JP2008117075A - Device, method and program for generating locus data - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a locus for moving a movement object in time to the music. <P>SOLUTION: A device for generating locus data sets compressed music data to reproduce when an ellipsoid-shaped housing 20 of a music robot device 11 moves, shows a desired locus to move the housing 20 with generation of locus data by associating reproduction time information of the set music data with locus of movement of the housing 20 drawn by a user, may easily generate the locus data to move the housing 20 in synchronization with the reproduction of the music data and easily obtain the locus to move the housing 20 in time to the music. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a trajectory data generation device, a trajectory data generation method, and a trajectory data generation program, and is suitable for application to, for example, a personal computer that generates trajectory data indicating a trajectory for moving a music robot device in accordance with music. .

  A conventional robot apparatus captures the movement of a human hand with a camera, and detects the locus of the movement of the hand by performing image processing on a captured image obtained as a result. Further, the robot apparatus converts the size of the human hand movement locus thus detected into a locus drawn when the user's hand is moved to obtain the movement locus of the user's hand. Furthermore, the robot apparatus stores various movement patterns having different average movement speeds, using the movement trajectory of the hand of the user as described above as movement patterns together with the average movement speed of the hand. The robot apparatus associates various rhythms of music based on music data with different ranges of average moving speeds.

In this state, when the music apparatus reproduces the music data, the robot apparatus extracts a music rhythm based on the music data, and determines an average moving speed range corresponding to the extracted rhythm. Then, the robot device selects an action pattern that fits the range of the determined average moving speed, and moves its hand with the selected action pattern to operate as if dancing while outputting music. (For example, refer to Patent Document 1).
JP-A-2005-231012 (first page, page 15, page 16)

  However, the robot apparatus configured as described above does not use any music data when obtaining the movement trajectory of its own hand, and when the music data is reproduced, the operation pattern fits the range of the average moving speed corresponding to the music rhythm As for the movement trajectory of one's own hand. For this reason, the robot apparatus has a problem that it is difficult to say that it has obtained a desired locus for moving its hand in accordance with music based on music data.

  The present invention has been made in consideration of the above points, and proposes a trajectory data generation device, trajectory data generation method, and trajectory data generation program capable of easily obtaining a trajectory for moving a moving object in accordance with music. It is what.

  In order to solve such a problem, in the present invention, the data setting unit sets music data to be reproduced when the movement target moves, and the locus data generation unit sets the movement locus of the movement target drawn by the user. The locus data is generated by associating the set reproduction time information of the music data.

  Therefore, in the present invention, it is possible to easily generate trajectory data for indicating a desired trajectory for moving the moving object and for moving the moving object in synchronization with the reproduction of the music data.

  According to the present invention, the music data to be reproduced when the movement target moves is set by the data setting unit, and the set music data is set for the movement track of the movement target drawn by the user by the track data generation unit. By generating the trajectory data in association with the reproduction time information, the trajectory data for showing the desired trajectory for moving the movement target and moving the movement target in synchronization with the reproduction of the music data can be easily obtained. Thus, a trajectory data generation device, a trajectory data generation method, and a trajectory data generation program that can easily generate a trajectory for moving a moving object in accordance with music can be realized.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

(1) Outline of Trajectory Data Generation Device In FIG. 1, 1 shows an outline of the configuration of a trajectory data generation device according to the present invention as a whole. In the trajectory data generation device 1, the data setting unit 2 sets music data to be reproduced when the movement target moves. In the trajectory data generation device 1, the input unit 3 is used for drawing and inputting a trajectory of a movement target. Further, in the trajectory data generation device 1, the trajectory data generation unit 4 generates trajectory data by associating the trajectory input via the input unit 3 with the reproduction time information of the music data set by the data setting unit 2. With this configuration, the trajectory data generation device 1 can easily generate trajectory data for indicating a desired trajectory for moving the movement target and for moving the movement target in synchronization with the reproduction of the music data. Therefore, the trajectory data generation device 1 can easily obtain a trajectory for moving the movement target in accordance with music.

(2) Configuration of Music Playback System In FIG. 2, reference numeral 10 denotes a music playback system to which the present invention is applied as a whole. The music playback system 10 is configured to be able to wirelessly connect the music robot apparatus 11 and the personal computer 12 in accordance with, for example, Bluetooth, which is a short-range wireless communication technology.

  As shown in FIGS. 3A and 3B and FIG. 4, the music robot apparatus 11 has, for example, a substantially ellipsoidal apparatus housing (hereinafter referred to as an ellipsoidal casing) 20 as a whole. ing. The ellipsoidal casing 20 has one end portion (hereinafter referred to as a right end portion) of a pair of opposite end portions of the casing central portion 21 that is a substantially barrel-shaped portion at the center thereof. ) Side is provided with a first housing rotation part (hereinafter referred to as a right rotation part) 22 formed of a substantially frustoconical portion. The ellipsoidal casing 20 has a second casing rotating portion (a substantially truncated cone-shaped portion) on the other end (hereinafter referred to as the left end) of the casing central portion 21. Hereinafter, this is referred to as a left-side turning part) 23.

  Further, the ellipsoidal casing 20 is provided with a first casing opening / closing section (hereinafter referred to as a right opening / closing section) 24 formed of a cap-shaped portion on the right side of the right rotation section 22. Furthermore, the ellipsoidal casing 20 is provided with a second casing opening / closing section (hereinafter referred to as a left opening / closing section) 25 formed of a cap-shaped portion on the left side of the left rotation section 23.

  Then, a line segment (that is, the major axis of the ellipsoid) that connects the vertices P2 and P3 on the farthest right and left sides of the surface of the ellipsoidal casing 20 with a straight line from the center point P1 of the ellipsoidal casing 20 is rotated horizontally. Assuming the movement axis L1, the right rotation part 22 is in one direction D1 around the axis around the horizontal rotation axis L1 and the other direction around the opposite axis with respect to the right end of the housing central part 21. It is pivotally supported by. Further, the left rotation part 23 is pivotally supported with respect to the left end of the housing central part 21 so as to be rotatable around one axis D1 around the axis and in the other direction around the axis around the horizontal rotation axis L1.

  Further, as shown in FIG. 5, the right opening / closing part 24 has a predetermined angle range with respect to the right rotation part 22 via a hinge part 26 provided at a predetermined position of the right edge part 22 </ b> A of the right rotation part 22. It is attached so that it can be opened and closed. Incidentally, the opening angle between the right edge 22A and the opening edge 24A is approximately 90 degrees from the position where the opening edge 24A comes into contact with the right edge 22A of the right rotation part 22 in the right opening / closing part 24. It opens at an arbitrary angle within a predetermined angle range up to the position.

  On the other hand, the left opening / closing part 25 is attached to the left rotation part 23 so as to be openable and closable within a predetermined angle range via a hinge part 27 provided at a predetermined position of the left edge 23A of the left rotation part 23. Yes. Incidentally, the opening angle between the left edge 23A and the opening edge 25A is approximately 90 degrees from the position where the opening edge 25A comes into contact with the left edge 23A of the left rotation part 23. It opens to an arbitrary angle within a predetermined angle range up to the position.

  Further, the right rotation part 22 is formed in a cylindrical shape, and the first speaker for the right channel (hereinafter referred to as the right speaker) of the pair of first and second speakers 28 and 29 for stereo. 28) is stored with only the front surface of the circular diaphragm exposed from the opening of the right edge 22A. Here, the right opening / closing part 24 can be opened / closed independently of the left opening / closing part 25. When the right opening / closing part 24 rotates via the hinge part 26 and closes the opening edge 24A in contact with the right edge 22A of the right rotation part 22, the diaphragm of the right speaker 28 is externally applied. Can be hidden. When the right opening / closing part 24 rotates via the hinge part 26 and opens the opening edge part 24A so as to be separated from the right edge part 22A of the right rotation part 22, the diaphragm of the right speaker 28 is exposed to the outside. It can be exposed.

  On the other hand, the left rotation part 23 is also formed in a cylindrical shape, and a second speaker 29 for the left channel (hereinafter referred to as a left speaker) having the same configuration and shape as the right speaker 28 is circular. Only the front surface of the diaphragm is exposed from the opening of the left edge 23A and stored. Accordingly, when the left opening / closing part 25 rotates through the hinge part 27 and closes the opening edge part 25A in contact with the left edge part 23A of the left rotation part 23, the diaphragm of the left speaker 29 is externally applied. Can be hidden. Further, when the left opening / closing part 25 rotates via the hinge part 27 and opens the opening edge part 25 </ b> A so as to be separated from the left edge part 23 </ b> A of the left rotation part 23, the front side of the diaphragm of the left speaker 29 is It can be exposed to the outside.

  Further, as shown in FIG. 6, the right rotation unit 22 can rotate independently of the left rotation unit 23. The right rotation unit 22 can rotate independently of the opening / closing operation of the right opening / closing unit 24. Further, the left-side turning part 23 can also turn independently of the opening / closing operation of the left-side opening / closing part 25.

  In addition to this, as shown in FIGS. 3A and 3B and FIG. 4, the right end portion of the housing central portion 21 has a predetermined outer diameter larger than the maximum outer diameter of the housing central portion 21. An annular right wheel 30 having an annular shape is pivotally supported around a horizontal rotation axis L1 so as to be rotatable in one direction D1 around the axis and in the other direction around the axis. Further, a left wheel 31 having the same shape and the same outer shape as the right wheel 30 can be rotated around the horizontal rotation axis L1 in one direction D1 around the axis and in the other direction around the axis at the left end of the housing central portion 21. It is pivotally supported by. The right wheel 30 is for rotating together with the left wheel 31 to make the ellipsoidal housing 20 self-propelled, and can rotate independently of the left wheel 31.

  A weight 32 made of a battery or the like is fixed at a predetermined position on the inner wall within the housing central portion 21. In addition, the housing central portion 21 includes a distance from the center point P1 of the ellipsoidal housing 20 to the right end portion (that is, the right wheel 30) and a left end portion (from the center point P1 of the ellipsoidal housing 20). That is, a predetermined distance equal to the distance to the left wheel 31) is selected. Furthermore, the right rotation part 22 and the left rotation part 23 have the same shape and are selected to have a predetermined width that is equal to each other. Further, the right opening / closing part 24 and the left opening / closing part 25 have the same shape, and the widths from the opening edges 24A and 25A to the apexes P2 and P3 on the surface are selected to be equal to each other. That is, the ellipsoidal casing 20 is formed symmetrically with respect to a virtual plane (not shown) passing through the center P1 of the ellipsoidal casing 20 and having the horizontal rotation axis L1 as a perpendicular.

  For this reason, when the ellipsoidal casing 20 is placed on a table top or a floor of a desk (hereinafter collectively referred to as a floor), the outer peripheral surface of the maximum outer shape portion of the casing central portion 21 is the floor. Is supported by the right wheel 30 and the left wheel 31 in a posture in which the horizontal rotation axis L1 is parallel to the floor surface. In addition, the ellipsoidal housing 20 is placed on the floor because the center of gravity of the housing central portion 21 is shifted from the center point P1 toward the inner wall by the weight 32 in the housing central portion 21. The weight 32 is positioned vertically downward (that is, the center of gravity formed by the weight 32 is as close as possible to the floor surface) (hereinafter referred to as a reference posture).

  The weight 32 in the housing central portion 21 is selected to be relatively heavy. Therefore, when the ellipsoidal housing 20 is placed on the floor while being supported by the right wheel 30 and the left wheel 31, the right opening part 24 and the left opening part 25 are independently opened at an arbitrary angle. However, the reference posture can be maintained without tilting to the right side or the left side. Further, the ellipsoidal housing 20 is not affected even when the right rotation part 22 and the left rotation part 23 rotate independently with the right opening part 24 and the left opening part 25 opened independently. In addition, the reference posture can be maintained without tilting to the left side or the like.

  In addition to this, even when the ellipsoidal casing 20 is self-propelled on the floor by the rotation of the right wheel 30 and the left wheel 31, the center of gravity of the casing central part 21 is caused by the weight 32 in the casing central part 21. Is shifted from the center point P1 toward the inner wall, so that the casing central portion 21 can be prevented from rotating in one direction D1 around the axis and in the other direction around the axis about the horizontal rotation axis L1. ing. Further, the weight of the ellipsoidal casing 20 is relatively heavy, so that when the right opening / closing part 24 and the left opening / closing part 25 are independently opened at an arbitrary angle during self-running, the right and left sides etc. The reference posture can be maintained almost without tilting. In addition, when the ellipsoidal casing 20 is self-propelled, the right rotation unit 22 and the left rotation unit 23 are independently rotated with the right opening unit 24 and the left opening unit 25 being independently opened. Even in such a case, the reference posture can be substantially maintained with little inclination to the right side and the left side.

  By the way, a contact detection sensor 33 for detecting that a finger, a hand, or the like is in contact with the upper surface of the reference posture is provided on the surface of the housing central portion 21. The contact detection sensor 33 is configured to detect, for example, a finger or a hand that is in contact with a fingertip-sized region on the surface of the housing central portion 21. On the right side of the right wheel 30, an annular right light emitting unit 34 that emits light is provided. Further, an annular left side light emitting unit 35 that emits light having the same configuration as that of the right side light emitting unit 34 is provided on the left side of the left wheel 31. The right side light emitting unit 34 and the left side light emitting unit 35 are configured to be able to emit light by varying the light emission state, such as the whole, a part, or the emission color.

  Next, the circuit configuration of the personal computer 12 will be described with reference to FIG. For example, when a control unit 40 having a microcomputer configuration receives various commands in response to a user operation on an input unit 41 such as a keyboard or a mouse, the personal computer 12 has an internal memory (not shown). 2), or various programs such as a basic program, an application program, and a motion data generation program stored in advance in the storage unit 42 composed of a hard disk drive. The control unit 40 controls the whole in accordance with these various programs, and executes predetermined arithmetic processing and various processings according to various commands input via the input unit 41.

  Thus, the control unit 40 is loaded into the personal computer 12 when an operation command for recording music data recorded on a medium such as a CD (Compact Disc) is input by the user via the input unit 41. The music data is read from the medium, and the music data thus read is compression-encoded to generate compressed music data, which is sent to the storage unit 42 for storage.

  Further, when an operation command for requesting distribution of desired music data is input by the user via the input unit 41, the control unit 40 provides music on the network via the network communication processing unit 43 accordingly. A server (not shown) is accessed to request download of desired music data. As a result, the control unit 40 receives the compressed music data (that is, the data generated by compression encoding the desired music data) returned from the music providing server by the network communication processing unit 43. Then, the control unit 40 stores the compressed music data distributed by the music providing server in the storage unit 42. Thus, the control unit 40 can store a large number of compressed music data in the storage unit 42.

  When the compressed music data in the storage unit 42 is designated by the user via the input unit 41 and an operation command for requesting the reproduction of the designated compressed music data is input by the user, the control unit 40 In response, the designated compressed music data is read from the storage unit 42. Further, the control unit 42 performs reproduction processing such as decoding on the compressed music data read from the storage unit 42 to generate original music data, which is output by an output unit 44 including a digital / analog converter, an amplifier, a speaker, and the like. To send. Accordingly, the control unit 40 can output music based on the compressed music data stored in the storage unit 42 from the output unit 44 and allow the user to listen to the music.

  Further, the storage unit 42 reads out music data from the medium loaded in the personal computer 12 and outputs the output unit 44 when a user inputs an operation command for requesting reproduction of music data from the medium via the input unit 41. To send. As a result, the control unit 40 can also output music based on the music data recorded on the medium from the output unit 44 to listen to the user.

  Further, the control unit 40 generates display data according to the execution results of various programs (for example, acquisition, recording and playback of music data), and sends them to the display unit 45 including a display control unit and a display. Thereby, the control unit 40 can display various screens related to the acquisition, recording, reproduction, and the like of the music data based on the display data on the display unit 45 so that the user can visually recognize the screen.

  Furthermore, the control unit 40 can wirelessly communicate with the music robot apparatus 11 via the communication unit 46. Then, the control unit 40 requests that the compressed music data to be stored and held in the music robot apparatus 11 is specified by the user via the input unit 41 and that the specified compressed music data is transmitted to the music robot apparatus 11. When an operation command is input, the designated compressed music data is read from the storage unit 42. Then, the control unit 40 transmits the compressed music data read from the storage unit 42 at this time to the music robot apparatus 11 via the communication unit 46 as it is. As a result, the control unit 40 can supply the compressed music data to the music robot apparatus 11 and store it.

  Further, when the compressed music data is designated by the user via the input unit 41 and an operation command for requesting the music robot apparatus 11 to reproduce the designated compressed music data is input, the control unit 40 stores the compressed music data. The designated compressed music data is read from the unit 42. At this time, the control unit 40 transmits the compressed music data read from the storage unit 42 to the music robot apparatus 11 via the communication unit 46 in a streaming manner as the original music data while performing reproduction processing. In this way, the control unit 40 can supply the compressed music data stored in the storage unit 42 to the music robot apparatus 11 as original music data.

  Furthermore, the control unit 40 has a right rotating unit 22, a left rotating unit 23, a right opening / closing unit 24, a left opening / closing unit 25, a right wheel 30 Motion pattern data for moving each left wheel 31 in a desired motion pattern for a predetermined time such as several seconds selected in advance (hereinafter referred to as motion execution time) is stored. A plurality of types of movement pattern data are prepared for each of the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31.

  In this case, the plurality of types of movement pattern data corresponding to the right-side rotation unit 22 includes the rotation direction and rotation angle from the start to the end of the movement of the right-side rotation unit 22 corresponding to one movement pattern, the rotation speed, The reversal of the rotation direction or the like is generated along the time axis of the motion execution time. Similarly, the plurality of types of movement pattern data corresponding to the left rotation unit 23 are also the rotation direction, rotation angle, rotation speed from the start to the end of the movement of the left rotation unit 23 corresponding to one movement pattern, The reversal of the rotation direction or the like is generated along the time axis of the motion execution time. Incidentally, as a movement pattern corresponding to the right rotation part 22 and the left rotation part 23, for example, a movement pattern that moves relatively slowly in a predetermined direction (that is, one direction around the axis D1 and the other direction around the axis) There are a movement pattern that moves so as to rotate in a predetermined direction relatively quickly, a movement pattern that moves so as to quickly and repeatedly reverse the rotation direction, and the like.

  The plurality of types of movement pattern data corresponding to the right opening / closing unit 24 includes the opening / closing direction, opening / closing angle, opening / closing speed, opening / closing frequency, etc. from the start to the end of the movement of the right opening / closing unit 24 corresponding to one movement pattern. It is generated as shown along the time axis of the motion execution time. Similarly, a plurality of types of movement pattern data corresponding to the left side opening / closing unit 25 are also the opening / closing direction, opening / closing angle, opening / closing speed, and number of times of opening / closing of the left side opening / closing unit 25 corresponding to one movement pattern. Are generated along the time axis of the motion execution time. Incidentally, as the movement pattern corresponding to the right opening / closing part 24 and the left opening / closing part 25, for example, a movement pattern that moves relatively slowly opens or closes, a movement pattern that moves relatively quickly opens or closes, and the opening / closing direction quickly and repeatedly. There is also a movement pattern that moves so as to reverse.

  A plurality of types of movement pattern data corresponding to the right wheel 30 are used to execute the rotation direction, rotation angle, rotation speed, rotation speed, etc. from the start to the end of the movement of the right wheel 30 corresponding to one movement pattern. It is generated as shown along the time axis of time. Similarly, the plurality of types of movement pattern data corresponding to the left wheel 31 also indicate the rotation direction, rotation angle, rotation speed, rotation speed, etc. from the start to the end of the movement of the left wheel 31 corresponding to each movement pattern. , As shown along the time axis of the motion execution time. Incidentally, as a motion pattern corresponding to the right wheel 30 and the left wheel 31, for example, a motion pattern that moves relatively slowly in a predetermined direction (that is, one direction around the axis D1 and the other direction around the axis), or a relatively fast predetermined pattern. There are a movement pattern that moves so as to rotate in a direction, a movement pattern that moves so as to quickly reverse the rotation direction, and the like.

  In the case of this embodiment, the right rotation part 22, the left rotation part 23, the right opening / closing part 24, the left opening / closing part 25, the right wheel 30 and the left wheel 31 as movable parts provided in the music robot apparatus 11 are: Each is individually driven by a motor. The movement pattern data includes a rotation direction and a rotation speed for rotating the output shaft of the motor for each of the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31. This is data that has an instruction value to instruct and can be used as it is for driving the motor.

  Actually, the control unit 40 constructs a database for motion pattern data management (hereinafter referred to as a motion pattern database) MDB in the storage unit 42 as shown in FIG. Then, the control unit 40 converts a plurality of types of movement pattern data for each of the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31 into fast-tempo music, Categorize according to various characteristics of music such as slow-tempo music, music that fits in the morning time zone, etc. ) It is registered in the motion pattern database MDB.

  The control unit 40 also includes a plurality of types of light emission pattern data for causing each of the right light emitting unit 34 and the left light emitting unit 35 as light emitting units provided in the music robot apparatus 11 to emit light in a desired light emission pattern during the movement execution time. They are classified according to various characteristics such as music tempo (that is, light emission patterns suitable for various characteristics such as music tempo are grouped together) and registered in the motion pattern database MDB.

  The plurality of types of light emission pattern data corresponding to the right light emitting unit 34 change the light emission state from the start to the end of light emission of the right light emitting unit 34 corresponding to one light emission pattern, and move along the time axis of execution time. Has been generated as shown. Similarly, a plurality of types of light emission pattern data corresponding to the left side light emitting unit 35 similarly change the light emission state from the start to the end of light emission of the left side light emitting unit 35 corresponding to one light emission pattern, and the time axis of the execution time. It is generated as shown along. Incidentally, as a light emission pattern corresponding to the right side light emitting unit 34 or the left side light emitting unit 35, for example, a light emission pattern in which the entire ring continuously emits light with a single emission color for a predetermined time, or a light emission in which the entire ring is sequentially changed in emission color to emit light. There are a pattern, a light emission pattern for partially emitting light from the ring, and the like.

  Then, the control unit 40, for example, designates compressed music data via the input unit 41 by the user and moves the music robot apparatus 11 as a whole according to the music output based on the designated compressed music data (hereinafter, referred to as “motion data”). When an operation command for requesting automatic generation of this (referred to as robot motion data) is input, motion data generation processing is executed. Thereby, the control unit 40 can generate robot motion data using the motion pattern data and the light emission pattern data. Actually, when executing the motion data generation process, the control unit 40 reproduces the compressed music data read from the storage unit 42 at the same time as the motion data generation process, and obtains the original music obtained as a result. Analytical processing to analyze the data is also executed. The control unit 40 includes, as such analysis processing, beat detection processing for detecting a position corresponding to a beat of music in music data (hereinafter referred to as a beat position), and feature analysis processing for analyzing characteristics of the music. Are running concurrently.

  When the robot motion data is generated, the control unit 40 performs a predetermined unit processing part (for example, a part corresponding to music for one second) in the beat detection process in order of music data (that is, from the head to the tail of the music data). ), The energy sum of each frequency band is obtained for each unit processing portion. Further, the control unit 40 sequentially detects a position where the total energy is remarkably large along the music reproduction time axis as a beat position corresponding to the beat of the music, based on the total energy for each unit processing portion. Then, the control unit 40 extends from the beginning to the end of the music data, for example, a section corresponding to a musical measure (that is, 1/2 measure, 1 measure, 2 measures, etc.) with a predetermined number of beat positions as delimiters ( Hereinafter, this is referred to as a music tone section).

  In the feature analysis process, the control unit 40 extracts the energy for each frequency band corresponding to each of the 12 scales of one octave from the unit processing portion of the music data sequentially (that is, from the head to the tail of the music data). Based on the energy of each frequency band for each music tone section, various information (hereinafter referred to as section information) such as musical instruments and chords used for music performance is detected. Further, the control unit 40 analyzes a music feature (hereinafter referred to as a section feature) based on the detected section information for each music tone section of the music data.

  Furthermore, the control unit 40 specifies the music tone section of the music data by the beat detection process and the feature analysis process, and reproduces the music section of the music data in the motion data generation process every time the section feature is analyzed for the music section. During this period (that is, while a predetermined section of music corresponding to the music tone section of the music data is output), a movement pattern for moving the movable portion and a light emission pattern for causing the light emitting portion to emit light are set. That is, as shown in FIG. 9, when the control unit 40 identifies the music intervals KB1 to KB6 of the music data, for example, the right side corresponding to the segment features of the music intervals KB1 to KB6 from the motion pattern database MDB in the storage unit 42. One motion pattern data among a plurality of types of motion pattern data of the rotation unit 22 is randomly selected and read.

  Then, the control unit 40 assigns the read one motion pattern data to the music tone intervals KB1 to KB6 of the music data. That is, the control unit 40 reads the motion pattern data for driving and controlling the right-side rotation unit 22 from the motion pattern database MDB in the storage unit 42 while reproducing the music tone sections KB1 to KB6. Set motion pattern data. Accordingly, the control unit 40 sets a movement pattern for moving the right rotation unit 22 when a predetermined section of music corresponding to the music tone sections KB1 to KB6 of the music data is output.

  Similarly, the control unit 40 applies one to each of the music tone sections KB1 to KB6 based on the section characteristics, for each of the left rotation section 23, right opening / closing section 24, left opening / closing section 25, right wheel 30, and left wheel 31. One motion pattern data is also selected and assigned. That is, the control unit 40 drives and controls each of the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31 while reproducing the music tone sections KB1 to KB6. The data is set to the motion pattern data read from the motion pattern database MDB in the storage unit 42. As a result, the control unit 40 outputs the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30 and the left side when the predetermined music section corresponding to the music tone sections KB1 to KB6 is output. A movement pattern for moving each of the wheels 31 is also set.

  Further, similarly, the control unit 40 selects and assigns one light emission pattern for each of the right light emitting unit 34 and the left light emitting unit 35 to the music tone sections KB1 to KB6 based on the section characteristics. That is, the control unit 40 reads the light emission pattern data for controlling the right light emitting unit 34 and the left light emitting unit 35 from the motion pattern database MDB in the storage unit 42 while reproducing the music tone sections KB1 to KB6. Set to flash pattern data. Thus, the control unit 40 sets a light emission pattern for causing the right light emitting unit 34 and the left light emitting unit 35 to emit light when a predetermined music section corresponding to the music tone sections KB1 to KB6 of the music data is output.

  Incidentally, the control unit 40 prevents the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30 and the left wheel 31 from moving during the movement execution time. For example, motion pattern data indicating an instruction value of “0” along the time axis of motion execution time (hereinafter, this is particularly referred to as motion stop pattern data) is also stored in the storage unit 42. Further, the control unit 40 emits light indicating a control value of “0” along the time axis of the motion execution time, for example, so that the right light-emitting unit 34 and the left light-emitting unit 35 do not emit light during the motion execution time. Pattern data (hereinafter, specifically referred to as light emission stop pattern data) is also stored in the storage unit 42.

  When the control unit 40 detects that the predetermined section of music corresponding to the music intervals KB1 to KB6 of the music data is a portion corresponding to an interlude by the feature analysis process, the control section 40 selects the music intervals KB1 to KB6. On the other hand, the movement stop pattern data can be assigned as at least one movement pattern data of the right rotation part 22, the left rotation part 23, the right opening / closing part 24, the left opening / closing part 25, the right wheel 30, and the left wheel 31. In such a case, the control unit 40 can also assign light emission stop pattern data as at least one light emission pattern data of the right light emitting unit 34 or the left light emitting unit 35 to the music tone intervals KB1 to KB6.

  That is, the control unit 40 is configured to output the right rotation unit 22 when a predetermined section of music corresponding to the music sections KB1 to KB6 is output according to the section characteristics corresponding to the music sections KB1 to KB6 of the music data. It can be set so that the left rotation part 23, the right opening / closing part 24, the left opening / closing part 25, the right wheel 30 and the left wheel 31 are not moved at all. Further, the control unit 40 outputs the right light emitting unit 34 and the left light emitting unit 34 when the predetermined music section corresponding to the music sections KB1 to KB6 is output according to the section features corresponding to the music sections KB1 to KB6 of the music data. It can also be set so that the part 35 does not emit light at all.

  Further, the control unit 40 performs the right rotation for at least two music intervals KB1 to KB6 that detect that the same chord is used as the interval information among the plurality of music intervals KB1 to KB6 of the music data. The same movement pattern data is assigned to at least one of the moving part 22, the left turning part 23, the right opening / closing part 24, the left opening / closing part 25, the right wheel 30 and the left wheel 31. Further, the control unit 40 is the same for at least one of the right side light emitting unit 34 and the left side light emitting unit 35 for at least two music tone sections KB1 to KB6 that detect that the same code is used as the section information. The light emission pattern data is assigned.

  Further, when the control unit 40 assigns motion pattern data and light emission pattern data to the musical tone intervals KB1 to KB6 of the music data, the time code added to the musical tone intervals KB1 to KB6 (that is, the reproduction time axis for the music data). Based on the time code), the playback time (hereinafter referred to as the section playback time) when the music tone sections KB1 to KB6 are actually output as the predetermined section of music is detected. Then, the control unit 40 compares the section playback time and the motion execution time of the music sections KB1 to KB6. As a result, when the section reproduction time and the motion execution time match, the control unit 40 assigns the motion pattern data and the light emission pattern data to the music tone sections KB1 to KB6 as they are.

  In contrast, when the section playback time is shorter than the motion execution time, the control unit 40 moves the motion pattern data and the light emission pattern data along the time axis of the motion execution time so that the motion execution time matches the section playback time. It is processed so as to be compressed and assigned to the music tone sections KB1 to KB6. That is, in such a case, the control unit 40 processes the movement indicated by the original movement pattern into a movement pattern that is faster than this, and changes the light emission state indicated by the original light emission pattern more quickly than this. The light emission pattern is processed into a light emission state.

  In addition, when the section playback time is longer than the motion execution time, the control unit 40 extends the motion pattern data and the light emission pattern data along the time axis of the motion execution time so that the motion execution time matches the section playback time. To be assigned to the music tone sections KB1 to KB6. That is, in such a case, the control unit 40 processes the movement indicated by the original movement pattern into a movement pattern that moves more slowly than this, and changes the emission change indicated by the original emission pattern more slowly than this. It is processed into a light emission pattern. Incidentally, the control unit 40 similarly processes and assigns the motion stop pattern data and the light emission stop pattern data as appropriate to the music tone sections KB1 to KB6 of the music data.

  Therefore, the control unit 40 does not time out the motion pattern data, the motion stop pattern data, the light emission pattern data, and the light emission stop pattern data for all the music tone sections KB1 to KB6 from the beginning to the tail of the music data. Assigned continuously. When the control unit 40 assigns the motion pattern data, the motion stop pattern data, the light emission pattern data, and the light emission stop pattern data to all the music interval KB1 to KB6 from the beginning to the tail of the music data, all the music intervals For example, a data string of motion pattern data and motion stop pattern data of the right rotation unit 22 that is allocated to KB1 to KB6 and arranged along the music playback time axis is used as motion data for the right rotation unit 22. In this way, the control unit 40 obtains motion data for moving the right rotation unit 22 while music based on one music data is being output.

  Similarly, the control unit 40 assigns to all the musical tone intervals KB1 to KB6 of the music data and arranges them along the music playback time axis, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right side. The data patterns of the movement pattern data and the movement stop pattern data of the wheel 30 and the left wheel 31 are also used as the movement data of the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30 and the left wheel 31. . In this way, the control unit 40 moves each of the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30 and the left wheel 31 while music based on one music data is being output. Get motion data.

  Further, similarly, the control unit 40 assigns all the musical tone intervals KB1 to KB6 of the music data and arranges the light emission pattern data and light emission stop of each of the right light emitting unit 34 and the left light emitting unit 35 arranged along the music reproduction time axis. A data string of pattern data is used as light emission data of the right light emitting unit 34 and the left light emitting unit 35. Accordingly, the control unit 40 obtains light emission data for causing the right light emitting unit 34 and the left light emitting unit 35 to emit light while music based on one music data is being output. And the control part 40 is the right rotation part 22, the left rotation part 23, the right opening / closing part 24, the left opening / closing part 25, the right wheel 30, the movement data for every left wheel 31, the right light emitting part 34, the left light emitting part. The light emission data for each of the 35 are collectively used as robot motion data for moving the entire music robot apparatus 11 in accordance with music based on one music data.

  In this way, the control unit 40 can generate robot motion data corresponding to the compressed music data. Actually, for example, the control unit 40 automatically designates compressed music data of music to be reproduced by the music robot apparatus 11 by the user via the input unit 41, and automatically uses the designated compressed music data to automatically transmit the robot motion data. When a request command for requesting generation is input, the specified compressed music data is read from the storage unit 42. Then, the control unit 40 reproduces the compressed music data read from the storage unit 42 and generates robot motion data using the music data obtained as a result.

  At this time, for example, when the robot motion data is generated from the head to a predetermined part in the middle using music data, the control unit 40 divides the robot motion data generated up to the middle into predetermined units from the head to communicate with the communication unit 46. To start transmission to the music robot device 11. Incidentally, when the control unit 40 generates robot motion data up to a predetermined portion and starts transmission to the music robot device 11, the control unit 40 continues to generate the robot motion data while continuing to generate the remaining portion of the robot motion data. .

  Then, the control unit 40 has already started transmission of the robot motion data to the music robot apparatus 11, and an operation command that requests the user to transmit music data to the music robot apparatus 11 via the input unit 41. In response to this, the compressed music data read from the storage unit 42 is reproduced and transmitted to the music robot apparatus 11 via the communication unit 46 in a streaming manner as original music data. In this way, the control unit 40 can supply the robot movement data together with the music data to the music robot apparatus 11.

  Incidentally, when the control unit 40 transmits the predetermined unit portion at the head of the robot motion data to the music robot device 11, thereafter, every time the remaining predetermined unit portion is requested from the music robot device 11, the robot motion is responded accordingly. Data is sequentially divided into predetermined unit parts and transmitted. Therefore, when supplying the robot motion data together with the compressed music data and the music data to the music robot apparatus 11, the control unit 40 avoids an increase in communication load.

  Further, when the control unit 40 finishes transmitting the robot motion data to the music robot device 11, for example, according to the user setting, the control unit 40 can store the robot motion data in association with the compressed music data in the storage unit 42. . In this case, the control unit 40 can also discard the robot movement data at the time when transmission of the robot movement data to the music robot apparatus 11 is completed, for example, according to user settings. When the robot motion data is stored in the storage unit 42, the control unit 40 can supply the robot motion data to the music robot device 11 without generating the robot motion data again. The robot movement data can be read out from the communication unit 46 and transmitted to the music robot apparatus 11.

  Further, the control unit 40 receives, for example, an operation command for requesting to automatically generate the robot motion data using the specified compressed music data by simply specifying the compressed music data via the input unit 41 by the user. When it is done, robot motion data is generated accordingly. The control unit 40 can also store the robot motion data in the storage unit 42 in association with the compressed music data.

  Next, the circuit configuration of the music robot apparatus 11 will be described with reference to FIG. The music robot apparatus 11 includes a main controller 50 having a microcomputer configuration that controls the music robot apparatus 11 as a whole. In addition, the music robot apparatus 11 includes a right rotating unit 22, a left rotating unit 23, a right opening / closing unit 24, a left opening / closing unit 25, a right wheel 30, and a left wheel 31 as the movable unit 51 via a driving unit 52. A drive control unit 54 having a microcomputer configuration is also provided, which controls driving and controls the right side light emitting unit 34 and the left side light emitting unit 35 as the light emitting unit 53.

  Here, the drive unit 52 includes six motors that individually drive the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31, and these motors. And six rotation detection sensors composed of a rotary encoder or the like for detecting the rotation of the output shaft. Accordingly, the drive control unit 54 controls the individual motors of the drive unit 52 based on the above-described robot movement data, so that the right rotation unit 22, the left rotation unit 23, and the right open / close corresponding to the individual motors. The unit 24, the left opening / closing part 25, the right wheel 30, and the left wheel 31 are driven.

  Furthermore, the music robot apparatus 11 includes, as the input unit 55, an acceleration sensor 56 that detects acceleration generated in the ellipsoidal housing 20, for example, housed in the housing central portion 21 together with the contact detection sensor 33 described above. In this case, when the user's finger or the like touches, the contact detection sensor 33 sends a contact detection signal to the drive control unit 54 only while the finger or the like is in contact. Then, when a contact detection signal is given from the contact detection sensor 33, the drive control unit 54 is in contact with the contact detection sensor 33 based on the contact detection signal (for example, a single contact that is lightly tapped with a fingertip). Or two or more continuous contacts, or a state in which a finger or the like remains in contact).

  Further, as shown in FIG. 11, the acceleration sensor 56 always uses, for example, accelerations of the three axes (X axis, Y axis, and Z axis) perpendicular to each other generated in the ellipsoidal casing 20 as X axis detection acceleration values, Detected as a Y-axis detected acceleration value and a Z-axis detected acceleration value, these are sent to the drive control unit 54 as an acceleration detection signal. Incidentally, among the three axes for detecting acceleration, the X axis is an axis parallel or coincident with the horizontal rotation axis L1 of the ellipsoidal casing 20, and is also an axis parallel to the left-right direction with respect to the ellipsoidal casing 20. The Z axis is an axis parallel to the vertical direction when the ellipsoidal casing 20 is in the reference posture, and is also an axis parallel to the vertical direction with respect to the ellipsoidal casing 20. Further, the Y axis is an axis orthogonal to the horizontal rotation axis L1 and the vertical direction when the ellipsoidal casing 20 is in the reference posture, and is also an axis parallel to the front-rear direction with respect to the ellipsoidal casing 20.

  The drive control unit 54 has three axes (X-axis, Y-axis, and Z-axis) when the ellipsoidal casing 20 is placed on a substantially horizontal floor and is stationary without operating all the movable parts. Are stored in advance in, for example, an internal memory as an X-axis reference acceleration value, a Y-axis reference acceleration value, and a Z-axis reference acceleration value (hereinafter collectively referred to as a reference acceleration value). Then, when an acceleration detection signal is given from the acceleration sensor 56, the drive control unit 54 is placed on the floor of the ellipsoidal casing 20 (based on the acceleration detection signal and the reference acceleration value, and stops stationary). And the like are moving on the floor, held by the user and swung in a predetermined direction).

  In this way, when the contact detection signal or the acceleration detection signal is input from the input unit 55, the drive control unit 54 determines the contact state of the finger or the like to the contact detection sensor 33 and the state of the ellipsoidal housing 20 at that time. In accordance with the combination, the presence / absence of an instruction input to the music robot apparatus 11 by the user is determined, and when the instruction is input, the type of the instruction is determined. Then, when a command is input by the user, the drive control unit 54 notifies the main control unit 50 of what command has been input. By the way, the music robot apparatus 11 can generate a compressed music data reproduction start command, a compressed music data selection command to be reproduced, or the like by combining the contact state of a finger or the like with the contact detection sensor 33 and the state of the ellipsoidal housing 20. In this way, various commands can be input.

  When the input of various commands is notified from the drive control unit 54, the main control unit 50 performs various operations according to various programs such as a basic program, an application program, and a motion data generation program stored in the internal memory or the storage unit 57 in advance. Execute the process. In addition, the main control unit 50 can perform various processes by wirelessly communicating with the personal computer 12 via the communication unit 58 so that the personal computer 12 serves as a main body and functions independently. ing.

  Thus, when the main control unit 50 receives the compressed music data for storage holding transmitted from the personal computer 12 by the communication unit 58, the main control unit 50 stores the compressed music data in the storage unit 57. Also, the main control unit 50 stores the same motion pattern database MDB as described above with reference to FIG. 8 with respect to the storage unit 57, or the motion pattern data and light emission pattern data registered in the motion pattern database MDB. It stores a motion pattern database that is slightly reduced for each classification according to the.

  When the main control unit 50 is instructed to reproduce the compressed music data in the storage unit 57 by the user with the music robot device 11 placed on the floor, for example, the main control unit 50 receives the compressed music from the storage unit 57. While reading and reproducing the data, the original music data obtained as a result is sent to an output unit 59 including a digital-analog converter, an amplifier, the right speaker 28, the left speaker 29, and the like. As a result, the main control unit 50 can output music based on the music data from the right speaker 28 and the left speaker 29 and allow the user to listen to the music.

  The main control unit 50 reads the compressed music data from the storage unit 57 and performs the reproduction process in a state where the music robot apparatus 11 is placed on the floor as described above, in parallel with the reproduction process. Analysis processing of original music data obtained while reproducing music data and motion data generation processing for generating robot motion data are also executed. When the main control unit 50 actually reads the compressed music data from the storage unit 57 and starts the reproduction process, the main control unit 50 simultaneously performs beat detection processing and feature analysis processing as analysis processing of the music data obtained as a result. .

  While executing the reproduction processing of the compressed music data, the main control unit 50 sets the detected volume level in advance while detecting the volume level for each predetermined unit processing portion of the music data in the beat detection processing. Compare with the relatively large threshold value. Based on the comparison result, the main control unit 50 sequentially detects positions where the volume level is equal to or higher than the threshold value in the music data as beat positions corresponding to music beats. As a result, the main control unit 50 extends a music tone interval corresponding to a measure (ie, 1/2 measure, 1 measure, 2 measures, etc.) from the beginning to the end of the music data, with the beat position for each predetermined number as the break position. Identify sequentially. At this time, the main control unit 50 analyzes the section feature of the music section based on the volume level detected a plurality of times for each music section of the music data in the feature analysis process.

  Furthermore, in the motion data generation process, the main control unit 50 performs motion pattern data, motion stop pattern data, and light emission pattern data for the musical tone interval from the beginning to the rear of the music data, as in the case of the personal computer 12 described above. And flash stop pattern data are assigned. That is, the main control unit 50 plays the movable unit 51 (that is, the right-side rotation unit) while the music data is playing the music section (that is, while a predetermined section of music corresponding to the music section is output). 22, the movement pattern data read from the movement pattern database in the storage unit 57 for driving and controlling the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30 and the left wheel 31). Set to data. Further, the main control unit 50 obtains light emission pattern data for controlling the light emitting unit 53 (that is, the right light emitting unit 34 and the left light emitting unit 35) from the motion pattern database in the storage unit 57 while reproducing the music tone section. The read light emission pattern data is set.

  Then, the main control unit 50 assigns motion pattern data, motion stop pattern data, light emission pattern data, and light emission stop pattern data of the movable unit 51 and the light emitting unit 53 sequentially to one music interval from the head to the tail of the music data. In addition, the motion pattern data and the motion stop pattern data assigned to the one music tone section are transferred to the movable portion 51 (that is, the right rotation portion 22, the left rotation portion 23, the right opening / closing portion 24, the left opening / closing portion 25, the right wheel). 30, the left wheel 31) is used as movement data for moving (or stopping the movement) while outputting a predetermined section of music. Further, the main control unit 50 outputs the light emission pattern data and light emission stop pattern data assigned to one music tone interval, while the light emission unit 53 (that is, the right light emission unit 34 and the left light emission unit 35) outputs a predetermined section of music. The light emission data is used to cause the light to be emitted (or to stop the light emission).

  Furthermore, the main control unit 50 collects all the motion data and the light emission data assigned to one music section of the music data, and outputs the predetermined section portion of music corresponding to the one music section, while the music robot apparatus 11 The robot motion data for moving the whole is used. In this way, the main control unit 50 generates robot motion data corresponding to one music tone section in order of the music data, and maintains the arrangement of the robot motion data along the music reproduction time axis to drive control unit 54. To send.

  Thereby, the drive control unit 54 includes the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30 and the left wheel included in the robot motion data given from the main control unit 50. 31, the driving unit 52 is controlled based on the respective movement data to drive the corresponding right side rotating unit 22, left side rotating unit 23, right side opening / closing unit 24, left side opening / closing unit 25, right wheel 30 and left wheel 31. . Further, the drive control unit 54 controls the right light emitting unit 34 and the left light emitting unit 35 corresponding to each of the right light emitting unit 34 and the left light emitting unit 35 included in the robot motion data.

  In this way, the drive control unit 54 outputs the right rotation unit 22, the left rotation unit 23, and the right side based on the motion data while a predetermined section of music corresponding to one music interval is sequentially output. The opening / closing part 24, the left opening / closing part 25, the right wheel 30 and the left wheel 31 are moved in a desired movement pattern or stopped. Further, the drive control unit 54 sets the right light emitting unit 34 and the left light emitting unit 35 in a desired light emission pattern based on the light emission data while a predetermined music music portion corresponding to one music tone sequence of music data is output in sequence. Light emission or stop light emission.

  By the way, when performing the beat detection process and the characteristic analysis process as the analysis process for the music data, the main control unit 50 performs the volume of the music data without performing any complicated process on the music data as in the personal computer 12 described above. The beat position is detected by simple processing that detects the level, and the section feature is analyzed. Therefore, the main control unit 50 generates the robot motion data in a relatively short time while suppressing an increase in processing load as compared with the personal computer 12.

  However, the main control unit 50 reproduces the compressed music data read from the storage unit 57 and generates music data to be sent to the output unit 59. The main control unit 50 generates robot motion data to be sent to the drive control unit 54 by further executing analysis data and motion data generation processing using the music data obtained by the reproduction processing. That is, when the main control unit 50 reads the compressed music data from the storage unit 57, the main control unit 50 slightly delays in time from the time when the head portion of the music data to be sent to the output unit 59 is obtained, and then goes to the drive control unit 54. The top robot movement data to be sent is obtained.

  Accordingly, the main control unit 50 temporarily stores the music data obtained as a result of the compressed music data read from the storage unit 57 in an internal buffer (hereinafter simply referred to as a buffer). Yes. As a result, the main control unit 50 delays the start of sending music data to the output unit 59. In addition, every time the main control unit 50 generates robot motion data corresponding to one music tone interval in the music data, the robot control data is temporarily stored in the buffer.

  In this way, the main control unit 50 delays the start of sending music data to the output unit 59 by a predetermined delay time set in advance, and matches the delay of the start of sending music data to the output unit 59. The transmission start of the robot motion data to the drive control unit 54 is also delayed. Incidentally, the delay time is selected, for example, as a predetermined time from the start of temporary storage of music data to the buffer to the time when robot motion data corresponding to a predetermined number of music tone intervals can be temporarily stored in the buffer.

  The main control unit 50 reads out the music data from the buffer and starts sending it to the output unit 59 at the timing when the delay time is reached from the start of the temporary storage of the music data in the buffer, and the robot motion data from the buffer. Also, reading to the drive control unit 54 is started. In this way, the main control unit 50 controls the output timing of music from the output unit 59 (that is, the right speaker 28 and the left speaker 29), and also controls the drive control unit 54 of the movable unit 51 based on the robot motion data. The start timing of drive control and control of the light emitting unit 53 is also controlled.

  As a result, the main control unit 50 starts driving control of the movable unit 51 and control of the light emitting unit 53 simultaneously in synchronization with the start of music output from the output unit 59. Accordingly, the main control unit 50 sequentially moves the movable unit 51 in a predetermined movement pattern in synchronization with the music tone while outputting one piece of music from the output unit 59, and sequentially moves the light emitting unit 53 to a predetermined number. It can be made to emit light with a light emission pattern. Thus, the main control unit 50 allows the user to listen to the music stored as the compressed music data in the storage unit 57 and moves the music robot device 11 as if it is dancing to the user according to the music. Can show.

  When the robot motion data is supplied together with the music data from the personal computer 12, the main control unit 50 first receives the predetermined unit portion of the head of the robot motion data transmitted from the personal computer 12 by the communication unit 58 and stores it in the buffer. Memorize temporarily. Further, when the music data is continuously transmitted from the personal computer 12 by the streaming method, the main control unit 50 receives the music data by the communication unit 58 and sends it out to the output unit 59 without any particular delay. The main control unit 50 reads the predetermined unit portion of the robot motion data from the buffer at the timing when transmission of the music data received by the communication unit 58 to the output unit 59 is started, and sends it to the drive control unit 54. Start sending.

  In this way, when the robot motion data is supplied together with the music data from the personal computer 12, the main control unit 50 is movable based on the robot motion data for the drive control unit 54 in accordance with the music output timing from the output unit 59. The start timing of the drive control of the unit 51 and the control of the light emitting unit 53 is controlled. Accordingly, the main control unit 50 causes the drive control unit 54 to start driving control of the movable unit 51 and control of the light emitting unit 53 in synchronization with the start of music output from the output unit 59.

  Incidentally, when the main control unit 50 finishes sending the predetermined unit portion of the robot motion data temporarily stored in the buffer to the drive control unit 54 to some extent, the main control unit 50 sends the robot motion data to the personal computer 12 via the communication unit 58. Request the next predetermined unit part. When the next predetermined unit portion of the robot motion data is transmitted from the personal computer 12 in response to such a request, the main control unit 50 receives this by the communication unit 58 and temporarily stores it in the buffer.

  As a result, when the main control unit 50 has read out all the predetermined unit portions previously acquired from the robot movement data from the buffer and sent them to the drive control unit 54, the main control unit 50 continues to acquire the predetermined unit next to the robot movement data from the buffer. The part is read out and sent to the drive control unit 54. In this way, when using the robot motion data supplied from the personal computer 12 at the time of music output, the main control unit 50 stores the predetermined unit portion of the robot motion data temporarily stored in the buffer to some extent. Each time the data is sent out, the next predetermined unit portion of the robot motion data is obtained from the personal computer 12.

  Therefore, the main control unit 50 sends the robot movement data to the drive control unit 54 without interruption while continuously outputting the music from the output unit 59 while reproducing the compressed music data. And the light emitting unit 53 is also continuously controlled. Therefore, the main controller 50 can also move the entire music robot apparatus 11 as if dancing to music.

  In addition to such a configuration, in the case of the personal computer 12, the control unit 40 can automatically generate the motion data of all the movable units 51 as the robot motion data as described above. 51 motion data can be generated semi-automatically or manually. For example, the control unit 40 causes the user to draw a trajectory that the center point P1 follows when the ellipsoidal housing 20 of the music robot apparatus 11 is moved (that is, travels) on the floor, and the drawn trajectory is drawn. The motion data of the right wheel 30 and the left wheel 31 can be generated semi-automatically based on the above.

  Further, the control unit 40 moves a plurality of types of trajectory patterns (hereinafter referred to as trajectory patterns) to be traced to the central portion P1 when the ellipsoidal casing 20 is moved on the floor, and the movable unit 51 is moved. A plurality of types of basic motion patterns (hereinafter referred to as basic motion patterns) are registered in advance. Then, the control unit 40 allows the user to arbitrarily select a trajectory pattern or a basic motion pattern, and generates motion data of a specific movable unit 51 semi-automatically using the selected trajectory pattern or basic motion pattern. You can also.

  Actually, when the compressed music data to be reproduced when the user moves the entire music robot apparatus 11 is selected by the user via the input unit 41, the control unit 40 selects the identification information unique to the selected compressed music data inside. Store in the memory or storage unit 42. Accordingly, the control unit 40 sets the compressed music data selected by the user as being reproduced when the music robot apparatus 11 is moved as a whole. Then, when setting the compressed music data to be played back when the music robot apparatus 11 is moved as a whole, the control unit 40 reads out the motion data generation screen data stored in advance in the storage unit 42 and sends it to the display unit 45. Thereby, the control unit 40 displays the motion data generation screen 70 as shown in FIG. 12 based on the motion data generation screen data on the display unit 45.

  In this case, the motion data generation screen 70 is provided with, for example, a circular trajectory display area 71 for displaying a trajectory drawn by the user on the upper side of the screen. A pattern selection unit 72 for selecting a plurality of pre-registered trajectory patterns and basic motion patterns is also provided on the upper side of the screen. In the pattern selection unit 72, a plurality of types of display elements (hereinafter referred to as pattern icons) 73A to 73D on which a plurality of types of trajectory patterns and figures indicating basic motion patterns are drawn are displayed.

  Incidentally, on the lower side of the pattern selection unit 72, an up / down scroll operation unit 72A for moving the pattern icons 73A to 73D in the vertical direction of the screen in the pattern selection unit 72 is provided. Further, on the right side of the pattern selection unit 72, a left / right scroll operation unit 72B for moving the pattern icons 73A to 73D to the left and right of the screen in the pattern selection unit 72 is provided. Therefore, when the user operates the up / down scroll operation unit 72A or the left / right scroll operation unit 72B on the motion data generation screen 70 via the input unit 41, the control unit 40 has displayed the pattern selection unit 72 so far. Instead of the pattern icons 73A to 73D, other pattern icons 73A to 73D that could not be displayed are displayed. In this way, the control unit 40 can display various pattern icons 73A to 73D in the pattern selection unit 72 and present a plurality of selectable trajectory patterns and basic motion patterns to the user. .

  Further, on the upper side of the motion data generation screen 70, a band-shaped set music notification area 74 that is long in the horizontal direction of the screen is provided. In the central part of the set music notification area 74, the artist name and music of music based on compressed music data (hereinafter referred to as playback set music data) set to be played when the entire music robot apparatus 11 is moved. The title is displayed. In the set music notification area 74, a playback start button 75 for inputting a playback start command for playback set music data, a playback stop button 76 for inputting a playback stop command, and a volume control unit 77 for adjusting the volume. Is provided. In addition, the setting music notification area 74 is provided with an auto button 78 for selecting to automatically generate robot motion data. The set music notification area 74 is also provided with a manual button 79 for selecting to generate robot motion data manually or semi-automatically.

  Further, the motion data generation screen 70 is formed in a strip shape that is long in the horizontal direction of the screen below the set music notification area 74, and notifies the playback time of the playback set music data by a scale at predetermined intervals along the music playback time axis. A playback time notifying unit 80 and a level waveform display unit 81 for displaying a level waveform image of a volume level that changes along the playback time axis of the playback setting music data are sequentially provided. Furthermore, the motion data generation screen 70 is provided with a data presentation unit 82 below the level waveform display unit 81. In the data presentation unit 82, each of the screens has a strip shape that is long in the left-right direction of the screen. The right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31 Motion data presentation fields 82A to 82C for presenting motion data, and a light emission data presentation field for presenting light emission data for each of the right side light emitting unit 34 and the left side light emitting unit 35 are sequentially provided, and some of these are displayed. Yes.

  Incidentally, on the left side of the data presentation unit 82, there is provided a vertical scroll operation unit 83 that moves the movement data presentation columns 82A to 82C and the light emission data presentation column in the data presentation unit 82 in the vertical direction of the screen. Therefore, when the user operates the up / down scroll operation unit 83 on the motion data generation screen 70 via the input unit 41, the control unit 40 displays the motion data presentation columns 82A to 82A that have been displayed in the data presentation unit 82 until then. Instead of 82C and the light emission data presentation field, other motion data presentation fields 82A to 82C and the light emission data presentation field that could not be displayed until then are displayed. Thus, the control unit 40 can display the movement data presentation columns 82A to 82C and the light emission data presentation column in the data presentation unit 82.

  Also, below the data presentation unit 82, in synchronization with the reproduction time of the reproduction set music data, together with the reproduction time notification unit 80 and the level waveform display unit 81, motion data presentation columns 82A to 82C in the data presentation unit 82 and A left-right scroll operation unit 84 for moving the light emission data presentation field in the left-right direction of the screen is provided. Therefore, when the left / right scroll operation unit 84 is operated on the motion data generation screen 70 by the user via the input unit 41, the control unit 40 displays the playback time notification unit 80 and the level waveform display unit 81 in the motion data generation screen 70. In place of the predetermined part that has been displayed, other parts that could not be displayed are displayed.

  In addition, the control unit 40 replaces the predetermined portions of the motion data presentation columns 82A to 82C and the light emission data presentation column that have been displayed in the data presentation unit 82 at this time, and other portions that could not be displayed until then. indicate. As a result, the control unit 40 displays the whole of the reproduction time notification unit 80 and the level waveform display unit 81 in the movement data generation screen 70 as well as the entire movement data presentation columns 82A to 82C and the light emission data presentation column in the data presentation unit 82. It can be shown.

  When the motion data generation screen 70 is displayed on the display unit 45 and the mouse as the input unit 41 is moved on the desk or the like by the user, the control unit 40 displays the motion data generation screen 70 on the motion data generation screen 70 accordingly. An indicator (hereinafter referred to as a cursor) is moved. When the user presses down the auto button 78 via the mouse, the control unit 40 shifts to the auto mode accordingly. As a result, the control unit 40 automatically generates the robot motion data by simultaneously executing the reproduction setting music data analysis processing and the motion data generation processing in the same manner as described above. Then, as shown in FIG. 13, the control unit 40, within the motion data generation screen 70, according to the playback time of the entire playback set music data, a playback time notification unit 80, a level waveform display unit 81, and a data presentation unit The lengths of the motion data presentation fields 82A to 82C and the light emission pattern presentation field in the screen 82 in the horizontal direction of the screen are matched.

  At this time, the control unit 40 detects the volume level by the analysis processing of the reproduction setting music data, and changes along the reproduction time axis of the reproduction setting music data in the level waveform display unit 81 in the motion data generation screen 70. A level waveform image 90 of the volume level to be displayed is displayed. Further, the control unit 40 indicates the instruction value of the corresponding movement data of the movable unit 51 in the movement data presentation fields 82A to 82C of the data presentation unit 82 on the movement data generation screen 70 (that is, reproduction of the reproduction setting music data). The indicated value waveform images 91A to 91C (indicating indicated values that change along the time axis) are displayed. Further, the control unit 40 indicates the control value of the light emission data of the corresponding light emission unit 53 in the light emission data presentation field of the data presentation unit 82 on the motion data generation screen 70 (that is, on the reproduction time axis of the reproduction setting music data). A control value waveform image (indicating the control value that varies along the way) is also displayed.

  Incidentally, at this time, the control unit 40 in the motion data generation screen 70 moves from the playback time notification unit 80 to the level waveform display unit 81, the motion data presentation columns 82A to 82C of the data presentation unit 82, and the light emission data presentation column. A straight line drawing 92 indicating the boundary of the music tone section of the reproduction setting music data (that is, the beat position which is also the break position of the music tone section) is displayed. When the robot motion data is automatically generated in this way, the control unit 40 can present the volume level of the reproduction setting music data as the level waveform image 90 via the motion data generation screen 70. Further, the control unit 40 transmits the motion data of the movable unit 51 and the light emission data of the light emitting unit 53 constituting the robot motion data via the motion data generation screen 70 as the instruction value waveform images 91A to 91C and the control value waveform image. To be able to present.

  As shown in FIG. 14, the control unit 40 shifts to the manual mode when the user presses the manual button 79 via the mouse while the motion data generation screen 70 is displayed on the display unit 45. At this time, the control unit 40 presents the motion data in the motion data generation screen 70 according to the playback time of the entire playback set music data, the playback time notification unit 80, the level waveform display unit 81, and the motion data presentation in the data presentation unit 82. The lengths of the columns 82A to 82C and the light emission pattern presentation column along the horizontal direction of the screen are matched. Then, the control unit 40 detects the volume level of the playback setting music data, and the level waveform image of the volume level that changes along the playback time axis of the playback setting music data in the level waveform display unit 81 on the motion data generation screen 70. 90 is displayed.

  In this state, the control unit 40 is instructed by the user, for example, via the mouse, in any of the motion data presentation fields 82A to 82C of the data presentation unit 82, along the playback time axis, and uses the keyboard as the input unit 41. When a numerical value is input via the digital camera, the numerical value is set as an indicated value at the indicated position. At this time, the control unit 40 displays a point indicating the indicated value at an arbitrary position indicated in the motion data presentation columns 82A to 82C. For example, the control unit 40 displays points indicating the instruction values in the motion data presentation fields 82A to 82C so that the instruction values increase in the upper direction along the vertical direction of the screen. In this way, the control unit 40 allows the user to adjust the right rotation unit 22, the left rotation unit 23, the right opening / closing unit 24, the left opening / closing unit 25, the right wheel 30, and the left wheel 31 as the movable unit 51. When the instruction value is sequentially input along the reproduction time axis, an instruction value waveform in which points indicating the input instruction values are sequentially connected along the reproduction time axis in the motion data presentation fields 82A to 82C. An image 94 is displayed.

  In addition, the control unit 40 is instructed by the user to specify an arbitrary position along the reproduction time axis in the light emission data presentation field of the data presentation unit 82 via the mouse, and a numerical value is input via the keyboard as the input unit 41. Then, the numerical value is set as a control value at the instructed position. And the control part 40 displays the point which shows the control value in the arbitrary positions instruct | indicated in the light emission data presentation column at this time. Incidentally, for example, the control unit 40 displays a point indicating the control value in the emission data presentation field so that the control value increases toward the upper side in the vertical direction of the screen. In this way, when the control values for the right light emitting unit 34 and the left light emitting unit 35 as the light emitting unit 53 are sequentially input along the reproduction time axis by the user, the control unit 40 inputs the control values in the light emission data presentation field. A control value waveform image in which the points indicating the control values are connected with lines in order along the reproduction time axis is displayed.

  Then, after the movement data of the movable unit 51 and the light emission data of the light emitting unit 53 are generated by the user on the movement data generation screen 70 in this way, the control unit 40 confirms these contents via the input unit 41. When the operation command is input, the movement data and the light emission data are collected as robot movement data, and stored in the storage unit 42 in association with the reproduction setting music data. In this manner, the control unit 40 can manually generate all the motion data and light emission data constituting the robot motion data.

  Further, in the manual mode, when the control unit 40 is requested by the user to draw a locus using the mouse in the circular first area, the control unit 40 can be moved on the desk or the like by double-clicking the left button of the mouse. Instruct to determine the origin for drawing the trajectory. Then, when the origin is determined on the desk or the like by the user, the control unit 40 moves the mouse within a circular first area centered on the origin and has a radius of, for example, 30 [cm] to move the ellipsoidal housing. Instructs to draw a trajectory for moving the body 20.

  As a result, when the user moves the mouse on the desk or the like while pressing the left button of the mouse, the control unit 40 changes the moving direction and moving amount input from the mouse while the left button is pressed. Based on a predetermined time interval (hereinafter referred to as a sampling interval), a point indicating a sequentially changing position of the mouse in the first region (that is, a point forming a locus drawn by the user, The coordinates (hereinafter referred to as real coordinates) of the locus forming points are detected. Incidentally, the sampling interval is selected to be a predetermined time interval such that the distance between adjacent locus forming points is separated to some extent even when the locus is drawn relatively slowly by the user.

  The control unit 40 measures the time (hereinafter referred to as the drawing time) during which the locus is drawn, with the time when the left button of the mouse is started being pressed as the drawing start time of the locus. Then, whenever the control unit 40 detects the actual coordinates of the locus forming point at the sampling interval as described above, the drawing required for drawing the locus from the drawing start time to the detection time is performed on the detected actual coordinates. Trajectory information indicating the trajectory is generated in association with the time. Incidentally, while the locus is drawn by the user using the mouse, the control unit 40 sequentially detects the actual coordinates of the locus forming point and updates the locus information so as to associate the drawing time with the detected actual coordinates. is doing.

  By the way, the control unit 40 displays the trajectory drawn in the first area by the user in the trajectory display area 71 in the motion data generation screen 70. However, the trajectory display area 71 is formed to be relatively small compared to the size of the first area, such as a circle having a radius of several [cm]. For this reason, every time the control unit 40 detects the actual coordinates of the locus forming point that forms the locus drawn by the user, the size of the first area and the locus display area 71 with respect to the detected actual coordinates. The ratio (that is, the result of dividing the radius of the locus display area 71 by the radius of the first area) is multiplied. Thereby, the control unit 40 forms a locus with the center of the locus display area 71 as the origin when the size of the locus drawn on the desk or the like by the user is reduced to match the size of the locus display area 71. The coordinates (hereinafter referred to as display coordinates) of the points corresponding to the points (hereinafter referred to as trajectory corresponding points) are calculated.

  Then, as shown in FIG. 15, the control unit 40 displays a trajectory drawn on the desk or the like by the user as a display trajectory 96 that is reduced for display in the trajectory display area 71 (that is, the display coordinates are indicated). (As a line drawing connecting the locus corresponding points sequentially). Further, as shown in FIG. 16, the control unit 40 displays a mark 97 indicating the appearance shape of the music robot apparatus 11 at the start point of the display locus 96 in the locus display area 71 at this time, for example. Further, the control unit 40 sets a trajectory forming point at a predetermined interval among a plurality of trajectory forming points on the trajectory drawn by the user as a trajectory processing point as a base point when the trajectory is processed. Then, the control unit 40 displays a predetermined mark 98 for locus processing (hereinafter referred to as a locus processing point mark) superimposed on the locus corresponding point of the display locus 96 corresponding to the locus machining point. Incidentally, the control unit 40 uses, as a locus processing point, a locus forming point detected at a predetermined time interval longer than the above-described sampling interval among a plurality of locus forming points, for example, according to a user setting in advance. It is also possible to set a trajectory forming point at a predetermined distance interval selected in advance from among a plurality of trajectory forming points.

  For this reason, when setting the locus forming point selected at predetermined time intervals as the locus processing point, the control unit 40 responds to a relatively fast movement of the mouse in the display locus 96 according to the speed at which the user moves the mouse. In the portion, the adjacent locus processing point marks 98 are displayed relatively apart from each other. Further, the control unit 40 displays the adjacent locus processing point marks 98 relatively close to each other in the portion corresponding to the relatively slow movement of the mouse in the display locus 96. On the other hand, when setting the locus forming points selected at predetermined distance intervals as the locus machining points, the control unit 40 is not affected by the speed at which the user moves the mouse, and a plurality of locus machining point marks are displayed on the display locus 96. 98 are displayed at equal intervals.

  In addition to this, as shown in FIG. 17, the control unit 40 detects tangents TA <b> 1 to TA <b> 3 for each locus forming point with respect to the locus drawn by the user. In addition, the control unit 40 changes the trajectory forming point which is a base point when the direction followed by the trajectory changes by a certain angle based on the inclination of the tangents TA1 to TA3 sequentially detected from the start point to the end point of the trajectory. Detect as a pole. Then, as shown in FIG. 16, the control unit 40 sets a predetermined mark (hereinafter, referred to as an inflection point) at a trajectory corresponding point of the display trajectory 96 corresponding to the inflection point (hereinafter, this is particularly referred to as an inflection corresponding point). This is called an inflection point mark) 99 and displayed in an overlapping manner.

  In addition, when the locus is drawn by the user using the mouse, the control unit 40, in this case, in the data presentation unit 82 on the motion data generation screen 70, the locus presentation field 82D (see FIG. 15) is displayed. In this state, when the user releases the left mouse button and finishes drawing the trajectory, the control unit 40 arranges the trajectory formation points of the trajectory in a straight line and connects them with lines as shown in FIG. The line drawing generated in this way (hereinafter referred to as a straight line conversion locus) 100 is displayed in the locus presentation field 82D. At this time, the control unit 40 also displays the locus machining point mark 98 and the inflection point mark 99 on the locus machining point and the inflection point of the linear transformation locus 100.

  Here, the control unit 40 does not change the drawing time associated with each locus forming point when the locus is drawn by the user, for example, according to the user setting in advance, and starts drawing and drawing time of the locus. The straight line conversion trajectory 100 can be displayed in the trajectory presentation field 82D by combining the axis with the playback start and playback time axis of the playback setting music data. That is, at this time, the control unit 40 converts the trajectory into a straight line without changing the positional relationship between the trajectory forming points, and uses this as a straight line conversion trajectory 100.

  Further, at this time, for example, in accordance with a user setting in advance, the control unit 40 indicates the drawing time associated with each locus forming point when the locus is drawn by the user when the locus is drawn at a constant speed. After changing the drawing time, the drawing time axis of the drawing start and the changed drawing time (hereinafter referred to as the changed drawing time axis) (hereinafter referred to as the changed drawing time axis), the reproduction start and The straight line conversion trajectory 100 can also be displayed in the trajectory presentation field 82D along with the reproduction time axis. That is, the control unit 40 converts a locus in which the positional relationship between the locus forming points is changed as appropriate according to the change drawing time into a straight line, and uses this as a straight line conversion locus 100.

  In this way, when the trajectory drawn by the user is displayed on the trajectory presentation field 82D as the straight line conversion trajectory 100, the control unit 40 respectively corresponds to each trajectory forming point of the trajectory (that is, the actual coordinates of each trajectory forming point). Reproduction time information (that is, time code) of reproduction setting music data indicating the same time as the drawing time or the change drawing time at the locus formation point is associated. Thereby, the control unit 40 generates trajectory data indicating a trajectory for moving the ellipsoidal casing 20 in accordance with the reproduction of the reproduction setting music data. That is, the control unit 40 indicates the locus that the center point P1 of the ellipsoidal casing 20 follows as the playback time of the playback-set music data is reproduced, and also shows the elliptical casing 20. Trajectory data indicating the reproduction time when the center point P1 of the trajectory sequentially passes through the trajectory formation points of the trajectory is generated.

  By the way, when the control unit 40 displays the straight line conversion locus 100 in the locus presentation field 82D, if no instruction is given by the user, the drawing start and drawing time axis (or the drawing start and changed drawing time axis) and reproduction are performed as described above. The start and playback time axes are automatically aligned. Then, the control unit 40 associates the reproduction time information of the reproduction setting music data with each locus formation point of the locus to generate locus data. However, at this time, when a part that associates the linear transformation locus 100 is designated along the reproduction time axis of the reproduction setting music data by the user, for example, via the mouse, the control unit 40 is associated with the designated part. The straight line conversion locus 100 is displayed in the locus presentation field 82D. Then, the control unit 40 generates trajectory data by associating each trajectory forming point of the trajectory with the reproduction time information of the designated portion of the reproduction setting music data. That is, when the control unit 40 associates the locus with the designated portion of the reproduction setting music data in this way, the control unit 40 generates locus data for moving the ellipsoidal housing 20 in accordance with the reproduction of the designated portion of the reproduction setting music data. To do.

  Therefore, the control unit 40 determines that the data length of the trajectory data generated by automatically combining the drawing start and drawing time axis (or the drawing start and change drawing time axis) and the reproduction start and reproduction time axis is the tail of the reproduction setting music data. When the track data has not been reached or when the track data is generated by associating the track only with the designated portion of the playback setting music data, the user can draw the track again and associate it with the remaining portion of the playback setting music data. Thus, the trajectory data can be generated again. Then, when the control unit 40 generates the trajectory data by associating the trajectory for each part of the reproduction setting music data, finally, the trajectory data for each part of the reproduction setting music data is connected to one along the reproduction time axis. This is the final trajectory data. Thereby, the control unit 40 can generate trajectory data for moving the ellipsoidal casing 20 in accordance with the reproduction of the entire reproduction setting music data.

  The control unit 40 can also cause the user to draw a locus without playing the playback setting music data as described above, but the user presses the playback start button 75 on the motion data generation screen 70 via the mouse. When operated, the reproduction setting music data starts to be reproduced accordingly. Accordingly, the control unit 40 can also draw a locus using the mouse while reproducing the reproduction setting music data and allowing the user to listen to the music. The control unit 40 can generate the trajectory data in the same manner as described above even when the trajectory is drawn while actually listening to music in this way. That is, the control unit 40 generates the trajectory data in real time by associating the playback time information at the moment with the trajectory drawn at the moment while reproducing the playback setting music data. Has been made.

  In addition to this, the control unit 40 can process the trajectory data generated in this way in accordance with a user instruction. Here, for example, the control unit 40 processes the trajectory data by the user in a state where the cursor 95 indicates a movement target such as a line, a mark, or an icon on the movement data generation screen 70 (that is, the cursor 95 is set). When the left button of the mouse is pressed and moved in an arbitrary direction, the moving object indicated by the cursor 95 is moved in the direction in which the mouse is moved while the left button is being pressed accordingly. So-called drag operation is used.

  As shown in FIGS. 19A and 19B, the control unit 40 indicates with the cursor 95 an arbitrary point of a linear portion of the display locus 96 within the locus display area 71 of the motion data generation screen 70 by the user. When a drag operation is performed in this state, the shape of a predetermined portion including the point indicated by the cursor 95 of the display locus 96 is changed. In this case, for example, the control unit 40 fixes the inflection corresponding points closest to the start point and the end point of the display trajectory 96 from the point indicated by the cursor 95, and the portion between these two inflection corresponding points is fixed. It is deformed by following the movement of the point designated by the cursor 95.

  As shown in FIGS. 20A and 20B, the control unit 40 indicates that, for example, the inflection corresponding point of the display trajectory 96 is indicated by the cursor 95 in the trajectory display area 71 of the motion data generation screen 70 by the user. When the drag operation is performed in the state, the shape of the predetermined range portion around the inflection corresponding point indicated by the cursor 95 in the display locus 96 is changed. In this case, the control unit 40 expands the predetermined range portion whose shape is changed in the display trajectory 96 as the movement amount increases, for example, according to the movement amount of the inflection point designated by the cursor 95, The range portion is deformed by following the movement of the inflection point designated by the cursor 95.

  Then, when the display track 96 is deformed in this way, the control unit 40 changes the position of the locus corresponding point or the pole corresponding point (that is, the display coordinates) in the deformed portion. Then, in response to the change of the position of the locus corresponding point or the change corresponding point, the control unit 40 changes the locus forming point or the change corresponding to the locus corresponding point or the change corresponding point whose position is changed in the locus indicated by the locus data. Change the actual coordinates of the extreme points. In this manner, the control unit 40 can process the trajectory data together with the shape of the trajectory drawn by the user. However, the control unit 40 does not change any reproduction time information associated with each locus forming point (including the inflection point) of the locus indicated by the locus data at this time. That is, the control unit 40 does not change any time interval indicated by the reproduction time information associated with two adjacent locus forming points in the locus data.

  Therefore, when the positions of two adjacent locus forming points approach each other according to the change of the actual coordinates, the control unit 40 moves the ellipsoidal housing 20 from one locus forming point to the other locus forming point. The trajectory data is processed to slow down. In addition, when the positions of two adjacent trajectory forming points are separated in accordance with the change of the real coordinates, the control unit 40 moves the ellipsoidal housing 20 from one trajectory forming point to the other trajectory forming point. The trajectory data is processed to speed up the process.

  Further, as shown in FIG. 21, the control unit 40 allows the user to move one trajectory processing point mark 98 or inflection point mark 99 on the straight line conversion trajectory 100 with the cursor 95 in the trajectory presentation field 82D of the motion data generation screen 70 by the user. When the drag operation is performed in the designated state, the locus forming point 98 and the inflection point mark 99 designated by the cursor 95 and the positions of the locus forming point and the inflection point overlaid on the locus conversion point mark 98 are set to the linear conversion locus 100. Move along and change. Incidentally, when the position of one trajectory formation point or inflection point changed by the user overlaps or exceeds the position of the adjacent trajectory formation point or inflection point, the control unit 40 does not overlap the position. The positions of the adjacent locus forming points and inflection points are also changed as appropriate.

  Then, when the position of the trajectory forming point or the inflection point is changed along the straight line conversion trajectory 100 in this way, the position of the control unit 40 is changed on the straight line conversion trajectory 100 in the trajectory indicated by the trajectory data. Without changing the actual coordinates of the trajectory formation point and the inflection point, the reproduction time information associated with the trajectory formation point and the inflection point is newly applied to the reproduction time corresponding to the change of the position on the linear transformation trajectory 100. Change to information. In this way, the control unit 40 can process the trajectory data by changing the reproduction time information associated with the trajectory formation point without changing the shape of the trajectory and the actual coordinates of the trajectory formation point.

  In this case, the control unit 40 changes the reproduction time information associated with at least one locus forming point among the locus forming points of the locus indicated by the locus data. That is, when the control unit 40 changes the reproduction time information associated with one of two adjacent locus formation points in the locus data, the time interval indicated by the reproduction time information associated with each of these two locus formation points is also changed. Will do.

  Accordingly, when the time interval indicated by the reproduction time information associated with two adjacent locus formation points becomes longer due to such a change in reproduction time information, the control unit 40 forms the other locus from one locus formation point. The trajectory data is processed so as to slow down the moving speed of the ellipsoidal housing 20 to the point. In addition, when the time interval indicated by the reproduction time information associated with each of the two adjacent trajectory forming points is shortened, the control unit 40 causes the ellipsoidal casing 20 to move from one trajectory forming point to the other trajectory forming point. The trajectory data is processed to increase the speed of movement.

  By the way, the control unit 40 can move the position of the trajectory forming point and the inflection point on the straight line conversion trajectory 100 together with the inflection point mark 99 to the user. Accordingly, the position of the inflection point on which the inflection point mark 99 and the inflection point mark 99 are superimposed can be automatically moved on the straight line conversion locus 100. In this case, as shown in FIG. 22, the control unit 40 reproduces the reproduction time information (that is, the time code) within a predetermined time range centering on the boundary of the music interval of the reproduction setting music data among the plurality of inflection points. It is detected whether there is an inflection point associated with.

  As a result, if there is an inflection point associated with reproduction time information within a predetermined time range centered on the boundary of the music interval of the reproduction setting music data, the control unit 40 determines the position of the inflection point associated with the reproduction time information. Then, the position is automatically moved along the straight line conversion locus 100 to the boundary position of the nearest music tone section (that is, the position of the line drawing 92 in FIG. 22) and changed. Incidentally, when the inflection point whose position is changed overlaps with or exceeds the position of the adjacent locus forming point or inflection point, the inflection point does not overlap with the adjacent locus forming point or inflection point. The positions of the adjacent locus forming points and inflection points are also moved appropriately.

  Then, when the position of the inflection point is changed along the straight line conversion trajectory 100 in this way, the control unit 40 changes the position on the straight line conversion trajectory 100 in the trajectory indicated by the trajectory data according to this change. Without changing the actual coordinates of the formation point, the reproduction time information newly associated with the movement of the position on the linear transformation locus 100 (ie, the tone interval) For example, playback time information at the boundary position. In this way, the control unit 40 can process the trajectory data so that the position of the inflection point of the trajectory is aligned with the boundary position of the musical tone interval of the reproduction setting music data. That is, the control unit 40 processes the trajectory data so as to change the direction in which the ellipsoidal casing 20 moves in synchronization with the music tone when the reproduction setting music data is reproduced.

  Furthermore, the control unit 40 registers the above-described plural types of trajectory patterns as trajectory shape information indicating the trajectory shape. Incidentally, as the trajectory pattern, for example, a trajectory pattern for moving the ellipsoidal casing 20 to draw a sine wave (hereinafter, this is particularly referred to as a sine pattern), or for moving the ellipsoidal casing 20 in a zigzag manner. Trajectory pattern (hereinafter referred to as a zigzag pattern).

  Further, as the trajectory pattern, for example, the right wheel 30 and the left wheel 31 are rotated in the opposite directions at the same speed to move the ellipsoidal housing 20 so as to rotate on the spot around the center point P1. There are a trajectory pattern and a trajectory pattern for moving the ellipsoidal casing 20 so as to draw a figure of eight. Further, as the trajectory pattern, a trajectory pattern for moving the ellipsoidal casing 20 to draw a circle, a trajectory pattern for moving the ellipsoidal casing 20 to draw an ellipse, and the ellipsoidal casing 20 There is also a trajectory pattern for moving the object straight.

  The control unit 40 can allow the user to arbitrarily select the plurality of types of trajectory patterns. However, as shown in FIG. 23, for example, when a sign pattern is selected by the user, the cycle (time) T1 of the sign pattern. The amplitude (distance) A1 and the pattern traveling direction D1 are appropriately input. For example, as shown in FIG. 24, when a zigzag pattern is selected by the user, the control unit 40 has a cycle (time) T2 and amplitude (distance) T2 for one pattern of the zigzag pattern, and a pattern traveling direction D2. The number of repetitions N of one pattern is appropriately input. That is, when a trajectory pattern is selected by the user, the control unit 40 allows the user to arbitrarily input numerical values for input items that are set in advance to be input with the selected trajectory pattern.

  In addition, the control unit 40 stores processing information indicating processing content for processing the locus drawn by the user in the storage unit 42 in advance. In addition to the above-described trajectory pattern and basic motion pattern, the control unit 40 also registers in advance a picture indicator (hereinafter referred to as a processing icon) that makes such processing content look like. The control unit 40 can also allow the user to select a processing icon in the pattern selection unit 72 of the motion data generation screen 70. Incidentally, as processing contents for processing the trajectory, the processing contents for accelerating the speed of the ellipsoidal casing 20 that follows the trajectory, and conversely, the speed of the ellipsoidal casing 20 that traces the trajectory is reduced. There are things to do.

  Then, as shown in FIG. 25, the control unit 40 designates a desired pattern icon 73A (for example, a pattern icon 73A indicating a zigzag pattern) with the cursor 95 in the pattern selection unit 72 of the motion data generation screen 70 by the user. When the drag operation is performed in this state, the pattern icon 73A indicated by the cursor 95 can be moved and pasted to a desired position of the display locus 96 in the locus display area 71. In this case, the control unit 40 causes the user to arbitrarily input numerical values for the input items set in advance in the locus pattern indicated by the pattern icon 73A. Thereby, the control unit 40 changes the shape of the portion where the pattern icon 73A is overlapped in the display locus 96 to the locus pattern (that is, the shape of the locus) indicated by the pattern icon 73A. That is, the control unit 40 indicates the positions of the plurality of locus corresponding points (that is, display coordinates) in the portion where the pattern icon 73A is superimposed on the display locus 96, and the locus pattern (that is, the locus of the locus) indicated by the pattern icon 73A. Change according to shape.

  For example, when the user performs a drag operation in a state where an arbitrary edge of the pattern icon 73A pasted on the display locus 96 is instructed by the cursor 95 by the user, the control unit 40 performs the drag operation on the pattern icon 73A. Stretch or shrink in the direction. Accordingly, the control unit 40 can arbitrarily select a portion where the pattern icon 73A is superimposed on the display locus 96 and freely select a portion to be changed to the locus pattern (that is, the shape of the locus) indicated by the pattern icon 73A. it can.

  In addition, when the pattern icon 73A is pasted on the display locus 96 in this way, the control unit 40 is set so that the pattern traveling direction D2 is input in advance for the locus pattern indicated by the pattern icon 73A. Based on the display coordinates of each locus corresponding point of the portion where the pattern icon 73A is overlapped in the display locus 96, the direction in which the portion is drawn (hereinafter referred to as the drawing direction) is detected. Then, the control unit 40 sets the detected drawing direction as the pattern traveling direction D2 of the locus pattern.

  Further, when the pattern icon 73A is pasted on the display locus 96 as described above, the control unit 40 is configured to input the cycle T2 in advance for the locus pattern indicated by the pattern icon 73A. In the locus 96, locus forming points corresponding to the locus corresponding points of the portion where the pattern icon 73A is overlaid are detected. Further, the control unit 40 detects the time required for the ellipsoidal casing 20 to sequentially follow the detected locus formation points based on the reproduction time information associated with the detected locus formation points. And the control part 40 sets the detected time to the period T2 of a locus | trajectory pattern. As a result, the control unit 40 causes the user to accurately determine and input the pattern traveling direction D2, and to display the display trajectory 96 without causing any complicated operations such as accurately determining and inputting the period T2. The pattern icon 73A can be changed without any sense of incongruity as if it was drawn by the user as a trajectory pattern (trajectory shape) from the beginning.

  When the position of the locus corresponding point (that is, the display coordinates) is changed in accordance with the deformation of the display locus 96 as described above, the control unit 40 changes the position in the locus indicated by the locus data as described above. The actual coordinates of the trajectory forming point corresponding to the trajectory corresponding point are changed. In this way, the control unit 40 can process the trajectory data so as to change the shape of the trajectory drawn by the user.

  As shown in FIG. 26, when the control unit 40 is dragged by the user in the pattern selection unit 72 of the motion data generation screen 70, for example, in a state where the acceleration processing icon 105A is instructed by the cursor 95, the control unit 40 The processing icon 105A instructed by the cursor 95 can be moved and pasted at a desired position on the linear transformation locus 100 in the locus presentation field 82D. In this case, the control unit 40 moves along the straight line conversion locus 100 so that the distance between two adjacent locus formation points in the portion where the processing icons 105A of the straight line conversion locus 100 are superimposed is slightly shortened. Change the position of a plurality of trajectory forming points.

  The control unit 40 is instructed by the cursor 95 when the user performs a drag operation in the pattern selection unit 72 of the motion data generation screen 70 in a state where the processing icon 105B for deceleration is instructed by the cursor 95, for example. The processing icon 105B can also be moved and pasted at a desired position on the straight line conversion locus 100 in the locus presentation field 82D. Then, at this time, the control unit 40 makes these along the linear transformation trajectory 100 so that the distance between two trajectory forming points adjacent to each other in the portion where the processing icons 105B of the linear transformation trajectory 100 are overlapped is slightly increased. Change the position of a plurality of trajectory forming points.

  For example, when the left and right edges of the processing icons 105A and 105B pasted on the straight line conversion locus 100 are dragged by the user with the cursor 95 instructed by the user, the control unit 40 responds accordingly. 105B is stretched or contracted in the direction of the drag operation. Accordingly, the control unit 40 arbitrarily selects a portion where the machining icons 105A and 105B are overlapped in the linear transformation locus 100, and changes the position of each locus formation point for acceleration and deceleration of the ellipsoidal casing 20. The part can be freely selected.

  Then, when the position of each locus forming point is changed by the processing icons 105A and 105B as described above, the control unit 40 changes the locus on the straight line conversion locus 100 in the locus indicated by the locus data. The reproduction time information associated with the trajectory formation point is changed to the newly corresponding reproduction time information by moving the position on the straight line conversion trajectory 100 without changing the actual coordinates. In this way, the control unit 40 can process the trajectory data by changing the reproduction time information associated with the trajectory formation point without changing the shape of the trajectory and the actual coordinates of the trajectory formation point.

  Here, the control unit 40 stores wheel information related to the right wheel 30 and the left wheel 31 in advance in the storage unit 42. In this case, the wheel information includes the distance between the center point of the right wheel 30 and the center point P1 of the ellipsoidal housing 20, the distance between the center point of the left wheel 31 and the center point P1 of the ellipsoidal housing 20, Various information such as the radius of the right wheel 30 and the left wheel 31 is included. Then, when the content of the trajectory data is confirmed by the user via the input unit 41 (that is, the trajectory data is confirmed without being processed or after being processed), the control unit 40 reads the wheel information from the storage unit 42.

  Thereby, the control unit 40 is based on the trajectory data (that is, the real coordinates of each trajectory forming point that forms the trajectory drawn by the user and the reproduction time information associated with each trajectory forming point) and the wheel information. Movement data of the right wheel 30 and the left wheel 31 when the ellipsoidal casing 20 is moved along the locus drawn by the user is generated. Then, as shown in FIG. 27, the control unit 40 indicates the motion data generated for the right wheel 30 in the motion data presentation field 82E corresponding to the right wheel 30 of the data presentation unit 82 on the motion data generation screen 70. A value waveform image 106 is displayed. Further, the control unit 40 displays the motion data generated for the left wheel 31 as the indicated value waveform image 107 in the motion data presentation field 82F corresponding to the left wheel 31 of the data presentation unit 82 on the motion data generation screen 70. . In this way, the control unit 40 generates motion data for driving and controlling the right wheel 30 and the left wheel 31 based on the trajectory for moving the ellipsoidal casing 20 drawn in the first region by the user. can do.

  As shown in FIG. 28, the control unit 40 displays the desired pattern icons 73C and 73D for the locus pattern in the pattern selection unit 72 of the motion data generation screen 70 even if the locus is not drawn by the user in the manual mode. When the drag operation is performed in the state instructed in 95, the pattern icons 73C and 73D instructed by the cursor 95 can be moved and pasted at a desired position in the trajectory presentation field 82D of the data presentation unit 82. . In this case, the control unit 40 causes the user to arbitrarily input numerical values for the input items set in advance in the locus pattern indicated by the pattern icons 73C and 73D.

  In addition, when the period (and the number of pattern repetitions) as an input item is input by the user at this time, the control unit 40 draws a locus pattern indicated by the corresponding pattern icons 73C and 73D accordingly. The time required for moving the casing 20 (that is, the period or the result of multiplying the period and the number of pattern repetitions) is detected. Then, the control unit 40 uses the lengths corresponding to the detected times of the corresponding pattern icons 73C and 73D in the trajectory presentation column 82D (that is, using a scale along the reproduction time axis in the reproduction time notification unit 80). The length of the detected time) is stretched or shrunk along the horizontal direction of the screen. In this manner, when the user finishes pasting the pattern icons 73C and 73D and inputting the input items, the control unit 40 determines the trajectory pattern (trajectory shape) indicated by the pattern icons 73C and 73D and the input items by the user. Based on the input various numerical values, for example, real coordinates of a plurality of trajectory forming points forming the trajectory are generated together with a trajectory for moving the ellipsoidal casing 20 in the first region.

  In addition, the control unit 40 generates a linear transformation locus based on the locus generated at this time as in the case described above. Then, the control unit 40 assigns reproduction time information to each locus forming point on the linear transformation locus according to the position where the pattern icons 73C and 73D are pasted in the locus presentation field 82D, and generates locus data. As a result, the control unit 40 moves the ellipsoidal casing 20 along the trajectory generated by the user using the pattern icons 73C and 73D based on the trajectory data and the wheel information, as described above. The movement data of the right wheel 30 and the left wheel 31 can be generated.

  Furthermore, the control unit 40 registers the above-described plurality of types of basic motion patterns as shape information indicating the shape of a locus drawn by a predetermined point of the movable unit 51 according to the movement. Incidentally, as a basic movement pattern, in order to move the right rotation unit 22, the left rotation unit 23, the right wheel 30 and the left wheel 31 so as to rotate in a predetermined direction (that is, one direction around the axis D1 and the other direction around the axis). And the basic movement pattern for moving the right opening / closing part 24 and the left opening / closing part 25 to open. The basic movement pattern includes, for example, a basic movement pattern for moving the right opening / closing part 24 and the left opening / closing part 25 so as to be closed, and a basic function for moving the right opening part 24 and the left opening / closing part 25 so as to be closed and opened. There is a movement pattern.

  Further, as a basic movement pattern, a basic movement for moving the right rotation part 22, the left rotation part 23, the right wheel 30 and the left wheel 31 to rotate alternately in one direction around the axis D1 and in the other direction around the axis. There are also patterns. The control unit 40 can allow the user to arbitrarily select the plurality of types of basic motion patterns as pattern icons, but when a basic motion pattern is selected, as in the case of a trajectory pattern, the period of the basic motion pattern is selected. In addition, the user is allowed to arbitrarily input numerical values for input items set in advance such as an angle and the number of repetitions.

  In this state, when the control unit 40 is dragged in the manual mode in a state where the desired pattern icon for the basic motion pattern is designated by the cursor 95 in the pattern selection unit 72 of the motion data generation screen 70 in the manual mode. The pattern icon indicated by the cursor 95 can be moved and pasted to desired positions in the motion data presentation fields 82A to 82C and 82E and 82F of the data presentation unit 82. In this case, the control unit 40 causes the user to arbitrarily input numerical values for the input items set in advance with the movement trajectory pattern indicated by the pattern icon.

  When the period (and the number of pattern repetitions) as an input item is input by the user at this time, the control unit 40 moves the movable unit 51 in accordance with the basic movement pattern indicated by the corresponding pattern icon. The required movable time (that is, the period or the result of multiplying the period and the number of pattern repetitions) is detected. Then, the control unit 40 displays the corresponding pattern icons in the motion data presentation fields 82A to 82C and 82E and 82F for a length corresponding to the detected movable time (that is, along the reproduction time axis in the reproduction time notification unit 80). Using the scale, the length of the detected movable time is extended or contracted along the horizontal direction of the screen.

  When the user finishes pasting the pattern icon and inputting the input item, the control unit 40 moves the movable unit 51 based on the basic motion pattern indicated by the pattern icon and various numerical values input by the user for the input item. A plurality of instruction values along the reproduction time axis are sequentially generated. In this way, the control unit 40 can generate motion data having a plurality of instruction values along the reproduction time axis for each movable unit 51 using the basic motion pattern selected as the pattern icon by the user. it can.

  Then, the control unit 40 generates motion data of the movable unit 51 using the trajectory drawn by the user, the trajectory pattern selected by the user, and the basic motion pattern, and inputs the control value by the user. When the light emission data is generated by the above, the movement data and the light emission data are combined into robot movement data and stored in the storage unit 42 in association with the reproduction setting music data. In this way, the control unit 40 can cause the user to semi-automatically generate all motion data constituting the robot motion data.

  Incidentally, the control unit 40 can register the trajectory pattern drawn by the user as trajectory shape information indicating the trajectory shape, and can also set the contents of the input items to be input for the trajectory pattern. The control unit 40 can also use the locus pattern drawn and registered by the user in this manner for generating motion data together with the locus pattern prepared in advance in the personal computer 12, for example.

  Further, after storing the robot motion data in association with the compressed music data in the storage unit 42, the control unit 40 can read the robot motion data from the storage unit 42 in response to a user request. And the control part 40 is reversible from the case where motion data is produced | generated based on the above-mentioned locus | trajectory data using the motion data and wheel information of the right wheel 30 and the left wheel 31 which are included in the robot motion data. The process is executed to generate the trajectory data again.

  Thus, the control unit 40 processes the trajectory data used once for generating the movement data of the right wheel 30 and the left wheel 31 as described above, and generates the movement data of the right wheel 30 and the left wheel 31 again. You can also. Therefore, the control unit 40 generates movement data of the right wheel 30 and the left wheel 31 based on the locus drawn by the user, and when the ellipsoidal casing 20 is actually moved using the movement data. Even if the movement is requested to be corrected, the trajectory is not drawn again, but the request can be easily dealt with.

  Furthermore, when a locus is drawn by the user, the control unit 40 analyzes the structure of the locus such as the length and number of straight lines, the number of inflection points, the distance between inflection points, and the like. Based on the analysis result of the locus structure, the control unit 40 makes a locus for moving the ellipsoidal housing 20 relatively intensely, a locus for moving the elliptical housing 20 relatively slowly, and the like. Thus, the trajectory feature can be analyzed. The control unit 40 also analyzes music features based on a plurality of compressed music data stored in the storage unit 42.

  Then, the control unit 40 classifies the compressed music data in the storage unit 42 based on the characteristics of the music according to various characteristics of the trajectory (that is, the compression having music characteristics that match each of the various characteristics of the trajectory. Combine music data). As a result, the control unit 40 lists the identification information unique to the compressed music data having the music features matching the features for each trajectory feature, and stores a list for each trajectory feature in the storage unit 42. Yes.

  For this reason, the control unit 40 sets the reproduction setting music data as described above and does not draw the locus to the user, but first draws the locus to the user, and analyzes the feature of the drawn locus. . Further, the control unit 40 selects and reads a list corresponding to the trajectory feature from the storage unit 42 based on the trajectory feature. And the control part 40 selects one compression music data at random from the some compression music data registered into the selected list | wrist, and makes the said selected compression music data into the locus | trajectory drawn by the user. This is set to the playback setting music data to be played back when the ellipsoidal casing 20 is moved along. As a result, the control unit 40 can freely draw a trajectory without making the user care about music, and even if the user can freely draw the trajectory in this way, When the body casing 20 is moved, music that matches the movement can be accurately selected and provided as compressed music data.

  The control unit 40 can communicate wirelessly with the music robot device 11 and the music robot device 11 includes the acceleration sensor 56, the right wheel 30, and the left wheel 31. It is also possible to draw a locus using the robot apparatus 11. In this case, when the control unit 40 is requested to draw a trajectory in, for example, a first circular area using the music robot device 11 via the input unit 41 in the manual mode, the music robot device 11 is requested. And instructing the user to determine the origin for drawing the trajectory on the floor. As a result, when the user's finger contacts the contact detection sensor 33 of the music robot apparatus 11 placed on the floor twice continuously, for example, the control unit 40 sets the position immediately below the center point P1 to the origin. Set to. Then, the control unit 40 moves the ellipsoidal housing 20 by moving the music robot device 11 in a circular first area having a radius of 30 [cm], for example, centered on the origin. To draw.

  In this case, for example, when the ellipsoidal casing 20 is moved on the floor in a state where a finger or the like is in contact with the contact detection sensor 33 by the user, the music robot device 11 is moved to the ellipsoidal casing 20 by the acceleration sensor 56. Detect the resulting acceleration. Further, the music robot apparatus 11 rotates the output shaft of the motor that rotates with the right wheel 30 and the left wheel 31 according to the movement of the ellipsoidal housing 20 (that is, the rotation direction and the rotation angle) in the drive unit 52. It is detected by a detection sensor. In the music robot apparatus 11, the main control unit 50 detects the acceleration detected by the acceleration sensor 56 while the ellipsoidal casing 20 is moved while a finger or the like is in contact with the contact detection sensor 33. As described above, the data is transmitted to the personal computer 12 via the communication unit 58 while being captured via the drive control unit 54. Further, the main control unit 50 captures the rotation detected by the rotation detection sensor of the drive unit 52 as the rotation detection signal through the drive control unit 54 while the ellipsoidal casing 20 is being moved. The data is transmitted to the personal computer 12 via 58.

  Thereby, the control unit 40 of the personal computer 12 is transmitted from the music robot apparatus 11 when the ellipsoidal housing 20 is moved on the floor while the finger or the like is in contact with the contact detection sensor 33 by the user. While receiving the acceleration detection signal and the rotation detection signal via the communication unit 46, together with the received acceleration detection signal and rotation detection signal, the ellipsoidal housing is formed in the first region at a sampling interval based on the wheel information. The actual coordinates of the locus forming point indicating the sequentially changing position of the center point P1 of the body 20 are detected. Thus, even when a locus is drawn by the user using the music robot device 11, the control unit 40 can detect the locus and generate locus data in the same manner as described above. The control unit 40 can also process the trajectory data generated in this way in the same manner as described above.

  By the way, as described above, the control unit 40 generates trajectory data based on the trajectory drawn in the circular first region having a diameter of, for example, 30 [cm] as described above, and the generated trajectory data is also generated. The movement data of the right wheel 30 and the left wheel 31 are generated. However, when the control unit 40 moves the ellipsoidal casing 20 in a second region that is actually different from the first region in accordance with the reproduction of the reproduction setting music data, the control unit 40 draws the first region in the first region. After the trajectory data is processed so that the trajectory is matched with the second region, motion data of the right wheel 30 and the left wheel 31 can be generated based on the processed trajectory data.

  In this case, when the control unit 40 generates the trajectory data based on the trajectory drawn in the first area by the user, the control unit 40 uses, for example, the area information regarding the circular second area via the input unit 41 by the user. When the radius is input, the radius is divided by the radius of the first region to calculate the ratio of the size of the second region to the size of the first region. Further, the control unit 40 defines the second area as a circle having a radius input by the user and having a size that is larger or smaller than the size of the first area by the calculated ratio. Generate definition information to be set and set it.

  Since the shape of the second region is similar to the shape of the first region at this time, the control unit 40 determines the second region with respect to the actual coordinates of each locus forming point forming the locus indicated by the locus data. Multiply the ratio included in the definition information. As a result, as shown in FIGS. 29A and 29B and FIGS. 30A and 30B, the control unit 40 sets the size of the trajectory 111 drawn in the first area 110 by the user. Trajectory correspondence corresponding to the trajectory forming point of the trajectory 111 with the center of the second region 112 or 113 as the origin when the size is changed to match the size of the second region 112 or 113 (that is, enlarged or reduced) The coordinates of the points (hereinafter referred to as corresponding coordinates) are calculated. In addition, the control unit 40 changes the actual coordinates of the respective locus forming points of the locus drawn by the user indicated by the locus data to the corresponding coordinates of the corresponding locus corresponding points, and changes these locus forming points (that is, the actual coordinates). The trajectory data is processed by associating the associated reproduction time information with the corresponding trajectory corresponding point (that is, the corresponding coordinate).

  Then, when the region information regarding the second region is input by the user in this way, the control unit 40 generates motion data of the right wheel 30 and the left wheel 31 based on the trajectory data processed accordingly. Therefore, when the ellipsoidal casing 20 is actually moved in the second area different from the first area where the locus is drawn by the user, the control unit 40 moves the ellipsoidal casing in the second area. Movement data of the right wheel 30 and the left wheel 31 for moving the body 20 can be easily generated.

  However, the control unit 40 reassociates the reproduction time information associated with the locus forming point (that is, the actual coordinate) as it is with the locus corresponding point (that is, the corresponding coordinate). For this reason, when the size of the second region is larger than the size of the first region, the control unit 40 determines that the distance between the two corresponding trajectory corresponding points is larger than the distance between the two adjacent trajectory forming points. By increasing the length, the speed at which the ellipsoidal casing 20 moves along the trajectory processed in accordance with the second area is set to the speed of the ellipsoidal casing 20 along the trajectory drawn in the first area. It is generally faster than the speed at which it moves. In addition, when the size of the second region is smaller than the size of the first region, the control unit 40 shortens the distance between the two corresponding locus corresponding points shorter than the distance between the two adjacent locus forming points. Thus, the speed at which the ellipsoidal casing 20 moves along the trajectory processed in accordance with the second area is set so that the ellipsoidal casing 20 moves along the trajectory drawn in the first area. Overall speed is slower than the speed when moving.

  Incidentally, the control unit 40 can request the user to arbitrarily set the first area, although the diameter of the first area is set to 30 [cm] in advance. Therefore, as illustrated in FIG. 31, the control unit 40 arbitrarily inputs the radius R1 of the circular first region 115, for example, in accordance with the location where the locus is drawn for the user, so that the size of the first region 115 is increased. Can be set arbitrarily. Further, as shown in FIG. 32, the control unit 40 also arbitrarily selects the shape of the first region 116 from a plurality of types of shapes prepared for selection in advance, such as a star shape for the user. It can also be set. Further, as shown in FIG. 33, the control unit 40 causes the user to draw the first region 117 in an arbitrary size and shape on the desk or the floor using the mouse or the music robot apparatus 11. It can also be set.

  Further, as shown in FIG. 34, the control unit 40 does not set the first region 119 before drawing the locus 118, and when the locus 118 has been drawn using the mouse or the music robot apparatus 11, It is also possible to arbitrarily select and set the first region 119 having a size and shape that can accommodate the locus 118. Furthermore, as shown in FIG. 35, when the locus is drawn by the user using the mouse or the music robot apparatus 11, the control unit 40 actually draws the first area 120 on the desk or the floor. Do not mean. For this reason, the control unit 40 can also provide a slightly larger error region 121 that is similar to the first region 120 outside the first region 120. As a result, when the error area 121 is provided in this way, the control unit 40 assumes that even if there is a portion that slightly protrudes from the first area 120 in the locus drawn by the user, this is within the error area 121. It is effectively used to generate trajectory data.

  And when setting the definition information that defines the second area, the control unit 40, as in the case described above with reference to FIG. 32, for example, allows the user to select from among a plurality of shapes prepared for selection in advance. On the other hand, the shape of the second region can be arbitrarily selected. Similarly to the case described above with reference to FIG. 33, the control unit 40 causes the user to draw the second area in an arbitrary size and shape on the desk or the floor using the mouse or the music robot device 11. In addition, definition information that defines the second region can be set based on the locus drawn at that time.

  In addition, the control unit 40 allows the user to input region information related to the second region having a shape different from the shape of the first region (that is, the shape of the second region), and defines according to the region information. Information can also be set. Then, as shown in FIGS. 36A to 36C, when the shapes of the first and second regions 125 and 126 are different, the control unit 40 uses the user when processing the trajectory data based on the definition information. The actual coordinates (or corresponding coordinates of the trajectory corresponding points) of each trajectory forming point of the trajectory 127 drawn by the above are compared with a plurality of coordinates where the frame of the second region 126 is located. Accordingly, when the locus 127 drawn by the user is matched with the second region, the control unit 40 determines whether or not there is a portion that protrudes from the frame of the second region 126 in the locus 127.

  As a result, when the control unit 40 matches the trajectory 127 drawn by the user to the second area, when there is a portion that protrudes from the frame of the second region 126 in the trajectory 127, the control unit 40 The actual coordinates of the trajectory forming point (or the corresponding coordinates of the trajectory corresponding point) are changed so that the portion that protrudes from the frame of the area 126 is accommodated in the second area 126. As a result, the control unit 40 makes the locus so that the locus 127 drawn by the user is accurately matched with the second region 126 even when the shapes of the first and second regions 125 and 126 are different. Data can be processed.

  In the case of this embodiment, the control unit 40 of the personal computer 12 automatically generates robot motion data using the music data obtained as a result of reading and processing the compressed music data from the storage unit 42. Then, when transmitting the music data and the robot movement data to the music robot apparatus 11, the ellipsoidal casing 20 is set to the user via the input unit 41 or the music robot apparatus 11 at this time according to the music. Area information relating to the second area that can be moved can be input. When the area information is input by the user as described above, the control unit 40 generates and sets definition information including a plurality of coordinates where the frame of the second area is positioned based on the area information.

  At this time, the control unit 40 also gives the user a position when the ellipsoidal housing 20 starts to move in time with the music in the second region via the input unit 41, for example, as the center of the second region. Let me input it. As shown in FIG. 37, in this state, when the control unit 40 generates robot motion data using music data obtained while reproducing compressed music data, the right wheel 30 and the left wheel 31 are included in one music tone section. Each time the movement pattern data is assigned, the movement pattern data, the position at which the ellipsoidal housing 20 starts to move with the movement pattern data, the time length of the tune section, and the wheel information are used. A region (hereinafter referred to as a “casing motion region”) 130 in which the ellipsoidal casing 20 actually moves is detected with the motion pattern indicated by the pattern data.

  Then, the control unit 40 compares the casing movement area 130 with a plurality of coordinates where the frame of the second area 131 is located, and based on the comparison result, the ellipsoidal casing 20 has the second area 131. It is determined whether or not it moves so as to protrude outside. As a result, when the control unit 40 confirms that the ellipsoidal casing 20 moves without protruding outside the second region 131, the control unit 40 assigns motion pattern data to the next music tone section. On the other hand, when the control unit 40 confirms that the ellipsoidal casing 20 moves out of the second region 131, the tune tone to which the motion pattern data of the right wheel 30 and the left wheel 31 is assigned at that time. The other movement pattern data of the right wheel 30 and the left wheel 31 are reassigned to the section. Then, the control unit 40 detects the case movement region 130 with the movement pattern indicated by the reassigned movement pattern data, and again moves so that the ellipsoidal case 20 protrudes outside the second region 131. It is determined whether or not.

  In this way, when generating the robot motion data to be transmitted to the music robot apparatus 11, the control unit 40 confirms whether or not the ellipsoidal casing 20 can be moved within the second region 131. The movement pattern data of the right wheel 30 and the left wheel 31 is assigned to each music tone section. As a result, the control unit 30 can accurately move the ellipsoidal casing 20 within the second region 131 designated by the user when generating and transmitting the robot motion data to the music robot apparatus 11 and moving it. it can.

  On the other hand, in the music robot apparatus 11, the main control unit 50 reproduces when the user moves the music robot apparatus 11 as a whole among a plurality of compressed music data stored in the storage unit 57 via the input unit 55. When the compressed music data is selected, identification information unique to the selected compressed music data is stored in the internal memory or the storage unit 57. As a result, the main control unit 50 sets the compressed music data selected by the user to be reproduced when the entire music robot apparatus 11 is moved. Then, the main control unit 50 is requested by the user to draw a trajectory in, for example, a circular first area via the input unit 55, and subsequently, a contact detection sensor of the music robot apparatus 11 placed on the floor For example, when the user's finger touches 33 continuously twice, the position immediately below the center point P1 at that time is set as the origin.

  In this state, for example, the main control unit 50 reproduces the reproduction setting music data (that is, while listening to music based on the reproduction setting music data to the user) while the ellipse is in contact with the contact detection sensor 33 by the user. When the body casing 20 is moved on the floor, the acceleration detected by the acceleration sensor 56 is taken in via the drive control unit 54 as an acceleration detection signal. Further, the main control unit 50 rotates the output shafts of the motors corresponding to the right wheel 30 and the left wheel 31 detected by the rotation detection sensor in the driving unit 52 according to the movement of the ellipsoidal housing 20 (that is, the rotation). Direction and rotation angle) are taken in via the drive control unit 54 as a rotation detection signal.

  The main control unit 50 determines the sampling interval based on the wheel information stored in advance in the storage unit 57 together with the acceleration detection signal and the rotation detection signal while the ellipsoidal casing 20 is moved on the floor by the user. Thus, the trajectory information is detected in the same manner as in the case of the personal computer 12 described above, by detecting the actual coordinates of the trajectory forming point indicating the sequentially changing position of the center point P1 of the ellipsoidal casing 20 in the first region. Is generated. The main control unit 50 automatically uses the trajectory information to automatically set the drawing start and drawing time axis (or drawing start and changed drawing time axis) and the reproduction start and reproduction time axis as in the case of the personal computer 12 described above. Accordingly, the trajectory data is generated by associating the reproduction time information with each trajectory forming point (that is, the actual coordinate) forming the trajectory.

  Here, when the user confirms the content of the trajectory data without inputting the region information regarding the second region, the main control unit 50 forms the trajectory data (that is, forms each trajectory drawn by the user). The right wheel 30 and the left side when the ellipsoidal housing 20 is moved along the locus drawn by the user based on the actual coordinates of the points and the reproduction time information associated with each locus forming point) and the wheel information. The motion data of the wheel 31 is generated. Further, when a radius is input by the user via the input unit 55 as area information related to, for example, a circular second area, the main control unit 50 generates definition information that defines the second area based on the radius. And set this. Then, as in the case of the personal computer 12 described above, the main control unit 50 processes the trajectory data based on the definition information of the second area, and then based on the processed trajectory data and wheel information, the right wheel 30 and The movement data of the left wheel 31 is generated.

  In this way, the main control unit 50 obtains the movement data of the right wheel 30 and the left wheel 31 for moving the ellipsoidal housing 20 in the first or second region based on the locus drawn by the user. Can be generated. Incidentally, at this time, the main control unit 50 automatically generates the movement data of the other movable unit 51 and the light emission data of the light emitting unit 53 as described above. When the main control unit 50 obtains the robot motion data by combining the motion data and the light emission data, the main control unit 50 stores the data in the storage unit 57 in association with the playback setting music data, and then plays the playback setting music data. Sometimes the robot motion data is used.

  By the way, when generating the trajectory data, the main control unit 50 processes the trajectory data so that the position of the inflection point of the trajectory matches the beat position in the same manner as the personal computer 12 described above according to the user's instruction. Can do. Further, the main control unit 50 sets the diameter of the first region to 30 [cm] in advance, for example, and allows the user to arbitrarily input the radius of the first region, so that the size of the first region is set. Can be set arbitrarily. Furthermore, the main control unit 50 can also set the shape of the first region by allowing the user to arbitrarily select from a plurality of types of shapes prepared for selection in advance. Further, the main control unit 50 can set the first area to an arbitrary size and shape by drawing the first area by moving the ellipsoidal casing 20 on the floor to the user. .

  Further, the main control unit 50 does not set the first area before drawing the locus, and can store the locus when the locus is drawn using the ellipsoidal housing 20. The first region of size and shape can be arbitrarily selected and set. Furthermore, the main control unit 50 can also provide a slightly larger error area similar to the first area outside the first area, so that the trajectory drawn by the user is slightly different from the first area. Even if there is an overhanging portion, if it is within the error region, the locus is effectively used for the generation of locus data.

  When the definition information defining the second region is set, the main control unit 50 also arbitrarily sets the shape of the second region to the user from among a plurality of types prepared in advance for selection, for example. Can also be selected. In addition, the main control unit 50 causes the user to draw the second area in an arbitrary size and shape on the floor using the ellipsoidal housing 20, and based on the locus drawn at that time, Definition information defining two areas can also be set. Further, the main control unit 50 causes the user to input region information regarding the second region having a shape different from the shape of the first region (that is, the shape of the second region), and according to the region information Definition information can also be set.

  If the shapes of the first and second regions are different, the main control unit 50, like the personal computer 12 described above, uses the actual coordinates of each trajectory forming point of the trajectory drawn by the user when processing the trajectory data. (Or the corresponding coordinates of the trajectory corresponding point) and a plurality of coordinates where the frame of the second region is located, and when there is a portion that protrudes from the frame of the second region in the trajectory, the trajectory The actual coordinates of the trajectory forming point (or the corresponding coordinates of the trajectory corresponding point) are changed so that the portion protruding from the frame of the second area is accommodated in the second area. Accordingly, the main control unit 50 can process the trajectory data so that the trajectory drawn by the user is accurately matched to the second region even when the shapes of the first and second regions are different.

  Further, as in the case of the personal computer 12 described above, the main control unit 50 stores, in the storage unit 57, a list in which compressed music data having music features matching the features is registered for each trajectory feature. Yes. Therefore, the main control unit 50 sets the reproduction setting music data and does not draw the locus for the user, but first draws the locus for the user, and analyzes the feature of the drawn locus. The main control unit 50 selects and reads out a list corresponding to the trajectory feature from the storage unit 57 based on the analysis result of the trajectory feature, and randomly selects one compressed music data from the list. And the selected compressed music data can be set as reproduction setting music data to be reproduced when the ellipsoidal housing 20 is moved along the locus drawn by the user.

  Furthermore, the main control unit 50 reads out the compressed music data from the storage unit 57 and performs playback processing, and automatically generates robot motion data using the resulting music data. In this case, it is possible to input the area information regarding the second area in which the ellipsoidal casing 20 can be moved according to the music. Then, as in the case of the personal computer 12 described above, the main control unit 50 confirms whether or not the ellipsoidal casing 20 can be accurately moved within the second region designated by the user. Robot motion data can also be generated.

  Next, using the flowcharts shown in FIGS. 38 to 40, when the control unit 40 of the personal computer 12 receives a request command for requesting the robot motion data to be automatically generated via the input unit 41 by the user. First, the first beat detection processing procedure RT1 and the first feature analysis processing procedure RT2 and the first motion data generation processing procedure RT3 in the music data analysis processing executed in parallel will be described.

  When a request command for requesting to automatically generate robot motion data is input via the input unit 41 by the user, the control unit 40 receives the first beat detection processing procedure RT1 shown in FIG. 38 according to the motion data generation program. To start. When the control unit 40 starts the first beat detection processing procedure RT1, in step SP1, the control unit 40 extracts energy for each predetermined frequency band from the sequential unit processing portion of the music data, and the energy of each extracted frequency band. The beat position for the music data is detected based on the sum, and the process proceeds to the next step SP2.

  In step SP2, the control unit 40 determines whether or not a predetermined number of beat positions have been detected in the music data. If a negative result is obtained in step SP2, this means that a predetermined number of beat positions for specifying the music interval in the music data have not yet been detected. Accordingly, when the control unit 40 obtains such a negative result, it returns to step SP1. Thus, the control unit 40 thereafter repeatedly executes the processing of step SP1 and step SP2 cyclically until a positive result is obtained in step SP2. Therefore, the control unit 40 sequentially detects beat positions from the head in the music data.

  If an affirmative result is obtained in step SP2, this indicates that a predetermined number of beat positions for specifying the music interval are detected in the music data. Therefore, when the control unit 40 obtains such a positive result, the number of beat position detections is temporarily reset so that the beat position for the next music tone interval can be detected in the music data, and then the process proceeds to the next step SP3. . In step SP3, the control unit 40 identifies one music interval based on a predetermined number of beat positions in the music data, and proceeds to the next step SP4.

  In step SP4, the control unit 40 determines whether or not the specification of the tune section over the entire music data has been completed. If a negative result is obtained in step SP4, this indicates that the tune section has only been specified halfway through the music data. Accordingly, when the control unit 40 obtains such a negative result, it returns to step SP1. As a result, the control unit 40 thereafter repeatedly executes the processing from step SP1 to step SP4 cyclically until a positive result is obtained in step SP4. Therefore, the control unit 40 identifies the music interval while sequentially detecting the beat position from the beginning of the music data. If an affirmative result is obtained in step SP4, this indicates that a plurality of music tone sections have been specified over the entire music data. Accordingly, when the control unit 40 obtains such a positive result, the control unit 40 proceeds to the next step SP5, and ends the first beat detection processing procedure RT1.

  Further, when a request command for requesting to automatically generate robot motion data is input via the input unit 41 by the user, the control unit 40 performs the first feature analysis processing procedure shown in FIG. 39 according to the motion data generation program. RT2 is also started. When the control unit 40 starts the first feature analysis processing procedure RT2, in step SP11, the control unit 40 extracts energy for each frequency band corresponding to each of 12 scales from the sequential unit processing portion of the music data, and performs beat detection processing. It waits to specify one music interval in the music data. When the control unit 40 identifies one music interval in the music data by the beat detection process, the control unit 40 proceeds to the next step SP12.

  In step SP12, the control unit 40 detects section information based on the energy for each frequency band corresponding to each of the twelve scales extracted in one music section of the music data, and based on the detected section information. The section feature is analyzed, and the process proceeds to the next step SP13. In step SP13, the control unit 40 determines whether or not the section characteristics have been analyzed for all music sections of the music data. If a negative result is obtained in step SP13, this indicates that the section feature has been analyzed only up to the music section in the middle of the music data. Therefore, if the control unit 40 obtains such a negative result, it returns to step SP11. Thus, the control unit 40 thereafter repeatedly executes the processing from step SP11 to step SP13 in a cyclic manner until a positive result is obtained in step SP13. Therefore, the control unit 40 analyzes the section characteristics of the tune sections that are sequentially specified from the beginning of the music data.

  If an affirmative result is obtained in step SP13, this indicates that a plurality of music intervals are specified over the entire music data, and the section characteristics of the plurality of music intervals have been analyzed. Accordingly, when the control unit 40 obtains such a positive result, the control unit 40 proceeds to the next step SP14 and ends the first feature analysis processing procedure RT2.

  Furthermore, when a request command for requesting automatic generation of robot motion data is input via the input unit 41 by the user, the control unit 40 performs the first motion data generation process shown in FIG. 40 according to the motion data generation program. Procedure RT3 is started. When the first motion data generation processing procedure RT3 is started, the control unit 40 waits to identify one music section in the music data and analyze the section feature of the music section in step SP21. When the control unit 40 identifies one musical interval in the music data and analyzes the characteristic of the musical interval, the control unit 40 proceeds to the next step SP22.

  In step SP22, the control unit 40 assigns the motion pattern data (or motion stop pattern data) of the movable unit 51 to one musical tone section specified in the music data based on the section characteristics, and emits light from the light emitting unit 53. Pattern data (or light emission stop pattern data) is assigned, and the process proceeds to the next step SP23. In step SP23, the control unit 40 determines whether or not the movement pattern data (or movement stop pattern data) and the light emission pattern data (or light emission stop pattern data) have been assigned to all the music tone intervals of the music data.

  If a negative result is obtained in this step SP23, this means that the motion pattern data (or motion stop pattern data) of the movable portion 51 and the light emission pattern data (or light emission stop) of the light emitting portion 53 are still only up to the middle tone section of the music data. Pattern data) is not assigned. Accordingly, when the control unit 40 obtains such a negative result, the control unit 40 returns to step SP21. As a result, the control unit 40 then repeatedly executes the processing from step SP21 to step SP23 cyclically until a positive result is obtained in step SP23. Therefore, the control unit 40 sequentially assigns the motion pattern data (or motion stop pattern data) of the movable unit 51 and the light emission pattern data (or light emission stop pattern data) of the light emitting unit 53 to the music interval from the beginning of the music data.

  If an affirmative result is obtained in step SP23, this means that the motion pattern data (or motion stop pattern data) of the movable part 51 and the light emission pattern data (or light emission part 53) of the light emitting part 53 are respectively obtained for a plurality of musical tone intervals of the entire music data. (Light emission stop pattern data) has been assigned. Accordingly, when the control unit 40 obtains such a positive result, the control unit 40 proceeds to next step SP24. In step SP24, the control unit 40 generates the robot motion data by combining the motion pattern data (or motion stop pattern data) and the light emission pattern data (or light emission stop pattern data) assigned to all the musical tone intervals of the music data. Then, the process proceeds to the next step SP25, and the first motion data generation processing procedure RT3 is terminated.

  Next, using the flowchart shown in FIG. 41, the control unit 40 of the personal computer 12 generates the second motion data to be executed when a request command requesting that the user draw a locus in the first region is input. The processing procedure RT4 will be described.

  When the user inputs a request command requesting to draw a trajectory in the first region, the control unit 40 starts the second motion data generation processing procedure RT4 shown in FIG. 41 according to the motion data generation program. When the second motion data generation processing procedure RT4 is started, the control unit 40 waits for a trajectory to be drawn in the first region by the user using the mouse or the music robot device 11 in step SP31. And if a locus is drawn in the 1st field by the user, control part 40 will generate locus information which shows the locus, and will move to the following step SP32.

  In step SP32, the control unit 40 combines the drawing start and drawing time axis (or drawing start and change drawing time axis) of the locus drawn by the user with the reproduction start music data reproduction start and reproduction time axis. The locus data is generated by associating the reproduction time information of the reproduction setting music data with each locus forming point for generating the locus, and the process proceeds to the next step SP33.

  In step SP33, the control unit 40 determines whether or not the second area is defined. If an affirmative result is obtained in this step SP33, this is requested by the user to move the ellipsoidal housing 20 in a second area different from the first area in accordance with the reproduction of the reproduction setting music data. It represents that. Therefore, when the control unit 40 obtains such a positive result, the control unit 40 proceeds to next step SP34.

  In step SP34, the control unit 40 sets definition information that defines the second area, and uses the definition information to match the locus drawn by the user in the first area with the second area. The trajectory data is processed, and the process proceeds to the next step SP35. In step SP35, the control unit 40 uses the wheel information together with the processed trajectory data, and the movement data of the right wheel 30 and the left wheel 31 for moving the ellipsoidal housing 20 along the trajectory matched to the second region. And moves to the next step SP36.

  In step SP36, the control unit 40 collects the movement data of the right wheel 30 and the left wheel 31 together with the movement data of the other movable unit 51 and the light emission data of the light emitting unit 53 that have been generated manually or semi-automatically at this time. The motion data is generated, the process proceeds to the next step SP37, and the second motion data generation processing procedure RT4 is terminated. By the way, if a negative result is obtained in step SP33 described above, this indicates that the user has requested to move the ellipsoidal casing 20 in the first area in accordance with the reproduction of the reproduction setting music data. Yes.

  Accordingly, when the control unit 40 obtains such a positive result, the control unit 40 proceeds to step SP35. At this time, in step SP35, the control unit 40 uses the wheel information together with the trajectory data indicating the trajectory drawn in the first area to move the ellipsoidal casing 20 along the trajectory in the first area. The movement data of the right wheel 30 and the left wheel 31 is generated, and the process proceeds to the next step SP36.

  Next, using the flowcharts shown in FIGS. 42 to 44, when the main control unit 50 of the music robot apparatus 11 reads out the compressed music data from the storage unit 57, the music data is automatically and simultaneously analyzed. The second beat detection processing procedure RT5, the second feature analysis processing procedure RT6, and the third motion data generation processing procedure RT7 in the processing will be described.

  When the main control unit 50 starts the reproduction processing of the compressed music data read from the storage unit 57, the main control unit 50 starts the second beat detection processing procedure RT5 shown in FIG. 42 according to the motion data generation program accordingly. When starting the second beat detection processing procedure RT5, the main control unit 50 detects the volume level for each predetermined unit processing portion of the music data in step SP41, and determines the beat position of the music data based on the detection result. Detect and move to next step SP42. In step SP42, the main control unit 50 determines whether or not a predetermined number of beat positions have been detected for the music data. If a negative result is obtained in this step SP42, this indicates that a predetermined number of beat positions for specifying the music interval in the music data have not yet been detected.

  Therefore, if the main control unit 50 obtains such a negative result, it returns to step SP41. As a result, the main control unit 50 then repeatedly executes the processing of step SP41 and step SP42 cyclically until a positive result is obtained in step SP42. Accordingly, the main control unit 50 detects beat positions sequentially from the beginning of the music data.

  If an affirmative result is obtained in step SP42, this indicates that a predetermined number of beat positions for specifying the music interval are detected in the music data. Accordingly, when the main control unit 50 obtains such a positive result, the main control unit 50 once resets the number of beat position detections so that the beat position for the next music tone interval can be detected in the music data, and then proceeds to the next step SP43. Move. In step SP43, the main control unit 50 specifies one music interval based on a predetermined number of beat positions in the music data, and proceeds to the next step SP44. In step SP44, the main control unit 50 determines whether or not the specification of the music tone section over the entire music data has been completed. If a negative result is obtained in this step SP44, this indicates that the tune section has only been specified halfway through the music data.

  Therefore, if the main control unit 50 obtains such a negative result, it returns to step SP41. As a result, the main control unit 50 thereafter repeatedly executes the processing from step SP41 to step SP44 cyclically until a positive result is obtained in step SP44. Therefore, the main control unit 50 identifies the music interval while sequentially detecting the beat position from the beginning of the music data. If an affirmative result is obtained in step SP44, this indicates that a plurality of music tone sections have been specified over the entire music data. Accordingly, when the main control unit 50 obtains such a positive result, the main control unit 50 proceeds to the next step SP45 and ends the second beat detection processing procedure RT5.

  When the main control unit 50 starts the reproduction process of the compressed music data read from the storage unit 57, the main control unit 50 also starts the second feature analysis processing procedure RT6 shown in FIG. 43 in accordance with the motion data generation program. When starting the second feature analysis processing procedure RT6, the main control unit 50 waits for identification of one music interval in the music data by beat detection processing in step SP51. When the main control unit 50 specifies one music interval in the music data by the beat detection process, the main control unit 50 proceeds to the next step SP52. In step SP52, the main control unit 50 analyzes the section characteristics of the one music section based on the volume level detected a plurality of times in one music section, and proceeds to the next step SP53.

  In step SP53, the main control unit 50 determines whether or not the section characteristics have been analyzed for all music sections of the music data. If a negative result is obtained in step SP53, this indicates that the section feature has been analyzed only up to the music section in the middle of the music data. Therefore, if the main control unit 50 obtains such a negative result, it returns to step SP51. As a result, the main control unit 50 thereafter repeatedly executes the processing from step SP51 to step SP53 cyclically until a positive result is obtained in step SP53. Therefore, the main control unit 50 analyzes the section characteristics of the tune sections that are sequentially specified from the beginning of the music data.

  If an affirmative result is obtained in step SP53, this indicates that a plurality of music intervals are specified over the entire music data, and the section characteristics of the plurality of music intervals have been analyzed. Accordingly, when the main control unit 50 obtains such a positive result, the main control unit 50 proceeds to the next step SP54 and ends the second feature analysis processing procedure RT6.

  Further, when starting the reproduction processing of the compressed music data read from the storage unit 57, the main control unit 50 starts the third motion data generation processing procedure RT7 shown in FIG. 44 according to the motion data generation program. When starting the third motion data generation processing procedure RT7, the main control unit 50 waits to identify one music interval in the music data and analyze the section characteristics of the music interval in step SP61. When the main control unit 50 identifies one musical interval in the music data and analyzes the characteristic of the musical interval, the main control unit 50 proceeds to the next step SP62.

  In step SP62, the main control unit 50 assigns the motion pattern data of the movable unit 51 and the light emission pattern data of the light emitting unit 53 to one music tone section specified in the music data based on the section characteristics. Then, the main control unit 50 generates the robot motion data by combining the motion pattern data and the light emission pattern data assigned to one music tone section, and proceeds to the next step SP63.

  In step SP63, the main control unit 50 determines whether or not the robot motion data corresponding to all the music tone sections of the music data has been generated. If a negative result is obtained in this step SP63, this indicates that only robot motion data corresponding to a music tone section in the middle of the music data has been generated. Therefore, when the main control unit 50 obtains such a negative result, the main control unit 50 returns to step SP61. As a result, the main control unit 50 thereafter repeatedly executes the processing from step SP61 to step SP63 cyclically until a positive result is obtained in step SP63. Accordingly, the main control unit 50 sequentially generates robot motion data corresponding to a plurality of musical tone intervals from the head to the tail of the music data.

  If an affirmative result is obtained in step SP63, this means that generation of robot motion data corresponding to a plurality of music tone sections of the entire music data has been completed. Therefore, when the main control unit 50 obtains such a positive result, the main control unit 50 proceeds to the next step SP64 and ends the third motion data generation processing procedure RT7.

  Further, when requested by the user to draw a trajectory in the first region, the main control unit 50 executes the fourth motion data generation processing procedure according to the motion data generation program. In this case, the main control unit 50 generates the movement data of the right wheel 30 and the left wheel 31 by using the locus by drawing the locus by moving the ellipsoidal housing 20 by the user. The above-described second motion data generation processing procedure basically executed by the control unit 40 of the personal computer 12 except that the motion data of the unit 51 and the light emission data of the light emitting unit 53 are automatically generated. The same processing as RT4 is executed.

(3) Operations and Effects According to Embodiments In the above configuration, when the control unit 40 of the personal computer 12 moves the ellipsoidal casing 20 within the first region by using the mouse or the music robot device 11 by the user. When a trajectory to be traced is drawn, real coordinates where a plurality of trajectory forming points forming the trajectory are located in the first region are detected. Then, the control unit 40 generates locus data by associating the reproduction time information of the reproduction setting music data set to be reproduced when the ellipsoidal housing 20 is moved with respect to the plurality of locus forming points of the locus. Therefore, the control unit 40 of the personal computer 12 shows a desired trajectory for moving the ellipsoidal casing 20 and also displays trajectory data for moving the ellipsoidal casing 20 in synchronization with the reproduction of the reproduction setting music data. It can be easily generated.

  The main control unit 50 of the music robot apparatus 11 also draws a trajectory to be traced when the user moves the ellipsoidal casing 20 in the first region using the ellipsoidal casing 20. Real coordinates where a plurality of locus forming points forming the locus are located within one region are detected. The main control unit 50 associates the reproduction time information of the reproduction setting music data set to be reproduced when the ellipsoidal housing 20 is moved with respect to the plurality of locus formation points of the locus to generate locus data. . Accordingly, the main control unit 50 of the music robot apparatus 11 also shows a desired locus for moving the ellipsoidal casing 20, and a locus for moving the ellipsoidal casing 20 in synchronization with the reproduction of the reproduction setting music data. Data can be easily generated.

  According to the above configuration, the personal computer 12 and the music robot apparatus 11 can detect the ellipsoidal casing with respect to a plurality of trajectory forming points of the trajectory traced when the ellipsoidal casing 20 drawn by the user is moved. The trajectory data is generated by associating the playback time information of the playback-set music data set to be played back when 20 is moved along the trajectory. Thereby, the personal computer 12 and the music robot apparatus 11 show a desired trajectory for moving the ellipsoidal casing 20, and a trajectory for moving the ellipsoidal casing 20 in synchronization with the reproduction of the reproduction setting music data. Data can be easily generated. Therefore, the personal computer 12 and the music robot apparatus 11 can easily obtain a trajectory for moving the ellipsoidal casing 20 in accordance with music.

  Further, the personal computer 12 associates the reproduction time information of the entire reproduction setting music data with a plurality of locus formation points of the locus drawn by the user according to the time length of the locus, or the reproduction setting music data. The playback time information of a predetermined part of the is related. Accordingly, the personal computer 12 uses trajectory data indicating a trajectory for moving the ellipsoidal housing 20 in accordance with the reproduction of the entire reproduction setting music data, and an ellipsoidal enclosure in accordance with reproduction of a predetermined portion of the reproduction setting music data. Trajectory data indicating a trajectory for moving the body 20 can be easily generated in response to a user request. In particular, when the playback time of the playback setting music data is relatively long, the personal computer 12 does not have to draw a trajectory for moving the ellipsoidal housing 20 in accordance with the playback of the entire playback setting music data at one time. It is possible to generate the trajectory data indicating the trajectory for moving the ellipsoidal casing 20 in accordance with the reproduction of the entire reproduction setting music data, so that it can be drawn in a plurality of times. It can be remarkably improved.

  Further, the personal computer 12 and the music robot apparatus 11 generate the locus data by causing the user to draw a locus while reproducing the reproduction setting music data. For this reason, the personal computer 12 and the music robot apparatus 11 can cause the user to draw a locus by moving the ellipsoidal casing 20 so as to match the image of the music while actually listening to the music. Therefore, the personal computer 12 and the music robot apparatus 11 can easily generate trajectory data indicating a trajectory for moving the ellipsoidal housing 20 according to the user's image according to the music.

  Further, the personal computer 12 and the music robot apparatus 11 detect the inflection point of the locus drawn by the user, detect the beat position that is the boundary position of the music tone section of the reproduction setting music data, and change the locus to the beat position. The trajectory data was processed to match the extreme points. Therefore, the personal computer 12 and the music robot apparatus 11 can easily obtain trajectory data indicating a trajectory that changes the direction in which the ellipsoidal casing 20 moves in synchronization with the music tone. In addition, the personal computer 12 changes the position of the trajectory forming point that forms the trajectory drawn by the user (that is, the actual coordinates), and changes the playback time information associated with the trajectory forming point to process the trajectory data. I tried to do it. Therefore, the personal computer 12 can easily generate trajectory data indicating a trajectory for moving the ellipsoidal casing 20 according to the user's image according to the music.

  By the way, the personal computer 12 generates trajectory data by combining the drawing time axis of the drawing time and the reproduction time time axis when the trajectory is drawn by the user in response to the user's request, or the trajectory is at a constant speed. The change of the drawing time changed as drawn in Fig. 2 The locus data is generated by combining the drawing time axis and the reproduction time axis, and the locus data thus generated can be processed. Therefore, the personal computer 12 can process the trajectory data from a state where it is easy for the user to process, and can improve the processing efficiency.

  Further, the personal computer 12 uses a previously registered locus pattern when processing the locus data. Therefore, the personal computer 12 can make the locus data easier to process. The personal computer 12 indicates only the shape of the trajectory pattern that can be used for processing the trajectory data, and inputs various numerical values necessary for actually incorporating the trajectory pattern into the trajectory drawn by the user. I tried to make it. Accordingly, the personal computer 12 can easily use the trajectory pattern for processing the trajectory data, and can process the trajectory data so as to be closer to the user's image.

  Further, the personal computer 12 stores the movement data generated based on the trajectory data in association with the reproduction setting music data as robot movement data together with other movement data and light emission data, and later reads the robot movement data. In some cases, the trajectory data can be generated and processed based on the motion data contained therein. That is, the personal computer 12 can process the trajectory data after using the trajectory data as motion data to move the ellipsoidal housing 20 during reproduction of the reproduction set music data. Therefore, the personal computer 12 can check the state when the ellipsoidal housing 20 is actually moved based on the trajectory data, and can process the trajectory data so that it can be modified. In addition, trajectory data indicating a trajectory for moving the ellipsoidal casing 20 closer to the user's image can be easily obtained.

  Furthermore, the personal computer 12 and the music robot apparatus 11 process the trajectory data so that the trajectory drawn in the first area matches the second area. Therefore, even when the personal computer 12 and the music robot apparatus 11 actually move the ellipsoidal housing 20 in the second region different from the first region in which the trajectory is drawn, the shape and size of the second region are determined. It is possible to easily obtain trajectory data indicating a trajectory that matches the size. Since the personal computer 12 and the music robot apparatus 11 generate motion data based on the processed trajectory data, even if the user draws a trajectory in the first area, it differs from the first area. Motion data for moving the ellipsoidal housing 20 in the second region can be easily obtained.

  By the way, the personal computer 12 can generate the motion data of the movable portion 51 by using the pattern icon indicating the basic motion pattern. Therefore, the personal computer 12 can easily generate the motion data of the movable unit 51 as compared with the case where the motion data of the movable unit 51 is manually generated by arbitrarily inputting the instruction value along the reproduction time axis. be able to.

  In addition, the personal computer 12 and the music robot apparatus 11 not only generate motion data based on the locus drawn by the user, but also automatically generate the motion data. When the personal computer 12 and the music robot device 11 automatically generate the motion data, the personal computer 12 and the music robot device 11 analyze the reproduction setting music data, and synchronize the motion pattern that matches the music characteristics with the music tone according to the analysis result. To generate motion data. Therefore, the personal computer 12 and the music robot apparatus 11 can move the ellipsoidal casing 20 by using the locus drawn by the user when reproducing the reproduction setting music data, or the ellipsoidal casing. It is also possible to move 20 as if it were dancing to the music with a movement pattern that matched the music's tone and matched to the characteristics of the music.

(4) Other Embodiments In the above-described embodiments, the personal computer 12 connects the trajectory formation points of the trajectory with the lines on the motion data generation screen 70 and the trajectory corresponding points as lines. The case where the display trajectory 96 connected in the above is displayed has been described, but the present invention is not limited to this, and the personal computer 12 draws each trajectory forming point of the trajectory on the motion data generation screen 70. The linear conversion trajectory 100 and the trajectory corresponding points connected by the type of line according to the speed (for example, lines of different line types and colors according to the drawing speed) also correspond to the speed when the trajectory is drawn. You may make it display the display locus | trajectory 96 connected with the kind of line. As a result, the personal computer 12 easily confirms how the trajectory is drawn on the motion data generation screen 70 and how the ellipsoidal housing 20 moves along the trajectory while changing the speed. Can be made. The personal computer 12 makes it possible for the user to easily specify the processing portion of the trajectory by properly using the type of line, and also to easily check how the drawing time changes along the trajectory after processing. be able to.

  In the above-described embodiment, when the trajectory data is processed in the personal computer 12 so as to change the position of the trajectory formation point and to change the reproduction time information associated with the trajectory formation point, the reproduction setting is particularly performed. Although the case where the music data is not reproduced has been described, the present invention is not limited to this, and the position of the locus forming point is changed in the personal computer 12 and the reproduction time information associated with the locus forming point is changed. When processing the trajectory data, the reproduction setting music data is reproduced, and a predetermined mark is moved on the reproduction time notification unit 80 in accordance with the change of the reproduction time to notify the reproduction position of the reproduction setting music data. Anyway.

  Further, in the above-described embodiment, the personal computer 12 has been described with respect to the case where the user arbitrarily selects and uses the trajectory pattern and the basic motion pattern when generating the motion data. Not limited to this, the personal computer 12 presents a trajectory pattern or a basic motion pattern that matches the music characteristics (or section characteristics of the tune section) to the user at the time of generation of motion data, and presents the trajectory presented. A pattern or a basic motion pattern may be arbitrarily selected. Thereby, the personal computer 12 can generate motion data for moving the ellipsoidal casing 20 and the movable portion 51 so as to match the characteristics of music.

  Further, in the above-described embodiment, the personal computer 12 and the music robot apparatus 11 generate the trajectory data by associating the reproduction time information with each trajectory forming point forming the trajectory, and then based on the definition information of the second area. However, the present invention is not limited to this, and in the personal computer 12 and the music robot apparatus 11, the trajectory drawn by the user is based on the definition information of the second area. Then, the trajectory data may be generated by associating the reproduction time information with each trajectory forming point forming the processed trajectory.

  Further, in the above-described embodiment, the case where the user selects a predetermined portion of the reproduction setting music data to be associated with the trajectory in the personal computer 12 has been described. However, the present invention is not limited to this, and the personal computer 12 The control unit 40 may divide the reproduction setting music data into a plurality of parts, and draw a locus for each part and associate them with each other.

  Furthermore, in the above-described embodiment, the trajectory data generation program according to the present invention is stored in the internal memory of the storage unit 42 or the control unit 40 of the personal computer 12, the storage unit 57 of the music robot apparatus 11, or the internal memory of the main control unit 50. Applied to the stored motion data generation program, the control unit 40 performs the first beat detection processing procedure RT1, the first feature analysis processing procedure RT2, and the first and second motion data generation processing procedures according to the motion data generation program. While executing RT3 and RT4, the main control unit 50 executes the second beat detection processing procedure RT5, the second feature analysis processing procedure RT6, and the third and fourth motion data generation processing procedures RT7 in accordance with the motion data generation program. However, the present invention is not limited to this, and the personal computer 1 is not limited thereto. In addition, the first and second beat detection processing procedures RT1 and RT5 and the first and second feature analysis processing procedures RT2 described above by installing a program storage medium in which a trajectory data generation program is stored in the music robot apparatus 11. And RT6, the first to fourth motion data generation processing procedures RT3, RT4 and RT7 may be executed.

  The first and second beat detection processing procedures RT1 and RT5, the first and second feature analysis processing procedures RT2 and RT6, the first to fourth motion data generation processing procedures RT3, RT4, and the like described above. As a program storage medium for installing the trajectory data generation program for executing RT7 in the personal computer 12 and the music robot apparatus 11 and making it executable, for example, a flexible disk, CD-ROM (Compact Disc-Read Only) Memory), DVD (Digital Versatile Disc), and other package media, as well as a semiconductor memory or a magnetic disk in which various programs are temporarily or permanently stored. Further, as means for storing the trajectory data generation program in these program storage media, wired and wireless communication media such as a local area network, the Internet, and digital satellite broadcasting may be used, and various communication interfaces such as routers and modems may be used. You may make it store via.

  Further, in the above-described embodiment, the case where the trajectory data generation device according to the present invention is applied to the trajectory data generation device 1, the personal computer 12, and the music robot device 11 described above with reference to FIGS. However, the present invention is not limited to this, and information processing apparatuses such as mobile phones and PDAs (Personal Digital Assistance), playback apparatuses such as portable music playback apparatuses and stationary music playback apparatuses, and recording such as DVD recorders and hard disk recorders The present invention can be widely applied to various other trajectory data generation devices such as a playback device, a bipedal walking type, a quadruped walking type, and a vehicle type robotic device.

  Further, in the above-described embodiment, the case where the ellipsoidal casing 20 described above with reference to FIGS. 1 to 44 is applied as a movement target has been described. However, the present invention is not limited to this, and biped walking It can be widely applied to various other moving objects such as a main body, wheels, arms, etc. of a robot apparatus such as a mold, a quadruped walking type, and a car type.

  Furthermore, in the above-described embodiment, the data setting unit 2 of the trajectory data generation device 1 described above with reference to FIGS. 1 to 44 and the personal computer 11 are used as the data setting unit for setting music data to be reproduced when the movement target moves. Although the case where the control unit 40 and the main control unit 50 of the music robot apparatus 11 are applied has been described, the present invention is not limited to this, and a CPU (Central Processing Unit), a DSP (Digital Signal Processor) or the like is used. Various other data setting units can be widely applied.

  Furthermore, in the above-described embodiment, the input unit 3 of the trajectory data generation device 1 described above with reference to FIGS. 1 to 44 and the personal computer 11 are used as the input unit used for drawing and inputting the trajectory of the movement target movement. Although the case where the mouse and the music robot apparatus 11 are applied has been described, the present invention is not limited to this, but a pointing device such as a joystick, a touch pad, a touch pen, or a trackball, a biped walking type, or a quadruped walking type is used. In addition, various other input units can be widely applied, such as a robot type itself such as a car type or a movable unit thereof.

  Further, in the embodiment described above, as a trajectory data generation unit that generates trajectory data by associating the trajectory input via the input unit with the reproduction time information of the music data set by the data setting unit, FIG. The trajectory data generation unit 4 of the trajectory data generation device 1, the control unit 40 of the personal computer 11, and the main control unit 50 of the music robot apparatus 11 described above with reference to FIG. 44 have been described. However, the present invention is not limited to this, and various other trajectory data generation units such as a CPU can be widely applied.

  Further, in the above-described embodiment, as the playback unit that plays back the music data set by the data setting unit, the control unit 40 and output unit 44 of the personal computer 11 described above with reference to FIGS. Although the case where the main control unit 50 and the output unit 59 are applied has been described, the present invention is not limited to this, and various other reproduction units such as a reproduction unit having a DSP and an analog speaker are widely applied. can do.

  Further, in the above-described embodiment, as the trajectory data processing unit that processes the trajectory data generated by the trajectory data generation unit, the control unit 40 of the personal computer 11 described above with reference to FIGS. Although the case where the control unit 50 is applied has been described, the present invention is not limited to this, and various other trajectory data processing units such as a CPU can be widely applied.

  Further, in the above-described embodiment, the definition information setting unit for setting the definition information that defines the second area different from the first area in which the locus is drawn is used as the definition information setting unit of the personal computer 11 described above with reference to FIGS. Although the case where the control unit 40 and the main control unit 50 of the music robot apparatus 11 are applied has been described, the present invention is not limited to this, and various other definition information setting units such as a CPU are widely applied. can do.

  Further, in the above-described embodiment, based on the movable part information on the movable part and the locus data generated by the locus data generation unit, the movable unit is moved so as to move the moving object along the locus indicated by the locus data. The case where the control unit 40 of the personal computer 11 and the main control unit 50 of the music robot apparatus 11 described above with reference to FIGS. 1 to 44 are applied as the motion data generation unit that generates the motion data for movement is described. However, the present invention is not limited to this, and various other motion data generation units such as a CPU can be widely applied.

  Further, in the above-described embodiment, as the movable portion, the right rotation portion 22, the left rotation portion 23, the right opening / closing portion 24, the left opening / closing portion 25, and the right wheel of the music robot apparatus 11 described above with reference to FIGS. 30, the case where the left wheel 31 is applied has been described. However, the present invention is not limited to this, and various other movable parts such as an arm part, a leg part, a neck part, a head part, etc. of the robot apparatus can be used. Can be widely applied.

  Further, in the embodiment described above, the microcomputer of the music robot apparatus 11 described above with reference to FIGS. 1 to 44 is used as a drive control unit that drives and moves the movable unit based on the motion data generated by the motion data generation unit. Although the case where the drive control unit 54 having the configuration is applied has been described, the present invention is not limited to this, and various other drive control units such as a CPU can be widely applied.

  Further, in the embodiment described above, the control unit 40 of the personal computer 11 and the main control unit 50 of the music robot apparatus 11 described above with reference to FIGS. 1 to 44 are applied as the analysis unit for analyzing the music data. However, the present invention is not limited to this, and various other analysis units such as a CPU and a DSP can be widely applied.

  Further, in the above-described embodiment, the pattern setting unit that sets the movement pattern for moving the movable unit in accordance with the reproduction of the music data according to the analysis result of the music data by the analysis unit is shown in FIGS. Although the case where the control unit 40 of the personal computer 11 and the main control unit 50 of the music robot apparatus 11 described above are applied has been described, the present invention is not limited to this, and various other types such as a CPU or the like can be used. The pattern setting unit can be widely applied.

  Further, in the above-described embodiment, as a storage unit that stores a plurality of types of movement patterns for moving the movable unit in accordance with reproduction for each music data in association with the corresponding music data, FIG. 1 to FIG. Although the case where the storage unit 42 of the personal computer 11 and the storage unit 57 of the music robot apparatus 11 described above are applied has been described, the present invention is not limited thereto, and is incorporated in the personal computer 12 and the music robot apparatus 11. Various other storage units such as a semiconductor memory, a hard disk drive, and a semiconductor memory, a CD-ROM drive, and a hard disk drive that are detachably attached to the personal computer 12 and the music robot apparatus 11 can be widely applied.

  Further, in the above-described embodiment, the motion pattern associated with the music data set by the data setting unit is read from the storage unit, and the read motion pattern can be moved in accordance with the reproduction of the set music data. A robot including motion data as a motion pattern stored in association with reproduction setting music data from the storage units 42 and 57 described above with reference to FIGS. Although the case where the control unit 40 of the personal computer 11 that reads out the motion data and the main control unit 50 of the music robot apparatus 11 are applied has been described, the present invention is not limited to this, and various other types such as a CPU or the like. The pattern setting unit can be widely applied.

  Furthermore, in the embodiment described above, the control unit 40 of the personal computer 11 and the main control of the music robot apparatus 11 described above with reference to FIGS. Although the case where the unit 50 is applied has been described, the present invention is not limited to this, and various other analysis units such as a CPU can be widely applied.

  Further, in the above-described embodiment, the storage of the personal computer 12 described above with reference to FIGS. 1 to 44 is used as a storage unit that stores a plurality of types of lists in which a plurality of music data classified according to the music characteristics is registered. The case where the storage unit 57 of the unit 42 and the music robot apparatus 11 is applied has been described. However, the present invention is not limited to this, and the semiconductor memory and the hard disk drive incorporated in the personal computer 12 and the music robot apparatus 11, Various other storage units such as a semiconductor memory, a CD-ROM drive, and a hard disk drive that are detachably attached to the personal computer 12 and the music robot apparatus 11 can be widely applied.

  Further, in the above-described embodiment, as the beat detection unit for detecting the beat position corresponding to the beat of the music based on the music data, the control unit 40 of the personal computer 11 described above with reference to FIGS. Although the case where the main controller 50 of the music robot apparatus 11 is applied has been described, the present invention is not limited to this, and various other beat detectors such as a CPU and a DSP can be widely applied. it can.

  Furthermore, in the above-described embodiment, the control unit 40 of the personal computer 11 and the main part of the music robot apparatus 11 described above with reference to FIGS. Although the case where the control unit 50 is applied has been described, the present invention is not limited to this, and various other detection units such as a CPU can be widely applied.

  Further, in the above-described embodiment, as a trajectory data processing unit that processes the trajectory data generated by the trajectory data generation unit so as to match the inflection point of the trajectory and the beat position of the music data, FIGS. Although the case where the control unit 40 of the personal computer 11 and the main control unit 50 of the music robot apparatus 11 described above are applied has been described, the present invention is not limited to this, and various other loci such as a CPU or the like. Data processing section can be widely applied.

  The present invention can be used for a trajectory data generation device such as a personal computer that generates trajectory data indicating a trajectory for moving a moving object.

It is a block diagram which shows the outline | summary of a structure of the locus | trajectory data generation apparatus by this invention. It is a basic diagram which shows the structure of the music reproduction system by this invention. It is a rough-line perspective view which shows the external appearance structure of the music robot apparatus by this invention. It is a basic diagram which shows the back surface structure of a music robot apparatus. It is a basic diagram with which it uses for description of opening and closing of the right opening part and left opening part with respect to a right rotation part and a left rotation part. It is a basic diagram with which it uses for description of rotation of a right side rotation part and a left side rotation part. It is a block diagram which shows the circuit structure of a personal computer. It is a basic diagram which shows the structure of a motion pattern database. It is an approximate line figure used for explanation of generation of robot motion data. It is a block diagram which shows the circuit structure of a music robot apparatus. It is a rough-line perspective view with which it uses for description of the detection of the acceleration by an acceleration sensor. It is a basic diagram which shows the structure of a motion data generation screen. It is an approximate line figure showing composition of a motion data generation screen when robot motion data is generated automatically. It is an approximate line figure showing composition of a motion data generation screen when generating robot motion data manually. It is a basic diagram which shows the structure of the motion data generation screen when a locus | trajectory is drawn. It is an approximate line figure used for explanation of a display of a locus. It is an approximate line figure used for explanation of detection of an inflection point. It is a basic diagram with which it uses for description of the correlation of the reproduction time information with respect to a locus | trajectory. It is an approximate line figure used for explanation of processing (1) of locus data. It is an approximate line figure used for explanation of processing (2) of locus data. It is an approximate line figure used for explanation of processing (3) of locus data. It is an approximate line figure used for explanation of processing (4) of locus data. It is a basic diagram which shows the structure of a sign pattern. It is a basic diagram which shows the structure of a zigzag pattern. It is an approximate line figure used for explanation of processing (5) of locus data. It is an approximate line figure used for explanation of processing (6) of locus data. It is an approximate line figure showing composition of a motion data generation screen when motion data is generated based on locus data. It is a basic diagram which shows the structure of the motion data generation screen when generating motion data using a pattern icon. It is an approximate line figure used for explanation of expansion of a locus drawn by a user. It is a basic diagram with which it uses for description of reduction | decrease of the locus | trajectory drawn by the user. It is a basic diagram with which it uses for description of the setting (1) of a 1st area | region. It is a basic diagram with which it uses for description of the setting (2) of a 1st area | region. It is an approximate line figure used for explanation of setting (3) of the 1st field. It is an approximate line figure used for explanation of setting (4) of the 1st field. It is a basic diagram with which it uses for description of the setting (5) of a 1st area | region. It is an approximate line figure used for explanation of processing of locus data when the shape of the 1st and 2nd field differs. It is an approximate line figure used for explanation of a check of a case movement field at the time of robot motion data generation. It is a flowchart which shows the 1st beat detection process procedure in the analysis process which the control part of a personal computer performs. It is a flowchart which shows the 1st characteristic analysis process sequence in the analysis process which the control part of a personal computer performs. It is a flowchart which shows the 1st motion data generation process procedure which the control part of a personal computer performs. It is a flowchart which shows the 2nd motion data generation process procedure which the control part of a personal computer performs. It is a flowchart which shows the 2nd beat detection process procedure in the analysis process which the main control part of a music robot apparatus performs. It is a flowchart which shows the 2nd characteristic analysis process sequence in the analysis process which the main control part of a music robot apparatus performs. It is a flowchart which shows the 3rd motion data generation process procedure which the main control part of a music robot apparatus performs.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Trajectory data generation apparatus, 2 ... Data setting part, 3 ... Input part, 4 ... Trajectory data generation part, 10 ... Music reproduction system, 11 ... Music robot apparatus, 12 ... Personal computer, 20 …… Ellipsoidal housing, 21 …… Case central portion, 22 …… Right rotation portion, 23 …… Left rotation portion, 24 …… Right opening / closing portion, 25 …… Left opening / closing portion, 28 …… Right Speaker, 29 ... Left speaker, 30 ... Right wheel, 31 ... Left wheel, 33 ... Contact detection sensor, 40 ... Control unit, 41, 55 ... Input unit, 42, 57 ... Storage unit, 44 , 59... Output section, 50... Main control section, 51... Movable section, 52... Drive section, 54... Drive control section, 56 ... acceleration sensor, 110, 115, 116, 117, 119, 120 125, first region, 111, 118, 127, 128 ... Locus, 112, 113, 126, 131... Second region, RT1... First beat detection processing procedure, RT2... First feature analysis processing procedure, RT3. RT4: second motion data generation processing procedure, RT5: second beat detection processing procedure, RT6: second feature analysis processing procedure, RT7: third motion data generation processing procedure.

Claims (17)

A data setting section for setting music data to be played when the movement target moves;
An input unit used for drawing and inputting a movement trajectory of the movement target;
A trajectory data generating unit that generates trajectory data by associating the trajectory input through the input unit with the reproduction time information of the music data set by the data setting unit. Data generator. The trajectory data generation unit
The trajectory data is generated by associating the playback time information of the entire music data set by the data setting unit with the trajectory input via the input unit. Trajectory data generation device. The trajectory data generation unit
The trajectory data is generated by associating the reproduction time information of a predetermined portion of the music data set by the data setting unit with the trajectory input via the input unit. The trajectory data generation device described in 1. A reproduction unit for reproducing the music data set by the data setting unit;
The trajectory data generation unit
When the trajectory is drawn and inputted via the input unit while the music data is being played back by the playback unit, the drawing time axis of the drawn trajectory and the music data being played back The trajectory data generation apparatus according to claim 1, wherein the trajectory data is generated by sequentially associating the reproduction time information of the music data with the trajectory in combination with a reproduction time axis. A trajectory data processing unit that processes the trajectory data generated by the trajectory data generation unit;
A definition information setting unit that sets definition information that defines a second region different from the first region in which the trajectory is drawn,
The input section is
Used to draw and input the trajectory in the first region,
The trajectory data processing unit
The trajectory data generated by the trajectory data generation unit is processed based on the definition information set by the definition information setting unit so as to match the trajectory with the second region. Item 2. The trajectory data generation device according to Item 1. Based on the movable part information about the movable part and the trajectory data generated by the trajectory data generation part, the movement for moving the movable part to move the movement target along the trajectory indicated by the trajectory data The trajectory data generation device according to claim 1, further comprising a motion data generation unit that generates data. The movable part;
The trajectory data generation device according to claim 6, further comprising: a drive control unit configured to drive and move the movable unit based on the motion data generated by the motion data generation unit. An analysis unit for analyzing the music data;
The pattern setting unit for setting a movement pattern for moving the movable unit in accordance with the reproduction of the music data according to the analysis result of the music data by the analysis unit. Trajectory data generation device. A storage unit that stores a plurality of types of movement patterns for moving the movable unit in accordance with the reproduction of each music data in association with the corresponding music data;
The movement pattern associated with the music data set by the data setting unit is read from the storage unit, and the read movement pattern is moved to the movable unit in accordance with the reproduction of the set music data. The trajectory data generation device according to claim 2, further comprising: a pattern setting unit that sets a movement pattern for moving the pattern. The input section is
It is used to specify a portion to be changed to a predetermined trajectory pattern that changes in a predetermined cycle with respect to the trajectory, and is also used to arbitrarily select the cycle of the trajectory pattern,
The trajectory data generation unit
The trajectory input via the input unit is changed to the trajectory pattern at a portion specified via the input unit, and the predetermined period of the trajectory pattern is arbitrarily set via the input unit. The trajectory data generation device according to claim 2, wherein the trajectory data generation device is set to the selected period. The input section is
The trajectory is used to specify a portion to be changed to a predetermined trajectory pattern that changes with a predetermined amplitude, and is used to arbitrarily select the amplitude of the trajectory pattern.
The trajectory data generation unit
The trajectory input via the input unit is changed to the trajectory pattern at a portion specified via the input unit, and the predetermined amplitude of the trajectory pattern is arbitrarily set via the input unit. The trajectory data generation device according to claim 2, wherein the selected amplitude is set. The input section is
The trajectory data generation device according to claim 2, comprising a robot device having a wheel and an acceleration sensor, or a pointing device. An analysis unit for analyzing the characteristics of the trajectory input via the input unit;
The data setting part
According to the trajectory feature analyzed by the analysis unit, the music data having a music feature that matches the trajectory feature from among the plurality of types of music data is reproduced when the movement target moves. Set as
The trajectory data generation unit
The trajectory data is generated by associating the reproduction time information of the music data set by the data setting unit with the trajectory input via the input unit. Trajectory data generation device. A storage unit for storing a plurality of types of lists in which a plurality of the music data classified according to the characteristics of the music are registered;
The data setting part
In accordance with the trajectory features analyzed by the analysis unit, a plurality of the music data having the music features that match the trajectory features from among a plurality of types of the list stored in the storage unit. Is selected, and the music data is randomly selected from the plurality of music data registered in the selected list, and the selected music data is selected. The trajectory data generation device according to claim 13, wherein the trajectory data generation device is set to be reproduced when the moving object moves. A beat detection unit that detects a beat position corresponding to a beat of music based on the music data with respect to the music data;
A detection unit for detecting an inflection point of the trajectory input via the input unit;
A trajectory data processing unit that processes the trajectory data generated by the trajectory data generation unit so as to match the inflection point of the trajectory with the beat position of the music data. 2. The trajectory data generation device according to 2. A trajectory data generation method, comprising: a trajectory data generation step of generating trajectory data by associating reproduction time information of music data with a motion trajectory drawn by a user. Against the computer
A trajectory data generation program for executing a trajectory data generation step of generating trajectory data by associating reproduction time information of music data with a motion trajectory drawn by a user.

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