JPS622987A - Robot apparatus for festival - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot device, and particularly to a robot device for special events that can walk, talk, and perform other actions substantially similar to those of humans by remote control.

[Conventional technology]

Various robot devices have been developed that are equipped with audio devices that utter a plurality of predetermined greeting words in response to human greeting words, or that can move their necks, arms, and legs.
This type of robot device is mainly used to attract customers.

However, the behavior of this type of robot device is a 4+1 improvement from human behavior; for example, even if it responds to a greeting from a human, it simply responds to the words uttered by a human. broadcast certain fixed words, etc.
It was extremely simple.

[Problem that the invention seeks to solve]

The present invention has been made based on the above-mentioned viewpoints, and
An object of the present invention is to provide, at low cost, a realistic robot device that can perform operations similar to those of a human by remote control.

[Means for solving problems]

Therefore, the purpose of item 2 is to provide a body casing, a pair of left and right leg casings, and wheels for movement at each end thereof, and to move the body through the pair of left and right leg casings. A pair of left and right support legs that reach inside the body casing and support the body casing at the upper end, and wheels provided on the body legs are driven to move the robot, and support the pair of left and right leg casings. When the wheels are driven, the pair of left and right leg casings are moved circularly around an axis perpendicular to the central longitudinal section of the leg casings with a phase difference of 180° from each other. a pair of left and right arms provided at the casing, a device for extending and contracting at least one of the pair of left and right arms, a device for opening and closing a hand portion provided at the free end of the one arm, and a device mounted on the body casing. a television camera attached to the torso casing or the leg casing to photograph the surrounding scene; a wireless transmitter installed in the torso casing or the leg casing to convert the image captured by the television camera into an electrical signal and transmit it; a microphone attached to the torso casing or the leg casing; a wireless transmitter provided in the torso casing or the leg casing to convert sound captured by the microphone into an electrical signal and transmit it; and the torso casing or the leg. an audio signal receiving device including a speaker installed in the casing; a television receiver provided outside the body casing or the leg casing to receive the signal from the transmitter; and the body casing or the leg. It is installed outside the casing and controls the movement of the robot body, opening/closing and extending/contracting movements of hands and arms, etc. 1:+
A wireless control device that emits signals to control the operation of the main parts of the main body, and a transmitter that transmits audio signals to the audio signal receiving device installed in the body casing or the dish HUB casing. (,', la and -1--a special riB casing or leg R1 (receivers iH1 and 1, which are provided in the casing and receive control signals from the radio control device);
A device provided in the 1Irilx+++ casing or the 11.11 part casing and controlling the operation of each part based on the control information from the receiving ttU, and a device provided in the body casing or the leg casing, This is achieved by a Roboso l-equipment for special events, which is comprised of a power supply device that supplies voltage to each device in one unit.

[For production]

By configuring it as described above, it is possible to make it perform a wide range of motions that are almost similar to those of humans through remote control, so when used as a robot device for attracting customers, it can achieve extremely high customer attraction. 1q IJ results are obtained.

〔Example〕

Hereinafter, details of the present invention will be specifically explained with reference to the drawings.

Fig. 1 is an embodiment of the Ill bore 1/device for special events according to the present invention;
FIG. 3 is a perspective view showing the outline 8 of the configuration of the main devices that can be accessed into the robot device main body. FIG. 3 is a perspective view showing the (A1 configuration) of the supporting legs. FIG. FIG.

What is 1 in Figures 1 to 4? (2 is a hanger, 3 is a body casing, 4.4 is a light emitting device, 5 is a UHF antenna, 6 is a free end of an arm 7 protruding from the body casing 3) a left hand which is normally closed by a built-in spring; J's right hand,] 0 is the microphone, +1 is the microphone attached to the microphone boulder 1o, 12 is the speaker of the audio signal receiving device built into the body casing 3, +
3 and 14 are leg casings, and in FIG. 2, 15 is a receiving antenna, and 16 is a receiving antenna 1, which has a built-in device for vertically moving and rotating the receiving antenna 15. When the receiving antenna I5 rotates, the three-color S+-1: A device with a built-in device that randomly emits V points is built in. Roboco, knit, 18 is a control 17-Rubosoku, 19 is an antenna arm, 20
21, a television camera with a wide lens and a lens cover attached; 21, a U connected to the television camera 20;
The HF l transmitter, 22, the battery, and 23 are housed in the light emitting device 4 of the device 1 to 23, and have a plurality of lamps that automatically flash according to the volume when an audio signal is transmitted from the whiteless microphone. , 24 is a device for extending and retracting the right arm; in FIG.
1 is a crank, 31a is its support, 32 is a motor, 3
3 is a gear attached to the shaft of the motor 32;
34 is a drive shaft that rotatably supports the drive wheel 35, 36 is a gear, 37 is a driven wheel, 38 is a holder, 39 and 40 are rotating shafts, 41 and 42 are cranks, and 41a and 42a are supporting parts thereof. In Fig. 4, 43 is a radio control device, 44 is an antenna switch, 45 is a right 1 open/close switch, 46 is a right arm extension switch, 47 is a left foot drive switch, +8 is a right foot drive switch, and 49 is a transmitting antenna. be.

The event robot device 1 to device 1 according to the present invention is remotely controlled by a wireless control device 40, and the event robot device 1 is composed of a body casing 3 and leg casings 13 and 14. There is ζ.

The body casing 3 includes a television camera 20 with a wide lens and a lens cover attached to take pictures of the surroundings of the robot device body, and a microphone 11 that captures surrounding sounds.
has been added to Mike Borda 10.

Therefore, the scene around the robot body captured by the television camera 20 and the audio around the robot body captured by the microphone 11 are converted by a conversion device (not shown) built into the robot body. After being converted into an electrical signal, a transmitter (not shown) transmits UHF
It is transmitted via antenna 5.

Also, a receiving antenna 15 is provided at the top of the body casing 3.
is connected to receive control signals from the wireless control device 43 and audio signals from the wireless microphone. Furthermore, the receiving antenna 15 is moved downward and rotated by a device built into the antenna unit 6 based on a control signal from the radio control device 43, and especially when the receiving antenna 15 is rotated, the strobe unit is moved. Lights up randomly.

The left arm 7 of the robot device is provided protruding from the two-part casing 3, and although there is no remote control, there is a hand 6 at the tip that can be opened and closed freely, and the inside of the hand 6 is equipped with a spring. It is configured so that the fingers of the hand 6 can be opened and closed.

On the other hand, the right arm 9 is configured such that the arm 8 is extended and contracted by a right arm extension/contraction device 24, and can be freely opened and closed by an opening/closing control device for the hand 9 (not shown).

A plurality of lamps 23 are housed in the light emitting devices w4 and 4 of the robot device body, and are configured to automatically blink according to the volume etc. when an audio signal is transmitted from the wireless microphone. There is.

Next, according to FIG. 3, the supporting leg 25 and the leg casing 13
and 14 will be explained. Note that the drive devices housed in the supporting leg 25 and the leg casings 13 and 14 have the same configuration on both the right and left sides, so only one of the drive devices will be described here.

The upper end of the frame 26 is connected to the body casing 3, and a driving wheel 35 and a driven wheel 37 are attached to the lower end of the frame 26 via a boat 27, which allows the robot device to stand upright and run. It is configured like this.

To explain in more detail, the bow 1' 27 has a motor 32 with a gear 33 attached to the shaft, and a drive wheel 35.
A gear 36 is fixed to the shaft, and a drive shaft 34 rotatably supports the drive wheel 35 and a boulder 38 rotatably supports the driven wheel 37.

The frame 26 and the boat 27 are entirely covered with a leg casing 13, and the leg casing 13 covers the crank 3.
1, 41 and 42 for circular movement.

A gear 33 attached to the shirt 1 of the motor 32
meshes with a gear 36 fixed to the drive wheel 35, and as the motor 32 rotates, the drive wheel 3
Rotate 5.

Further, the pulleys 28 and 29 are provided with rotation shafts 39 and 4, respectively.
The timing belt 30 is rotatably supported by the pulley 28, and one end of a rotating shaft 39 that rotatably supports the pulley 28 is driven by a motor (not shown). A gear is provided and rotates as the motor rotates.

A crank 41 is attached to the other end of the rotating shaft 39, and a crank 3 is attached to each end of the rotating shaft 40.
1 and 42 are attached, and the supporting parts 4]a, 31a and 42a of each crank are attached to the leg casing 13.
is rotatably connected to the inner wall surface of the

Therefore, the robot device travels by the rotation of the drive wheels 35. At this time, the leg casing 13 rotatably supported by the body casing 3 has cranks 31, 41 and 42. At the same time, the other body casing 14 is given a circular motion with a phase difference of 180° from that of the body casing 13. Therefore, when the robot device moves, it behaves just like a human being. They appear to move by walking.

Next, a method of controlling the event robot device 1 by the wireless control device 40 will be explained.

When in use, first connect the transmitting antenna 49 of the radio control device 43.
While stretching it by hand, raise the antenna unit 44 upwards and pull up the receiving antenna 15 of the robot device. Note that by lowering the antenna unit 44, the receiving antenna 15 can be lowered.

After that, the left foot drive switch 47 and the right foot drive switch 4
The robot device can be moved forward by raising switch 8 upward, and can be moved backward by lowering both switches 47 and 48. Furthermore, by turning the left foot drive switch 47 upward and lowering the right foot drive switch 48, the 11-pot device can be turned clockwise.
You can move the left foot 1 ij switch 47 downward, and set the right 1 [1 WD Jil + S・I・) 14)] to −.
It is possible to do 1 turn to the left in I1, ΦJ, and -1ν.

In addition, by raising the right 7 open/close switch 45 to one side, the right hand side of the I-1 box I-device can be opened.
・By lowering it towards the side, you can close the right hand 6.

In addition, by setting the right arm extension switch 4G to -1 and setting the force to l-, it is possible to not extend the right arm 7 of the 11 bot equipped '+S''? by lowering the force to T.
can be reduced.

The robot device 1 for the event is placed in a place where people gather, and the receiving antenna 15 of the robot device is extended, and the television camera 20 and microphone 11 are operated.

The person who controls the I-bot device using the wireless control device 43 must: 1. The user views the surrounding scene captured by the robot device 11 on a monitor television screen, controls each of the nine wireless control devices and switches 13, and speaks with the person in front of the robot device using a wireless microphone or the like.

I211 To explain this more specifically, if a person around the robot device calls out to the Illll bot station, the image of the person calling out will be captured by the television camera 20, and The voice is captured by the microphone 11, converted into an electrical signal, and then transmitted from a transmitter (not shown) housed in the main body of the robot I-I.
It is transmitted via the F antenna 5.

The monitor television receives the signal from the transmitter, and the image of the person speaking is displayed on the screen of the monitor television, and the voice spoken to the robot device is reproduced from the monitor television's speaker.

Therefore, the person who makes the radio control device 43 controls each control switch of the radio control device 43 while looking at the screen of the monitor TV, and turns the above device toward the person who called out to the robot device. Robot 7) Moves the device or holds out the right hand 9, and has appropriate conversations through a wireless microphone, speaker 12 of the audio signal receiving device, etc. (not shown), etc.

〔Effect of the invention〕

Since the present invention is constructed as described above, it can be used as a robot device for attracting customers. In some cases, this can have an extremely positive effect on attracting customers.

Note that the present invention is not limited to the embodiments described above. For example, in this embodiment, the right arm of the robot device is extended and contracted by the wireless control device, and the hand is opened and closed. It may be configured as follows. In addition, it is also recommended that the shape of the robot device body be the main character of a known manga, or a character doll. In addition, the mounting position of the antenna, television camera, and microphone, the method of controlling each part, etc. can be freely changed in design within the scope of the purpose of the present invention, and the present invention encompasses all of them. It is.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of the rll pot device for special events according to the present invention, and Fig. 2 is a perspective view showing the appearance of the device, and Fig. 2 shows a schematic diagram of the configuration of the main devices installed in the robot device body. FIG. 3 is a perspective view showing the configuration of the supporting legs, and FIG. 4 is a perspective view 17+ showing the external configuration of the wireless control device.

Claims (1)

[Scope of Claims] 1) A body casing, a pair of left and right leg casings, each of which is provided with wheels for movement at its ends, each passing through the pair of left and right leg casings into the body casing. The robot is moved by driving a pair of left and right supporting legs that support the trunk casing at the upper end and wheels provided on the supporting legs, and also supports the pair of left and right leg casings, and the wheels are driven. a drive device that moves the pair of left and right leg casings in a circular motion around an axis perpendicular to the center longitudinal section of the leg casing with a phase difference of 180°; and a pair of left and right leg casings that protrude from the body casing. a device that extends and contracts at least one of the pair of left and right arms; a device that opens and closes a hand portion provided at the free end of the one arm; and a device that is attached to the torso casing to photograph the surrounding scene. a television camera installed in the torso casing or the leg casing,
a wireless transmitter that converts the video captured by the television camera into an electrical signal and transmits it; a microphone attached to the torso casing; a wireless transmitter that converts the received sound into an electrical signal and transmits it; an audio signal receiving device equipped with a speaker installed inside the torso casing or leg casing; established,
a television receiver that receives signals from the transmitter; and a television receiver provided outside the body casing or leg casing;
a wireless control device that generates signals to control the movement of the robot body, the opening/closing and extension/retraction operations of the hands and arms, and other operations of the main parts of the robot body; and an audio signal receiving device provided in the torso casing or leg casing. a transmitter for transmitting an audio signal to the body; and a transmitter provided in the body casing or the leg casing,
a receiver that receives a control signal from the wireless control device; and a receiver provided in the body casing or the leg casing,
a device that controls the operation of each part based on a control signal from the receiver; provided in the body casing or the leg casing;
A robot device for special events consisting of a power supply device that supplies voltage to each device within the robot; 2) Claim 1 comprising a light emitting device that blinks when sound is emitted from the speaker of the audio signal receiving device provided in the body casing or the leg casing.
Robotic device for special events as described in section. 3) The event robot device according to claim 1 or 2, wherein the light emitting device is composed of an LED. 4) The event robot device according to any one of claims 1, 2, and 3, wherein the antenna of the receiver is extendable and rotatable.