TW592777B - A toy robot, a system for controlling such a toy robot and a method of constructing such a toy robot - Google Patents

Abstract

A programmable toy robot displaying intelligent behaviour which receives and utilises internal system information about other toy robots, and which comprises behavioural states representing the mood of the toy robot, where an active mood is selected on the basis of a set of programmable rules, and the behaviour corresponding to the moods may be defined by a user.

Description

592777 A7 ____B7_ V. Description of the invention (1) Scope of the invention (please read the notes on the back before filling this page) The present invention relates to a toy robot, a system for controlling a toy robot, and a method for manufacturing a toy robot. Background of the Invention Toy robots printed by the Consumer Cooperative of the Intellectual Property Office of the Ministry of Economic Affairs are popular toys for children, teenagers and adults. The degree of satisfaction achieved during toy robot play depends strongly on the ability of the toy robot to interact with its environment, especially changes in different modes of interaction. Toy robots that repeat a limited number of identical actions will soon cease to interest users. Interaction with the environment involves the steps of sensing the environment, making decisions, and acting. Therefore, the interaction of a toy robot with its environment can be described by its ability to sense and act. In this context, a device for communicating with, for example, a toy robot of the same or similar type or kind can be considered as a special type of sensor. The complexity of the behavior of a toy robot can be a reflection of interaction with a complex environment. The more advanced the sensing and action device the robot has, the more complicated its interaction with the surrounding environment, and the more detailed the reflection of the complexity of the environment. Thus, complex behaviors stem from a wealth of devices for sensing and action. However, users believe that 'the level of intelligence inherent in toy robots is given by the nature of the decision-making process that links perception to action. There are some toy robots known in the art' which include such things as detecting light , A sound or mechanical shock sensor 'and it performs a predetermined action based on the sensor's input. These actions may include stopping movement during a mechanical shock, applying a Chinese paper standard (CNS) A4 specification (210x297 mm) at a predetermined paper size when receiving a predetermined frequency auditory signal or the like 592777 A7 _B7 V. Invention Instructions (2) (Please read the precautions on the back before filling in this page) Move in the direction. Toy robots-in which the types of actions and the sensor events that trigger them-can be selected by the user via simple programming logic-are also known in this art. International patent application WO 001 53 No. 16 describes a group of related toys that directly interact with each other by transmitting and receiving signals between each other. Thus, one toy can use simple signal / response logic to control the behavior of another toy. However, these prior art systems are only related to robots that directly respond to sensor inputs or communication signals received from other toy robots, where the toy robot's response follows simple logic. As a result, these systems have the disadvantage that toy robots do not show behavior that the user may consider intelligent. U.S. Patent 6,04 8,209 describes a doll that mimics the behavior of a suitable infant. The doll includes a sensor and a microprocessor. The sensor detects the care given to the doll. The microprocessor is programmed to receive input from the sensor and perform simulations of many cycles-such as sleeping, hunger, feeding, etc. -State machine. The transition between the states of the state machine depends on the time between the timer and the variable, and is adjusted by the sensor input. Printed by the Consumer Property Cooperative of the Intellectual Property Bureau of the Ministry of Economics. One of the disadvantages of this previous technique is that dolls follow certain fixed patterns of behavior-they represent a predetermined cycle of action, rather than goal-oriented behavior. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a toy robot that displays behaviors that a user may consider to be intelligent or social. This paper size applies the Chinese National Standard (CNS) A4 specification (210 > < 297 public directors) 592777 A7 B7 V. Description of the invention (3) According to the first feature of the present invention, the above and other goals are achieved when ~ toy robot It includes a sensor device for receiving a sensor signal; a first storage device that can store information about the internal system of the toy robot and external system information that indicates the sensor signal; a first processing device that can process the stored content, External and external system information 'and control corresponding to the processing result: a toy robot; a first input device that can' receive a ~ communication signal from at least one other toy robot; characterized in that the first communication signal indicates at least one other toy robot Internal system information of the system; and when controlling the toy robot, the first processing device can process at least a part of the internal system information received from at least one other toy robot. Result 'When toy robots receive and use internal system information about other toy robots, complex interactions between toy robots are possible' and allow the simulation of complex social behavior in a group of toy robots. Yet another advantage of the present invention is that it provides a toy robot that simulates knowledge of its environment, and it acts in response to the environment. Yet another advantage of the present invention is that it provides a toy robot that can simulate mental behavior patterns and strategies with other toy robots. Another advantage of the present invention is that the toy robot can be differently based on the type of other toy robots (such as friendly or hostile types) or the internal state of other toy robots (such as hunger, sleeping, angry, sad, weak, hunting, etc.) Action, this paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) _ 6-I ------- mpt-— (Please read the precautions on the back before filling this page) Ministry of Economy Zhici Printed by the Property Bureau S Industry Consumer Cooperative

592777 A7 _B7___ 5. Description of the invention (4) (Please read the notes on the back before filling out this page) Another advantage of the present invention is that the decision-making process is sound. When the sensor fails or the environment changes drastically, the robot can still maintain a minimum level of understandable behavior. Storage devices can include magnetic tapes, optical discs, optical discs (CD-ROMs or CD-ROMs), micro-CDs, hard disks, floppy disks, iron-electric memory, electronic erasable programmable read-only memory (EEPROM), flash memory Flash memory, read-only memory (ROM), static random access memory (SRAM), dynamic random access memory (DRAM), ferromagnetic memory, optical storage, charge-coupled devices, smart cards, etc. The processing device may include a microprocessor, a special application integrated circuit or other integrated circuit, a smart card, and the like. In a preferred embodiment of the present invention, the toy robot further includes a second storage device that can store information about a plurality of behavior states, and each behavior state represents a behavior strategy and corresponds to a set of individual computer executables. Instruction; The Intellectual Slave Second Storage Device of the Intellectual Property Office of the Ministry of Economic Affairs and the Ministry of Economic Affairs can select one of the plurality of behavior states according to the first set of predetermined rules based on the stored internal and external system information, and the first processing The device can execute a set of computer-executable instructions corresponding to the current behavior state. One advantage of the present invention is that the toy robot can be programmed to find a predetermined target, wherein the target can be determined by the behavior state, and the behavior state can be determined by the perceived external environment-including the possibility of existence of other toy robots and their interior System information-it depends. This paper size applies to the Chinese National Standard (CNS), Yasaki (210X297 mm) 592777 A7 _______B7_ _ V. Description of the invention (5) (Please read the notes on the back before filling this page) Another advantage of the present invention is that The decision and action of the toy robot according to the present invention is based on the temporary priority of different behavioral motivations, which is determined by the functional relationship with sensor input and internal system information. When the first processing device can update at least one parameter of the internal system information (which is preferably the result of executing the set of executable instructions), the feedback interaction between the decision, the internal state and the stimulus generates time and space. Rich behavior. Yet another advantage of the present invention is that it provides a simulation of behavior patterns based on the user-preferably child-friendly concept. Yet another aspect of the present invention is that it provides realistic, real-time simulation with low cost components. When the toy robot further includes an output device for transmitting a second communication signal to at least one other toy robot, the toy robot can exchange commands and system information with other toy robots. In a preferred embodiment of the present invention, the output device may transmit a third communication signal indicating a command for the at least one other toy robot. Printed by the Consumer Property Cooperation Bureau of the Intellectual Property Bureau of the Ministry of Economic Affairs When the first communication signal indicates the current behavior status of the at least one other toy robot, the toy robots can exchange behavior information about their psychological status, thereby allowing realistic behavior simulation. When the second processing device can calculate plural points from the stored internal and external system information and according to the first set of predetermined rules, each point corresponds to one of the plural behavior states, and one of the plural behavior states is selected according to the calculated points. With active behavior, a toy robot can simulate most of the goals it attempts to achieve, and some goals are contradictory. This paper size applies Chinese National Standard (CNS) A4 (210X297 mm) -8-592777 V. Description of the invention (6) (Please read the precautions on the back before filling this page) When the toy robot includes a second input When the device (which can receive the first data signal representing the first set of predetermined rules) and the third storage device (which can store the received first set of predetermined rules), the rule for selecting the current behavior state can be used by the user Adapt. Yet another advantage of the present invention is that it provides a toy robot that can simulate the behavior of a particular kind or personality. When the toy robot further includes a third input device that can receive the second data signal, the second data signal includes the first group of computer-executable instructions' which should be the first one of the plural states. Then actions related to the behavior state can be adjusted by downloading a code to the toy robot and the first set of computer-executable instructions is defined by the user, and the behavior pattern of the toy robot can be influenced by the user. Another advantage of the present invention is that the user can simulate a large number of plots and special situations, and the user can dynamically redefine the rules of interaction to allow a variety of different games. When the toy robot includes a third processing device, a fourth input device, and a fourth storage device, the third processing device may calculate at least one of the internal system information according to the second set of predetermined rules. Parameters, the fourth input device can receive a third data signal indicating the second set of predetermined rules, the fourth storage device can store the second set of predetermined rules, and can adjust the influence of external or internal events on the internal system parameters of the toy robot Allows simulation of different kinds of robots. According to the second feature of the present invention, the present invention relates to a toy machine, the paper size of which is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) 592777 A7 B7 Five 'invention description (7) people, including: a sensor The device is used to receive the sensor signal; (Please read the precautions on the back before filling this page) The first storage device can store information about the internal system information of the toy robot and external system information indicating the sensor signal; The storage device can store information about a plurality of behavior states, and each behavior state corresponds to a set of instructions that can be executed by another computer; the first processing device can execute a current behavior state corresponding to the plurality of behavior states. The first group of computers can The executed instructions, and a corresponding first control signal for controlling the toy robot is generated; the feature is that the toy robot also includes a second processing device, which can a) store the information of the internal and external systems and according to the first group of reservations Rules to calculate plural points, each point corresponding to one of the plural behavior states; and b) Points, select one of the plurality of behavior state of the active state. Printed by the Intellectual Property Office of the Ministry of Economic Affairs and the Industrial Cooperative Cooperative. One of the advantages of the present invention is that it provides a toy robot that can simulate mental behavior patterns and interaction strategies. Another advantage of the present invention is that it provides a toy robot whose decisions and actions are based on temporary priorities related to different behavioral motivations, which are determined by functional relationships with inputs from sensors and internal states . Temporary priorities can be expressed as integrals of different behavior states. Other preferred embodiments of the invention are described in the appended claims. Because the above-mentioned features of the present invention and other advantages of its embodiments correspond to the Chinese paper standard (CNS) A4 (210X297 mm), this paper size-buckle-592777 A7 ___B7 V. Description of the invention (8 above and below Its advantages corresponding to the first feature of the embodiment are not described here. (Please read the precautions on the back before filling this page.) The present invention also relates to a system for controlling a toy robot. The toy robot has a plurality of behavior states. The behavior state corresponds to individual actions in the complex array action. The system includes a graphical user interface for receiving user commands indicating the definition of the complex array action; the processing device can generate a control letter grfe indicating the definition of the complex array action. m, an output device for transmitting control signals to the toy robot; characterized in that the graphical user interface can a) present the user with a plurality of area symbols, which represent individual behavior states of the plural behavior states; b) present multiple actions to the user Symbols, each action symbol represents at least one other action; and the Ministry of Economy wisdom Printed by the production bureau employee consumer cooperative c) Receive a user order instructing to place the first action symbol of the plurality of action symbols and the first symbol of the area symbol into a predetermined relationship; the processing device may be relative to the area according to the action symbol The placement of symbols generates control signals. One advantage of the present invention is that it provides a system for dynamically exchanging behavioral elements of a toy robot 'during operation, thereby changing the behavioral strategy and / or simulated personality of the toy robot. Another advantage of the present invention is that it includes a paper for adapting the paper size of a toy robot to the Chinese National Standard (CNS) A4 (210X297 mm) n 592777 A7 B7. 5. The user of the invention (9) Interface-it is fairly simple to use for a child, while capturing the complex concepts of behavior, thereby allowing realistic simulation of behavior. (Please read the precautions on the back before filling out this page.) Because other features correspond to the advantages of the toy robot described above and below, it will not be explained here. The present invention also relates to a method of manufacturing a toy robot as described above and below, characterized in that the method includes the steps of designing a physical robot; designing a data structure corresponding to the designed physical robot and relating to internal and external system information; Designing a plurality of possible behavior states of a toy robot; Designing a plurality of possible rule sets for selecting a current behavior state of a plurality of possible behavior states; Designing a plurality of possible computer-executable instruction sets that correspond to the plurality of possible behavior states; The actual manufacturing of toy robots. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs One of the advantages of the present invention is that it includes a modular and flexible robotic architecture 'and a method that allows different types of robots to be systematically manufactured based on the architecture. Another advantage of the present invention is that the architecture system of the robot supports a way to easily extend the sensing range and the actuating device, and supports advanced design methods for establishing a robot control system. The present invention also relates to a toy set including all parts of the toy robot described above and below. This paper size applies the Chinese National Standard (CNS) M specification (210X297 公 #) 592777 A7 B7 V. Description of the invention (ίο) Brief description of the drawings The preferred embodiments will be described with reference to the drawings, and the present invention will be explained more completely as follows Among them, Fig. 1 shows a schematic diagram of a toy robot according to the first embodiment of the present invention; Figs. 2a-b show block diagrams of two embodiments of the behavior execution system according to the present invention; Figs. 3a-b show the diagrams in Fig. 2b Flow chart of the mood system of the behavior execution system Figure 3c shows the calculation of the active area in a current behavior state; Figure 4 shows a flowchart of a script preparation process according to an embodiment of the invention; Figure 5a shows Schematic diagram of a stylized system for an invented toy robot; Figure 5b shows a graphical user interface for generating a script of the system of Figure 5a according to an embodiment of the present invention; Figures 6a-b show the mood power according to the present invention Figures 7a-b show examples of message formats used for robot-to-robot communication according to an embodiment of the present invention; Figure 7c shows examples of robot-to-robot communication Figure 8 shows a flowchart of the design process of a new robot according to the present invention. 0 The symbol indicates that the paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) -13-丨 ^^ 批 衣-(Please Please read the notes on the back before filling this page.) Order the consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, the Indus 592777 A 7 B7 V. Invention Description (11) 100 101 1〇2a-d 103 ae 104a-b 105 106 107a-b 108a-b 111 112 113 114 115 116 117 201 202 203 204 205 206 207 208 Toy Robot Shell Wheel Infrared Transmitter Infrared (IR) Receiver Impact Sensor Light Sensor Motor Shaft Power Memory CPU Bus System Thermoelectric element light-emitting diode interface connector Central processing unit Sensor communication port Input port Internal and external system information Robot control system control signal rule I ------- 0 · ^ —— (Please read the precautions on the back first (Fill in this page again) Set the paper size printed by the Industrial and Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs to apply the Chinese National Standard (CNS) A4 (210X297 mm) -14-592777 A7 B7 V. Description of the invention (12) 209 210 211 212 215 221 222 223 224 225 226 227 228 229 230 231 232 233 234 234 235 236 237 238 321 321 Behavior control system clock behavior state memory input / output system behavior execution system sensor sensing system Communication system external state data structure event system clock metabolism system metabolism script internal state recording mood system mood script Lianzhu execution system Lianzhu execution script Lianzhu array Lianzhu device control system new robot companion lowest district Ministry of Economic Affairs Intellectual Property Bureau Printed in cooperation with consumers (please read the notes on the back before filling out this page)-The size of the paper is bound to the Chinese National Standard (CNS) A4 (210X 297 mm) -15-592777 A7 B7 V. Description of the invention (13) Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economy 322 Low zone 323 is 325 Lianzhu 531 Personal computer 532 Pointing device 533 Keyboard 534 Screen 535 Serial connection 541 Storage area 543a-b Button 544 "Enter" press 545 Feeling hurt 546 Watching danger 547 Feeling lonely 548 Watching friends Friends 549 Feeling weak 549b Central District 549a-c Round 550 Watching energy 551 Happy mood 552 Say hi 554 Finding energy 555 Go away 552-563 Action Lianzhu I ------- 0 · ^-(Please read first (Notes on the back then fill out this page)

、 1T This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -16-592777 A7 B7 V. Description of the invention (14) 570 printed by the Consumer Cooperative of the Intellectual Property Office of the Ministry of Economic Affairs 711 Header 712 Network ID 713 Network ID 714 Message payload 715 CRC 721 Header 721a Field 721b Field 722 Robot ID 722 Sound pulse ID 723 Robot network ID 724 Message payload 724a Action 724b Current mood 7 24c-eof Currently Zone 724f, game state 725, cyclic redundancy check 801a, limit zone 802, mood 802a, bias. A preferred embodiment is described in detail with reference to FIG. 1. A toy robot 100 according to the first embodiment of the present invention is applied to a Chinese paper standard (CNS). A4 Specifications (210X297 mm) -17-(Please read the notes on the back before filling out this page) • Binding 592777 Printed by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7 _ B7_ V. Description of the invention (15) Including a The housing 101, a set of wheels 102a-d, and the wheels 102a-d are driven by a group of motors I07a-b via shafts 108a-b. Alternatively or in addition, the toy robot may include different devices for moving, such as legs, chains, pneumatics, and the like. It can also contain other movable parts such as pushers, arms, tools, turning heads, etc. The toy robot further includes a power source m that provides power to the motor and other motors and electronic components of the toy robot. Preferably, the power source 111 includes a standard battery. The toy robot further includes a central processor 113, which is used to control the toy machine. The person 100. The processor 113 is connected to a memory 11 2, which may include a read-only memory and a random access memory or an EPROM / flash segment (not shown). The memory 112 can store an operating system for the CPU 11 3 and firmware. The firmware contains low-level computer-executable instructions to be executed by the CPU 1 1 3. "Start" command to control the hardware of the toy robot. In addition, the memory 1 1 2 can store application software, including high-level computer executable instructions to be executed by the central processing unit II 3, for controlling the behavior of the toy robot. The central processing unit can be connected to the controllable hardware components of the toy robot through a bus system 11 4. The toy robot may include many different sensors connected to the central processing unit 1 1 3 via a bus system 1 1 4. In the example shown in FIG. 1, the toy robot includes an impact sensor 105 for sensing when it is struck, and a light sensor 106 for measuring the level of light and detecting a flash. The toy robot also includes two infrared (IR) receivers 104a-b for position detection such as described in the Taiwan Patent Application "Position and Communication System and Method" by co-pending and with the same filing date as this application. System, and the size of this paper is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) · 18-(Please read the note on the back 4 • Items before filling —: Write this page) Order 592777 A7 ____B7 5 (16) Invention description (please read the notes on the back before filling this page) and map other robots. Alternatively or in addition, the toy robot may include other sensors (such as a shock sensor, for example, a spring-suspended weight that provides an output when the toy robot is hit or encounters something) or used Sensors used to detect the number, including time, taste, smell, light, pattern, proximity, movement, sound, voice, vibration, contact, pressure, magnetism, temperature, distortion, communication, etc. The sensor signal generated by the printed sensor of the Intellectual Property Bureau of the Ministry of Economic Affairs and the Industrial Cooperative Cooperative in response to the external stimulus is routed to the central processing unit 1 1 3 via the bus 1 1 4. Program instructions in memory 1 12 are processed. Processing may cause variables and parameters stored in the memory 112 to change, and may cause control signals, which are generated by the central processing unit 113 and routed via the bus 114 to different hardware components that control the actions of the toy robot. The current hardware components of the toy robot of Fig. 1 include motors 107a-b, a light emitting diode 116 for generating a light effect (e.g., a laser-like gun), and a thermoelectric element 115 for generating a sound effect. Other possible active components include an RGB light transmitter or a mood light containing light emitting diodes of different colors. The RGB light transmitter is used to produce mixed color effects, and thus represents the internal state of the robot, such as its current behavioral state. Other actions may include movement, sound, speech produced by a speech generator, heat, light, smell, etc. A special type of sensing and action is communication. For this purpose, the toy robot shown in FIG. 1 includes five infrared transmitters 103a-e for emitting infrared signals, which can be used together with infrared receivers 104a-b for robot-to-robot communication, which will cooperate with FIG. 6a- c explained in more detail. Preferably, the transmitter 103e is, for example, an infrared diode placed on the top of the robot, and its paper size is adapted to the Chinese National Standard (CNS) A4 specification (210X297 mm) _ 19 _ printed by the employee ’s consumer cooperative of the Intellectual Property Office of the Ministry of Economic Affairs % 592777 A7 _B7___ V. Description of the invention (17) The infrared rays emitted at a wavelength between 9400 nm and 960 nm are driven by a current which is high enough for the emitted light to pass from a room ( For example, a wall of a room measuring 6 by 6 meters) generates reflections that can be received by at least one receiver 104a_b of another robot in the room. Preferably, the output power of the diode 103a-d can be expressed in Different power levels-such as 'two power levels-individually controlled. Infrared transmitters 103a-e can emit broadcast messages at different power levels in a predetermined sound pulse cycle.' The sound pulse cycle is used to transmit information to other robots. , And to enable the robot to be detected by other robots. Alternatively, a different number of transmitters and other communication devices may be used, such as acoustic signals or other electromagnetic radiation. Toys The robot also includes an interface connector 1 1 7. For example, a serial port is used to connect a toy robot to an external device, such as a personal computer, PDA, mobile phone, etc. Other communication devices include a user interface, such as buttons or for displaying graphics. Display of image or text information. Alternatively or additionally, the interface connector 1 1 7 can be used to connect other sensing and motion devices, such as a module for sound recognition, GPS module, compass, voice and / or Vision module, etc. Figures 2a-b show two examples of a behavior execution system for controlling the behavior of a toy robot according to an embodiment of the present invention. Referring to Figure 2a, the first embodiment of the behavior execution system includes a The central processing unit 20 1 accessing the memory 2 1 2 is preferably a programmable microprocessor. The memory 2 1 2 is such as a random access memory for storing application software and data. The central processing unit executes a Robot control system 206, which is stored and stored in the memory 212 i Paper size Applicable to China National Standard (CNS) M threat (210X297 mm) --- 丨 installed-(Please read the back (Please fill in this page if you want to pay attention), 11 592777 A7 ___ _ B7 V. Internal and external system information 205 in the description of the invention (18), process the information, and process it according to the processing (please read the precautions on the back before filling this page) Employees of the Intellectual Property Bureau of the Ministry of Economic Affairs ’Consumer Cooperative ’s Indo Slave results that it generates a control signal 207 for controlling the hardware of the toy robot. The robot control system 206 can also update the variables or parameters of the internal system information 205. The toy robot includes sensors 202 and a communication port 203, the sensor 202 is such as described in conjunction with FIG. 1, and the communication port 203 is such as an infrared communication port or a Bluetooth transceiver for communicating with other toy robots. The sensor signal output by the sensor 202 and the control signal generated by the communication port 203 are processed by an input / output system 2 1 5. The input / output system 2 1 5 runs on the central processing unit 20 1 and the updates are stored in External system information 205 in memory 2 1 2. The central processing unit 201 also executes a behavior control system 209, which controls the behavior of the toy robot by selecting an active behavior state. Store in memory 2 1 2 information about many different behavioral states 2 11, where each behavioral state can represent a mental or physical state, such as tiredness, sadness, hunger, anger, loneliness, fear of darkness, etc., or Represent a role, such as "leader" or "player in team A". Each behavior state can be associated with one or more behavioral goals, such as "find other happy toy robots", "hide in the dark", "find food or energy", "get the ball from team B's robot", and so on. Each behavioral goal is represented by a set of program instructions, which are stored in the memory 2 1 2 and become part of the behavioral state information 2 1 1 1. Based on internal and external system information 205, the behavior control system 209 calculates points for each behavior state. The behavior state with the highest points becomes the active state, and the corresponding instruction is read from the behavior state information 2 1 1 recorded in the billion body 2 12 and executed by the robot control system 206 until a different behavior state becomes active. The behavior control system 209 executes this paper standard applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) -21-592777 A7 B7 _ V. Description of the invention (19) (Please read the precautions on the back before filling in this education) Credit calculations also use the time provided by a clock 2 10 as an input 'because credits for certain behavioral states-for example, "tired" states-may depend on time. In addition, the point calculation performed by the behavior control system 209 relies on a set of rules 208 that are stored in the memory 212. Rule 208 may be a function called by behavior control system 209. The toy robot also includes an input port 204. For example, the IrDa port is used to receive data signals from an external device such as a personal computer via the input port 204. The rule 208 and / or the instruction set corresponding to the behavior state 2 1 1 can be downloaded to Toy robot. The received data signals are routed from the input dock 204 to the input / output system 215, and the individual update behavior status information 21 1 and rule 208 are updated. By downloading new rules 208 and new behavioral state instructions 2 1 1, the character and behavioral goals of the toy robot can be changed at runtime. Figure 2b shows a block diagram of a second embodiment of a behavior execution system. The behavior execution system 221 receives the input from the sensor 222 of the toy robot via the sensing system, the Intellectual Property Department of the Intellectual Property Bureau of the Ministry of Economic Affairs, the Industrial Cooperative Cooperative, and the Innu 223, which updates the external state data structure 225 in the memory of the toy robot. The external status record 225 stores external system information, such as sensor readings and other robot information, to represent information about the surrounding environment. It is a toy robot that can be obtained by its sensing device. The amount of external system information maintained in external state 225 affects the likelihood that the robot will interact with the world around it. Examples of the information stored in the external state include the state of the shock or shock sensor, the intensity of light received by the light sensor, and a list of other robots that the robot has detected. Preferably, the external state 225 is a target data record, that is, all other modules can read it ', but preferably, only the sensor system 223 and the communication system 224 can hold the paper standard applicable to the Chinese national standard (CNS ) M specification (210X297 mm) "22: '592777 A7 B7 V. Description of the invention (20) (Please read the notes on the back before filling this page) It. Communication system 2 2 4 Via it and behavior execution system 2 The interface of 21 communicates with other toy robots 238 and updates the external state 225. Changes in the external state 225 trigger the event system 226, which monitors changes in the external state 225 and the clock 227 of the analog biological clock. From this information, the event system 226 generates The scope of system events. Events can be generated by, for example, changing the sensor 値, the discovery of a new robot companion 238, or the ticking of the clock 227. The event can serve as an action trigger for the entire system. The actual generation of the event can be Managed by an event system that is part of the toy robot's firmware. Examples of possible events include: biological clock events such as: event_like Biotick fast Fast biotick Slow per second Sensor event: Event_Status Compression Shock sensor status self-release to pressure release Shock sensor status Self-press change to release Staff of Intellectual Property Bureau, Ministry of Economic Affairs Consumption cooperative prints the status of the point-of-click impact sensor to enter and leave within a predetermined period of time. Presses the two-point two consecutive points to press the bright light sensor state from normal or dark to bright. Change to normal dark light sensor status From normal or bright to dark Paper 伕 Standards apply Chinese National Standard (CNS) A4 specification (210X297 mm) -23-592777 A7 B7 V. Description of invention (21) Intellectual Property Office of the Ministry of Economic Affairs Consumption cooperation with employees: The state of the printed flash light sensor enters and leaves the bright double flashes and continuous flashes within a predetermined period of time. The collision robot collides with something (shocks when a motor starts). Steep vibration when no motor is running) Robot mapping event; event status new robot has A new robot was detected (it may already exist as a registration in the robot register, but it has now entered the communication range). · The mapping information for a new map-specific robot has been changed. Example of change: new direction-orientation -, Distance, becomes "non-existent". Robot communication event Event Status New message A new message has been received. The new bead has received a new set of instructions (action bead). The metabolism system 228 takes the range of events generated by the event system 226 as input and decides to store it in the internal state record due to the results of the event. 230 This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -24- (Please (Please read the notes on the back before filling this page) 592777 A7 __BT_ 5. The internal system information in the description of invention (22) must be changed. (Please read the notes on the back before filling this page.) For example, in response to rapid biological ticking events, the metabolic system 228 can control the time development of the internal state 230 to simulate time-dependent behaviors such as starvation due to lack of food , Loneliness without meeting any friends, or anger that has been insulted has faded over time. The internal state data structure 230 stores the physical and mental state of the robot. Examples could be hunger, health, intensity, fear, special abilities with time constraints, age, etc. At any one time, the internal state of the robot 2 3 0 will affect what it does and how it performs. The internal status record 230 holds information about the robot itself. This information can be divided into three parts: Physical status includes hardware-related information, such as battery level, motor, condition, and robot identification code, which will be discussed in conjunction with Figure 6a. The mental state of employees ’cooperatives in the consumer property cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs includes the“ soft ”characteristics of robots, such as the age and points of different behavioral states. Behavioral status includes the registration of current behavioral status or mood, and points corresponding to all possible behavioral statuses. The behavioral status score is a moment, which rates motivation to that particular mood. In the following, points will be called moodiness. Finally, the inventive record includes many items that the robot can carry. An example of an item might be a token that gives a robot a specific temporary ability. Each tag can include a status flag and a stack. If a marker is active, its puppet can be consumed quickly on each biological clock, for example, by one less. The marking may correspond to energy, intensity, poison, shield, and the like. The markings can be obtained from or given to other robots, as explained with reference to Figure 6c. 1 Paper scale applies to Zhongguanjia standard rate (€?) 8 4 specifications (21 () \ 297 mm): 25-" 1 592777 A7 ____B7 V. Description of the invention (23) Other ways to distribute or activate the mark Download them from the Internet, randomly induce them, use them as rewards for games, and more. The metabolism of a particular robot can be customized by writing the metabolic script 229 and storing it in the robot's memory. The metabolism system 228 executes this script 229 and passes it events related to metabolism. Each event from a range of related events corresponds to a metabolic function whose implementation corresponds to a change in the internal state 230 of the event. The metabolism function can be a function that depends on constants unique to many robots. Constants can be used to customize the properties of a robot. Examples of this constant include energy consumption rate, recovery rate, resistance to damage, resistance to loneliness, fear, greed, generosity, social needs, and aggressiveness. In addition, the impact of an event on the internal state 230 may depend on the current state of the internal state 230, such as a mood state. Mood calculations are performed using a set of functions that include breed-specific metabolic constants. An example of the function used to calculate the GetTked mood is mGetTired.

If (Get Tired mood is not empty) // only calculate mood value if there are instructions for that mood // {mGetTired = (1- RateGetTired / 100) * mGetTired + OffsetGetTired Here, RateGetTired and OffsetGetTired are predetermined constants, which Stored in the memory of the toy robot, and its description The toy robot conforms to the Chinese National Standard (CNS) M specification (210X297 mm) if the paper size is "26---------- ^ — (Please read first (Notes on the back then fill out this page)

* 1T Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs, 8 Industrial Consumer Cooperatives 592777 A7 B7 V. Description of Invention (24) Why is it easy to get tired. (Please read the notes on the back before filling this page.) Based on the calculated mood in the internal status 230, the mood system 23 1 determines which behavior status is the current user, and updates the corresponding registration in the internal status 230. Preferably, only one mood is active at any time, enabling the robot to focus on a behavioral goal / purpose at a time, that is, the goal with the highest motivation. The rules for selecting the currently active mood are contained in a mood script 232. The mood system 23 1 uses this script as input and executes it. The mood system 23 1 may perform this calculation as another option for the metabolic system 228 that updates the mood in the internal state 230. The Intellectual Property Bureau of the Ministry of Economic Affairs' employee consumer cooperatives printed disasters. Lianzhu Execution System 23 3 executes a set of instructions, which corresponds to the mood currently in use. The instructions correspond to a small array of executable programs called Lianzhu 236. The current bead array 235 is an array of bead, which corresponds to the mood currently in use, and it can be executed under the control of the bead execution system 23 3. The rules for executing the beads in the current beads array 235 are contained in a beads execution script 234. Examples of different execution strategies of lianzhu are: execute lianzhu in a circular sequence, randomly pick lianzhu for execution, and select lianzhu based on a conditional test. Preferably, the Lianzhu execution system 233 memorizes the current mood of its execution inside. Then, it can be compared with the mood register in the internal status record 230 to see if the execution switch has been performed. If this is the case, the execution of the currently used bead array 235 ends and the execution of a new active bead array 235 begins. The behavior execution system 221 is also adjacent to a device control system 237. The device control system 237 controls the hardware and therefore controls the actions of the robot. The paper size currently used is in accordance with Chinese National Standard (CNS) M specifications (210X297 mm) 592777 A7 ____B7_ V. Description of the invention (25) The execution of the Lianzhu array 23 5 generates a control signal, which is sent to the device control system 237 〇 (please first (Read the notes on the back and fill in this page again) Figure 3a shows a flowchart of an embodiment of the mood system 231 of the behavior execution system of Figure 2b. The mood system monitors the internal state 230 and checks whether the mood 値 has changed (step 301). If so, the mood system executes the mood script 23 2 in step 302. Alternatively, the mood system may be triggered by an event generated by the metabolic system 228 'or the metabolism system may perform a function call to the mood system. The sub-process corresponding to step 302, i.e. the execution of the mood script, is shown in Fig. 3b. Initially, at step 306, the mood 値 Mca currently in use is compared with all other moods 値 χ. If the mood of one of the inactive moods 値 Μχ exceeds the mood of the current mood 値 Mca plus a mood hysteresis. Phenomenon HM, this mood can take over and become the current mood: if MoMca + Hm, then mood X Can become the current mood. Employee Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs,%. Preferably, each mood is subdivided into many zones to allow simulation of moods of different levels of severity. Each zone corresponds to a threshold, which defines where the zone begins in the mood / dynamic range. Depending on the level of moodiness, Lianzhu execution can be performed in one of the different zones. The active area is registered in the internal status, and each area can correspond to an active associative bead array. When Zca < Mca < Zca + i + Hz 'that is,' the current active mood, Mca is greater than the threshold of the current active mood zone, ZCA, and less than the threshold of the next highest zone, plus the hysteresis phenomenon, Hz, Then find the active area of the current active mood. If this calculation results in a zone that has an empty active bead array, this paper size applies the Chinese National Standard (CNS) A4 specification (210X: 297 mm) "28- '— 592777 A7 B7_ V. Description of the invention (26) That is, for an array that does not contain any instructions, the next lower region is selected. This drawing is shown in Figure 3c, which shows an example where the calculated region 323 and the second lower region 3 22 are empty, and the lowest region 321 Contains triple bead 325. As a result, in this example, the lowest zone will become active. Referring again to Figure 3b, if none of the lower zones contain any associated beads, then the new possible current mood is discarded and recalculated for the current mood (Step 3 11). On the other hand, if the calculation results in a zone containing lianzhu, the new current mood and zone are accepted and stored in the internal state (step 310). As mentioned above, the actual situation inside a zone The program consists of an array of beads. One bead is equipped with a program. The program planning in the mood system can be drawn as follows: (Please read the notes on the back before filling in and write this page) Industrial and consumer cooperation of the Intellectual Property Bureau of the Ministry of Economic Affairs心情 Print Mood A (Mood 値: Μα) Temporary Coupling Area 1A ZO 1 A Bead 1 μm, Bead 2 1 a ,, Area 2A Z 2 A Bead 1 i, B c 3. d 2 2 a ,, · · · Zone M AZMA Bead 1 μ / ', Bead 2 ma ,, Zone hysteresis: Hza Mood B (Mood 値: Mb) Zone Threshold Coupling Bead Zone 1 B ZZ 1 Β Bead 11β i, Bead2iB ,,. Area 2 B Zn 2 Β Bead 1 2e i, Bead22B ,,. This paper size applies to Chinese National Standard (CNS) A4 (210X297 mm) -29-592777 A7 B7 V. Description of the invention (27) Μ B Μ Β Β ead 1 μ β, Bead 2MB,, hysteresis phenomenon: Ηζβ mood Ν (mood 値: Μν) threshold limit bead region 1 Ν. Ζ 1 Ν Bead 1 D, Bead 21 n, , Area 2 Ν ZO 2 Ν Bead 12b i, Bead22N ,, Area Μ Ν Ν Μ Ν Bead 11 Difficulties, Bead2MN area hysteresis: hzn (Please read the notes on the back before filling this page) Employees of the Intellectual Property Bureau of the Ministry of Economic Affairs The consumer cooperative prints again referring to FIG. 2b 'An example of the behavior and execution scenario according to an embodiment of the present invention can be as follows: Activate the toy robot . The internal state 230 is initialized, the mood is calculated, and an active mood / zone is selected. Lianzhu Execution System 23 3 starts to execute Lianzhu 2 3 5 from the current mood / zone. The change occurred in the external environment, for example, the impact sensor was hit, a child flashed to the robot with a flash, and the presence of a predator was detected. Changes are detected by the robot's sensor 222 and recorded in the external status record 225. The event system 226 recognizes a change and thus generates an event, such as an impact, flash, or predator event. The metabolism system 228 executes the metabolism script by actual events 229 This paper standard applies the National Standards of China (CNS) 8-4 specification (210 > < 297 mm) -30- 592777 A7 B7 V. Description of the invention (28) To events. This will cause the internal state 230 to change, for example, a decrease in intensity, an increase in energy, or a decrease in courage. Since the internal state 2 3 0 has changed, the mood system 2 3 1 executes the mood script 232, and then calculates the mood again and tests See if the mood / zone currently in use must change. If a new mood / zone is selected, the Lianzhu execution system 23 3 is notified. Lianzhu's execution is terminated and restarted within the new mood / zone. The biological clock 227 is ticking. The event system 226 sends out a biotick quick event. The metabolism system 228 picks up events and changes the internal state 230, for example, 'the age will increase, hunger will increase, fatigue will increase, loneliness will increase, and so on. Mood 値 will be recalculated, and the mood / zone may change, and then reflected in the Lianzhu execution and so on. As mentioned above, according to the present invention, there are several ways to adapt a behavior execution system. One way is to program the beads by program, that is, computer-executable instructions that correspond to different behavioral states as described in conjunction with Figures 2a-b. Another way is to adapt the script described in Fig. 2b .. · Metabolic script 229, mood script 232 and Lianzhu execute script 234. Some of these possibilities can be used by users of toy robots, some of which can be pre-programmed 'and used to design different kinds of toy robots. For example, users can program Lianzhu and pre-program the remaining scripts. FIG. 4 shows an embodiment of a process of programming a script that can be customized. Initially, at step 401, the user writes a script that follows a predetermined syntax. The script can make this paper size applicable to the Chinese National Standard (CNS) 8-4 specification (210X29 * 7mm) -31-a -------- install-(Please read the precautions on the back before filling this page )

* 1T Printed by the bone-eliminating cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 592777 A7 _B7 V. Description of the invention (29) (Please read the precautions on the back before filling this page) Use a text editor running on a personal computer, PDA or similar Writing into concise text, or 'better, can provide a more advanced programming environment. An example of this environment will be described in conjunction with Figure 5b. At step 402, the script is compiled by a compiler to generate computer executable code. Then, at step 403, this code may be linked with a pre-programmed standard script-for example, an action execution script, a mood script, and / or a metabolic script. These scripts can be stored as files on your computer's hard drive, on a disc, or other storage media. In step 404, a communication signal including the compiled and linked program is generated, and in step 405, the signal is transmitted to the toy robot. Finally, in step 406, the code is stored in the memory of the toy robot as, for example, a function library of movable links. FIG. 5a shows an embodiment of a system for controlling the behavior of a toy robot according to the present invention, wherein the behavior is controlled by a downloaded program, as described in conjunction with FIG. 4. The system includes a personal computer 531 having one or more central processing units, a screen 534, a keyboard 533, and a pointing device 5 32 such as a mouse, touch pad, trackball, or the like. An application is executed on the computer, which allows the user to generate and edit scripts, save them, compile them, and download them to a toy robot 100. The computer 531 is connected to the toy robot 100 via a serial connection 535. The serial connection 535 is a serial link 117 from one of the serial ports of the computer 531 to the toy robot 100. Alternatively, the connection may be wireless, such as an infrared connection or a Bluetooth connection. When the code is downloaded from the computer 531 to the toy robot 100, the downloaded data is routed to the memory 1 1 2 via the central processor Π 3 and stored there. This paper size applies Chinese National Standard (CNS) A4 specification (210X297 mm): 32-592777 A7 ____ B7 V. Description of the invention (30) (Please read the precautions on the back before filling this page) Figure 5b shows the robot An example of a user interface for a control application, which runs on a computer 5 31 in FIG. 5a. In this example, the toy robot includes seven emotions, which represents three psychological characteristics or boundaries: happy mood 5 51 is the goal, that is, the purpose of a game may be to drive the toy robot to a happy mood. The happy mood can be interpreted as the bias of the mood system: as long as there is no other mood (more than the mood of the happy mood), the robot simulates happiness and satisfaction. However, external or internal events defined by the metabolic function drive the toy robot away from the happy mood, towards the remaining six moods: Boundary mood friends. Feeling lonely 547-Watching friends 548 Energy feel weak 549-Watch energy 550 Enemy feel damage 545-Watch Danger 546 For each boundary, there is a feeling mood 545, 547, 549 and a viewing mood 546, 548, 550. The difference between feeling and viewing mood will be explained with reference to Figs. 6a-b. Employees' Cooperatives Indo-Slaves of the Intellectual Property Bureau of the Ministry of Economic Affairs Each mood can be divided into 4 zones: low, medium, high and extreme. The low, middle, and high regions of each state of mind are represented by the circle of Fig. 5b, for example, the circle 549a-c that feels weak 5 49. The extreme zone represents a comatose mood with no programmable behavior. 〇 The programming is done by placing Action Link 552-563 in the circle representing the mood zone. Each action Lianzhu represents an action that executes a program, such as "go away" 5 5 5, "find energy" 5 54 or "say hi" 552. In this example, a program can be written in advance, and the Chinese National Standard (CNS) A4 specification (210X297 mm) can be applied-for example-on a disc or via a netbook paper size. · 33-592777 A7 B7 V. Description of the invention (31) ί Please read the precautions on the back before filling out this page. The Internet makes a library for special types of robots. Action Links can be represented by symbols, such as circles, and their shape, color, and / or label can identify their function. Placing a mobile link in a circle can-for example-be done by a drag operation of the pointing device. Action Link 56 1 -563, which is not needed, can be placed in a special storage area 541 for later use. After the program planning is completed, the user can click on the "Enter" button 544, which starts the compilation of the program and downloads it to the toy robot. During compilation, a pre-defined _script corresponding to the action link is associated with the mood zone in which the link is placed, for example, the program corresponding to the link 5 54 is associated with the middle zone 549b feeling weak 549. If several programs are stored on the computer, the user can browse the stored programs by clicking on the buttons 543a-b. The robot corresponding to the written program can be indicated in the field 570 of the user interface. As mentioned above, in this embodiment of the present invention, there are two kinds of moods-feeling and feeling. Fig. 6a shows an example of feelings and feelings over time. In this example, the feeling of feeling the mood increases with time, preferably at a predetermined rate, so as to drive the robot away from the happy mood. If there is no action in any zone that feels the mood successfully reduces the sense mood (for example, "steel energy from other robots" in the sense of weakness zone), the sense mood increases until it reaches its limit Zone (80 la of Figure 6a). Once the limit zone is reached, the robot can recover and the mood sensation of feeling the mood decreases again. This motivation of the mood is defined by the corresponding metabolic function, so it can be adapted so that, for example, the robot stays in the limit zone until the robot is stopped. This paper size applies to Chinese national standards (CNS > A4 size (210X297 mm) · 34-592777 Employees ’Cooperatives of the Intellectual Property Office of the Ministry of Economic Affairs and Consumer Cooperatives A7 ___ B7 V. Description of the invention (32) An example that develops over time. The viewing mode responds to external stimuli. In this example, 'Mood 802 increases with a predetermined offset 802a due to reaction to external events. For example, watching a dangerous mood is detected when a hostile The robot increases with time, and then it decays over time. What is known is that 'other dynamic behaviors and other types of moods can be stylized via metabolic functions. Now referring to Figures 7a-b, a toy robot according to the present invention includes A tool for communicating with other robots. The communication can use infrared communication signals, such as those described in conjunction with Figure 1, or any other communication channel, such as radio communication, acoustic signals, Bluetooth communication links, etc. Implemented according to one of the present invention For example, robot-to-robot communication uses different message types, including a broadcast message and a robot-to-machine The command message is sent from a transmitting robot and addressed to a special robot or a group of robots. An example of the data format of a broadcast message is shown in FIG. 7a, and an example of the data format of a robot-to-robot command message is shown in FIG. b. It is understood that these message formats can also be used to communicate with other devices-such as remote controls, computers, etc.-and can define other or additional message types. The broadcast message shown in Figure 7a includes an 8-byte Message, which includes a 1-byte header 721, a short 1-byte robot id 722, a 3-byte robot network ID 723, a 2-byte message payload 724, and a cyclic redundancy check 1 byte 7 2 5. In addition, each byte of a broadcast message includes a start bit, a common bit and a stop bit, so each bit has 11 bits. Better Ground, a broadcast message is—for example, a repeat transmission via the infrared diode of FIG. 1 and has—for example—1 to 5 seconds (please read the precautions on the back before filling. Install-write this page)

、 1T This paper size is applicable to the Chinese National Standard (CNS) M specification (21〇 X 297 public holidays) -35- 592777 A7 B7 5. The predetermined time interval of the description of the invention (33). Preferably, the time interval is adjustable. For example, in order not to interfere with messages from other robots, the robot may delay the transmission of broadcast messages when it receives messages via one of its infrared receivers 104a-b. The header 721 includes a 3-bit field 721a indicating the prototype, and a 5-bit field 7 2 1b indicating the message type. The robot network ID 723 is a 3-byte number, which is unique to the robot. Network ID 723 enables robots to register and maintain information with robotic companions encountered in the real world or on the Internet. Robots can store information about other robots as part of an external status record, preferably a list of known robots. Each entry in the list can contain information such as the received network ID 723, a corresponding short ID 722, mapping information (e.g., direction, distance, orientation measured by the robot's sensor), motion information, Mood and zone information, game-related information received from individual robots, holding levels of other robots (for example, how friendly or dangerous they are considered, how good energy they are, etc.). When a robot receives a broadcast message from another robot, it updates the information in the list. If the origin of the information is unknown, a new login is formed. A robot login is marked as non-existent when a message is not received from a special login at a predetermined time-for example, a repeat longer than two broadcasts. Preferably, the robot also has a shorter 1-byte acoustic pulse ID 722. This short ID can be used to identify a robot in the short acoustic pulse transmitted between long broadcast messages as shown in Figure 7a. Because a one-tuple ID corresponds to 256 different IDs, the short-pulse ID 722 can pass through a communication range (for example, this paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) Γββ a ^ —- ------- Equipment-- (Please read the precautions on the back before filling this page) Order the printed copy of the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 592777 A7 B7 V. Description of the invention (34) in a room) Inside Arbitrary calculation logic between robots. A possible calculation logic includes the following steps: When a robot starts, it randomly selects a robot sound pulse ID. Then, it started sending out a broadcast message containing both the robotic pulse ID 7 22 and its target network ID 723. Any robot that receives a broadcast message performs the following steps: 1. Updates / generates a registration in the robot list, which corresponds to the overall network id 723 just received with the corresponding acoustic pulse ID 722. 2. Check the conflict of the acoustic pulse ID: 3. If the two logins are marked as having the same acoustic pulse ID now, mark them as unreliable. 4. If the received robot has the same acoustic pulse ID as the received acoustic pulse ID 722, it randomly selects a new acoustic pulse id, preferably to exclude those who already exist in its robot list, and send a New sound pulse ID broadcast message. The message payload 724 of the broadcast message may include information related to the robot being sent. In the example shown in Figure 7a, this information includes information related to the robot's actions 724a (for example, forward, right-handed, right-turned, stop, etc.), information related to the current mood 724b, all or Current zone 724c-eof for certain moods, and game status 724f including additional game information. Finally, the message includes a 1-byte cyclic redundancy check (CRC) 725. Now, referring to FIG. 7b, a robot-to-robot command The message can be a paper size applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) -------- installed-(Please read the precautions on the back before filling this page) Order the Ministry of Economic Affairs 4 K3C Industrial and Consumer Cooperation Co., Ltd. Seal-37- 592777 A7 _____B7 V. Description of Invention (35) (Please read the precautions on the back before filling this page) For example-from one or several infrared sensors shown in Figure 1 〇3a_eTransfer. The message includes a 1-byte header 71 1 (which preferably includes a field of the same type as the broadcast message header of FIG. 7a), a 3-byte network ID 7 1 of the originator of the message, 3-byte network ID 7 1 3. A 4-byte message payload 714 and a 1-byte CRC 715. There can be a special network ID, which holds messages for addressing to all robots. In addition, if the network ID is encoded for a robot type, a message can be addressed to all robots of a particular type. The message payload can include request, response, and corresponding parameters. An example of a request sent from robot A to robot B is request_ meaning inquiry A asks B about η subject giving Α giving Β subject stealing A tries to steal the subject from B to attack A with the subject attacking B from force e tells A to tell B ordered something to order A ordered B to do something. The Intellectual Property Bureau of the Ministry of Economic Affairs' employee consumer cooperatives printed on topics such as energy, friendship, health, etc. In the receiving robot, the information can be stored as part of the external state and an event can be generated. Depending on the internal state of the receiving robot and its script control, a response can be sent back to the robot sending the command. An example of answer is to answer __meaning

The theme passed from B to A is transmitted X The paper size is applicable to the Chinese National Standard (CNS) A4 specification (21〇 > < 297 mm 1-38-" ~ 592777 A7 B7 V. Description of the invention (36) Report B has changed the subject by X. Accept B. Accept A's action. Reject B. A refuses A's action. The example of robot-to-robot interaction based on the above request and answer is shown in Figure 7c. In step 701, robot A receives from robot B. The detected broadcast message detects Robot B. Robot A updates its list of known robots. The current mood and the Lianzhu command of Robot A's zone initiate a "stealing" interaction. At step 702, Robot A sends a robot to a robot via a robot. Command message, send a "theft (energy, e, f)" message to the robot B. The message represents the subject "energy" that requested to steal the quantity e with the force f. At step 703, upon receiving the message, the robot B- For example, according to the rules of its metabolism script-determine whether it can resist the attempt. If not, then the robot B stores its energy variable (which is stored as part of the internal state) in step 706 Points) Decrease the number e and send a corresponding answer to the robot A in step 707. Upon receiving the answer, the robot A will increase its energy by a number e in step 708. If the robot B determines it in step 703 It can resist the attempt to steal energy, then it can reduce its energy by a predetermined damage d at step 704, and send a corresponding answer to robot A at step 705. In this situation, robot A has not increased its energy. One of the advantages of the message format and interactive scenario illustrated in conjunction with Figures 7a-c is that communication strongly prevents errors, such as lost messages. Referring now to Figure 8, the architecture of the behavioral execution system described in conjunction with Figures 2a-b allows a system design process For the design of new types of robots and the entire group of paper sizes, the Chinese National Standard (CNS) A4 specification (210X297 mm) is applicable -39-(Please read the precautions on the back before filling in and write this page) Intellectual Property of the Ministry of Economic Affairs Printed by the Bureau ’s Consumer Cooperative 592777 A7 B7 V. Description of the invention (37) Robot. The design of a robot according to the invention may include the following steps: In step 80 1. Designing a physical robot. The design includes specifications for sensors and devices for action and communication. The design can be represented by a set of specifications and / or a prototype of the robot. The embodiment of the robot affects how the robot can be displayed. Any cognitive behavior of the robot. The decision on the physical structure of the robot will define how it will adapt to the external environment, how it will be related to the world, how it can be related to other robots, users, etc. According to the actual design, design the behavior execution system at step 802 Data structure, such as the structure and content of internal state records, external state records, events of the event system, functions of metabolic scripts, etc. These data structures and the design of metabolic functions define the “characteristics” of a robot and the common behavior of a robot. At step 803, a mood system is designed. This step includes a description of how many and what moods and zones the robot must have, the definition of a mood script, and rules for mood and zone selection (for example, zone restrictions, hysteresis, etc.). In step 804, the Lianzhu execution system is designed. This step includes the definition of the Lianzhu execution script, that is, how to select the action to be performed from the Lianzhu related to the current mood and area (for example, what to do when the current active area is empty, The execution sequence when there is a lot of lianzhu, etc.). In step 805, the desired robot performance is manufactured. This step involves developing a set of actions, that is, a set of possible ways to be related to mood and zone. Some of these steps may need to be repeated to achieve the desired robot behavior. This is illustrated by the dashed arrow 806 in the flowchart of FIG. 8. This paper size applies to China National Standard (CNS) A4 (210X297 mm) _ 40 _ (Please read the precautions on the back before filling out this page) Ministry of Economic Affairs, Intellectual Property Office, Employee Consumer Cooperatives, India 592777 A7 B7 5 Explanation of the invention (38) After these design steps, the actual behavior of the robot can be programmed and downloaded to the robot, as described in conjunction with Figures 4 and 5a-b. In the design of most types of robot communities, some external and internal designs can be shared as a common benchmark, which represents the common characteristics of the breed, such as mood numbers and patterns, certain metabolic functions, or the like. Special parts of the variety can be added to this benchmark. (Please read the 4 notes on the back before filling. "Pack —: Write this page) Order the printed paper size of the printed paper of the S Industrial Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, applicable to China National Standard (CNS) A4 (210X297 mm) -41-

Claims (1)

592777 A8 B8 C8 D8 VI. Patent application scope A toy robot, including a sensor device, for receiving sensor signals; (Please read the precautions on the back before filling this page) The first storage device can store toys The internal system information of the robot and the external system information indicating the sensor signals; a processing device at the table can process the stored internal and external system information 'and control the toy robot corresponding to the processing result; the first input device can be selected from at least Another toy robot receives a first communication signal; and is characterized in that the first communication signal indicates internal system information of at least one other toy robot; and when the toy robot is controlled, the first processing device can process the data received from at least one other toy robot At least part of internal system information. 2. For example, a toy robot in the scope of patent application, wherein the toy robot further includes a second storage device that can store information about a plurality of behavior states, each behavior state represents a behavior strategy, and corresponds to a set of individual computers. Instructions executed; the consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs prints a second storage device that can select one of a plurality of behavior states, the current behavior state, and the first process according to the first set of predetermined rules based on the stored internal and external system information. The device can execute a set of computer-executable instructions corresponding to the current behavior state. 3. For example, the toy robot of item 1 of the patent application, wherein the first processing device can update at least one parameter of the internal system information. This paper uses China National Standard (CNS) A4 specification (210X297 mm) _ 42-592777 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs? S D8 夂, patent application scope 4. If the scope of patent application is number 丨A toy robot, wherein the toy robot further comprises an output device for transmitting a second communication signal to at least one of its toy robots. 5. The toy robot of item 4 of the patent application, wherein the output device can transmit a third communication signal indicating a command for the at least one other toy robot. 6. The toy robot of item 2 of the patent application, wherein the first communication signal indicates the current behavior state of the at least one other toy robot. 7 · If the toy robot of item 2 of the patent application scope, the second processing device can calculate the complex points from the stored internal and external system information and according to the first set of rules, and each point corresponds to the complex behavior state One; and selecting the current behavior state among the plurality of behavior states based on the calculated points. 8. If the toy robot of item 2 of the patent application, the toy robot further includes a second input device, which can receive the first data signal representing the first set of predetermined rules; and a third storage device, which can store the received The first set of predetermined rules. 9. For example, a toy robot in the scope of patent application, wherein the toy robot further includes a third input device that can receive a second data signal, and the second data signal includes a first set of computer-executable instructions, which corresponds to plural behaviors The first behavioral state among states. 10. The toy robot of item 9 of the scope of patent application, wherein the first set of computer-executable instructions is defined by the user. 1 1 · If you apply for a toy robot in item 1 of the patent scope, which includes a toy machine (please read the precautions on the back before filling this page): _ _ 、 1T -43 592777 A8 B8 C8 D8 VI.Scope of patent application (please first Read the notes on the back and fill in this page) The programmer also includes the second processing device, the fourth input device, and the fourth storage device. The third processing device can calculate at least one parameter of the internal system information according to the second set of predetermined rules. The four-input device can receive a third data signal indicating the second set of predetermined rules, and the fourth storage device can store the second set of predetermined rules. 12. A toy robot comprising a sensor device for receiving sensor signals; a stomach storage device that can store information about the internal system information of the toy robot and external system information indicating the sensor signals; a second storage A device that can store information about a plurality of behavior states, each behavior state corresponding to a set of instructions that can be executed by another computer; a first processing device that can execute a current behavior state corresponding to a plurality of behavior states; a first group of computers that can execute Instructions, and generate a corresponding first control signal for controlling the toy robot; characterized in that the toy robot also includes a second processing device, which can be printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs a) from the stored internal and External system information and the calculation of plural points according to the first set of predetermined rules, each point corresponding to one of the plural behavior states •, and b) According to the calculated points, select one of the plural behavior states. The toy robot of item 12 of the patent scope, wherein the toy robot includes the The input device can receive a first communication signal from at least one other toy robot, and the first communication signal indicates that the paper size of at least one other toy machine is in accordance with China National Standards (CNS) A4 (210 > < 297 mm) _ 44-592777 A8 B8 C8 ______ 08 VI. Scope of patent application (please read the precautions on the back before filling this page) Information about the internal system of the robot; and when the first control signal is generated, the first processing device can process it again At least a portion of internal system information received from at least one other toy robot. 14. The toy robot of claim 12 in which the first processing device can update at least one parameter of the internal system information, which is the result of executing the first set of computer-executable instructions. 15. The toy robot according to item 12 of the patent application, wherein the toy robot further comprises an output device for transmitting a second communication signal to at least one other toy robot. 16. The toy robot of claim 15, wherein the output device may transmit a third communication signal indicating a command for the at least one other toy robot. 17. The toy robot according to item 13 of the patent application scope, wherein the first communication signal indicates the current behavior state of the at least one other toy robot. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 18. If the toy robot of item 12 of the patent application scope, the toy robot includes a second input device, which can receive the first data signal representing the first set of predetermined rules; and Three storage devices, which can store the first set of predetermined rules received. 19. The toy robot according to item 12 of the patent application, wherein the toy robot further includes a third input device capable of receiving a second data signal, and the second data signal includes a second set of computer-executable instructions, which corresponds to plural behaviors The first behavioral state among states. 20. The toy robot according to item 19 of the patent application, wherein the second set of instructions is defined by the user. -45- This paper size uses China National Broadcasting Standard (CNS) A4 specification (210X297 mm) 592777 A8 B8 C8 D8 6. Scope of patent application (please read the notes on the back before filling this page) 2 1 · If you apply The toy robot of item 12 of the patent scope, wherein the robot includes a third processing device, a fourth input device, and a fourth storage device. The third processing device can calculate at least one parameter of the internal system information according to a second set of predetermined rules. The fourth input device may receive a third data signal indicating the second set of predetermined rules, and the fourth storage device may store the second set of predetermined rules. 22 · —A system for controlling a toy robot. The toy robot has a plurality of behavior states, and each behavior state corresponds to an individual action of a complex array of actions. The system includes a graphical user interface for receiving a user who indicates the definition of the complex array of actions. Command; processing device that can generate a defined control signal indicating the operation of a complex array □ r & m, an output device for transmitting control signals to a toy robot; it is characterized by a graphical user interface Print a) present the plural area symbols to the user, which represent the individual behavior states of the plural behavior state; b) present the plural action symbols to the user, each action symbol representing at least one other action; and c) receive a user The command refers to not placing the first action symbol of the plurality of action symbols and the first symbol of the area symbol into a predetermined relationship; the processing device may generate a control signal according to $ S of the action symbol relative to the area symbol. 46 The scale of this paper is applicable to China's national rubbing rate (CNS) A4 specification (210X297 mm) 592777 A8 B8 C8 __ __ D8 VI. Application scope of patent 23 · —Manufacturing such as any of the scope of patent application No. 12 to 21 The method of a toy robot is characterized in that the method includes the steps of designing a physical robot; designing a data structure corresponding to the designed physical robot and information related to internal and external systems; designing a plurality of possible behavior states of the toy robot; designing a plurality of A set of possible rules for selecting a plurality of possible behavior states of a current behavior state; designing a plurality of possible computer-executable instruction sets that correspond to the plurality of possible behavior states; actually manufacturing a toy robot. 24. A toy set including all parts of a toy robot as claimed in any one of claims 1 to 11. 25. A toy set including all parts of a toy robot as claimed in any one of claims 12 to 21. (Please read the precautions on the back before filling out this page)-Installed · Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs This paper size is in accordance with China National Standard (CNS) A4 (210X297 mm) _ 47-