US20070270074A1 - Robot Toy - Google Patents

Robot Toy Download PDF

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Publication number
US20070270074A1
US20070270074A1 US11/775,133 US77513307A US2007270074A1 US 20070270074 A1 US20070270074 A1 US 20070270074A1 US 77513307 A US77513307 A US 77513307A US 2007270074 A1 US2007270074 A1 US 2007270074A1
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United States
Prior art keywords
light
emotion
robot toy
light source
recited
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Abandoned
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US11/775,133
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English (en)
Inventor
Yuichi AOCHI
Wakana Yamana
Eiji Takuma
Yoshiyuki Endo
Fujio Nobata
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Sega Toys Co Ltd
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Individual
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Assigned to SEGA TOYS CO., LTD. reassignment SEGA TOYS CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NOBATA, FUJIO, AOCHI, YUICHI, ENDO, YOSHIYUKI, TAKUMA, EIJI, YAMANA, WAKANA
Publication of US20070270074A1 publication Critical patent/US20070270074A1/en
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/22—Optical, colour, or shadow toys
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H2200/00—Computerized interactive toys, e.g. dolls

Definitions

  • the present invention relates to a robot toy, and is particularly useful as an inexpensive robot toy.
  • Robot toys that generate emotions automatically based on an appeal from a user, such as the clapping of hands or patting, or the surrounding environment, and express these generated emotions through a similar emission pattern on light-emitting elements and with sounds such as music have recently been proposed and marketed.
  • JP 3277500 discloses LEDs (light-emitting diodes) having a shape and emission color corresponding to an emotion disposed in the head part of a robot toy, wherein the diodes are covered by a semi-transparent cover in such a way that they are visible from the outside only when they are emitting light and these LEDs are flashed in response to the emotion of the robot toy in order to express the emotions of “joy” and “anger.”
  • JP 3277500 also discloses a robot toy that expresses emotion, wherein, in place of these above-described LEDs, multiple light-emitting elements are disposed in matrix form and these elements have a shape and an emission color corresponding to the emotions of “joy” and “anger,” and these light-emitting elements are flashed selectively.
  • the present invention is created in light of such problems, and an object thereof is to provide a robot toy that, although it is inexpensive in construction, is capable of effectively expressing emotions.
  • a robot toy of the present invention comprises a first light source capable of emitting, simultaneously or separately, light of at least two colors; five or more second light sources disposed around the first light source; a memory for storing at least two emotion parameters that define emotions; and control means for increasing and decreasing the value of the emotion parameters based on operation input from the outside, wherein the control means cause the first and second light sources to emit light based on an emission pattern corresponding to the combination of the values of the emotion parameters.
  • FIG. 1 is an oblique view showing the appearance of a robot toy of an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the internal structure of a robot toy of an embodiment of the present invention.
  • FIG. 3 is a partial oblique view showing the specific structure of the head part.
  • FIG. 4 is an oblique view showing the structure of the drive mechanism part.
  • FIG. 5 is an oblique view following the description of the pendulum gear.
  • FIG. 6 is a simplified plan view for describing the cam of the first cam gear.
  • FIG. 7 is an oblique view showing the structure of the rising and falling member.
  • FIG. 8 is an oblique view showing the structure of the ear drive member.
  • FIG. 9 is a simplified drawing for describing the movement of the head.
  • FIG. 10 is an oblique view showing the similar emission status of the LEDs as seen from the outside.
  • FIG. 11 is a plan view showing the positional relationship between each LED in the LED display part.
  • FIG. 12 is a schematic drawing for describing the emotions of the robot toy.
  • FIG. 13 is a chart for describing the emotions of the robot toy.
  • FIG. 14 is a schematic drawing for describing the basic light emission patterns.
  • FIG. 15 is a flow chart showing the order of processing for generating and expressing emotions.
  • FIG. 16 is a flow chart showing the order of processing for modification of the first emotion parameter.
  • FIG. 17 is a flow chart showing the order of processing for modification of the second emotion parameter.
  • FIG. 18 is a flow chart showing the order of processing for modification of the third emotion parameter.
  • FIG. 19 is a flow chart showing the order of processing for expressing the first emotion.
  • FIG. 20 is a flow chart showing the order of processing for expressing the second emotion.
  • FIG. 21 is a flow chart showing the order of processing for expressing the third emotion.
  • FIG. 22 is a simplified drawing for describing another embodiment of the present invention.
  • 1 is the robot toy
  • 3 is the head part
  • 7 is the tail switch
  • 10 is the control part
  • 21 is the LED display part
  • 21 A through 21 G is the LED display part
  • 70 A through 70 D is the head switch
  • 71 A through 71 E is the head switch
  • 72 A through 72 F is the head switch
  • 24 is the nose switch.
  • FIG. 1 shows a robot toy 1 relating to the present embodiment.
  • Robot toy 1 has an overall appearance and shape imitating a sitting animal, such as a dog.
  • the head part is linked, in such a way that it can freely turn, to a shaft extending from the frontal end of a torso part 2 and is attached, in such a way that it can freely move, to the left and right top ends of a head part 3 at ear parts 4 A and 4 B.
  • paddle-shaped front leg parts 5 A and 5 B having rounded sides are linked, in such a way that they can be freely moved manually, to the frontal end parts of the left and right side surfaces of torso part 2 , and hind leg parts 6 A and a 6 B, which protrude shorter then the front leg parts, are formed as a single unit with torso part 2 at the rear end parts of the left and right side surfaces of torso part 2 .
  • a joystick-shaped tail switch 7 is attached, in such a way that it can freely move, near the rear end part of the top surface of torso part 2 .
  • torso part 2 is a right-angled parallelepiped shape having rounded sides, and, as shown in FIG. 2 , houses on the inside a control part 10 responsible for motion control of the entire robot toy 1 , a motor drive part 11 , a substrate 13 formed by a sound amplifier part 12 , a microphone 14 , a speaker 15 , and other devices. Moreover, an earphone jack is disposed on one hind leg part 6 B of torso part 2 .
  • Head part 3 is a right-angled parallelepiped shape having rounded sides that is flatter than torso part 2 , and houses on the inside a light sensor 20 , a display part 21 that has multiple LEDs, and other devices, and a drive mechanism 34 ( FIG. 3 ) described later for driving head part 3 and each ear part 4 A and 4 B with a motor 22 as the power source, etc.
  • a head switch 23 which is a press switch, is disposed at the top end part of head part 3
  • a nose switch 24 which is a press switch, is disposed at the position of the nose on head part 3 .
  • robot toy 1 has front leg parts 5 A and 5 B that are longer than hind leg parts 6 A and 6 B; therefore, one surface of head part 3 is inclined with respect to the mounting surface and faces up and the display surface of LED display part 21 is disposed on this one surface so that the display can be easily seen by the user.
  • microphone 14 of torso part 2 is a directional microphone for ambient sounds and transmits obtained sound signals S 1 to control part 10 .
  • light sensor 20 of head part 3 detects ambient brightness and transmits the detection results to a control part 10 as brightness detection signals S 2 .
  • tail switch 7 , head switch 23 , and nose switch 24 detect physical appeals from the user, such as by “hitting down” or “pressing” and transmit the detection results to control part 10 as operation detection signals S 3 A through S 3 C.
  • sound signals S 4 from an outside musical toy are also applied to control part 10 via earphone jack 16 .
  • Control part 10 is a microcomputer providing an information processor comprising a CPU (central processing unit) 10 A, a memory 10 B, an analog-to-digital conversion circuit 10 C, and the like, and recognizes ambient conditions and appeals from the user based on each operation detection signal S 3 A through S 3 C of tail switch 7 , head switch 23 , and nose switch 24 .
  • CPU central processing unit
  • Control part 10 causes robot toy 1 to move in such a way that head part 3 is tilted and ear parts 4 A and 4 B are opened and closed by transmitting motor drive signals S 4 to motor drive part 11 based on these recognition results and the program pre-stored in memory 10 B to actuate motor 22 . Moreover, control part 10 outputs sound and music from speaker 15 based on sound signals S 5 by applying specific sound signals S 5 to speaker 15 by a sound amplifier part 12 as necessary, and flashes the LEDs of LED display part 21 by a specific light emission pattern by applying specific drive signals S 6 to LED display part 21 .
  • head part 3 of robot toy 1 is formed by a drive mechanism part 34 , a cover 35 of this drive mechanism part 34 , LED display part 21 , a member 36 for preventing light from escaping, and a filter cover 37 , layered in succession moving from the back to the front in the direction shown by arrow a, inside a case comprising a first half case 30 that forms the external shape of the back face of head part 3 , a second half case 31 forming the external shape of the front face of head part 3 , and first and second U-shaped case side members 32 that form the left and right side faces of head 3 .
  • a worm gear that is not illustrated is attached to the output axle of motor 22 of drive mechanism part 34 , and this worm gear engages with a gear 42 via a gear 40 and a gear 41 formed coaxially as one unit with this gear 40 .
  • a movable member 45 wherein weights 44 are attached to one end is attached, in such a way that the member can freely turn, to an axle 43 to which gear 42 is also attached; and a pendulum gear 46 is attached, such that it can freely turn, to the other end of this movable member 45 and engages with a gear 47 formed coaxially and as one unit with gear 42 .
  • first and second linking gears 48 and 49 are disposed at the left and right of pendulum gear 46 such that when movable member 45 turns around axle 43 , it can engage with pendulum gear 46 .
  • gear 47 turns movable member 45 as one unit with pendulum gear 46 in a clockwise direction in FIG. 4 and thereby enables pendulum gear 46 to engage with first linking gear 48
  • gear 47 turns movable member 45 in the counter-clockwise direction in FIG. 4 and thereby enables pendulum gear 46 to engage with second linking gear 49 .
  • first linking gear 48 engages with a first cam gear 50 and a cam 50 A of a specific shape is formed, as shown in FIG. 6 , in the bottom surface of this first cam gear 50 .
  • this cam 50 A will fit into an engagement hole 51 A of rising and falling member 51 , as shown in FIG. 7 , disposed so that it can freely move up and down, as shown by arrow b in FIG. 4 , in such a way that rising and falling member 51 will rise and fall with cam 50 A when first cam gear 50 rotates.
  • first and second shaft bodies 53 A and 53 B are set at the top end of rising and falling member 51 such that they are positioned symmetrically to the right and left of a shaft body 52 ( FIG. 4 ) set in first case half 30 , and as shown in FIG. 4 , an ear drive member 54 is attached to these first and second shaft bodies 53 A and 53 B.
  • Ear drive member 54 is formed by linkage, via a barrel part 61 and as one unit in such a way that it can freely bend, of the base part of each tweezer-shaped first and second spring parts 60 A and 60 B formed of an elastic material Moreover, ear drive member 54 is attached to rising and falling member 51 in such a way that the corresponding first and second shaft bodies 53 A and 53 B of rising and falling member 51 fit into holes 62 AX and 62 BX of first and second engagement parts 62 A and 62 B disposed near the base part of these first and second spring parts 60 A and 60 B, and barrel part 61 is attached to rising and falling member 51 in such a way that it engages with shaft body 52 .
  • drive mechanism part 34 operates in such a way that when rising and falling member 51 rises and falls, first and second shaft bodies 53 A and 53 B of rising and falling member 51 move up and down relative to shaft body 52 and first and second spring parts 60 A and 60 B open and close as one unit with first and second engagement parts 62 A and 62 B of ear drive member 54 .
  • the bottom end parts of the corresponding ear parts 4 A and 4 B fit into first and second spring parts 60 A and 60 B of ear drive member 54 , and ear part 4 A and ear part 4 B are supported, near the bottom end, to the left and right, respectively, of the top end of first half case 30 , and ear parts 4 A and 4 B open and close with the opening and closing motion of first and second spring parts 60 A and 60 B of ear drive member 54 .
  • second linking gear 49 engages with a second cam gear 63 and a cam 63 A of a specific shape is formed as shown in FIG. 9 (A) in the bottom surface of this second cam gear 63 .
  • two parallel arm parts 65 A and 65 B of a two-pronged member 65 anchored to a shaft body 64 which is in turn anchored to torso part 2 , extend to the bottom of second cam gear 63 .
  • cam 63 A of second cam gear 63 fits in between these two arm parts 65 A and 65 B of this two-pronged member 65 .
  • LED display part 21 is formed by disposing seven LEDs 21 A through 21 G on a substrate 66 at a specific positional relationship. The positional relationship of the seven LEDs 21 A through 21 G and the emission colors thereof are described later.
  • Member 36 for preventing light from escaping is formed from, for instance, a black resin or rubber material that will not transmit light, and is attached tightly to substrate 66 of LED display part 21 .
  • a pressing part 24 A and a contact part 24 B of nose switch 24 are anchored to the bottom end of this member 36 for preventing light from escaping.
  • a total of seven holes 36 A through 36 G corresponding to each LED 21 A through 21 G of LED display part 21 are made in this member 36 for preventing light from escaping, and when this member 36 for preventing light from escaping is attached to substrate 66 of LED display part 21 , the corresponding LED 21 A through 21 G of LED display part 21 can be exposed to the filter cover 37 via the respective holes 36 A through 36 G.
  • the thickness of member 36 for preventing light from escaping is the same as the size of the space between substrate 66 of LED display part 21 and filter cover 37 , and the light that is reflected from each LED 21 A through 21 G of LED display part 21 can therefore be shined in the direction of filter cover 37 without mixing with the light emitted from each of the other LEDs 21 A through 21 G.
  • filter cover 37 is formed using a semitransparent resin material, and second half case 31 is formed from a transparent resin material.
  • second half case 31 is formed from a transparent resin material.
  • filter cover 37 is white. The light emitted from LEDs 21 A through 21 G of LEDs that can be seen from the outside through this filter cover 37 does not mix and faintly glows inside the white cover.
  • a function for expressing feeling is loaded in control part 10 ( FIG. 2 ) of this robot toy 1 .
  • the emotions of robot toy 1 are generated based on the type of appeal from the user, and each of LEDs 21 A through 21 G of LED display 21 flashes in an emission pattern that corresponds to the type and degree of this emotion in such a way that robot toy 1 expresses an emotion.
  • FIG. 11 shows the positional layout of each LED 21 A through 21 G of LED display part 21 used for expression of emotion by robot toy 1 .
  • one LED 21 A is disposed at a specific position on the center line in the axial direction of head 3 in LED display part 21
  • the remaining six LEDs 21 B through 21 G are disposed, at equal distances from LED 21 and at equal intervals from one another, in a concentric circle around LED 21 A at the center.
  • the peripheral six LEDs 21 B through 21 G are disposed in a positional relationship such that each is at an apex of a regular hexagon with the central LED 21 A at the center.
  • central LED 21 A An LED capable of simultaneously or separately emitting the three colors of green, red, and blue light is used as central LED 21 A. Moreover, an LED capable of simultaneously or separately emitting the two colors of green and red light is used as the other peripheral LEDs 21 B through 12 G. Consequently, peripheral LEDs 21 B through 21 G can emit orange light by simultaneously flashing the two colors of green and red light.
  • the emotions of robot toy 1 are defined by two parameters (hereafter referred to as emotion parameters) that represent a “stimulation level” and an “affection level”. These two parameters are stored in memory 10 B and are values within a range of “ ⁇ 8” to “8.”
  • each emotion parameter of the “stimulation level” and the “affection level” corresponds to emotions of “joy” and “great fondness” when 0 or within the positive range; and when the value of the emotion parameter of the “affection level” is 0 or positive, but the value of the “stimulation level” is within a negative range, the emotion corresponds to “normal” or “calm”.
  • Values of the emotion parameters for the “stimulation level” and “affection level” that are both within the negative range correspond to the emotions of “loneliness” and “depression,” while values of the emotion parameter of the “stimulation level” that are 0 or positive and values of the emotion parameter of the “affection level” that are negative correspond to the emotions of “anger” and “dislike.”
  • the degree of an emotion is expressed by the magnitude of each emotion parameter of the “stimulation level” and “affection level,” and if the absolute value of the emotion parameter is high, the degree of the emotion increases with this increase in the value.
  • control part 10 increases or decreases the value of the emotion parameter of the “stimulation level” and the “affection level” within a range of “ ⁇ 8” to “8” when the user appeals to the toy by “hitting down” or pressing” tail switch 7 , head switch 23 , or nose switch 24 , or when there has been no appeal for a specific time based on operation detection signals S 3 A through S 3 C applied from tail switch 7 , head switch 23 , and nose switch 24 .
  • the value of a parameter of the “stimulation level” and the “affection level” is predetermined whether the value of a parameter of the “stimulation level” and the “affection level” will be increased or decreased in accordance with the appeal from the user. For example, if the user presses nose switch 24 , the value of each emotion parameter of the “stimulation level” and “affection level” will be increased by one, and when the user presses the head switch, the value of the emotion parameter of the “stimulation level” will be reduced by one, while the value of the emotion parameter of the “affection level” will be increased by one.
  • the user can change the emotions of robot toy 1 to emotions of “joy” and “great fondness”, and increase the degree of these emotions of “joy” and “great fondness,” by pressing nose switch 24 of robot toy 1 , and the user can change the emotions of robot toy 1 to “normal” or “calm,” and increase the degree of this emotion of “normal” or “calm” by pressing head switch 23 .
  • control part 10 makes tail switch 7 swing back and forth, the value of the emotion parameter of the “stimulation level” is increased by one, while the value of the emotion parameter of the “affection level” is increased or decreased by one within a range of “ ⁇ 8” to “8.” Consequently, by swinging tail switch 7 of robot toy 1 , the user can change emotions of “anger” and “dislike” to emotions of “depression” or “loneliness,” and increase the degree of these emotions.
  • control part 10 reduces the value of the emotion parameters of the “stimulation level” and the “affection level” by one when the user appeals by “hitting down” or “pressing” tail switch 7 , head switch 23 , or nose switch 24 , or when there has been no appeal for a specific time (for instance, 30 seconds). At this latter time, robot toy 1 changes from auto-emotion to emotions of “depression” and “loneliness” and the degree of these emotions increases.
  • control part 10 responds to the emotion of robot toy 1 as well as the degree thereof as determined from the value of the two emotion parameters after the change by causing each LED 21 A through 21 G of LED display part 21 to flash with an emission pattern corresponding to the emotion and the degree thereof.
  • control part 10 reads the value of each emotion parameter of the “stimulation level” and “affection level” at this time from memory 10 B and differentiates the values of the two read emotion parameters to determine whether they are emotions of “joy” and “great affection” (the values of the emotion parameters of the “stimulation level” and “affection level” are both 0 or within the positive range); emotions of “normal” and “calm” (the value of the emotion parameter of the “affection level” is 0 or positive, and the value of the emotion parameter of the “stimulation level” is negative); emotions of “depression” and “loneliness” (the values of the emotion parameters of the “stimulation level” and “affection level” are both negative); or emotions of “anger” and “dislike” (the value of the emotion parameter of the “stimulation level” is 0 or positive and the value of the emotion parameter of the “a
  • Control part 10 further differentiates between the values of the emotion parameters of the “stimulation level” and the “affection level” to determine the degree of the emotion of robot toy 1 at that time and controls LED display based on these determination results in such a way that LEDs 21 A through 21 G of LED display part 21 flash with an emission pattern corresponding to the degree of the emotions of robot toy 1 at that time.
  • Each LED 21 A through 21 G of LED display part 21 will respond to a specific combination of emotion parameters of the “stimulation level” and the “affection level” by a pre-established emission pattern, and a program that defines, for each of the emission patterns, the timing by which LEDs 21 A through LED 21 G of LED display part 21 will flash is prestored in memory 10 B of LEDs 21 A through 21 G (this program is referred to as the LED drive program hereafter).
  • Control part 10 determines the emotion of robot toy 1 and the degree thereof as described above, and then causes LEDs 21 A through 21 G of LED display part 21 to flash with the emission pattern corresponding to the emotion of robot toy 1 and the degree thereof at that time in accordance with this LED drive program.
  • the emission patterns of LEDs 21 A through 21 G of this LED display part 21 are based on an emission pattern wherein each LED 21 B through 21 G is repeatedly turned on and off in succession relative to the respective adjacent LED 21 B through LED 21 G such that only peripheral LEDs 21 B through 21 G flash, one at a time, clockwise around central LED 21 A.
  • This emission pattern is referred to as the basic emission pattern hereafter.
  • This basic emission pattern is used as the emission pattern for expressing emotions other than “depression” and “loneliness.”
  • LEDs 21 B through 21 G respond by emitting orange light;
  • LEDs 21 B through 21 G respond by emitting green light; and
  • LEDs 21 B through 21 G respond by emitting green light; and
  • LEDs 21 B through 21 G respond by emitting green light.
  • the peripheral LEDs 21 B through 21 G do not emit light and only central LED 21 A flashes blue.
  • the emission patterns of LEDs 21 A through 21 G of LED display part 21 are set in such a way that when the emotions are “joy” and “great fondness,” “normal” and “calm,” or “anger” and “dislike,” the lights rotate faster as the degree of the emotion increases, in essence, the flashing cycle of the peripheral LEDs 21 B through 21 G becomes faster, when the degree of the emotion is high, and when the emotions are “depression” and “loneliness,” the emission patterns are set in such a way that the flashing cycle of central LED 21 A becomes faster as the degree of the emotion increases when the degree of the emotion is high.
  • the emotion of robot toy 1 can be visually recognized from the outside based on the emission colors of LEDs 21 A through 21 G of LED display part 21 at that time, and the degree of this emotion can be visually recognized from the outside based on the flashing speed of LED 21 A through 21 D at that time.
  • Control part 10 executes the process for generating emotions of robot toy 1 and processing to express the generated emotions (processing for controlling LED display part 21 ) based on the LED drive program in accordance with procedure RT 1 for the generation and expression of emotions shown in FIG. 15 .
  • control part 10 starts procedure RT 1 for generating and expressing of emotions when the power source of this robot toy 1 is turned on, and in step SP 1 , the values of the emotion parameters of both the “affection level” and “stimulation level” representing the emotions of robot toy 1 are set at an initial value of “0.”
  • Control part 10 then proceeds to step SP 3 and determines whether or not head switch 23 ( FIG. 2 ), nose switch 24 ( FIG. 2 ), or tail switch 7 ( FIG. 2 ) have been pressed or moved.
  • control part 10 obtains results to the contrary in step SP 3 , it proceeds to step SP 4 and reads the count value of an internal timer, which is not illustrated.
  • step SP 5 the control part sets the values of each emotion parameter of the “affection level” and “stimulation level” of step SP 2 at the initial values based on the count as read at step SP 4 , or it determines whether or not a specific time (for instance, 30 seconds) has lapsed since either head switch 23 , nose switch 24 , or tail switch 7 was pressed or moved.
  • control part 10 When control part 10 obtains results to the contrary in step SP 5 , it returns to step SP 3 and then repeats steps SP 3 -SP 4 -SP 5 -SP 3 until an affirmative result is obtained at step SP 3 or step SP 5 .
  • control part 10 proceeds to step SP 6 and changes the value of each emotion parameter of the “affection level” and “stimulation level” in accordance with first procedure RT 2 for changing the emotion parameters shown in FIG. 16 .
  • step SP 6 first procedure RT 2 for changing the emotion parameters starts at step SP 20 and then in step SP 21 , the control part determines whether or not the values of the emotion parameters on the “affection level” and the “stimulation level” have reached the maximum value (“8” in the present embodiment).
  • control part 10 When control part 10 obtains results to the contrary in step SP 21 , control part 10 proceeds to step SP 22 and increases by one the values of each emotion parameter of the “affection level” and the “stimulation level.” This control part 10 finishes second procedure RT 2 for changing the values of the emotion parameters and proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions ( FIG. 15 ).
  • control part 10 determines that the value of the emotion parameter of the “affection level” is at a maximum in step SP 21 , it proceeds to step SP 23 and increases by one only the value of the emotion parameter of the “stimulation level”. Moreover, control part 10 then proceeds to SP 25 , completes first procedure RT 2 for changing the emotion parameter, and proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions.
  • control part 10 determines that the value of the emotion parameter of the “stimulation level” in step SP 21 is at a maximum, it proceeds to step SP 24 and increases by one only the value of the “affection level”. Control part 10 then proceeds to step SP 25 , completes first procedure RT 2 for changing the emotion parameter, and then proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions.
  • control part 10 obtains affirmation at step SP 3 of procedure RT 1 for generating and expressing emotions as a result of the user pressing nose switch 24 of robot toy 1 , the control part proceeds to step SP 7 and changes the value of each emotion parameter of the “affection level” and “stimulation level” of the emotion in accordance with the second procedure RT 3 for changing the emotion parameters shown in FIG. 17 .
  • control part 10 when control part 10 proceeds to step SP 7 , it starts second procedure RT 3 for changing the emotion parameter at step S 30 and in step SP 31 determines whether or not the value of the emotion parameter of the “affection level” is at a maximum and whether or not the value of the emotion parameter of the “stimulation level” is at a minimum (“ ⁇ 8” in the present embodiment).
  • control part 10 When control part 10 obtains results to the contrary in step SP 31 , it proceeds to step SP 32 , and increases by one the value of the emotion parameter of the “affection level” and decreases by one the value of the emotion parameter of the “stimulation level.” Control part 10 then proceeds to step SP 35 , completes second procedure RT 3 for changing the emotion parameters, and proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions ( FIG. 15 ).
  • control part 10 determines in step SP 31 that the value of the emotion parameter of the “affection level” is at a maximum, it proceeds to step SP 33 and decreases by one only the value of the emotion parameter of the “stimulation level.” Control part 10 then proceeds to step SP 35 , completes second processing RT 3 for changing the emotion parameters, and then proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions.
  • control part 10 determines in step SP 31 that the value of the emotion parameter of the “stimulation level” is at a minimum, it proceeds to step SP 34 and increases by one only the value of the emotion parameter of the “affection level.” Control part 10 then proceeds to step S 35 , completes second procedure RT 3 for changing the emotion parameters, and proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions.
  • control part 10 when control part 10 obtains affirmation in step SP 3 for procedure RT 1 for generating and expressing emotions as a result of the user moving tail switch 7 of robot toy 1 , it proceeds to step SP 8 and changes the level of each emotion parameter of the “affection level” and “stimulation level” in accordance with the third procedure RT 4 for changing the emotion parameters shown in FIG. 18 .
  • control part 10 proceeds to step SP 8 , it begins third procedure RT 4 for changing the emotion parameters in step SP 40 , and in step SP 41 it determines whether the value of the emotion parameter of the “affection level” is at a minimum (“ ⁇ 8” in the present embodiment) and whether the value of the emotion parameter of the “stimulation level” is at a maximum.
  • control part 10 When control part 10 obtains results to the contrary in step SP 41 , it proceeds to step SP 42 and decreases by one the emotion parameter of the “affection level” and increases by one the value of the emotion parameter of the “stimulation level.” Moreover, control part 10 then proceeds to step 45 , completes the third procedure for changing the emotion parameters, and proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions ( FIG. 15 ).
  • control part 10 determines that the value of the emotion parameter of the “affection level” is at a minimum in step SP 41 , it proceeds to step SP 43 and increases by one only the value of the emotion parameter of the “stimulation level”. Moreover, control part 10 then proceeds to SP 45 , completes third procedure RT 4 for changing the emotion parameters, and proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions.
  • control part 10 determines that the value of the emotion parameter of the “stimulation level” in step SP 41 is at a maximum, it proceeds to step SP 44 and decreases by one only the value of the “affection level”. Control part 10 then proceeds to step 45 , completes the third procedure RT 4 for changing the emotion parameters, and then proceeds to step SP 13 of procedure RT 1 for generating and expressing emotions.
  • control part 10 obtains affirmation in step SP 5 of procedure RT 1 for generating and expressing emotions as a result of each of the emotion parameters of the “affection level” and “stimulation level” being set at the initial values, or a specific amount of time has passed since head switch 23 , nose switch 24 , or tail switch 7 has been pressed or moved, it proceeds to step SP 9 and determines whether the value of each of the emotion parameters of the “affection level” and “stimulation level” are at a minimum.
  • control part 10 When control part 10 obtains results to the contrary in step SP 9 , it proceeds to step SP 10 and decreases by one the values of each emotion parameter of the “affection level” and “stimulation level,” and then proceeds to step SP 13 .
  • control part 10 determines in step SP 9 that the value of the emotion parameter of the “affection level” is at a minimum, it proceeds to step SP 11 , decreases by one only the value of the emotion parameter of the “stimulation level”, and then proceeds to step SP 13 .
  • control part 10 determines in step SP 9 that the value of the emotion parameter of the “stimulation level” is at a minimum, it proceeds to step SP 12 , decreases by one only the value of the emotion parameter of the “affection level,” and then proceeds to step SP 13 .
  • control part 10 expresses the emotions and degree thereof of robot toy 1 by the emission pattern of LEDs 21 A through 21 G of LED display part 21 based on the values of each emotion parameter of the “affection level” and “stimulation level” that were renewed in steps SP 3 through SP 12 in accordance with the presence of an appeal from the user and the details thereof.
  • control part 10 when control part 10 proceeds to step SP 13 , it reads the values of the changed emotion parameters of the “affection level” and “stimulation level” from memory 10 B ( FIG. 2 ), and determines the value of these emotion parameters. Control part 10 proceeds to step SP 14 when the emotion parameter of the “stimulation level” and “affection level” are both 0 or positive, and expresses the emotion (“joy” and “great affection”) of robot toy 1 , and the degree thereof by the emission pattern of LEDs 21 A through 21 G of LED display part 21 in accordance with the first procedure RT 5 for emotion expression in FIG. 19 .
  • control part 10 proceeds to step SP 14 , the first procedure RT 5 for expressing emotions is started in step SP 50 , and then in step SP 51 , the control part determines the value of each emotion parameter of the “stimulation level” and “affection level.”
  • control part 10 proceeds to step SP 52 and causes each peripheral LED 21 B through 21 G of LED display part 21 to flash orange in succession such that one cycle of orange light is one second, while if the value of each emotion parameter of the “stimulation level” and “affection level” is outside this range, the control part proceeds to step SP 53 and causes each peripheral LED 21 B through 21 G on LED display part 21 to flash orange in succession such that one cycle of orange light is 0.5 second.
  • control part 10 completes the processing in step SP 52 or step SP 53 , it proceeds to step SP 54 , completes the first procedure RT 5 for expressing emotions, and then returns to step SP 3 of procedure RT 1 for generating and expressing emotions.
  • Control part 10 proceeds to step SP 15 when the emotion parameter of the “stimulation level” is 0 or positive and the emotion parameter of the “affection level” is negative as determined in step SP 13 for the procedure RT 1 for generating and expressing emotions, and expresses the emotions (“anger” and “dislike”) of robot toy 1 , and the degree thereof by the emission pattern of LEDs 21 A through 21 G of LED display part 21 in accordance with the second procedure RT 6 for emotion expression in FIG. 20 .
  • control part 10 determines the value of each emotion parameter of the “stimulation level” and “affection level.”
  • the control part 10 proceeds to step SP 62 and causes each peripheral LED 21 B through 21 G of LED display part 21 to flash orange in succession such that one cycle of orange light is one second, while if the value of each emotion parameter of the “stimulation level” and “affection level” is outside this range, the control part proceeds to step SP 63 and causes each peripheral LED 21 B through 21 G on LED display part 21 to flash orange in succession such that one cycle of orange light is 0.5 second.
  • control part 10 completes the processing in step SP 62 or step SP 63 , it proceeds to step SP 64 , completes the second procedure RT 6 for expressing emotions, and then returns to step SP 3 of procedure RT 1 for generating and expressing emotions.
  • Control part 10 proceeds to step SP 16 when the emotion parameter of the “stimulation level” is negative and the emotion parameter of the “affection level” is 0 or positive as determined in step SP 13 for procedure RT 1 for generating and expressing emotions, and expresses the emotions (“normal” and “calm”) of robot toy 1 , and the degree thereof by the emission pattern of LED 21 A through 21 G of LED display part 21 in accordance with the third procedure RT 7 for emotion expression in FIG. 21 .
  • control part 10 proceeds to step SP 16 , third procedure RT 7 for expressing emotions is started in step SP 70 , and then in step SP 71 , the control part determines the value of each emotion parameter of the “stimulation level” and “affection level.”
  • the value of the emotion parameter of the “affection level” is within a range of ⁇ 1 to ⁇ 4 and the value of the emotion parameter of the “stimulation level” is within a range of 1 to 4
  • control part 10 proceeds to step SP 72 and causes each peripheral LED 21 B through 21 G of LED display part 21 to flash green in succession such that one cycle of green light is one second, while if the value of each emotion parameter of the “stimulation level” and “affection level” are outside these ranges, the control part proceeds to step SP 73 and causes each peripheral LED 21 B through 21 G of LED display part 21 to flash green in succession such that one cycle of green light is 0.5 second.
  • control part 10 completes the processing in step SP 72 or step SP 73 , it proceeds to step SP 74 , completes the third procedure RT 7 for expressing emotions, and then returns to step SP 3 of procedure RT 1 for generating and expressing emotions.
  • control part 10 proceeds to step SP 17 and determines each emotion parameter of the “stimulation level” and the “affection level.”
  • control part 10 proceeds to step SP 18 and causes only central LED 21 A of LED display part 21 to flash at a cycle of once/second, while if the value of either the emotion parameter of the “stimulation level” or “affection level” is outside these ranges, the control part proceeds to step SP 19 and causes only central LED 21 A of LED display part 21 to flash once/0.5 second. Moreover, when control part 10 completes step SP 18 or step SP 19 , it returns to step SP 3 .
  • control part 10 causes LEDs 21 A through 21 G of LED display part 21 to flash with an emission pattern that corresponds to the emotions of robot toy 1 , and the degree thereof.
  • LEDs 21 A through 21 G of LED display part 21 only LEDs 21 B through 21 G flash, one at a time, in the clockwise direction in order to express the emotions of “joy” and “great fondness,” the emotions of “normal” and “calm,” and the emotions of “anger” and “dislike,” while only central LED 21 A flashes blue in order to express the emotions of “depression” and “loneliness”.
  • central LED 21 A first light source
  • LEDs capable of simultaneously or separately emitting two colors of light, green and red were used for the other peripheral LEDs 21 B through 21 G (second light sources).
  • central LED 21 A can emit other types and numbers of emission colors
  • the other peripheral LEDs 21 B through 21 G can emit other types and numbers of emission colors.
  • the six LEDs 21 B through 21 G are disposed such that they are at an equal distance from central LED 21 A and they are at equal intervals from one another, but LEDs 21 A through 21 G can be disposed in another way.
  • three LEDs 70 B through 70 D are disposed around central LED 70 in FIG. 22 (A- 1 ) and (A- 2 )
  • four LEDs 71 B through 71 E are disposed around central LED 71 A in FIG. 22 (B- 1 ) and (B- 2 )
  • five LEDs 72 B through 72 F are disposed around central LED 72 A in FIG. 22 (C- 1 ) and (C- 2 ).
  • LEDs 21 A through 21 G can be caused to flash with an emission pattern that matches emotions with the emission colors of LEDs 21 A through 21 G using as many emotions as there are emission colors of LEDs 21 A through 21 G.
  • only central LED 21 A of LED display 21 flashes, or each of LEDs 21 A through 21 G flashes with an emission pattern wherein only the peripheral LEDs 21 B through 21 G flashed clockwise around central LED 21 A.
  • another emission pattern can be used.
  • the values of the emotion parameters of the “stimulation level” and the “affection level” were changed within a range of ⁇ 8 to 8 to simplify the discussion, but the values are not limited to this range and various ranges can be selected.
  • the details of procedure RT 1 for generating and expressing emotions can be changed as needed.
  • the control part can determine whether or not the emotion parameters fall within any of 0 to 3, 4 to 7, 8 through B or C through F using step SP 13 in combination with step SP 14 (or steps SP 15 through SP 17 ) such that LEDs 21 A through 21 G are caused to emit light in colors and emission patterns that are matched to these ranges.
  • a variety of means can be used as long as LEDs 21 A through 21 G are caused to emit light with emission patterns that correspond to combinations of the values of the emotion parameters.

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US11/775,133 2005-01-18 2007-07-09 Robot Toy Abandoned US20070270074A1 (en)

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JP2005010771A JP2006198017A (ja) 2005-01-18 2005-01-18 ロボット玩具
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USD1038267S1 (en) * 2023-09-19 2024-08-06 Shenzhen Leqisi electronic Technology Co., LTD Toy

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