JP4385281B2 - Robot apparatus and control method thereof - Google Patents

Description

  The present invention relates to a robot apparatus and a control method thereof, and is suitably applied to, for example, an entertainment robot.

In recent years, a quadruped walking type pet robot that autonomously behaves according to an instruction from a user and the surrounding environment has been developed and commercialized by the present applicant. Such a pet robot has a shape resembling a dog or a cat bred in a general home, and behaves in accordance with an instruction from the user and the surrounding environment (for example, see Non-Patent Document 1).
Japanese Patent Application 2000-135146

  By the way, in the above-mentioned Japanese Patent Application No. 2000-135146, an LED (Light Emitting Diode) representing an apparent “eye” is arranged at the position of the “eyes” of the pet robot, and the emotion is expressed by driving the LED to blink. Is disclosed. By configuring the pet robot in this way, the communication between the user and the pet robot can be facilitated, and the user's attachment and curiosity to the pet robot can be improved accordingly, thereby enhancing the entertainment characteristics of the pet robot. It is thought that it can be improved.

  However, in this Japanese Patent Application No. 2000-135146, the LED having a fixed shape and color is used to express various emotions of the pet robot by changing the blinking pattern of the LED. There was a problem that could not express a variety of facial expressions that were not confined to.

  As one method for solving such a problem, for example, a method of displaying a pet robot's facial expression in an animation by providing a plurality of point-emitting LEDs in a matrix and independently controlling these LEDs to blink can be considered. According to this method, it is considered that the emotions of the pet robot can be expressed in various ways without being constrained by the LED shape.

  However, according to such a method, it is necessary to have a drive circuit for the number of LEDs as a drive circuit for independently blinking and driving each LED, and there is a problem that the configuration becomes complicated and the manufacturing cost increases accordingly. there were.

  Therefore, in such a pet robot, if it is possible to express a variety of facial expressions of the pet robot's emotions using a drive circuit with a small number of output ports, the pet robot's entertainment characteristics can be further improved with a simple configuration. It is thought that it can be improved.

  The present invention has been made in consideration of the above points, and an object of the present invention is to propose a robot apparatus and a control method thereof that can improve entertainment properties.

  In order to solve such a problem, in the present invention, dot patterns having different positions and shapes displayed by lighting one or a plurality of light emitting elements among a plurality of light emitting elements arranged in a predetermined pattern are associated with each other. Driving means for driving one or more light-emitting elements, each of which has a plurality of ports, and displaying a dot pattern associated with each port, simultaneously and independently for each port, and one or more dot patterns Control means for controlling the drive means is provided so as to express a desired expression by a combination of blinking.

  As a result, this robot apparatus can display various facial expressions using a driving means with a small number of ports.

  Further, in the present invention, in the control method of the robot apparatus, the positions of each other displayed by lighting one or a plurality of light emitting elements among the plurality of light emitting elements arranged in a predetermined pattern at each port of the driving unit. And a first step for associating dot patterns having different shapes with each other and a second step for controlling the driving means so as to express a facial expression by a combination of blinking of one or more dot patterns.

  As a result, according to the control method of the robot apparatus, various facial expressions can be displayed using the driving means having a small number of ports.

  As described above, according to the present invention, in the robot apparatus, dot patterns having different positions and shapes displayed by turning on one or more of the light emitting elements arranged in a predetermined pattern are displayed. A driving unit that has a plurality of associated ports and that individually and simultaneously drives one or a plurality of light emitting elements that display a dot pattern associated with each port, and one or more of them; By providing a control means for controlling the drive means so as to express a desired expression by combining the blinking of the dot pattern, it is possible to display a variety of expressions using the drive means with a small number of ports. Thus, a robot apparatus capable of improving entertainment performance can be realized.

  According to the invention, in the control method of the robot apparatus, each of the ports displayed on the respective ports of the driving unit is displayed by turning on one or a plurality of light-emitting elements arranged in a predetermined pattern. By providing a first step for associating dot patterns with different positions and shapes, and a second step for controlling the driving means so as to express an expression by a combination of blinking of one or more dot patterns Therefore, it is possible to display a variety of facial expressions using a driving means with a small number of ports, and thus to realize a control method for a robot apparatus that can improve entertainment properties.

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

(1) Configuration of Pet Robot 1 According to the Present Embodiment In FIG. 1, 1 indicates a pet robot according to the present embodiment as a whole, and leg units 3 </ b> A to 3 </ b> D are connected to the front and rear, left and right of the body unit 2, respectively. In addition, the head unit 4 and the tail unit 5 are connected to the front end portion and the rear end portion of the body unit 2, respectively.

  In this case, as shown in FIG. 2, the body unit 2 includes a controller 10 that controls the operation of the entire pet robot 1, a battery 11 as a power source of the pet robot 1, a battery sensor 12, and a temperature sensor 13. The internal sensor unit 14 and the like are housed.

  The head unit 4 includes an external sensor unit 18 including a CCD (Charge Coupled Device) camera 15 that functions as a substantial “eye” of the pet robot 1, a microphone 16 that functions as an “ear”, and a touch sensor 17. A facial expression display unit 19 for displaying the facial expression of the pet robot 1 as an animation, its driving circuit 20, a speaker 21 functioning as a “mouth”, and the like are disposed at predetermined positions.

Further, the joint portions of the leg units 3A to 3D, the connecting portions of the leg units 3A to 3D and the torso unit 2, the connecting portions of the head unit 4 and the torso unit 2, and the tail in the tail unit 5 Actuators 22 _{1 to} 22 _n corresponding to the number of degrees of freedom corresponding to the root portion of 5A (FIG. 1) are arranged.

  Then, the CCD camera 15 of the head unit 4 images the surrounding situation and sends the obtained image signal S1A to the controller 10. In addition, the microphone 16 collects voices such as “walk”, “turn down” or “follow the ball” emitted from the user, and send the obtained voice signal S 1 B to the controller 10.

  Further, as apparent from FIG. 1, the touch sensor 17 is provided on the upper part of the head unit 4, and detects a pressure received by a physical action such as “blowing” or “striking” from the user. Is sent to the controller 10 as a pressure detection signal S1C.

  Further, the battery sensor 12 detects the remaining amount of the battery 11 and sends the detection result to the controller 10 as a battery remaining amount detection signal S2A. The temperature sensor 13 detects the temperature inside the pet robot 1 and displays the detection result. The temperature detection signal S2B is sent to the controller 10.

  The controller 10 includes an image signal S1A, an audio signal S1B, and a pressure detection signal S1C supplied from the CCD camera 15, microphone 16, and touch sensor 17 of the external sensor unit 18 (hereinafter, these are collectively referred to as an external sensor signal S1). ) And the remaining battery level detection signal S2A and the temperature detection signal S2B given from the battery sensor 12 and the temperature sensor 13 of the internal sensor unit 14 (hereinafter collectively referred to as the internal sensor signal S2), The situation around and inside the pet robot 1, the instruction from the user, the presence / absence of the action from the user, and the like are determined.

The controller 10 determines the subsequent action based on the determination result and the control program stored in the memory 10A in advance, and drives the necessary actuators 22 _{1 to} 22 _n based on the determination result, thereby Actions such as swinging the head unit 4 up and down, left and right, moving the tail 5A of the tail unit 5 and driving the leg units 3A to 3D to make them walk are developed.

  At this time, the controller 10 outputs a sound based on the sound signal S3 to the outside by giving a predetermined sound signal S3 to the speaker 21 as necessary, or outputs a predetermined control signal S4 as needed. To display an animation of a predetermined facial expression on the facial expression display unit 19.

  In this way, the pet robot 1 can act autonomously based on the surrounding and internal situations, the commands from the user, the presence or absence of actions, and the like.

(2) Processing of Controller 10 Regarding Action Generation Next, specific processing of the controller 10 in the pet robot 1 will be described.

  The controller 10 executes various processes as described above according to the control program stored in the memory 10A. When the processing contents of the controller 10 are functionally classified, as shown in FIG. 3, the state recognition unit 30 that recognizes the external and internal states, and the state of emotion and instinct based on the recognition result of the state recognition unit 30 The action / instinct model unit 31 for determining the action, the action determination unit 32 for determining the action to be continued based on the recognition result of the state recognition unit 30 and the output of the emotion / instinct model unit 31, and the determination result of the action determination unit 32 The behavior generation unit 33 that generates (expresses) the behavior of the pet robot can be divided.

  Hereinafter, the state recognition unit 30, the emotion / instinct model unit 31, the behavior determination unit 32, and the behavior generation unit 33 will be described in detail.

(2-1) Configuration of State Recognizing Unit 30 The state recognizing unit 30 includes an external information signal S1 provided from the external sensor unit 18 (FIG. 2) and an internal information signal S2 provided from the internal sensor unit 14 (FIG. 2). A specific state is recognized based on the information, and the recognition result is notified to the emotion / instinct model unit 31 and the action determination unit 32 as state recognition information S10.

  In practice, the state recognizing unit 30 constantly monitors the image signal S1A (FIG. 2) given from the CCD camera 15 (FIG. 2) of the external sensor unit 18, and the image based on the image signal S1A includes, for example, a “red round object”. ”Or“ vertical plane ”is recognized,“ there is a ball ”and“ there is a wall ”, and the recognition result is notified to the emotion / instinct model unit 31 and the action determination unit 32.

  Further, the state recognition unit 30 constantly monitors the audio signal S1B (FIG. 2) given from the microphone 16 (FIG. 2), and based on the audio signal S1B, “walk”, “lie down”, “follow the ball”, and the like. When recognizing that a command sound is input, the recognition result is notified to the emotion / instinct model unit 31 and the action determining unit 32.

  Further, the state recognizing unit 30 constantly monitors the pressure detection signal S1C (FIG. 2) given from the touch sensor 17 (FIG. 2) and based on the pressure detection signal S1C for a short time (for example, 2 seconds). Is detected as “struck (struck)”, and when a pressure below a predetermined threshold is detected for a long time (eg, 2 seconds or more), “struck (admired) And the recognition result is notified to the emotion / instinct model unit 31 and the action determination unit 32.

  Furthermore, the state recognition unit 30 constantly monitors the temperature detection signal S2B (FIG. 2) given from the temperature sensor 13 (FIG. 2) of the internal sensor unit 14 (FIG. 2), and based on the temperature detection signal S2B, the state recognition unit 30 When the temperature is detected, it is recognized that “the internal temperature has increased”, and the recognition result is notified to the emotion / instinct model unit 31 and the action determination unit 32.

(2-2) Configuration of Emotion / Instinct Model Unit 31 The emotion / instinct model unit 31 has a total of six emotions: “joy”, “sadness”, “surprise”, “fear”, “disgust”, and “anger”. For each emotion, a parameter indicating the strength of the emotion is held. Then, the emotion / instinct model unit 31 sets the parameter values of each emotion as specific recognition results such as “struck” and “boiled” given from the state recognition unit 30 as the state recognition information S10, respectively. As described above, the action determination information S11 representing the determined output action given from the action determination unit 32 and the elapsed time are sequentially updated.

Specifically, the emotion / instinct model unit 31 determines whether the recognition result obtained based on the state recognition information S10 and the output action based on the action determination information S11 act on the emotion (set in advance), Recognize the amount of change in the emotion calculated by a predetermined arithmetic expression based on the degree of suppression and stimulation received from the emotion, the elapsed time, etc., and the current parameter value of the emotion as E [t] the coefficient representing the ratio to change its emotion as k _e in accordance with the results of the following formula in a predetermined cycle

Is used to calculate the parameter value E [t + 1] of the emotion in the next cycle.

  Then, the emotion / instinct model unit 31 updates the parameter value of the emotion so as to replace the calculation result with the current parameter value E [t] of the emotion. It should be noted that the emotion parameter value to be updated for each recognition result and each output action is determined in advance. For example, when a recognition result such as “struck” is given, the parameter of the emotion of “anger” As the value increases, the emotion parameter of “joy” decreases, and when the recognition result “boiled” is given, the parameter value of emotion of “joy” increases and the parameter value of emotion of “sadness” decreases. .

  In the same manner, the emotion / instinct model unit 31 determines, for each of these needs, five independent needs of “exercise greed”, “loving lust”, “appetite”, “curiosity” and “sleepiness”. It holds a parameter that represents the strength of desire. Then, the emotion / instinct model unit 31 sequentially updates the parameter values of these desires based on the state recognition information S10 from the state recognition unit 30, the elapsed time and the action determination information S11 from the behavior determination unit 32, and the like.

Specifically, the emotion / instinct model unit 31 calculates “greed for exercise”, “loving desire”, and “curiosity” by a predetermined arithmetic expression based on the output behavior, elapsed time, recognition result, and the like of the pet robot 1. ΔI [k] is the amount of change in the desire to be performed, I [k] is the parameter value of the desire for subtraction, and k _i is the coefficient representing the sensitivity of the desire.

Is used to calculate the parameter value I [k + 1] of the desire in the next cycle, and the parameter value of the desire is updated so that the calculation result is replaced with the current parameter value I [k] of the desire. Note that the parameter value of the desire to be changed with respect to the output action, the recognition result, and the like is determined in advance. For example, when the action determination unit 32 notifies that the action determination information S11 has performed some action, “exercise The parameter value of “greed” decreases.

The emotion or instinct model unit 31, for "appetite", based on the battery level detection signal supplied via the condition recognition unit 30 S2A (FIG. 2), the following equation at a predetermined cycle battery remaining amount as B ₁

Thus, the parameter value I [k + 1] of “appetite” is calculated, and the parameter value of “appetite” is updated so that the calculation result is replaced with the parameter value I [k] of the current appetite.

  Further, the emotion / instinct model unit 31 updates the parameter value of “sleepiness” in a predetermined cycle according to the rhythm of “activity” or “sleep” expressed by the sine wave of the daily cycle that it has.

In the present embodiment, the parameter values of each emotion and each desire are regulated so as to fluctuate in the range of 0 to 100, and the values of the coefficients k _e and k _i are also set for each emotion and each desire. Are set individually.

(2-3) Configuration of Action Determination Unit 32 The action determination unit 32 includes state recognition information S10 given from the state recognition unit 30, parameter values of each emotion and each desire in the emotion / instinct model unit 31, and a memory 10A in advance. The next behavior is determined based on the behavior model stored in time and the passage of time, and the determination result is output to the emotion / instinct model unit 31 and the behavior generation unit 33 as behavior determination information S11.

In this case, the behavior determination unit 32 determines each of the transitions from one node (state) NODE ₀ as shown in FIG. 4 to the same or other nodes NODE _{0 to} NODE _n as a method for determining the next behavior. node nODE ₀ ~NODE arcs connecting the _{n aRC} 0 _{~ARC n} using an algorithm called probability automaton for determining probabilistically based on the transition probability _P 0 to P _n which is set respectively.

More specifically, the state transition table 40 as shown in FIG. 5 for each of the nodes NODE _{0 to} NODE _n is stored in the memory 10A as the behavior model, and the behavior determination unit 32 performs the state transition table 40. Based on the above, the next action is determined.

Here, in the state transition table 40, input events (recognition results of the state recognition unit 30) as transition conditions in the nodes NODE _{0 to} NODE _n are listed in the order of priority in the “input event” row, and further about the conditions. The conditions are described in the corresponding columns in the rows of “data name” and “data range”.

Therefore, in the node NODE ₁₀₀ defined in the state transition table 40 of FIG. 5, when the recognition result “BALL FOUND” is given, the “size (SIZE)” of the ball given together with the recognition result is given. ) "Is in the range of 0 to 1000 (0, 1000), or when the recognition result" OBSTACLE "is given, the obstacle to be given along with the recognition result It is a condition for transition to self or another node that “distance” is “range from 0 to 1000 (0, 1000)”.

Further, in this node NODE ₁₀₀ , even when there is no input of the recognition result, “joy” of the emotion and instinct model unit 31 of the emotion and instinctive parameter unit 31 that the behavior determination unit 32 periodically refers to. When the parameter value of the emotion of “Surprise” or “Sadness” is in the range of “50 to 100 (50, 100)”, it is possible to transit to the self or another node.

Further, in the state transition table 40, node names that can be transitioned from the nodes NODE _{0 to} NODE _n are listed in the “transition destination node” column in the “transition probability to other nodes” column, and “input event name” , When all the conditions described in each row of “data value” and “data range” are met, the transition probability to the node NODE ₀ to NODE _n is the value in the “transition probability to other node” column. It is described in the lines of the nodes NODE _{0 to} NODE _n , and the action or action output at this time is described in the line of “output action”. The sum of the transition probabilities of each row in the “transition probability to other node” column is 100 [%].

Therefore, in the node NODE _{100 of} this example, for example, “discover the ball (BALL)” and the recognition result that the “size (SIZE)” of the ball is “range from 0 to 1000 (0, 1000)” is given. If it is, the transition to “node NODE ₁₂₀ (node 120)” can be made with a probability of “30 [%]”, and the action or action of “ACTION 1” is output at that time.

The behavior model is configured such that any number of nodes NODE _{0 to} NODE _n described as the state transition table 40 are connected.

Thus, the action determination unit 32 receives the action model stored in the memory 10 </ b> A when the state recognition information S <b> 10 is given from the state recognition unit 30 or when a certain time has elapsed since the last action was expressed. Using the state transition table 40 of the corresponding nodes NODE ₀ to NODE _n , the next action or action (the action or action described in the “output action” line) is determined probabilistically, and the decision result is taken as the action The determination information S11 is output to the emotion / instinct model unit 31 and the behavior generation unit 33.

(2-3) Processing of Behavior Generation Unit 33 The behavior generation unit 33 sends drive signals S12 ₁ to the required actuators 22 _{1 to} 22 _n (FIG. 2) based on the behavior determination information S11 given from the behavior determination unit 32. S12 _n is sent out, a sound signal S3 necessary for the speaker 21 (FIG. 2) is sent out, and a corresponding control signal S4 is sent out to the drive circuit 20.

Thereby, the action generation unit 33 drives the necessary actuators 22 _{1 to} 22 _n to a predetermined state based on the drive signals S 13 _{1 to} S 13 _n , or outputs sound based on the audio signal S 3 from the speaker 21. An animation corresponding to the signal S4 is displayed on the expression display unit 19.

(3) Expression expression in pet robot 1 (3-1) Expression expression in pet robot 1 Next, an expression method of expression in the pet robot 1 will be described.

  In the pet robot 1, the action determining unit 32, which is one of the functions of the controller 10, as described above, determines the subsequent action using the corresponding state transition table 40 (FIG. 5).

  In this case, each recognition result described in the “input event” line in the state transition table 40 (such as “find a ball (BALL)”), each emotion or instinct described in the “data name” line (“ Each of the output actions (“ACTON 1”, etc.) associated with “joy” (JOY) etc.) includes an emotion for the recognition result and an action expressing the emotion or instinct of the pet robot 1 at that time. A motion file storing control data for causing the pet robot 1 to express is associated, and in addition, display control data for displaying the emotion and instinct state on the facial expression display unit 19 as animation is stored. Associated animation files.

  Then, the behavior determination unit 32 receives a recognition result such as “boiled (PAT)” or “hit (HIT)” from the state recognition unit 30 or for a certain period of time after the last manifestation of the behavior. When the lapse of time, the next action is determined probabilistically using the corresponding state transition table 40 as described above, and the file ID of the motion file and animation file associated with the determined action is action determination information. The action generation unit 33 is notified as S11.

Thus, at this time, the behavior generation unit 33 reads the motion file with the corresponding file ID from the memory 10A based on the behavior determination information S11 given from the behavior determination unit 32, and is necessary based on the control data stored in the motion file. By driving the actuators 22 _{1 to} 22 _n , the pet robot 1 is allowed to express the designated actions and actions such as “joy” and “anger”, and the animation file with the corresponding file ID is synchronized with this. By controlling the drive circuit 20 based on the display control data read from the memory 10A and stored in the animation file, an animation representing emotions and desires such as “joy”, “anger”, or “sleepiness” is displayed. It is displayed on the expression display unit 19.

  In this way, the pet robot 1 displays an expression according to the external or internal situation on the expression display unit 19.

(3-2) Each animation pattern displayed on the expression display unit 19 Here, in the case of this pet robot 1, the expression display unit 19 includes a plurality of LEDs 19A at regular intervals in the vertical and horizontal directions as shown in FIG. With respect to the arranged matrix arrangement, the LEDs 19A are arranged so as to be shifted by half the distance between the LEDs 19A every other row (that is, a plurality of LEDs 19A are arranged in an array inclined by 45 [°]. ).

  In this case, in the facial expression display unit 19, a total of 12 LEDs 19A including at least six of the plurality of LEDs 19A that are hatched in FIG. 7 (H) and six that are hatched in FIG. 7 (I). As for, those capable of emitting light of two colors of white light and red light simultaneously or separately are used, and the six shaded lines in FIG. 8A and the hatched lines in FIG. 8B are drawn. As for the total of 10 LEDs 19A including 4 LEDs, those capable of emitting green light are used, and four shaded lines in FIG. 8H and 4 shaded lines in FIG. A total of eight LEDs 19A that can emit blue light are used. The other LEDs 19A that can emit at least white light are used.

The animation of each facial expression displayed on the facial expression display unit 19 is 14 types of dots displayed by simultaneously lighting a plurality of LEDs 19A at predetermined positions as shown in FIGS. Displayed by simultaneously lighting a plurality of LEDs 19A at predetermined positions as shown in FIGS. 8A to 8I (hereinafter referred to as dot patterns on the A surface) a _{1 to} a ₁₄ or FIGS. 14 types of dot patterns (hereinafter referred to as “B-side dot patterns”) b _{1 to} b ₁₄ are created by combinations of blinking.

Incidentally, thirteenth and fourteenth dot patterns _{a 13, a 14} of the A side is for the corresponding LED19A respectively emit light in red, the first to fourth dot pattern _b 1 ~b ₄ B surface Corresponds to the corresponding LED 19A emitting green light. Also thirteenth 14 dot pattern _b 13 ~ B1 ₄ of the B surface is obtained by emitting the corresponding LED19A blue respectively.

The dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ represent the expression of the pet robot 1 more effectively even when a drive circuit 20 having a small number of output ports such as ₁₄ is used. For example, as shown in FIG. 9, the dot patterns a _{1 to} a _{14 on the} A surface are respectively selected so as not to overlap each other from all the LEDs 19A of the expression display unit 19. V "," inverted V shape ", is displayed by simultaneously lighting the 3-5 LED19A forming the" diamonds "or" × letter ", the dot patterns _b 1 _{~b 14} of B-side, FIG. As shown in FIG. 10, “V-shaped”, “inverted V-shaped”, “diamond”, “× -shaped”, “straight line” or “ Slant It is displayed by lighting two to five LED19A forming the line "at the same time.

In addition, the two-surface configuration of the A-plane and the B-plane can display many types of dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ even when the drive circuit 20 having a small number of output ports is used. This is to increase the variation of expression.

In the pet robot 1, the drive circuit 20 has first and second operation modes as operation modes. For example, in the first operation mode, the LED output from the first output port of the drive circuit 20 Based on the drive signal S20 (FIG. 1), the expression display unit 19 can simultaneously drive the three LEDs 19A for displaying the first dot pattern a ₁ (FIG. 7A) on the surface A to blink. On the basis of the LED drive signal S20 output from the output port, the three LEDs 19A for displaying the second dot pattern a _{2 on} the A surface (FIG. 7A) can be simultaneously blinked in the expression display unit 19,. As described above, each output port of the drive circuit 20 is associated with each dot pattern a _{1 to} a _{14 on the} A surface, and the LED drive output from these output ports. All the LEDs 19A displaying the corresponding dot patterns a _{1 to} a ₁₄ by the motion signal S20 can be driven to blink simultaneously and independently for each output port.

In the pet robot 1, when the driving circuit 20 is in the second operation mode, the expression display unit 19 displays the B-side on the basis of the LED driving signal S20 (FIG. 2) output from the first output port of the driving circuit 20. three possible simultaneously flashed the LED19A displaying a first dot pattern _{b 1,} the facial expression display unit 19 based on the LED driving signal S20 that is output from the second output port of the drive circuit 20 B face second of can simultaneously flashed three LED19A displaying the dot pattern _{b 2,} and so ...., and each dot pattern _b 1 _{~b 14} of each output port and the B surface of the drive circuit 20 is associated with each of these outputs simultaneous all LED19A displaying the dot pattern _b 1 _{~b 14} corresponding with the LED drive signal S20 output from the port And it is made to be able to blink independently driven for each output port.

In the pet robot 1, one or more of the 14 types of dot patterns a _{1 to} a _{14 on} the A surface are combined, or one or more of the 14 types of dot patterns b _{1 to} b _{14 on} the B surface are combined. By blinking these dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ in predetermined patterns, various emotions such as “joy”, “sadness”, “anger”, “surprise” and “sleepiness” It is designed to express facial expressions that represent the state of instinct.

For example, as shown in FIG. 11 (A), the expression of “joy” is immediately after the lighting of the third and fourth dot patterns b ₃ and b ₄ (FIG. 8 (B)) on the B surface is started simultaneously. The first and second dot patterns b ₁ and b ₂ (FIG. 8A) on the B surface are turned on at the same time, and after the predetermined time has elapsed, the first to fourth dot patterns b _{1 to} b ₄ are displayed. Express by turning off the lights at the same time. Further, as shown in FIG. 12A, the expression of “anger” is obtained by simultaneously applying the thirteenth and fourteenth dot patterns a ₁₃ (FIG. 7H) and a ₁₄ (FIG. 7I) on the A surface. Express by blinking. Further, as shown in FIG. 13A, the expression of “sadness” is the 13th dot on the B side immediately after the lighting of the 14th dot pattern b ₁₄ on the B side (FIG. 8I). The pattern b ₁₃ (FIG. 8H) is turned on, and then the thirteenth and fourteenth dot patterns b ₁₃ and b ₁₄ are turned off simultaneously after a predetermined time has elapsed.

Furthermore, as shown in FIG. 14A, the expression “surprise” is the same for all the _{third to twelfth} dot patterns a _{3 to} a ₁₂ (FIG. 7B to FIG. 7G) on the A surface. The expression of “sleepiness” is expressed by blinking, and the lighting of the third and fourth dot patterns a ₃ and a ₄ (FIG. 7B) on the A surface is performed as shown in FIG. Immediately after the start, the first, second, seventh and eighth dot patterns a ₁ , a ₂ (FIG. 7A), a ₇ , a ₈ (FIG. 7D) on the A surface are turned on. Are started simultaneously, and after the first to fourth, seventh, and eighth dot patterns a _{1 to} a ₄ , a ₇ , and a ₈ have finished being lit, the first, second, seventh, and eighth dots At the same time to start off the pattern _{a 1, a 2, a 7} , a 8, a lighting immediately after its third and fourth dot patterns _a 3, _{a 4} To express by starting at the time.

In this case, the pet robot 1 uses a drive circuit 20 that can PWM modulate the signal level of the LED drive signal S20 (FIG. 1) output from each output port in 255 stages. Thus, in this pet robot 1, obtained by controlling the dot patterns _a 1 _{~a 14,} b 1 _{~b 14} of the brightness in each individual 255 gradations, thus the dot pattern _a 1 adjacent _{~a 14, b} 1 ~ or represent a facial animation flowing by causing a b ₁₄ to blink with a time difference, are made to be able to express the soft look.

For example, in the case of the expression of “joy” described above with reference to FIG. 11A, as shown in FIG. 11B, the brightness of the corresponding dot patterns b _{1 to} b ₄ is gradually increased at a constant rate. The luminance at the time of extinction is changed so as to gradually decrease at a constant rate, thereby expressing a gentle “joy” emotion.

In the case of the expression of “anger” described above with reference to FIG. 12A, as shown in FIG. 12B, the brightness of each corresponding dot pattern a ₁₃ , a ₁₄ is instantaneously changed like an impulse response. It is made to change, and expresses the emotion of intense "anger" by this.

Further, in the case of the expression of “sadness” described above with reference to FIG. 13A, as shown in FIG. 13B, the brightness when the corresponding dot patterns b ₁₃ and b ₁₄ are turned on The relationship is changed so as to increase smoothly so as to draw a quadratic curve, and the luminance at the time of extinction is changed so that the relationship between luminance and time decreases smoothly so as to draw a quadratic curve. Expresses the emotion of "sadness" with calmness.

Further, in the case of the expression “surprise” described above with reference to FIG. 14A, as shown in FIG. 14B, the brightness when the corresponding dot patterns a _{3 to} a ₁₂ are turned on is instantaneously increased. The brightness at the time of extinction is changed so that the relationship between brightness and time decreases smoothly so as to draw a quadratic curve, thereby losing normality instantaneously and regaining calmness thereafter. Expresses the emotion of “surprise”.

Further, in the case of the expression of “sleepiness” described above with reference to FIG. 15A, as shown in FIG. 15B, the corresponding dot patterns a _{1 to} a ₄ , a ₇ and a ₈ are turned on and off. The brightness of the time is changed in the same manner as in the case of “sadness”, thereby expressing the desire for a gentle “sleepiness”.

In the pet robot 1, in addition to information on which dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ are blinked at each timing for each facial expression, the drive circuit 20 is set in the first and second operation modes. or information and such to operate in either mode, the dot pattern _a 1 _{~a 14,} b 1 _~b dot pattern _a 1 _~a 14 flashing drive such how to vary the brightness of _{14, b} 1 ~ b. Information on the luminance change for each of ₁₄ is stored as display control data in the corresponding animation file, and these animation files are stored in the memory 10A.

Thus, the behavior generation unit 33 (FIG. 3) reads out an animation file having a corresponding file ID from the memory 10A based on the behavior determination information S11 given from the behavior determination unit 32, and performs control according to the stored display control data. While the signal S4 is sent to the drive circuit 20, the drive circuit 20 switches the operation mode to the corresponding first or second operation mode as necessary based on the control signal S4, and then drives at a predetermined level. The LED drive signal S20 obtained by PWM modulating the voltage to the corresponding gradation value of 255 gradations is generated and output from the corresponding output port, thereby corresponding dot patterns a _{1 to} a ₁₄ and b _1. -B ₁₄ blinks with the specified brightness.

  In this way, the pet robot 1 can express emotions and instinct states that change from moment to moment in accordance with external and internal situations in a variety of animations.

(4) Operation and effect of the present embodiment In the above configuration, the pet robot 1 expresses the state of emotion and instinct at that time as an animation by blinking the corresponding LED 19A of the expression display unit 19.

In this case, in this pet robot 1, the LED 19A of the expression display unit 19 is divided into a plurality of groups that display a plurality of dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ having different positions and shapes, and the same group While the LED 19A is driven to blink simultaneously as a lump, the expression is expressed by the combination of blinking of these dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ , so that when the drive circuit 20 with a small number of ports is used. Can also express a variety of facial expressions.

In addition to this configuration, the pet robot 1 can also control the gradation of each dot pattern a _{1 to} a ₁₄ , b _{1 to} b ₁₄ , so that more various expressions can be expressed. Furthermore, since the dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ have a two-sided structure of the A side and the B side, a wider variety of expressions can be expressed using the drive circuit 20 with a small number of ports. .

Further, in this pet robot 1, the expression display unit 19 is shifted by half of the distance between the LEDs 19A every other row with respect to the matrix arrangement in which a plurality of LEDs 19A are arranged at regular intervals in the vertical and horizontal directions. For example, a rhombus can be displayed by a minimum of four LEDs 19A, and each of the dots can be turned on so that all the LEDs 19A in the five horizontal rows can be lit as shown in FIG. When selecting the shapes of the patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ , it is easy to select various shapes that are different from each other, not a simple matrix. Can be displayed.

Incidentally, when the expression display unit 19 is formed so as to be arranged in a matrix in which a plurality of LEDs 19A are arranged at regular intervals in the vertical and horizontal directions, five LEDs 19A are required to display the rhombus, Alternatively, in the case of only the frame, four LEDs 19A are sufficient, but since the middle LED 19A is redundant, each of the dot patterns a _{1 to} a ₁₄ , so that all the horizontal LEDs 19A can be lit as shown in FIG. difficult to select each dot patterns _{a 1 ~a 14, b 1 ~b} 14 in design beautiful shape in selecting the shape of b ₁ ~b _14.

  Further, like the pet robot 1, the expression display unit 19 is arranged in a matrix-like arrangement in which a plurality of LEDs 19A are arranged at regular intervals in the vertical direction and the horizontal direction, and the LEDs 19A are arranged at half the distance between the LEDs 19A every other row. By forming it so as to be placed in a shifted state, the “V” and “he” characters that are frequently used as the shapes of “eyes”, “eyebrows”, and “mouth” in the animation expression of the face are displayed. It is easy to display animations of facial expressions that are jijutsu about FIG. 11 (A) to FIG. 15 (A), for example, animation of “crying face” or “sleeping face” as shown in FIG. 16 (A), and FIG. 16 (B). The animation of “laughing face” can be displayed using the dot pattern a1 in FIG. 7A or the dot pattern a8 in FIG.

According to the above configuration, the LEDs 19A of the facial expression display unit 19 are divided into a plurality of groups for displaying a plurality of dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ having different positions and shapes, and the same group of LEDs 19A are grouped together. As the expression is expressed by the combination of the blinking of these dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ , various expressions can be made using the drive circuit 20 with a small number of ports. It is possible to realize a pet robot that can be expressed and thus can improve entertainment properties.

(4) Other Embodiments In the above-described embodiment, the case where the present invention is applied to the quadruped walking type pet robot 1 configured as shown in FIG. 1 has been described. The present invention is not limited to this, and can be widely applied to robot devices having various other configurations.

  In the above-described embodiment, the case where the LED 19A is arranged in the expression display unit 19 in the pattern described above with reference to FIG. 6 has been described. However, the present invention is not limited to this, and the LED 19A in the expression display unit 19 is arranged. Various other patterns can be applied as the arrangement pattern.

Furthermore, in the above-described embodiment, the case where the dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ are limited to shapes displayed by lighting of two or more LEDs 19A has been described. Not limited to this, dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ expressed by lighting of one LED 19A may be prepared.

Further, in the above-described embodiment, a drive circuit 20 having 14 output ports is adopted as the drive circuit 20 as a drive means for driving the LED 19A of the facial expression display unit 19 to blink, and dot patterns a _{1 to} a ₁₄ are adapted to this. , B _{1 to} b ₁₄ have been described as having 14 types for both the A and B surfaces, but the present invention is not limited to this, and a drive circuit having a number of output ports other than 14 is adopted. In this case, as many dot patterns a _{1 to} a ₁₄ and b _{1 to} b _{14 as} the number of output ports may be prepared. In this case, as the dot patterns a _{1 to} a ₁₄ and b _{1 to} b ₁₄ , patterns other than the patterns displayed in FIGS. 7 and 8 can be widely applied.

  Further, in the above-described embodiment, the controller 10 as the control means for controlling the drive circuit 20 is configured to express facial expressions such as “joy” and “anger” in the patterns described above with reference to FIGS. However, the present invention is not limited to this, and various other expression methods can be widely applied as a method for expressing an expression such as “joy”.

  The present invention can be widely applied to a robot apparatus for various purposes in addition to a pet robot.

It is a perspective view which shows the external appearance structure of the pet robot by this Embodiment. It is a block diagram which shows the internal structure of the pet robot by this Embodiment. It is a block diagram with which it uses for description of the processing content of a controller. It is a conceptual diagram with which it uses for description of a stochastic automaton. It is a conceptual diagram with which it uses for description of a state transition table. It is a top view which shows the structure of a facial expression display part. It is a basic diagram with which it uses for description of the dot pattern of A surface. It is a basic diagram with which it uses for description of the dot pattern of B surface. It is a basic diagram with which it uses for description of the positional relationship of each dot pattern of A surface. It is a basic diagram with which it uses for description of the positional relationship of each dot pattern of B surface. It is an approximate line figure and a characteristic curve figure with which it uses for explanation of animation display of the expression of "joy". It is an approximate line figure and a characteristic curve figure with which it uses for explanation of animation display of an expression of "anger". It is an approximate line figure and a characteristic curve figure with which it uses for explanation of animation display of a facial expression of "sadness". It is an approximate line figure and a characteristic curve figure used for explanation of animation display of an expression of "surprise". It is an approximate line figure and a characteristic curve figure used for explanation of animation display of a facial expression of “sleepiness”. It is a basic diagram which shows the example of a face animation display.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Pet robot, 4 ... Head unit, 10 ... Controller, 10A ... Memory, 12 ... Battery sensor, 13 ... Temperature sensor, 15 ... CCD camera, 16 ... Microphone, 17 ... Touch Sensor: 18 ... External sensor, 19 ... Expression display unit, 19A ... LED, 20 ... Drive circuit, 31 ... Emotion / instinct model unit, 32 ... Behavior determination unit, 33 ... Behavior generation unit, 40 State transition table, a _{1 to} a ₁₄ , b _{1 to} b ₁₄ ... Dot pattern, S 4... Control signal, S 20.

Claims (6)

A plurality of light emitting elements arranged in a predetermined pattern;
Each pixel has a plurality of ports associated with dot patterns of different positions and shapes displayed by lighting one or a plurality of the light emitting elements, and displays the dot patterns respectively associated with the ports. Drive means for lighting and driving one or a plurality of the light emitting elements simultaneously and independently for each port;
And a control means for controlling the driving means so as to express a desired expression by a combination of blinking of one or a plurality of the dot patterns. The drive means is
For each port, the brightness of the corresponding dot pattern can be changed in multiple tones,
The control means includes
The robot apparatus according to claim 1, wherein the driving unit is controlled so that the luminance of the dot pattern to be blinked is changed in a predetermined pattern as necessary. The drive means is
There are a plurality of operation modes, and for each of the operation modes, all or some of the ports are associated with different dot patterns,
The control means includes
The robot apparatus according to claim 1, wherein the operation mode of the driving unit is switched according to the desired facial expression. Control of a robot apparatus having a plurality of light emitting elements arranged in a predetermined pattern, and a drive unit having a plurality of ports and driving the light emitting elements associated with each port independently for each port. In the method
A first step of associating each of the ports of the driving means with dot patterns having different positions and shapes displayed by lighting one or a plurality of the light emitting elements;
And a second step of controlling the driving means so as to express a facial expression by a combination of blinking one or a plurality of the dot patterns. The drive means is
For each port, the brightness of the corresponding dot pattern can be changed in multiple tones,
In the second step,
The method of controlling a robot apparatus according to claim 4, wherein the driving unit is controlled so that the brightness of the dot pattern to be blinked is changed in a predetermined pattern as necessary. The drive means is
There are a plurality of operation modes, and for each of the operation modes, all or some of the ports are associated with different dot patterns. In the second step,
The method for controlling a robot apparatus according to claim 4, wherein the operation mode of the driving unit is switched according to the desired facial expression.

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