JP2007320032A - Robot device and control method for it - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot device and a control method for it, performing communication between robots. <P>SOLUTION: This robot device includes a signal pattern storage circuit 4 for storing a signal pattern showing the internal condition of the robot device; a signal detection circuit 2 for detecting a signal pattern showing the internal condition of a second robot device, wherein the information detected by the signal detection circuit 2 and the information stored in the signal pattern storage circuit 4 are compared with each other by a signal comparator circuit 5 to recognize the internal condition of the second robot device. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot apparatus that communicates between robots and a control method thereof.

  Nowadays, a multi-legged walking type robot device that takes shape of a living animal such as a dog or a cat has been proposed. Such a robot apparatus has an actuator having a predetermined degree of freedom and a mechanism unit in which a sensor for detecting a predetermined physical quantity is arranged at a predetermined position, and a control unit using a microcomputer controls various sensors. Each actuator is controlled according to the output and control program, and is configured to be capable of self-running.

  The robot apparatus also includes a light sensor that detects light, a microphone that detects sound, and the like as the various sensors, and performs predetermined actions in response to light and sound in the outside world.

JP 10-151591 A Japanese Patent Laid-Open No. 10-99558

  By the way, it has been proposed that two or more robots perform their operations by changing their own operations by the operations of other robots. This is called group robot cooperation. Various studies have been conducted on group robot cooperation. Further, Japanese Patent Application No. 10-49188 discloses that a robot reacts according to the situation like a human being.

  However, such a technique is operated only when an individual is controlled using a means for controlling the whole, or when a human gives some input to the robot.

  The present invention has been proposed in view of such a situation, and an object of the present invention is to provide a robot apparatus capable of communicating between robots and a control method thereof.

  The robot apparatus according to the present invention includes a storage unit that stores information indicating an internal state of a robot apparatus, a detection unit that detects information indicating an internal state of another robot apparatus, the information detected by the detection unit, and the above Recognizing means for comparing the information stored in the storage means and recognizing the internal state of the other robot apparatus is provided.

  The present invention provides storage means for storing information indicating the internal state of a robot apparatus, detection means for detecting information indicating the internal state of another robot apparatus, information detected by the detection means, and storage in the storage means. A robot device comprising: a recognizing means for recognizing the internal state of the other robot device by comparing the information stored in the other robot device, wherein the internal state is recognized by the robot device, And storage means for storing the operation patterns corresponding to the internal states, a read means for reading the operation patterns corresponding to its internal state, and controlling the operation based on the operation patterns read by the read means. And an operation control means.

  Also, the control method of the robot apparatus according to the present invention includes a storage process for storing information indicating the internal state of the robot apparatus, a detection process for detecting information indicating the internal state of another robot apparatus, and the detection process described above. And a recognition step of comparing the stored information with the information stored in the storage step to recognize the internal state of the other robot apparatus.

  Furthermore, the present invention provides storage means for storing information indicating the internal state of the robot apparatus, detection means for detecting information indicating the internal state of another robot apparatus, information detected by the detection means, and storage means A method for controlling the other robot device whose internal state is recognized by the robot device comprising a recognition means for recognizing the internal state of the other robot device and comparing the information stored in A plurality of internal states, a storage step for storing the operation patterns corresponding to the internal states, a read step for reading the operation patterns corresponding to the internal state, and an operation pattern read by the read step And an operation control step for controlling the operation based on the operation.

  As described above in detail, according to the robot apparatus and the control method thereof according to the present invention, the information indicating the internal state of the robot apparatus is stored in the storage unit, and the information indicating the internal state of the other robot apparatus is detected. Whether the other robot device with which it is opposed is angry by comparing the detected information with the information stored in the storage means and recognizing the internal state of the other robot device. Can determine the internal state of what you are enjoying.

  For example, a plurality of operation patterns and internal states in each operation pattern are stored in a storage unit, an operation pattern of another robot apparatus is detected, and the detected operation pattern and the operation pattern stored in the storage unit are And recognizes the internal state in the matching motion pattern as the internal state of the other robot device, thereby determining whether the other robot device with which it is facing is angry or enjoying can do.

  In addition, according to the robot apparatus and the control method thereof according to the present invention, the plurality of internal states of itself and the operation patterns corresponding to the internal states are stored, and the operation patterns corresponding to the internal state of the self are read out. By controlling the operation based on the read operation pattern, it is possible to notify other robot apparatuses of the internal state of whether the person is angry or enjoying himself.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The present invention is applied to, for example, the robot apparatus 1 having the configuration shown in FIG. The robot apparatus 1 detects a signal detection circuit 2 that detects a signal from an external input, a signal separation circuit 3 that separates the detected signal, and a signal pattern storage circuit 4 that stores a signal pattern in advance. A signal comparison circuit 5 that compares the signal with the signal pattern stored in the signal pattern storage circuit 4, an external output determination circuit 6 that determines the content to be externally output based on the signal comparison result, and the determined external output Are provided with a signal output circuit 7 for outputting according to the contents of the above and a control circuit 8 for controlling the entire system.

  Here, examples of the external input include operation, sound, blinking of LED, pattern, color, and the like. The signal detection circuit 2 corresponds to, for example, a CCD image sensor for detecting operation, color, pattern, and the like, a microphone for detecting sound, and the like.

  The signal pattern storage circuit 4 stores, for example, IDs for identifying individual robot devices, voices, signal waveforms, patterns, colors, sizes, operation patterns, emotion transition patterns, and the like.

  The signal comparison circuit 5 compares the signal from the signal separation circuit 3 with the pattern signal of the signal pattern storage circuit 4, and performs internal state determination, operation determination, individual identification, and other information determination, and the comparison result is externally determined. This is supplied to the output determination circuit 6. Here, the “internal state” means emotions of the robot apparatus 1, such as “fun”, “sad”, “angry”, and the like.

  The external output determination circuit 6 determines an operation based on the signal comparison result of the signal comparison circuit 5 and outputs it through the signal output circuit 7. The signal output circuit 7 includes LEDs that output various colors, speakers that output sound, limbs for operation output, and the like. Therefore, the external output corresponds to operation, sound, blinking of the LED, light emission of the LED in a predetermined color, and the like.

  The robot apparatus 1 having such a configuration is configured to perform various operations as described below in response to an external input from another robot apparatus.

1. Identification by LED (1-1) Identification of Robot Individual Here, a case where there is a robot group including three robot devices 1 (1A, 1B, 1C) will be described as an example. In addition, also about each circuit of robot apparatus 1A, 1B, 1C mentioned above, A, B, and C shall be attached | subjected to the code | symbol of a circuit so that it may be set as signal comparison circuit 5A, 5B, 5C, for example.

  The robot apparatus 1A includes the television camera 2A as the signal detection circuit 2A described above, the LED 71A that emits red light as the signal output circuit 7, and the actuator 72A corresponding to the joint portion. Similarly, the robot apparatus 1B includes an LED 71B that emits yellow light. The robot apparatus 1C includes an LED 71C that emits green light. The LEDs 71A, 71B, and 71C blink three times in one second, twice in one second, and once in three seconds.

  In each robot apparatus 1A, 1B, 1C, the LED-robot individual table is stored in the signal pattern storage circuits 4A, 4B, 4C as shown in FIG. Specifically, in the LED-robot individual table, the robot device 1A blinks the red LED once per second, the robot device 1B blinks the yellow LED twice per second, and the robot device 1C is green. LED blinks once every 3 seconds.

  For example, when the robot apparatus 1A recognizes another robot apparatus 1B or the like, each internal circuit operates as follows.

  That is, the television camera 12A images the blinking LED 71B and supplies an image signal as an imaging output to the signal separation circuit 3A. The signal processing circuit 3A detects from the image signal a feature that, for example, yellow blinks twice per second (step ST1 shown in FIG. 3), and this detection result is used as a signal pattern storage circuit 4A and a signal. This is supplied to the comparison circuit 5A.

  The signal comparison circuit 5A compares the feature detection result of the signal separation circuit 3A with the LED-robot individual table stored in the signal pattern storage circuit 4A (step ST2). Based on the LED-robot individual table, the signal comparison circuit 5A recognizes that the blinking of the LED is caused by the robot apparatus 1B, reads out the robot ID related to the robot apparatus 1B from the signal pattern storage circuit 4A, This is supplied to the output determination circuit 6A.

  The external output determination circuit 6A stores a control program so as to “greet by shaking his head” to the robot apparatus 1B. Therefore, the external output determination circuit 6A determines the operation when the robot ID of the robot apparatus 1B is supplied from the signal comparison circuit 5 (step ST3), and performs control of “greeting with a waving head” according to the control program. Therefore (step ST4), a control signal is supplied to the actuator 71A. The actuator 71A corresponds to the neck joint of the robot apparatus 1A, and can perform an operation such as greeting by shaking the neck according to the control signal.

  In this embodiment, the case of “greeting with a waving head” has been described as an example, but instead, for example, the opponent may be intimidated with the forefoot or other control may be performed.

(1-2) Identification of Robot Group Next, the case where there are robot groups X and Y will be described. Each robot apparatus 1 performs different operations depending on the robot group to which it belongs.

  The signal pattern storage circuit 4 of each robot apparatus 1 stores a robot group correspondence table including a robot operation pattern and a group ID of the robot group that performs the operation pattern. In the robot group correspondence table, for example, the robot group X is composed of robots that move relatively slowly, and the robot group Y is composed of robots that perform an action of scratching the ground when stopped.

  In the robot apparatus 1 having such a configuration, the television camera 12 as a signal detection circuit images the robot apparatus of a certain robot group and supplies the image signal to the signal separation circuit 3. The signal separation circuit 3 detects an action pattern of a robot device of a certain robot group, and supplies the detection result to the signal pattern storage circuit 4 and the signal comparison circuit 5.

  The signal comparison circuit 5 compares the detection result of the signal separation circuit 3 with the robot group correspondence table stored in the signal pattern storage circuit 4. Based on the robot group correspondence table, the signal comparison circuit 5 recognizes that the captured action pattern of the robot device is, for example, that of the robot group Y, reads the robot ID related to the robot group Y from the signal pattern storage circuit 4, and This is supplied to the external output determination circuit 6.

  The external output determination circuit 6 stores a control program so as to “greet by shaking his / her head” for each robot apparatus of the robot group Y. Therefore, when the robot ID of the robot group Y is supplied from the signal comparison circuit 5, the external output determination circuit 6 supplies a control signal for “greeting with a waving head” to the actuator 71 according to the control program. The actuator 71 corresponds to the joint of the neck of the robot apparatus 1 and can perform an operation such as greeting by shaking the neck according to the control signal.

  Therefore, for example, when the robot apparatus 1X of the robot group X faces the robot apparatus 1Y of the robot group Y, the robot apparatus 1Y detects that the robot apparatus 1Y stops and scratches the ground. Recognize that it belongs to Y and act according to the control program to “greet by shaking his head”.

  In addition to the above-described example, the robot device 1 and the robot group as described above recognize the body color, shape, pattern, bar code, number, symbol, light, and other identifications. It may be a visually identifiable number such as a number or body language, or a sound.

2. Next, measurement of the distance between the robot apparatuses 1A and 1B will be described. Here, for example, the robot apparatus 1A is marked with a symbol “◯”, and the robot apparatus 1B is marked with a symbol “x”.

  The signal pattern storage circuit 4A of each robot apparatus 1A includes symbols such as “◯” and “x”, a predetermined distance, an apparent diameter of each symbol at that distance, an apparent side length, and the like. The distance correspondence table is stored.

  The television camera 2A, which is a signal detection circuit, captures an image of a symbol attached to the robot apparatus 1B and supplies this image signal to the signal separation circuit 3A. Based on the image signal from the television camera 2A, the signal separation circuit 3A detects a feature that the symbol is “◯” or “x” (step ST11 shown in FIG. 4), and stores the detection result as a signal pattern. This is supplied to the circuit 4A and the signal comparison circuit 5A.

  The signal comparison circuit 5A compares the detected symbol with the distance correspondence table (step ST12), specifies the detected symbol, and calculates the apparent diameter, the length of the apparent line, and the like of the symbol. Here, the signal comparison circuit 5A can recognize the opposed robot apparatus by specifying the symbol and referring to the distance correspondence table.

  Further, the signal comparison circuit 5A can determine the position of the imaged robot apparatus 1B by comparing the apparent diameter, apparent length, etc. of the symbols with the distance correspondence table (step ST13). That is, the signal comparison circuit 5A can determine the actual distance to the robot apparatus 1B from the difference between the diameter shown in the distance correspondence table and the detected apparent diameter.

3. Next, a case where the robot apparatuses 1A and 1B discriminate each other's feelings will be described.
(3-1) Discrimination based on LED emission pattern The robot apparatus 1A includes a red LED 71A as the signal output circuit 7A. Similarly, the robot apparatus 1B includes a yellow LED 71A. Each LED 71A, 71B is controlled by the control circuit 8 so that the blinking speed differs according to the emotion of the robot devices 1A, 1B.

  A signal-state correspondence table as shown in FIG. 5 is stored in the signal pattern storage circuits 4A and 4B of the robot apparatuses 1A and 1B. The signal-state correspondence table includes a plurality of signal patterns and internal states at the time of each signal pattern. According to the signal-state correspondence table, in the calm state, as shown in FIG. 5A, after the LED is turned on for a certain period of time, it is turned on again for a certain period of time after a relatively long time has elapsed. Show. In the fun state, as shown in FIG. 5B, after the LED is turned on / off for a short time, it is turned on / off for a long time to repeat. In the angry state, as shown in FIG. 5C, the LED is turned on / off / on for a short time and then turned on / off / on again for a short time.

  When the robot apparatus 1A is opposed to the robot apparatus 1B, each circuit operates as follows. That is, the TV camera 2A as a signal detection circuit images the LED 7A that emits light from the robot apparatus 1B, and supplies this image signal to the signal separation circuit 3A. The signal separation circuit 3A detects a signal from the LED, that is, the light emission period and color of the LED based on the image signal from the television camera 2A (step ST21 shown in FIG. 6), and the detection result is used as the signal pattern storage circuit 4A and the signal This is supplied to the comparison circuit 5A.

  The signal comparison circuit 5A compares the detected light emission cycle of the LED with the signal-state correspondence table stored in the signal pattern storage circuit 4A (step ST22). For example, when the detected light emission cycle of the LED 7B is the signal pattern shown in FIG. 5C, the signal comparison circuit 5A determines that the robot apparatus 1B is angry and determines the internal state of the robot apparatus 1B. (Step ST23).

(3-2) Discrimination Based on Behavior Pattern The robot apparatus 1A can also discriminate its internal state based on the operation of the robot apparatus 1B. Here, an operation-state correspondence table is stored in the signal pattern storage circuit 4 of the robot apparatus 1A. The operation-state correspondence table is configured in the same manner as the signal-state correspondence table described above, and includes a plurality of operation patterns and internal states at the time of each operation pattern.

  When the robot apparatus 1A is opposed to the robot apparatus 1B, each circuit operates as follows. That is, the television camera 2A as a signal detection circuit images the operation of the robot apparatus 1B and supplies this image signal to the signal separation circuit 3A. The signal separation circuit 3A detects the operation pattern of the robot apparatus 1B based on the image signal from the television camera 2A (step ST31 shown in FIG. 7), and supplies the detection result to the signal pattern storage circuit 4A and the signal comparison circuit 5A. To do.

  The signal comparison circuit 5A compares the detected operation pattern with the operation-state correspondence table stored in the signal pattern storage circuit 4A (step ST32). The signal comparison circuit 5A searches the operation-state correspondence table for an operation pattern that matches the detected operation pattern, and selects an internal state that corresponds to the matching operation pattern.

  The robot apparatus 1A determines the internal state selected in this way as the internal state of the robot apparatus 1B (step ST33). Thereby, 1 A of robot apparatuses can recognize the internal state from the operation content of the robot apparatus 1B.

4). Expression of robot internal state (4-1) Expression by LED light emission The case where the robot apparatus 1 expresses emotion, that is, the internal state to the outside will be described. It is assumed that the robot apparatus 1 includes two LEDs 71 blinking at a constant cycle on the front surface of the head. One is a red LED 71 and the other is a blue LED 71.

  For example, when the internal state of the robot apparatus 1 is a “fun” state, the external output determination circuit 6 supplies the LED 71 with a control signal that causes the red LED 71 to blink five times. On the other hand, when the internal state is the “sad” state, the external output determination circuit 6 supplies a control signal for blinking, for example, the blue LED 7 to the LED 71. Thereby, the robot apparatus 1 can output its own emotion, that is, its internal state to the outside by blinking the LED 71.

(4-2) Expression by Voice Output The robot apparatus 1 can also output the internal state to the outside by outputting voice. For example, the signal comparison circuit 5 recognizes that the internal state is “fun” and supplies the internal state to the external output determination circuit 6.

  The external output determination circuit 6 selects a C major code corresponding to the internal state “fun” from the C major code and A minor code for outputting sound, and supplies the selected C major code to the speaker 7 as a signal output circuit. Thereby, the speaker 7 outputs the sound by the C major code. Further, when the internal state “sad” is supplied from the signal comparison circuit 5, the external output determination circuit 6 selects the A minor code corresponding to the internal state “sad” and supplies it to the speaker 7. Thereby, the speaker 7 outputs the sound by the A minor code.

  As described above, the robot apparatus 1 can output sound for indicating the internal state in accordance with various internal states such as “fun” and “sad”.

(4-3) Expression by Action In addition, the robot apparatus 1 can output the internal state to the outside by performing a predetermined action in the same manner as the voice. For example, the signal comparison circuit 5 recognizes that the internal state is “fun” and supplies the internal state to the external output determination circuit 6.

  The external output determination circuit 6 selects an operation pattern corresponding to the internal state “fun”, for example, “swing both hands up” from among predetermined operation patterns such as raising both hands or waving hands. The control signal is supplied to the signal output circuit 7. As a result, the signal output circuit 7 performs an operation of raising both hands. In addition, when the internal state “sad” is supplied from the signal comparison circuit 5, the external output determination circuit 6 selects an operation pattern corresponding to the internal state “sad” and supplies it to the signal output circuit 7. Thereby, the signal output circuit 7 can perform an operation based on the operation pattern.

  As described above, the robot apparatus 1 can indicate the internal state to the outside by action according to various internal states such as “fun” and “sad”.

5). Change in Internal State of Robot As a result of discriminating the emotion of the other robot device 1B, the robot device 1A can also change the emotion, that is, the internal state correspondingly.

  As a method for determining the internal state of the other robot apparatus 1B, the robot apparatus 1A determines the light emission pattern of the LED of the robot apparatus 1B or the action pattern of the robot apparatus 1B as shown in FIG. It may be performed by discriminating.

  In the signal pattern storage circuit 4A of the robot apparatus 1A, as shown in FIG. 8, a robot internal state table is stored. When the signal comparison circuit 5A determines the emotion of another robot apparatus as described above, its own emotion changes based on the robot internal state table. In FIG. 8, “A” indicates the internal state of the robot apparatus 1A, and “B” indicates the internal state of the robot apparatus 1B.

  According to the robot internal state table, for example, when the internal state of the robot apparatus 1 itself is “fun” and the internal state of the robot apparatus 1B is “fun”, the internal state of the robot apparatus 1A is “more fun”. " Further, when the internal state of the robot apparatus 1A is “normal” and the internal state of the robot apparatus 1B is “angry”, the internal state of the robot apparatus 1A is “a little angry”.

  Then, the signal comparison circuit 5A of the robot apparatus 1A determines its own internal state and also determines the internal state of the robot apparatus 1B (step ST41 shown in FIG. 9). The signal comparison circuit 5A selects the internal state to be changed next from the robot internal state table. The external output determination circuit 6A determines an operation for achieving the selected internal state (step ST42), and outputs the operation via the signal output circuit 7A (step ST43).

  As described above, the robot apparatus 1A changes its own internal state in accordance with the internal state of the robot apparatus 1B, and performs an action according to the changed internal state.

6). Discrimination of Robot Action The robot apparatus 1A can transmit its main operation to another robot apparatus 1B by performing a predetermined sub-operation. Here, a case where the robot apparatus 1A dribbles and shoots when the robot apparatus 1A and the robot apparatus 1B play soccer, for example, will be described as an example.

  The robot apparatus 1 </ b> A includes red and green LEDs 71 </ b> A as the signal output circuit 7 </ b> A, and the light emission of the LEDs 71 </ b> A is controlled by the control circuit 8. When the robot apparatus 1A dribbles, the control circuit 8 causes the red LED 71 to blink twice per second as a sub-operation, and when shooting, the green LED 71 is turned twice per second. Blink.

  Thereby, the robot apparatus 1A can inform the robot apparatus 1B that it dribbles and shoots as the main operation.

  Next, a case where the robot apparatus 1A dribbles and issues a pass to the robot apparatus 1B will be described. Here, the signal pattern storage circuit 4A of the robot apparatus 1A stores a control program for issuing a pass after performing the action of “kicking the ground twice with the right forefoot” for the behavior pattern “take a pass”. It shall be.

  When the robot apparatus 1A dribbles as described above, the red LED 71 blinks. When the robot apparatus 1B makes a pass, the robot apparatus 1A follows the control program recorded in the signal pattern storage circuit 4 according to the control program recorded in the signal pattern storage circuit 4. “Kick the ground once” and make a pass.

  As a result, the robot apparatus 1A can inform the robot apparatus 1B what operation it will perform next. That is, the robot apparatus 1B can determine what operation the robot apparatus 1A performs next.

7). Information transmission between robots Generally, in information transmission, in addition to information to be transmitted, an individual ID for identifying a sender and an individual ID for identifying a receiver designated by the sender are transmitted. ing. Thereby, the information to be transmitted can be reliably transmitted to the receiver designated by the sender. Here, a description will be given of the case where there are three robot devices 1A, 1B, and 1C, and the robot device 1A transmits information to the robot device 1B and the like using this information transmission method.

  The robot apparatus 1A includes a reception circuit 21A that receives information as the signal detection circuit 2A, and a transmission circuit 73A that transmits information as the external output determination circuit 6A. The signal pattern storage circuit 4A stores transmission information, own individual ID, information for identifying an individual ID of another robot apparatus, and the like. Similarly, the robot apparatuses 1B and 1C include reception circuits 21B and 21C, transmission circuits 73B and 73C, and signal pattern storage circuits 4B and 4C in which the above-described information is stored.

  When the robot apparatus 1A transmits a message “come here” to the robot apparatus 1B, each circuit operates as follows.

  As shown in FIG. 10, the transmission circuit 73A of the robot apparatus 1A generates a packet composed of “individual ID of sender”, “individual ID of designated recipient”, and “transfer information”. The packet is transmitted to the robot apparatus 1B.

  The receiving circuit 21 </ b> B of the robot apparatus 1 </ b> B selects a packet having its own individual ID shown in “designated recipient individual ID” from among a plurality of packets, and receives this packet. The receiving circuit 21B supplies the “sender individual ID” and the “transmission information” to the signal pattern storage circuit 4B and the signal comparison circuit 5B via the signal separation circuit 3B. The signal comparison circuit 5B compares the “sender individual ID” with the ID stored in the signal pattern storage circuit 4B to determine the sender of the “transfer information” as the robot apparatus 1A.

  As described above, the robot apparatus 1B determines that “here” is the direction in which the robot apparatus 1A exists when the robot apparatus 1A inserts its own individual ID into the “individual ID of sender” section. Can be recognized. Furthermore, the robot apparatus 1A inserts the individual ID of the robot apparatus 1B into the "recipient individual ID" portion, so that only the robot apparatus 1B has the command information "come here". This prevents the behavior of the robot apparatus 1C from being affected.

  Further, when the ID of a certain robot group is inserted in the “recipient's individual ID”, the packet is a command to a robot apparatus belonging to the robot group.

  On the other hand, a packet in which a number that does not particularly specify a robot apparatus is inserted into the “receiver individual ID” is a message that the sender wants to transmit to all robot apparatuses, and is transmitted to all robot apparatuses.

  As described above, by transmitting and receiving the packet shown in FIG. 10, it is possible to cope with various forms of information transmission. For example, even when playing soccer as described above, the opponent to whom a pass is given is clarified. be able to.

8). Transmission of Action Content Between Robots The following describes how the robot apparatus 1A transmits the next action to be performed to the robot apparatus 1B. Here, the case where the robot apparatuses 1A and 1B are playing soccer will be described as an example.

  The robot apparatus 1A includes red, blue, green, and yellow LEDs 71A, and the control circuit 8A controls the blinking of the LEDs 71A.

  When the robot apparatus 1A is dribbling a football, the control circuit 8A blinks the red LED 71A. When the robot apparatus 1A shifts to the shooting posture, the control circuit 8A turns on the red LED 71A for a certain period. In this manner, by changing the blinking of the LED 71A when the operation of the robot apparatus 1A shifts, it is possible to notify the robot apparatus 1B that the operation shifts to the next operation.

  Further, the “sender individual ID” may be indicated by blinking the yellow LED 71A in a predetermined signal pattern, and “communication information” which is the content of the next operation to be performed by blinking the green LED 71A. .

  Thereby, the robot apparatus 1B can know what operation | movement the robot apparatus 1A will perform next, and can perform the action corresponding to the operation | movement.

  Note that the robot apparatus 1A may indicate the “designated recipient individual ID” by further blinking the blue LED 71A in a predetermined pattern.

  Thereby, the robot apparatus 1A can transmit the same information as the packet having the configuration shown in FIG. 10, and for example, the robot apparatus 1B can be designated to control a response to a certain operation.

It is a block diagram which shows the schematic structure of the robot apparatus to which this invention is applied. It is a figure which shows the content of the LED-robot individual table | surface memorize | stored in the signal pattern memory | storage circuit with which the said robot apparatus is provided. It is a flowchart explaining the operation | movement content of the said robot apparatus. It is a flowchart explaining the operation | movement content of the said robot apparatus. It is a figure which shows the content of the signal-state corresponding table memorize | stored in the said signal pattern memory | storage circuit. It is a flowchart explaining the operation | movement content of the said robot apparatus. It is a flowchart explaining the operation | movement content of the said robot apparatus. It is a figure which shows the content of the robot internal state table memorize | stored in the said signal pattern memory | storage circuit. It is a flowchart explaining the operation | movement content of the said robot apparatus. It is a figure which shows the structure of the packet which the said robot apparatus transmits.

Explanation of symbols

  1 (1A, 1B, 1C) Robot device, 2 signal detection circuit, 3 signal separation circuit, 4 signal pattern storage circuit, 5 signal comparison circuit, 6 external output determination circuit, 7 signal output circuit, 8 control circuit, 21 receiving circuit , 71 LED, 72 Actuator, 73 Transmission circuit

Claims (18)

Storage means for storing information indicating the internal state of the robot apparatus;
Detecting means for detecting information indicating an internal state of another robot apparatus;
Recognizing means for comparing the information detected by the detecting means with information stored in the storage means to recognize the internal state of the other robot apparatus. The storage means stores a plurality of operation patterns of the robot apparatus and an internal state in each operation pattern,
The detection means comprises an operation pattern detection means for detecting an operation pattern of the other robot device,
The recognition means compares the motion pattern detected by the motion pattern detection means with the motion pattern stored in the storage means, and recognizes the internal state in the matching motion pattern as the internal state of the other robot device. The robot apparatus according to claim 1, wherein:   3. The robot apparatus according to claim 2, further comprising operation control means for controlling its own operation based on an internal state of the other robot apparatus recognized by the recognition means.    3. The robot apparatus according to claim 2, further comprising an internal state changing unit that changes its own internal state based on an internal state of the other robot apparatus recognized by the recognition unit. The storage means stores a plurality of signal patterns of the robot apparatus and an internal state in each signal pattern,
The detection means comprises signal pattern detection means for detecting a signal pattern of a signal output by the other robot apparatus,
The recognition means compares the signal pattern detected by the signal pattern detection means with the signal pattern stored in the storage means, and recognizes the internal state of the matching signal pattern as the internal state of the other robot device. The robot apparatus according to claim 1, wherein:   6. The robot apparatus according to claim 5, further comprising signal output means for outputting a signal based on an internal state of the other robot apparatus recognized by the recognition means.    6. The robot apparatus according to claim 5, further comprising an internal state changing unit that changes its own internal state based on an internal state of the other robot apparatus recognized by the recognition unit. Storage means for storing information indicating the internal state of the robot apparatus, detection means for detecting information indicating the internal state of another robot apparatus, information detected by the detection means, and information stored in the storage means And a robot device comprising a recognition means for recognizing the internal state of the other robot device, wherein the internal state is recognized by the robot device,
Storage means for storing a plurality of internal states of the device and operation patterns corresponding to the internal states;
Reading means for reading an operation pattern corresponding to its internal state;
A robot apparatus comprising: motion control means for controlling motion based on the motion pattern read by the reading means.   The storage unit stores a plurality of internal states of the device and signal patterns corresponding to the internal states, the reading unit reads out a signal pattern corresponding to the internal state of the device, and the operation control unit includes: 9. The robot apparatus according to claim 8, wherein control is performed so as to output a signal based on the signal pattern read by the reading means. A storage step for storing information indicating an internal state of the robot apparatus;
A detection step of detecting information indicating an internal state of another robot apparatus;
A method for controlling a robot apparatus, comprising: a recognition process for comparing the information detected in the detection process and the information stored in the storage process to recognize the internal state of the other robot apparatus. In the storing step, a plurality of operation patterns of the robot apparatus and an internal state in each operation pattern are stored,
In the detection step, an operation pattern of the other robot device is detected as information indicating an internal state of the other robot device,
In the recognition step, the motion pattern detected in the detection step is compared with the motion pattern stored in the storage means, and the internal state in the matching motion pattern is recognized as the internal state of the other robot device. The robot apparatus control method according to claim 10.   The robot apparatus control method according to claim 11, further comprising an operation control step of controlling its own operation based on an internal state of the other robot device recognized by the recognition step.    12. The robot apparatus control method according to claim 11, further comprising an internal state changing step of changing its own internal state based on the internal state of the other robot apparatus recognized in the recognition step. The storing step stores a plurality of signal patterns of the robot apparatus and an internal state in each signal pattern,
In the detection step, a signal pattern of a signal output from the other robot apparatus as information indicating an internal state of the other robot apparatus is detected,
In the recognition step, the signal pattern detected in the detection step is compared with the signal pattern stored in the storage step, and the internal state in the matching signal pattern is recognized as the internal state of the other robot device. The method for controlling a robot apparatus according to claim 10, wherein:   The robot apparatus control method according to claim 14, further comprising a signal output step of outputting a signal based on an internal state of the other robot device recognized in the recognition step.    The robot apparatus control method according to claim 14, further comprising an internal state changing step of changing its own internal state based on the internal state of the other robot apparatus recognized in the recognition step. Storage means for storing information indicating the internal state of the robot apparatus, detection means for detecting information indicating the internal state of another robot apparatus, information detected by the detection means, and information stored in the storage means A control method for another robot apparatus in which the internal state is recognized by a robot apparatus comprising a recognition means for recognizing the internal state of the other robot apparatus.
A storage step of storing a plurality of internal states of the device and operation patterns corresponding to the internal states;
A reading process of reading an operation pattern corresponding to its own internal state;
An operation control step of controlling an operation based on the operation pattern read out by the reading step.   In the storage step, a plurality of internal states of the device and signal patterns corresponding to the internal states are stored. In the readout step, a signal pattern corresponding to the internal state of the device is read out. In the operation control step, 18. The robot apparatus control method according to claim 17, wherein control is performed so as to output a signal based on the signal pattern read in the reading step.

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