503 (step S81).

  When the user of the mobile phone device 1B knows that there is a message, the user program operates the application program of the mobile phone device 1B and accesses the data supply device 50 from the mobile phone device 1B. The data supply device 50 is accessed from the mobile phone device 1B via the mobile phone network 40, the mobile phone network control unit 45, and the Internet 46 (step S82). When the data supply device 50 receives access from the mobile phone device 1B, it is determined whether or not there is an access right (step S83). If there is no access right, the communication is terminated (step S94). If there is an access right, in order to download data to the mobile phone device 1B, a notification for performing a message download operation is performed (step S84).

  In the cellular phone device 1B, a screen for downloading a message is displayed on the liquid crystal display unit 11 in accordance with the notification from the data supply device 50 (step S85). The user transmits a command to instruct execution of download from the mobile phone device 1B to the data supply device 50 (step S86).

  When the data supply device 50 receives the instruction to download, the data supply device 50 reads message data related to the other party from the voice data storage unit 503 and transmits the message data to the mobile phone device 1B (step S87).

  In the cellular phone device 1B, the sent message data (voice data) is stored in the memory unit 17 (step S88). Thereafter, a command requesting the next data is transmitted to the data supply device 50 (step S89).

  When the data supply device 50 receives an instruction to download the next data, it reads out the action command data related to the partner robot device from the action data expansion / storage unit 502 and sends the action command data to the mobile phone device 1B. Is transmitted (step S90).

  In the cellular phone device 1B, the sent action command data is stored in the memory unit 17 (step S91). Thereafter, a download completion notification is transmitted to the data supply device 50 (step S92).

  When the data supply device 50 receives the download completion notification sent from the mobile phone device 1B, the data supply device 50 terminates the download operation (step S93), stores the address data in the counterpart data storage unit 503 (step S57), and then The communication is terminated and the line is disconnected (step S94).

  In this way, a voice message, a command for performing an action operation, and the like are downloaded from the data supply device 50 to the memory unit 17 of the mobile phone device 1B.

  The voice message stored in the cellular phone device 1B, a command for performing an action operation, and the like are communicated with the robot device 2 by infrared transmission. The registration operation to the robot apparatus 2 is the same as the operation of the flowchart shown in FIG. In the above-described operation, a message, a command, and the like are registered in the mobile phone device. In the second embodiment, the message data registered in the data supply device 50 via the Internet 46 is downloaded. The point of registration is different. That is, as shown in FIGS. 8 and 10, in the second embodiment, a message of a user at a distant place is given from the mobile phone device 1A to the robot device 2 via the data supply device 50 and the mobile phone device 1B. be able to.

  The robot operation is also similar to the operation of the flowchart shown in FIG. When the robot apparatus 2 is operated, as shown in FIG. 10, the robot apparatus 2 utters the voice of a person at a distant place and the action of the robot considered by the person who registered the message (in this example, the arms 23 and 24). Are listed at the same time. As a result, the person who listened to the message can hear the voice of the person who registered the message, feels familiarity, and can also see the action action of the robot apparatus 2 related to the message, so that the message having a strong impact Communication will take place.

  It should be noted that the data supply device 50 is also used when a content such as a program for controlling various operations of the robot device 2 stored in the database 500, voices or music uttered by the robot device 2 is input to the robot device 2. In response to the request from the mobile phone device 1 to download these data, store the data in the mobile phone device 1, and send the data from the mobile phone device 1 to the robot device 2. Various programs can be written easily.

  In the above-described embodiment, the mobile phone device 1 is used to perform data communication with the robot device 2, but a laptop computer connected to a wireless LAN or the like is used instead of the mobile phone device. It can also be configured to send and receive data.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and is intended to include meanings equivalent to the scope of claims for patent and all modifications within the scope.

  It is used in a system for controlling the action of a robot apparatus using a mobile communication terminal such as a mobile phone device.

1 is a configuration diagram illustrating an appearance of a robot communication system according to a first embodiment of the present invention. It is a block diagram which shows embodiment of the circuit of the mobile telephone apparatus used for the robot communication system by this invention. It is a block diagram which shows embodiment of the circuit of the robot apparatus 2 used for the robot communication system by this invention. It is a flowchart which shows the message registration operation | movement using the mobile telephone apparatus in the robot communication system concerning embodiment of this invention. It is a flowchart which shows the registration operation | movement of the robot apparatus in the robot communication system concerning embodiment of this invention. It is a flowchart which shows reproduction | regeneration operations, such as a message of the robot apparatus in the robot communication system concerning embodiment of this invention. It is a schematic diagram which shows the robot apparatus at the time of reproduction | regeneration of a message. It is explanatory drawing which shows the structure of the robot communication system concerning 2nd Embodiment of this invention. It is a block diagram which shows the structure of the data supply apparatus used for the robot communication system concerning 2nd Embodiment of this invention. It is explanatory drawing which shows operation | movement etc. of a robot apparatus in the robot communication system concerning 2nd Embodiment of this invention. It is a flowchart which shows the data upload operation | movement from the mobile telephone apparatus to a data supply apparatus in 2nd Embodiment of this invention. It is a flowchart which shows the download operation | movement from the data supply apparatus to a mobile telephone apparatus in embodiment of this invention.

Explanation of symbols

1, 1A, 1B mobile phone device, 11 liquid crystal display unit, 12 key input unit, 13 antenna unit, 14 speaker, 15 microphone, 16 CPU, 17 memory unit, 18 infrared transmission / reception unit, 19 communication unit, 100 bus, 110 drive circuit Part, 2 robot device, 21 head part, 22 body part 23 left arm part, 24 right arm part, 25 left leg part, 26 right leg part, 210 eyes, 211 ports, 220 CPU, 221 data communication part, 222 memory part, 223 Decoder, 224 D / A conversion unit, 225 speaker, 226 sound source unit, 227 drive control unit, 228 joint interface, 229 hand drive unit, 230 foot drive unit, 231 head drive unit, 50 data supply device, 501 network control , 502 Action data expansion / storage unit, 503 Counterpart data storage unit, 504 Audio data storage unit.

Claims (3)

The main component is a speaker, a robot provided with each unit driving means and a control unit that controls these, and a communication unit, and a mobile communication device.
The mobile communication device includes a normal mobile communication function and transmission / reception means for transmitting / receiving action command data and message data for performing various operations by communicating with the robot, and storage means for storing the data information With
The mobile communication device transmits message data composed of user's voice data and action command data for performing various operations of the robot to the robot from the transmitting / receiving means, and the robot receives the received message data and action command data. Based on the above, the robot communication system is characterized in that the user's voice data is reproduced and action action is performed. A speaker, a robot having each unit driving means, a control unit for controlling these circuits, and a communication means, a mobile communication device, and a data supply means connected to the mobile communication device via a network, As the main component,
The mobile communication device includes a normal mobile communication function and transmission / reception means for transmitting / receiving action command data and message data for performing various operations by communicating with the robot, and storage means for storing the data information And comprising
The data supply device stores action command data information and message data for performing various operations of the robot, and moves the action command data and message data based on instruction information from the mobile communication device. Means for transmitting to a body communication device,
The mobile communication device uploads message data consisting of voice data of the user and action command data for performing various operations of the robot to the data supply means via the network, and is stored by the data supply means. Message data and action command data for performing various robot operations are downloaded to the mobile communication device via the network, and the downloaded mobile communication device performs message data and action command data for performing various robot operations. Is transmitted to the robot, and the robot performs reproduction of the user's voice data and action action based on the received voice data and action data. The robot according to claim 2, wherein the data supply means transmits the action command data together with the voice data to the requested mobile communication device via a network in response to a request from the mobile communication device. Communication system.

Images