JP2001212782A - Robot device and control method for robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine the behavior on the basis of information between robot devices. SOLUTION: Robot devices 1a, 1b are provided with output parts for outputting signals of infrared rays and detecting parts for detecting signals of infrared rays. For example, as shown in Fig. 3, the robot device 1a (1b) is provided with an infrared ray communication means 26 making use of infrared rays and having directivity. Therefore, the robot devices 1a, 1b can exchange information when they are faced to each other.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an autonomous robot apparatus for autonomously determining an action, and a control method for a robot apparatus for controlling such a robot apparatus.

[0002]

2. Description of the Related Art Conventionally, there has been proposed and developed an autonomous robot apparatus which autonomously determines an action in response to a command from a user or a surrounding environment. For example, this type of robot apparatus has a shape very similar to an articulated quadruped such as a dog or a cat, and operates autonomously.

[0003] As an autonomous action, specifically, when a robot device receives a voice command of "downplay" from a user, the robot device takes an "upturned" posture or moves the user in front of his / her own mouth. In accordance with the "hand" is done.

[0004]

By the way, there has been proposed a robot device capable of executing an arbitrary command by a user's operation of a command device (remote controller). For example, there is a robot device that performs a predetermined operation according to a scale command output from a command device.
This allows the user to call and enjoy an interesting action that does not appear during the autonomous action by using the musical scale command, in addition to playing as an autonomous robot apparatus.

[0005] As described above, the robot device can independently determine an action or determine an action based on information sent from a command device.

However, information is not exchanged between autonomous robot devices. Therefore, no action is determined based on the exchange of information between such robot devices. If an action according to information determined between the robot apparatuses can be performed, the pleasure of the user who appreciates the action of the robot apparatus increases.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a robot apparatus that determines an action based on information between robot apparatuses and a control method of the robot apparatus.

[0008]

A robot apparatus according to the present invention is an autonomous robot apparatus for autonomously determining an action in order to solve the above-mentioned problems, and is provided with a predetermined orientation to another robot apparatus. And a control means for starting a predetermined process when faced with.

A robot device having such a configuration is
When a robot faces another robot device in a predetermined direction, it performs a predetermined process such as an information exchange action.

In order to solve the above-mentioned problems, a method for controlling a robot apparatus according to the present invention is a method for controlling an autonomous robot apparatus that autonomously determines an action, When a user faces another robot device in a predetermined direction, a predetermined process is started.

[0011] According to such a control method of the robot device, when the robot device confronts another robot device in a predetermined direction, it performs a predetermined process such as an information exchange action.

Further, in order to solve the above-mentioned problems, a robot apparatus according to the present invention is an autonomous robot apparatus which determines an action independently, and enters a predetermined area from another robot apparatus. Sometimes, a control means for starting a predetermined process is provided.

[0013] The robot device having such a configuration is as follows.
When entering a predetermined area from another robot device, a predetermined process such as an information exchange action is performed.

According to another aspect of the present invention, there is provided a control method of a robot apparatus for controlling an autonomous robot apparatus which independently determines an action. When a robot enters a predetermined area from another robot device, a predetermined process is started.

According to such a control method of the robot device, the robot device performs a predetermined process such as an information exchange action when the robot device enters a predetermined area from another robot device.

Further, in order to solve the above-mentioned problems, a robot device according to the present invention is an autonomous robot device which determines an action independently, and is used for growth of other robot devices around itself. A growth degree detecting means for detecting the degree, and a control means for starting a predetermined process according to the growth degree of another robot apparatus detected by the growth degree detecting means are provided.

A robot device having such a configuration is as follows.
The degree of growth of another robot device around itself is detected by the growth degree detecting means, and a predetermined process is started by the control means according to the degree of growth of the other robot apparatus detected by the growing degree detecting means.

Thus, the robot device starts a predetermined process according to the degree of growth of other robot devices around itself.

In order to solve the above-mentioned problem, a control method of a robot apparatus according to the present invention is a control method of a robot apparatus that controls an autonomous robot apparatus that independently determines an action, A growth degree detection step of detecting the growth degree of another robot device around itself, and a processing step of starting a predetermined process according to the growth degree of the other robot device detected in the growth degree detection step Having.

According to the control method of the robot device, the robot device starts a predetermined process according to the growth degree of another robot device around itself.

Further, in order to solve the above-mentioned problem, the robot apparatus according to the present invention is an autonomous robot apparatus that determines an action independently, and uses map information transmitted from another robot apparatus. There are provided a receiving means for receiving, a position detecting means for detecting the current position, and a control means for controlling an action based on the current position information obtained by the detection of the position detecting means and the map information received by the receiving means.

The robot device having such a configuration is as follows.
The map information transmitted from the other robot device is received by the receiving unit, and the control unit controls an action based on the current position information obtained by the detection of the position detecting unit and the map information received by the receiving unit.

Thus, the robot device moves to, for example, a predetermined target based on the map information obtained from another robot device.

According to another aspect of the present invention, there is provided a control method of a robot apparatus for controlling an autonomous robot apparatus which independently determines an action. The robot apparatus has a receiving step of receiving map information transmitted from another robot apparatus, and a moving step of controlling the behavior of the robot apparatus based on information on the current position and the map information received in the receiving step. .

According to such a control method of the robot apparatus, the robot apparatus moves to, for example, a predetermined target based on the map information obtained from another robot apparatus.

Further, in order to solve the above-mentioned problems, a robot apparatus according to the present invention is an autonomous robot apparatus which determines an action autonomously, and a map based on surrounding conditions obtained by moving. Map information producing means for producing information;
Map information storage means for storing map information created by the map creation means.

The robot device having such a configuration is as follows.
Map information is created by the map information creating means based on the surrounding situation obtained by moving, and the map information created by the map creating means is stored in the map information storage means.

Thus, the robot device creates map information and holds the map information to provide it to, for example, another robot device.

Further, in order to solve the above-mentioned problem, a control method of a robot apparatus according to the present invention is a control method of a robot apparatus for controlling an autonomous robot apparatus which independently determines an action, It has a map information creation step of creating map information based on the surrounding situation obtained by moving the robot device, and a storage step of storing the map information created in the map creation step in the map information storage means.

According to the control method of the robot device, the robot device creates map information and holds the map information to provide it to, for example, another robot device.

[0031]

Embodiments of the present invention will be described below in detail with reference to the drawings. In this embodiment, the present invention is applied to an autonomous robot device that determines an action independently.

As shown in FIG. 1, the robot apparatus has legs 2a, 2b, 2c, and 2d driven for movement and CCs.
A head 3 in which a D (Charge Coupled Device) video camera is accommodated and a body 4 are provided. As shown in FIG. 2, when the user says “front”, the robot apparatus 1 can take an independent action such as performing “hand” in which the front leg 2 a is put on the user's hand 300. It has been made possible.

This robot device determines an independent action based on an emotion model or an instinct model. Here, the emotion model is composed of modeled information for causing the behavior to express an emotion, and the instinct model is configured of modeled information for causing the behavior to express an instinct.

More specifically, the robot apparatus 1 changes the state of emotions and instinct by an emotion model or an instinct model in accordance with an input from various sensors as external factors or internal factors. They decide their actions voluntarily according to their emotions and instinct.

As described above, the autonomous robot apparatus which determines the action independently includes means for exchanging information with another robot apparatus. A specific example of the communication means will be described below.

As the communication means, there is a communication means using infrared rays. Specifically, the robot device includes, as communication means using infrared light, an output unit that outputs a signal using infrared light, and a detection unit that detects a signal using infrared light. For example, as shown in FIG.
a (1b) includes an infrared communication means 26 using infrared light, in which an output unit and a detection unit are integrated.

As shown in FIG. 3, the robot device 1a is connected to another robot device 1b by such communication means.
It is possible to perform data communication using infrared rays between the device and the device.

As the communication means, there is a communication means using a scale signal. Specifically, the robot device includes an output unit that outputs a signal based on a musical scale, and a detection unit that detects a signal based on the musical scale. For example, in the robot device, the output unit is a speaker prepared for generating a voice or the like, and the detection unit is a microphone prepared for detecting surrounding sounds. Specifically, as shown in FIG. 4, in the robot apparatus 1a (1b), the microphone 21 corresponds to an ear, and the speaker 23 corresponds to a mouth.

By means of such communication means, the robot device 1a can perform data communication using a musical scale signal with another robot device 1b as shown in FIG.

As the communication means, there is a communication means using radio waves. For example, as shown in FIG. 2, the robot apparatus 1 includes a PC card slot 14 into which a PC card can be mounted.

Here, examples of the PC card include a memory card and a wireless LAN card. Robot device 1
The PC card slot 14 can record and reproduce data on a memory card, and can perform data communication with a personal computer or the like on a local area network using a wireless LAN card. For example, as shown in FIG. 5, the robot apparatus 1 has an internal bus 1 as a configuration for transferring data between the PC card slot 14 and the PC card 200.
8 and a data storage unit 13 connected to a PC card slot (I / F) 14 and a CPU (Central Processing Uniform).
t) at least 15 and the like. Data storage unit 13
Is a portion in which various data are stored, and the CPU 15 is a portion for controlling the behavior of the robot apparatus and the like.

The robot apparatus 1 constitutes communication means by radio waves using the PC card slot 14 and the wireless LAN card (PC card 200) mounted in the PC card slot 14.

Thus, as shown in FIG. 6, the robot apparatus 1a can perform data communication with another robot apparatus 1b using radio waves.

The provision of the communication means as described above allows the robot apparatus 1 to exchange information with another robot apparatus. It goes without saying that the communication means is not limited to this.

Robot device 1 to which the present invention is applied
Can exchange information with other robot apparatuses in this way, thereby realizing the following.

When the robot devices face each other,
Starting predetermined processing is realized. Specifically, when the robot devices face each other, data is transmitted and received between the robot devices, so that the robot device starts a predetermined process.

Such processing is specifically enabled by a communication means using infrared rays, and is enabled by providing an infrared ray output section and an infrared ray detection section so as to face forward of the robot apparatus. You.

That is, the output section constitutes a signal output section for outputting a signal based on infrared rays in the forward direction, and the detection section includes a signal receiving section for receiving a signal based on infrared rays from another robot apparatus transmitted from the forward direction. Make up the part. Then, the control means such as the CPU starts predetermined processing based on the signal detected by the detection unit.

Since it can be said that the propagation direction of the signal by infrared rays has directivity, as shown in FIG. 3, the output unit and the detection unit (communication means 26) are provided so as to face forward.
When the robot devices facing any directions face each other in front, infrared light output from the output unit is detected by the detection unit. As a result, the communication state becomes a connected state between the robot apparatuses, and further information exchange becomes possible. As a result, the existence of the other robot apparatuses can be confirmed, and the robot apparatuses can be recognized as facing each other. For example, as described later, information exchange is performed via an infrared communication port.

That is, as shown in FIGS. 7A and 7B, when the two robot apparatuses 1a and 1b are not facing each other, the robot apparatus 1a recognizes the other robot apparatus 1b. This does not mean that the robot device 1a can recognize the other robot device 1b only when the two robot devices 1a and 1b face each other as shown in FIG. 7C. become.

As described above, the robot device 1a can recognize that the robot device 1a has faced another robot device 1b, and at this time, executes a predetermined process.

The predetermined processing includes, for example, performing a predetermined operation (action) and exchanging predetermined information.

Examples of the predetermined operation include an operation in which an animal such as a dog generally makes a partner animal, such as greeting when facing each other or barking. This diversifies the actions of the robot device 1 facing each other,
The pleasure of viewing by the user is increased.

The predetermined information includes, for example, the state of emotion and the state of instinct. By exchanging the emotional state and instinct state of the facing robotic device, the robotic device can take an action according to the emotion and instinct of the other robotic device. Specifically, as described above, the robot apparatus includes an emotion model for expressing an emotion in the motion and an instinct model for expressing an instinct in the motion. By exchanging the information on the state of the robot device, the emotion and instinct state of the partner robot device are known, and the operation corresponding to the state is performed. As will be described in detail later, information of a growth level indicating the degree of growth may be exchanged.

Further, the robot apparatus can perform the predetermined processing when the robot apparatus enters a predetermined area with the other robot apparatus. As a configuration for that, the robot device
A signal output unit that outputs a signal having an output level that can be received in a predetermined area. By providing such a signal output unit in the robot device, another robot device cannot receive a signal from a robot device including the signal output unit unless the robot device enters a predetermined area. In other words, when the robot device can receive a signal from another robot device, the robot device is located within a predetermined area from the other robot device.

The case where the communication means uses infrared rays will be specifically described. The output level of infrared rays from the output unit is set to a predetermined level, that is, an output which can be received only within a predetermined area. By setting the level, the fact that such an infrared signal is received indicates that the robot device that has received the signal is located within a predetermined area from another robot device that is outputting the signal. become.

As a result, as shown in FIG.
Robot apparatus 1a, also the distance between 1b is a case which can not be recognized at the time of L _1, as shown in FIG. 8 (B), when the distance becomes L _2, the robot apparatus 1a
Can recognize the partner robot device 1b that is outputting a signal by infrared rays. Thus, for example, when the distance between the robot apparatus 1a, 1b becomes L _2,
The robot device can recognize the other robot device and can greet the user as a predetermined process.

In the case of the communication means using infrared rays, since the signal propagation direction has directivity as described above, the communication means 26 is directed to the front as shown in FIG. 3, for example. When the robot device is attached, it is possible to recognize that the robot device is within a predetermined area on the assumption that the robot device faces each other.

In view of the above, if communication means having no directivity in output signals, for example, communication means using radio waves, is provided, the output of radio waves is set to a predetermined level as described above. Also, the robot device can be recognized as being within a predetermined area without depending on whether the robot device is facing each other.

Further, by detecting the distance, a process corresponding to the distance can be performed. For example, different actions are taken according to the distance between the robot devices.

As described above, the robot device is provided with the communication means capable of exchanging information with another robot device, so that the robot device can be used when facing each other or when another robot device enters a predetermined area. , Predetermined processing can be performed.

The case where the information exchanged with the robot device is the growth level information will be described more specifically.

The robot device is designed to behave according to the growth level. The action according to the growth level is, specifically, when the growth level is low, that is, in the "childhood", it is a rough step, and when the growth level is high, that is, in the "adolescence",
It is an action of walking quickly. By deciding an action according to such a growth level, the robot apparatus takes different actions according to the growth stage even if the walking action is the same. The growth model will be described later in detail.

The information on the growth level and the information indicating the stage of the growth, when the robot device faces another robot device, or when the other robot device enters a predetermined area. (Hereinafter, such a time is referred to as a time of encounter.) The following processing is performed.

When the robot device encounters another robot device, it exchanges information on the growth level by the communication means as described above. Then, the robot device that has received the information on the growth level of the partner robot device can know the growth level of the partner robot device, and determines its own behavior according to the growth level of the partner device.

For example, a robot device changes its own growth level according to the growth level of another robot device.

Specifically, when the growth level of the other robot apparatus is high, the robot apparatus raises its own growth level according to the growth level of the other party, and determines an action according to the growth level. As a result, a robot device that encounters a robot device having a high growth level has a self-grown behavior by increasing its own growth level. Further, when the growth level of the other robot apparatus is low, the robot apparatus lowers its own growth level according to the growth level of the other robot apparatus and determines an action according to the growth level. Thus, a robot device that encounters a robot device with a low growth level can determine its own behavior as a young behavior according to its partner robot device because its own growth level is low.

Also, the robot apparatus includes comparison means for comparing the growth level of another robot apparatus detected by the growth degree detection means with its own growth level, and the result of comparison by this comparison means is equal to its own growth level. If the value is lower, the robot may act according to another robot device, and if the comparison result obtained by the comparing means indicates that the self growth level is high, the robot may act not according to the other robot device. it can. In addition, as the comparison means, there is a means configured as software that can be processed by a CPU or the like.

In the case of deciding one's own behavior in accordance with the growth level of the robot apparatus of the other party, the growth is promoted and the growth is suppressed by the other party as generally observed in the animal kingdom. Therefore, the robot apparatus adopts such a general behavior form in the animal kingdom. For example, changing the self growth level according to the surrounding growth level may be obtained as a result of crowd psychology or the like.

The information to be exchanged is not limited to the growth level, but may be other information, for example, physical strength information. For example, if information on the torque of the motor that drives the feet is sent as the information on the physical strength, this allows the robot to change its physical strength (hardware strength) according to the relationship between the robots. The device will determine the action.

Further, the robot apparatus can use the map information as information to be exchanged. The map information may be information stored in advance in the storage unit, or may be information obtained as a result of the robot apparatus acting itself.

The acquisition of map information by the robot device itself is specifically performed as follows. A case where information on the owner's room is obtained as map information will be described. For example, as shown in FIG.
Assume that there are two robot apparatuses 1a and 1b, and desks, chairs, cushions, bait boxes, balls and the like are scattered.

As shown in FIG. 10, the robot apparatuses 1a and 1b are provided with a map information creating means 10 for creating map information based on a surrounding situation obtained by moving, and a map created by the map information creating means 10. Storage means 8 for storing information
And a transmission unit 6 for transmitting the map information stored in the storage unit 8 to another robot device. With such a configuration, the robot apparatuses 1a and 1b can create map information and send the created map information to another robot apparatus. That is, this configuration is for sending map information to another robot device. The above-described units are connected by a bus.

Further, the robot apparatuses 1a and 1b
As shown in the figure, receiving means 7 for receiving map information transmitted from another robot device, position detecting means 7 for detecting a current position, current position information obtained by detection of the position detecting means 7, and receiving means And control means 7 for controlling an action based on the received map information. With such a configuration, the robot apparatuses 1a and 1b can receive map information sent from another robot apparatus and move to, for example, a predetermined target based on the received map information. That is, this configuration is for acting based on the map information sent from another robot device. Hereinafter, the first robot apparatus 1a creates map information, and the second robot apparatus 1b creates the first robot apparatus 1b.
A case where the action is determined based on the map information created by a will be specifically described.

As the position detecting means 9, for example, a GPS
(Global Positioning System).

In the first robot apparatus 1 a, the map information producing means 10 uses the map information based on the position information obtained by the position detecting means 9 while moving, for example, at random. Create information. Specifically, map information including information on detected obstacles and the like is created. For example, as shown in FIG.
2. Detect the cushion 303 and the like and create map information using them as obstacles. For example, the obstacle referred to here corresponds to a building on a general map. Also, the first and second balls 304 in the room
Robot devices 1a and 1b grasp as their own toys.

The first robot device 1a sends out the map information created by the map information creating means 10 to the second robot device 1b by the transmission means 6. Then, the second robot device 1b receives the map information transmitted from the first robot device 1a by the receiving means 7. The transmitting means 6 and the receiving means 7 include the above-mentioned communication means using a wireless LAN card.

The second robot device 1b having received the map information controls its own movement operation by the control means 5, and moves to the target based on the received map information. More specifically, the second robot device 1b, based on the information on the current position detected by the position detecting means 9 and the map information, avoids the desk 301, the cushion 303, etc., which are obstacles, Move to the target while referring to.

Here, by using the bait box 305 in the room as the target, the second robot apparatus can move to the bait box 305 based on the map information and the current position information. Become. That is, the first and second robot apparatuses 1a and 1b teach the position of the bait box 305, share the installation position information of the bait box 305, and the first and second robot apparatuses 1a and 1b The operation will be performed accordingly.

As described above, the robot apparatuses 1a and 1b
Can be used as information for exchanging map information, whereby an action of moving to a target (for example, the bait box 305) is caused based on the sent map information.

When the maps are self-generated, there is no guarantee that the maps possessed by the respective robot apparatuses 1a and 1b are the same. Therefore, the respective robot apparatuses 1a and 1b compare the two maps with each other to perform matching. Can also be provided. For example, the own position is included in the map information and sent to another robot device.

For example, the first robot device 1a having the map information mp1 as shown in FIG. 11A and the second robot device 1b having its own map information as shown in FIG. When the mp2 is transmitted, the first robot device 1a transmits the map information mp1 and the map information mp1 of the both robots including the position information of each robot device as shown in FIG.
Match and move from p2.

As a result, the first robot device 1a
Based on the transmitted map information created by the second robot device 1b, the user can move while grasping the position of the second robot device 1b. Also,
Using such information, it is possible to determine whether or not the distance (positional relationship) allows greeting.

Such detection is also useful when detecting whether or not the user is in a predetermined area from the partner robot apparatus as described above.

Also, unlike the self-generation of a map, when the same information is shared between a plurality of robot apparatuses and map data is given in advance, the position of the self on the map is determined based on the positional relationship with obstacles and the like. By estimating the position and transmitting the position information to each other, it is possible to detect whether or not the robot device is within a predetermined distance or within a predetermined area with respect to the other robot device, as described above.

[0086] The robot device can also exchange information with a plurality of robot devices by the above-mentioned communication means. The robot device can recognize that a plurality of robot devices are around by exchanging information with the plurality of robot devices.

For example, a behavior model such as a behavior model for a plurality of units is previously stored (prepared) in the robot apparatus. For example, the behavior model for multiple units is
This is an action model including actions such as dance performed by a large number of people.

By storing such an action model, the robot apparatus executes an action based on the action model when recognizing the existence of a plurality of robot apparatuses.

Thus, the plurality of robot devices express the action for the plurality of devices such as dance by recognizing the existence of the other robot device, so that the user can normally watch one or two devices. You will be able to see what you cannot do. In other words, only a user having a plurality of robot apparatuses can perform such an action for a plurality of robot apparatuses.

Further, an action model for a plurality of dances or the like can be activated according to the recognized number. Hereinafter, as a specific example, a case will be described in which a plurality of robot apparatuses perform a cooperative action as a whole with synchronized actions.

For example, as shown in FIG. 12, the fourth robot device 1d includes first and third robot devices 1a and 1a.
Commands are transmitted in synchronization with b and 1c, and the first and third robot apparatuses 1a, 1b and 1c cooperate according to the commands transmitted in synchronization with each other. In this example, communication between the fourth robot device 1d and the first to third robot devices 1a, 1b, 1c is performed by a wireless LAN card.

[0092] Specifically, such a cooperative operation is described in the fourth section.
This is performed by a command written in the robot control script (script) RS included in the robot device 1d corresponding to each robot device. Specifically, a command is sent to a corresponding robot device by a robot control script RS created according to a predetermined rule. The robot control script RS is configured from information that can control the timing of sending commands to the first and third robot devices 1a, 1b, and 1c and detect the end timing of the action of each robot device. .

The form of the robot control script RS is composed of a plurality of data strings D ₁ , D ₂ and D ₃ composed of command information and the like, for example, as shown in FIG.
The first data sequence D ₁ corresponds to the first robot device 1a, the second data sequence D ₂ corresponds to the second robot device 1b, and the third data sequence D ₁ corresponds to the third robot device 1a. 1
c. In the present embodiment, since there are three robot devices, this data sequence
The data sequence of the robot control script RS is prepared according to the robot device that manages the behavior in the behavior management system.

Specifically, the robot control script RS
In the figure, the number of robot devices on the network to be controlled is described. Then, each data string D ₁ , D ₂ , D ₃
In each case, information on individual IP addresses and port numbers of the servers, abstract commands to be transmitted to the robot devices, commands for obtaining synchronization timing among the robot devices 1a, 1b, and 1c are described.

These commands are, for example, data strings D
₁ , D ₂ , and D ₃ are described in the order of execution from top to bottom.

Based on such a robot control script RS, the fourth robot device 1d operates as follows:
In addition, commands are sent to the third to third robot devices 1a, 1b, 1c to control their actions.

Before starting communication with the robot devices 1a, 1b, 1c, the fourth robot device 1d
The main program PG ₁ by a thread 28a for communicating the number of robotic devices, 28b, generates the 28c. First to third communication threads 28a, 28b, 28c
Are first to third robot apparatuses 1a, 1a,
1b and 1c, for performing data communication with the corresponding robot devices 1a, 1b and 1c.

Then, the fourth robot device 1d generates the first to third robots thus generated prior to the start of the data communication.
The first to third data strings D ₁ , D ₂ , and D ₃ on the corresponding robot control script RS are passed to the respective communication threads 28a, 28b, and 28c. Each of the communication threads 28a, 28b, and 28c extracts the IP address and the port number from the passed information (data string) and connects to each robot device as a client.
A data communication path is established between the communication threads 28a, 28b, 28c and the robot devices 1a, 1b, 1c.

Then, each communication thread 28a, 28
b and 28c transmit the commands described in the delivered data strings D ₁ , D ₂ and D ₃ to the respective communication threads 28a and 28c.
The transmission is performed synchronously between 28b and 28c.

The robot devices 1a, 1b, 1c receive commands transmitted from the corresponding communication threads 28a, 28b, 28c, respectively. Each robot device 1
a, 1b, and 1c execute the received command.

Thus, each communication thread 28a, 2
8b and 28c, the timing of sending commands is synchronized.
The actions 1b and 1c are based on cooperative actions as a whole.

Next, a specific description will be given using a robot control script RS described as shown in FIG. The robot control script shown in FIG. 14 is for causing a plurality of robot devices 1a, 1b, 1c to perform a so-called "wave" action. The behavior of “wave” by the plurality of robot apparatuses 1a, 1b, 1c means that the plurality of robot apparatuses 1a, 1 arranged in a line as shown in FIG.
b, 1c are in the “sitting” posture and “Banzai”
Is a cooperative action that is expressed by each of the actions in turn.

The robot control script RS shown in FIG.
In the first line, the number of robot devices connected to the behavior management system is described. Specifically, the first column describes “NUMBER” as a menu, and the second column describes the number of connected robot apparatuses. In the case where the three robot apparatuses 1a, 1b, and 1c perform a cooperative action as in the present embodiment, the number column is "3".

In the second and subsequent lines, each communication thread 28a, 28b, 28c and each robot device 1a, 1b,
Information, commands, etc., for communicating with the device 1c are described. Specifically, the menu is written in the first column, and the communication threads 28a, 28b, and 28c correspond to the corresponding robot devices 1 in the second, third, and fourth columns.
Information for controlling the actions of a, 1b, and 1c is described.

In the second row, in the first column, “IP_ADDRESS”
And write the IP address of the server corresponding to each column. Alternatively, "HOSTNAME" may be written in the first column to describe the network host name of the server of each robot device.

On the third line, the port number of each host is described. In the present embodiment, “1000
Write "0".

In the fourth and subsequent rows, information for controlling the behavior of the robot device such as commands is described in each column corresponding to each robot device.

The commands are roughly classified into synchronous commands and abstract commands. It is described that the communication thread sends out the synchronous command and the abstract command in this order. Here, the abstract command is a command transmitted to the robot apparatus to cause the robot apparatus to perform an actual action, and the synchronous command is a cooperative action in which the action of each robot apparatus by such an abstract command is performed as a whole of the robot apparatus. Is to do so. Specifically, there are two synchronization commands, a SYNC instruction for synchronizing the command transmission timing and a WAIT instruction for synchronizing the beginning of the action of each robot device.

The SYNC instruction is provided with an ID number and an exponent (hereinafter referred to as a synchronization achievement exponent) as arguments. The ID number serves as identification information for the SYNC instruction.
It becomes identification information with other SYNC instructions. By this ID number
By identifying a SYNC instruction, appropriate processing can be performed without being confused with another SYNC instruction. The synchronization achievement index is calculated for each robot device 1a, 1
A certain value is given to each of b and 1c, and the sum thereof is set to a predetermined value. In the present embodiment, the total is set to “100”. Note that the synchronization achievement index is not limited to being set to “100”.

Then, this synchronization achievement index is added when the robot devices 1a, 1b, 1c are in a state where they can move to the next action. In other words, it is added when the robot device that has performed a certain action ends the action. Specifically, the synchronization achievement index is added by the following procedure.

For example, when the first robot device 1a completes the action corresponding to the command sent from the corresponding first communication thread 28a, or when the first robot apparatus 1a is ready for the next action, Information (hereinafter referred to as standby information). When the corresponding first communication thread 28a receives the standby information transmitted by the first robot device 1a, the first communication thread 28a adds the synchronization achievement index to, for example, an area of the synchronization control global memory GM where the ID number matches (addition). In). At this time, the other communication threads perform exclusive control so as not to access this area. That is, when another robot device (here, one or both of the second robot device 1b and the third robot device 1c) is already in a state where the SYNC command corresponding to the ID number can be executed. Then, the synchronization achievement index that has just been sent is added to the synchronization achievement index of the other robot apparatus having the same ID number in the synchronization control global memory GM. Then, when it becomes possible to move to the next action of all the robot devices 1a, 1b, 1c, the total value of the synchronization achievement index becomes a predetermined value, in this example, "100".

By such processing, each communication thread 28a, 28b, 28c monitors the synchronization control global memory GM, and unless the total value of the synchronization achievement index reaches a predetermined value ("100"), Will not be read. Therefore, even if the robot apparatus can move to the next action, the standby state is maintained without causing the next action.

A plurality of robot devices 1a, 1b,
The personal computer 33 that manages the behavior of 1c is
By confirming that the total value of the synchronization achievement index has reached a predetermined value, the SYNC instruction corresponding to the ID number is completed in all the robot apparatuses 1a, 1b, 1c, and the robot apparatuses 1a, 1b. , 1c are ready for the next action. Thus, when the total value of the synchronization achievement index reaches a predetermined value, the personal computer 33 sets each communication thread 28a, 2
The next command is transmitted by 8b and 28c.

Next, as for the command, in the robot control script RS shown in FIG. 14, a WAIT command is transmitted.

The WAIT command takes time (ms) as an argument, and the robot apparatus that has received the WAIT command forms information that waits for a specified time and then proceeds to the next command.

The arguments of the WAIT instruction are “0” and “100”, respectively.
In the embodiment having “0” and “2000”, the first robot device 1a that has received the WAIT command whose argument is “0”
Immediately executes the subsequently sent command, and upon receiving the WAIT command with the argument “1000”, the second robotic device 1b waits for one second for the subsequently sent command and executes it. Then, the third robot apparatus 1c that has received the WAIT command whose argument is “2000” waits for 2 seconds for the subsequently transmitted command and executes it. That is, for example, the WA received by the first to third robot devices 1a, 1b, 1c.
If the arguments of the IT command are all "0", the first to third robot apparatuses 1a, 1b, 1c simultaneously execute the contents of the command sent next.

In the present embodiment, the command sent after the WAIT instruction is a “BANZAI_SIT” command. The “BANZAI_SIT” command is a command for causing the robot apparatus to perform the “Banzai” operation in the “sitting” posture.

When such a WAIT instruction is transmitted, and subsequently, a “BANZAI_SIT” command is transmitted,
The first robot device 1a starts the command of "BANZAI_SIT" immediately after the total value of the synchronization achievement index reaches the predetermined value as described above, and the second robot device 1b starts the command of "BANZAI_SIT" one second after that. ", And the third robot apparatus 1c starts the command of" BANZAI_SIT "two seconds after that.

As described above, the following processing is roughly performed by the robot control script RS shown in FIG. 6 in which the SYNC command, the WAIT command, and the like are specified.

When the robot apparatus 1a, 1b, 1c is ready to move to the next state by the first (5th line) SYNC instruction, the synchronization achievement index is issued with ID = 1. ID
When the sum of the synchronization achievement indexes of “= 1” becomes “100”, the communication threads 28 a, 28 b, and 28 c
A command and a command of “BANZAI_SIT” are transmitted.

First data string (first robot apparatus 1a)
Since the WAIT instruction data string) D _1, which is corresponding to the (IP address 11.22.33.44) containing the 0 second ( "0"), the first robot apparatus 1a immediately "BANZAI_SIT And executes the “Banzai” operation in the “sitting” posture, as shown in FIG.

[0122] Further, the WAIT instruction D ₂ (data string is corresponding to the second robotic device 1b (IP address 11.22.33.45)) to the second data string second ( "1000") , The second robotic device 1b executes the command “BANZAI” one second after the first robotic device 1a executes the command.
The “_SIT” command is executed, and the “Banzai” operation is performed in the “sitting” posture, as shown in FIG. Similarly, a third data string (a data string corresponding to the third robot apparatus 1c (the IP address is 11.23.33.46)) D ₃
2 seconds (“2000”) is included in the WAIT instruction, the third robot apparatus 1c executes the “BANZAI_SIT” command two seconds after the first robot apparatus 1a executes the command, As shown in FIG. 15 (C), the “banzai” operation is performed in the “sitting” posture.

When the execution of the command of “BANZAI_SIT” is completed, there is another SYNC instruction, and each robot device 1a,
It is detected that 1b and 1c are ready for the next action. As a result, the first robot apparatus 1a that has started executing first enters a waiting state, and the total of the action achievement indexes becomes “100”, so that each robot apparatus 1a,
1b and 1c are again the communication threads 28a, 28b,
The action as described above is executed again by the WAIT command and the second "BANZAI_SIT" command transmitted synchronously from 28c.

The robot control script RS shown in FIG.
With the above processing, the behavior management system
As shown in FIG. 15, the three robots 1 a, 1 b, and 1 c are shifted by one second to execute banzai, and the cooperative action of the two “waves” is changed from (A) to (C) in FIG. To be expressed.

As described above, since the fourth robot device 1d synchronously sends out commands, a plurality of robot devices 1a, 1b, 1c can easily realize a cooperative action. Such a plurality of robot apparatuses 1a,
The cooperative action by 1b and 1c further expands the enjoyment of the appreciation of the user in addition to the enjoyment by the action of the robot apparatus that has been autonomously caused.

Each robot device has ID information as identification information in a storage device. For example, when a robot exchanges information with another robot,
By exchanging the D information with the attached information, the other robot device can identify each robot device based on the received ID information.
Even if the information exchanged with each robot device is the same information, it is possible to recognize that a plurality of robot devices exist by checking the attached ID information.

(1) Specific Example of Configuration of Robot Device A specific example of the configuration of the robot device will be described. The robot device 1 is specifically configured as shown in FIG.

The image data picked up by the CCD video camera 11 is supplied to a signal processing unit 12. Signal processing unit 1
2 performs predetermined processing on the image data supplied from the CCD video camera 11 and transfers the image data to the internal bus 18.
Through a DRAM (Dynamic Random A)
ccess Memory) 16.

The robot apparatus 1 also has a memory stick interface 29 connected to a ROM interface 30, so that data for a so-called memory stick (a product name of a product (memory card) provided by Sony Corporation) 210 can be stored. Recording and reproduction can be performed.

Further, the robot device 1 has a PC card slot (PC card I / F) 14. Thus, when the PC card 200 is a wireless LAN card, data communication with external devices such as a personal computer on a local area network and other robot devices becomes possible, and the PC card is a memory card. In this case, recording and reproduction of data with respect to the memory card become possible.

The CPU 15 has a flash ROM (Read O
nly Memory) 17
The data is read out through the ROM interface 30 and the internal bus 18 to control the entire system. The operation program of the CPU 11 stored in the flash ROM 17 can be created and changed by an external personal computer (PC) 31 connected to the signal processing unit 12.

Signals detected by the potentiometers 19a, 19b and 19c, the touch sensor 20 and the microphone 21 constituting detecting means for detecting an external state are transmitted to signal processing units via branching units 24a, 24b, 24c, 24d and 24e. 12 is supplied. The signal processing unit 12 includes the branch unit 2
The signals supplied from 4a to 24e are supplied to CPU 15 via internal bus 18. The CPU 15 controls the actuators 22a, 22b, 22 based on the supplied signals.
c, 22d (for example, the operation of the legs 2a to 2d and the head 3 of FIG. 1 driven thereby). Also, CP
U15 controls the sound output from the speaker 23.

The robot apparatus 1 has an infrared output section 26a and an infrared detection section (IrD) for enabling data communication with external equipment such as another robot apparatus by infrared rays.
A) It has 26b.

The infrared output section 26a outputs a signal to an external device such as another robot device by infrared rays. And
The infrared detector (IrDA) 26b supplies command information output from a remote controller (not shown) or information sent from another robot device by a user operation to the signal processing unit 12 via the branching unit 24e.

The signal processing section 12 supplies the supplied various information to the CPU 15 via the internal bus 18 and
Then, based on the supplied information, the actuator 22
a, 22b, 22c, and 22d are controlled. That is, the CPU 15 controls the operations of the actuators 22a, 22b, 22c, and 22d based on command information from a remote controller and information sent from another robot device. Thereby, the robot device 1 outputs an action according to the user's command, or outputs a predetermined action (processing result) when it encounters another robot device.

Here, the potentiometers 19a to 19
c, touch sensor 20, microphone 21, actuators 22a to 22d, speaker 23, infrared output unit 26
a and the infrared detecting unit 26b constitute the feet, ears, mouth, etc. of the robot apparatus 1, and collectively form a CP.
It is called a C (Configurable Physical Component) device. The CPC device is not limited to this, and may be, for example, a measuring unit such as a distance sensor, an acceleration sensor, or a gyro.

FIG. 17 shows a configuration example of the signal processing section 12. The DRAM interface 41 and the host interface 42 correspond to the DRAM 16 and the CPU 1 respectively.
5 and to the external bus 44. The bus controller 45 controls the external bus 44. The bus arbiter 46 includes the external bus 44 and the internal bus 4
7 is arbitrated.

Parallel port 48 and serial port 5
0 is connected to a personal computer (PC) 31 as an external development environment, for example. The battery manager 49 manages the remaining amount of the battery 27 and the like.
The parallel port 48, the battery manager 49, and the serial port 50 are connected to the internal bus 47 via the peripheral interface 53, respectively.

[0139] The CCD video camera 11 supplies the captured image data to an FBK (Filter Bank) 56. FB
K56 performs a thinning process on the supplied image data to create image data of various resolutions. The image data is transferred via a DMA (Direct Memory
y Access) is supplied to the controller 51. The DMA controller 51 stores the supplied image data in the DRAM 16
And the DRAM 16 stores the image data.

Also, the DMA controller 51
The image data stored in M16 is read out as appropriate,
It is supplied to a PE (Inner Product Engine) 55. IPE
Reference numeral 55 performs a predetermined operation using the supplied image data. The calculation result is transferred to the DRAM 16 and stored in accordance with an instruction from the DMA controller 51.

The CPC device 25 is connected to the serial bus host controller 57. The CPC device 25 includes, for example, the potentiometers 19a to 1 described above.
9c, touch sensor 20, microphone 21, actuators 22a to 22d, speaker 23, infrared output unit 2
6a and an infrared detector 26b. C
The audio data supplied from the PC device 25 is supplied to the DSP (Digita
l Signal Processor) 52. DSP52
Performs a predetermined process on the supplied audio data.
The USB interface 58 is connected to a personal computer (PC) 32 or the like as an external development environment. The timer 54 supplies time information to each unit via the internal bus 47.

As described above, the robot apparatus 1 is configured, and when encountering another robot apparatus, the robot apparatus 1 can exchange information with the other robot apparatus by communication means. It has been like that. In addition,
The “other robot device” here has the same configuration.

The robot device 1a has an infrared output unit 2
6a as an output unit and an infrared detection unit 26 as a detection unit 26b
As shown in FIG. 3, information can be exchanged with another robot apparatus 1b by the communication means using infrared rays configured as above.

The communication between the robot apparatus 1a and another robot apparatus 1b as shown in FIG. 4 is achieved by communication means using a musical scale composed of the speaker 23 as an output section and the microphone 21 as a detection section. Can exchange information.

Further, the robot apparatus 1a uses the wireless LAN card inserted into the PC card slot 14 as a communication unit using radio waves as an input / output unit.
As described above, information can be exchanged with another robot device 1b.

[0146] Since the information can be exchanged with another robot device by the communication means described above, when the robot device encounters the other robot device, as described above, the greeting is given. And a predetermined process such as a dance or the like.

Next, a portion of the robot apparatus 1 for performing communication by infrared rays will be described in more detail.

As shown in FIG. 18, the robot device 1
The middleware layer 80, the virtual robot 110, the device driver layer 150, the bus controller 79, and the infrared communication port 78 enable infrared communication.

For example, the middleware layer 80, the virtual robot (layer) 110, and the device driver layer 150 are configured as software layers of the robot device 1, and the bus controller 79 is configured as a hardware layer of the robot device 1.

The infrared communication port 400 is a communication port for transmitting information when a communication state is established with another robot device. Here, the time when the communication state is connected with another robot device is, for example, when the robot devices face each other.

The middleware layer 80 constitutes software for generating information for controlling the operation of the robot device 1 and the like. The exchange of information between the middleware layer 80 and the device driver layer 150 is performed via the virtual robot (layer) 110.

The virtual robot 110 is a part that bridges information between the device driver layer 150 and a middleware layer that executes processing according to a predetermined rule.
That is, the virtual robot 110 is a part that functions so that information handled by the device driver layer 150 and information handled by the middleware layer 80 are processed smoothly.

The device driver layer 150 corresponds to the C
This is a part for controlling various devices such as the PC device 25. Specifically, the device driver layer 150 performs a process of outputting information from the middleware layer 80 obtained via the virtual robot 110 from the infrared output unit 26a.
In addition, the device driver layer 150 includes the infrared detector 26.
The process of detecting information from another robot device is performed by b.

With such a configuration, when the robot devices are ready for communication, that is, when the robot devices face each other, data is exchanged between the robot devices via the infrared communication port 400. .

For example, a robot device for transmitting information
A bus controller 79 for controlling a serial bus retrieves information from a storage unit (main memory) (not shown), transfers the information to a receiving-side robot device via an infrared communication port, and receives the information on the bus device. The information thus transferred via the infrared communication port by the controller 79 is stored in storage means (main memory) not shown. Through such processing, information exchange (communication) between the robot apparatuses is performed. Here, the bus controller 79
Is, for example, the serial bus controller 57 shown in FIG.

Communication between robot apparatuses using the infrared communication port 400 is realized as follows.

Data that enters and exits the infrared communication port 400 is transmitted to the device driver layer 1 that manages the serial bus.
It is passed to a virtual robot 110 that manages the entire robot apparatus via 50. And middleware layer 8
0 software modules are virtual robots 11
By setting the connection to 0, the middleware layer 80 can receive and transmit data via the infrared communication port 400.

The infrared communication middleware layer (not shown) of the middleware layer 80 notifies an application layer that executes a predetermined process that it has encountered another robot device.

For example, the application layer describes a social (anti-robot device) behavior of the robot device in the behavior model, and describes an activity of giving a greeting by input from the middleware layer for infrared communication. .

Based on this notification, such an application layer executes an action that enables another robot apparatus to make a closer communication, or executes an action of sending a greeting to another robot apparatus. Alternatively, a process of transmitting information such as its own attribute and the level of growth is executed.

With the configuration described above, the robot apparatus 1 can output a signal based on infrared rays by the infrared output section 26a and receive a signal based on infrared rays from another robot apparatus via the infrared detection section 26b. It is possible to determine a predetermined action based on the received information.

A specific example of the functions of the middleware layer 80 and the virtual robot 110 will be described below.

The middleware layer 80 is made up of a software group that provides basic functions of the robot device 1, and its configuration is set in consideration of the device and shape of the robot device 1. The middleware layer 80 is specifically configured as shown in FIG. 19, and is roughly divided into a middleware layer 90 of a recognition system (input system) and a middleware layer 100 of an output system. Have been.

The middleware layer 90 of the recognition system recognizes information input from outside via the virtual robot 110. As a result, the robot apparatus 1 can voluntarily determine an action according to information input from the outside. For example, the middleware layer 90 of the recognition system
Is composed of an object group that processes raw data of a device such as image data, sensor data, and sound data and outputs a recognition result.

As objects for processing device data, for example, a distance detecting unit 92, a touch sensor unit 93, a color recognizing unit 94, a scale recognizing unit 95, and a posture detecting unit 9 are used.
6, a motion detection unit 97, and the like. Where, for example,
The distance detector 92 recognizes “there is an obstacle”, the touch sensor 93 recognizes “stroke” and “hit”, and the color recognizer 94 recognizes “the ball is red”.
Is recognized by the posture detecting unit 96, and “the ball is moving” is recognized by the motion detecting unit 97.

Recognition of information from outside by each object is performed by the virtual robot 110.

The virtual robot 110 exchanges data between the middleware layer 80 and a device driver layer 150 constituting an input / output system to the outside. The virtual robot 110 operates based on various device drivers and an inter-object communication protocol. It acts as an object that bridges the objects that do. This virtual robot 110
As a result, information is exchanged between the middleware layer 90 of the recognition system and the middleware layer 100 of the output system and the various device drivers under the communication protocol between the objects. Here, the device driver layer 150
It is an object that is directly allowed to access a hardware layer of various devices and the like, and performs processing in response to a hardware interrupt.

[0168] The recognition information obtained by each object via such a virtual robot 110 is input to the input sentiment converter 91.

In the input semantics converter 91,
Convert recognition information to a meaningful character string. The command for controlling the behavior of the robot device 1 is composed of a character string and is stored in the storage unit in a freely editable form. As described above, for example, the input semantics converter 9
By converting the recognition information into a character string according to 1, the user can know the recognition information as meaningful information.

The processing when the other middleware apparatus is encountered by the middleware layer 90 of the recognition system configured as described above is performed, for example, as follows.

When exchanging information with another robot device by communication using a musical scale, the musical scale inputted to the microphone 21 is recognized by the musical scale recognition section 95.

When information is exchanged with another robot apparatus by communication using infrared rays, the infrared rays inputted to the infrared ray detecting section 26b are recognized by an infrared signal recognizing section (not shown).

In the middleware layer 90 of the recognition system, the recognition information obtained by the object of the infrared signal recognition unit is input to the input sentence converter 91.

In the input semantics converter 91,
The recognition information described above is converted into a meaningful character string, and the converted recognition information is output to a higher-level control unit. Then, based on this recognition information, it is known that the robot apparatus has been encountered, and a predetermined process is started.

On the other hand, the output middleware layer 100 controls a device for causing the robot apparatus to perform a predetermined action based on such recognition information and the like.
For example, information (command) from the virtual robot 110 is sent to the output middleware layer 100 via a command server (not shown).

In the output middleware layer 100, such information (command) is first input to the output semantics converter 101.

The input semantics converter 101
The content of the command input as a meaningful character string is interpreted, and the content is delivered to each desired object.

The object group constituting the output middleware layer 100 is constituted, for example, for each operation function of the robot apparatus.

More specifically, the output middleware layer 10
0, the posture control unit 10
2, a motion reproducing unit 105, a fall return unit 106, a tracking unit 107, a walking module unit 108, an LED lighting unit 103, a sound reproducing unit 104, and the like. here,
For example, control relating to “motion reproduction” is performed by the motion reproducing unit 105, control relating to “return to fall” is performed by the fall return 106, control relating to “target following operation” is performed by the tracking 101, and “ The control relating to “walking” is performed. Note that “tracking” is an operation in which the user keeps looking at the moving object, specifically, an operation in which the user keeps turning his / her head toward the moving object. For example, when performing such an operation, the recognition information of the color recognition unit 94 and the motion detection unit 97 is directly used as information at the time of “tracking”. In addition, since these controls involve a change in the posture of the robot apparatus 1, the posture information is managed by the posture management 102. The sound output unit 104 controls the sound, and the LED lighting unit 103 controls the lighting of the eyes (LED).

The middleware layer 100 of such an output system
As a result, the content of the information (command) is interpreted by the output semantics converter 101, and the object such as the motion reproduction unit 105 controls various devices according to the content.

More specifically, the servo command value, output sound, and output light (LE of the eye) of each joint of the robot device 1 for each function
D) is generated and output.

The middleware layer 100 of such an output system
Accordingly, when encountering another robot device, the following predetermined processing is executed.

For example, when encountering another robot device,
Processing for expressing a predetermined action is executed. In particular,
The output-related middleware layer 100 controls devices related to the operation of “greeting”.

When another robot device is encountered, a process for exchanging information is executed. Specifically, when information exchange is performed by communication using infrared light, the infrared output unit 26a is controlled to output a signal, and when information exchange is performed by communication using a musical scale, The speaker 23 is controlled by the sound reproducing unit 104.

The commands input to the output middleware layer 100 are not limited to the above-mentioned commands. For example, "forward", "backward", "pleasure",
Commands such as “roaring”, “sleeping”, “exercising”, “surprising”, and “tracking” are also included in the action commands of the animals.

The output middleware layer 10
In the case of 0, the operation state of the device due to the action (for example, the operation end result of the device) is detected.

The middleware layer 100 of such an output system
By controlling each device based on the command, the robot apparatus 1 can express an action according to the command.

Also, by storing such correspondence information in the storage section as information that can be edited as a character string as described above, the operation of each section executed by a command according to the user's preference can be performed. Changes have also been made that can be made.

[0189] As described above, the middleware layer 80 and the virtual robot 110 are configured.

Next, a specific example of the software layer of the robot device 1 will be described. The software layer is configured, for example, as shown in FIG.

The software layers are roughly divided into an application layer 120, a middleware layer 80, a manager object layer 130, and a robot server object layer 14.
0 and a device driver layer 150.
Further, regarding the manager object 130, the object manager 131 and the service manager 1
32. The robot server object has a design robot 141, a power manager 142, a virtual robot 143, and a device driver manager 143. These function roughly as follows.

The application layer 120 is described by a program that causes the robot device to perform a predetermined action or the like. As described above, the application layer 120 is described by an action that greets another robot device. .

The middleware layer 80 functions to connect the application layer 120 to another layer. For example, as described above, the middleware layer 80 has a function of notifying the application layer 120 of the detection result of the infrared detection unit 26b as encountering another robot device.

In the manager object layer 130, the object manager 131 manages activation and destruction of the application layer 120 and the middleware layer 80. The service manager 132 manages each object based on connection information between objects described in the connection file. Functions as a system object that prompts a connection.

The device driver layer 150 is an object that is allowed to directly access the device driver set 151 (for example, a hardware layer such as the above-described CPC device 25). That is, it constitutes a control unit immediately above which controls devices in the hardware layer. The device driver layer 150 performs processing in response to a hardware interrupt.

Also, the robot server object layer 14
0, the designed robot 141 manages the configuration and the like of the robot apparatus 1, the power manager 142 manages the power supply, and the device driver manager 143 manages externally connected devices such as a personal computer and a PC card. Manage access to.

Then, the robot server object layer 1
At 40, the virtual robot 110 forms a part that performs information transfer between the middleware layer 80 and various device drivers under the communication protocol between the objects.

(2) Emotion Model and Instinct Model of Robot Apparatus Next, an emotion model, an instinct model, and the like for the robot apparatus 1 to independently determine an action will be described.

The emotion model and the instinct model change based on external factors or internal factors, whereby the robot device operates in accordance with the changed state of the emotion model and the instinct model. Determine action.

For example, the external factor and the internal factor indicate a specific recognition result, a specific action result, or the passage of time, which is information that changes the state (parameter) of the emotion model and the instinct model. Here, the specific recognition result is mainly a variation factor due to the input, and the specific behavior result is mainly a variation factor of the behavior such as the release of stress.

The emotion model and the instinct model are constructed in, for example, the application layer 120 in the software layer shown in FIG.

(2-1) Emotion Model of Robot Device As shown in FIG. 21, the emotion model 64 is constructed.

The first to third sensors 61, 62, 63
Detects a stimulus given from the outside of the user or the environment, converts the stimulus into an electric signal, and outputs the electric signal. The first to third sensors 61, 62, 63 are provided with the potentiometer 19.
a to 19c, a touch sensor 20, a microphone 21, and the like, a voice recognition sensor, an image color recognition sensor, and the like (not shown), which perform operations performed by the user to take care of the robot apparatus 1 and voices generated by the user. Convert to a signal and output. This electric signal is supplied to the first and second input evaluators 71,
72.

The first input evaluation section 71 evaluates the electric signals supplied from the first to third sensors 61, 62, 63 and detects a predetermined emotion. The predetermined emotion here is, for example, an emotion of “joy”. First input evaluation unit 7
1 indicates that the evaluation value of the detected emotion is stored in the first emotion module 7
Supply 3

A predetermined emotion is assigned to the first emotion module 73, and the emotion parameters are increased or decreased based on the emotion evaluation value supplied from the first input evaluator 71. For example, when “joy” is assigned as the emotion, the parameter of the emotion of “joy” increases or decreases based on the evaluation value of “joy” supplied from the first input evaluation unit 71. . First emotion module 73
Supplies the emotion parameter to the output selection unit 75.

Similarly, the second input evaluator 72 evaluates the electric signals supplied from the first to third sensors 61, 62, 63 and detects a predetermined emotion. The predetermined emotion here is, for example, an angry emotion. The second input evaluation section 72 supplies the detected emotion evaluation value to the second emotion module 74.

A predetermined emotion is assigned to the second emotion module 74, and the emotion parameter is increased or decreased based on the evaluation value of the emotion supplied from the second input evaluator 72. For example, when “anger” is assigned as the emotion, the parameter of the “anger” emotion increases or decreases based on the evaluation value of “anger” supplied from the second input evaluation unit 72. Second emotion module 74
Supplies the emotion parameter to the output selection unit 75.

[0208] In the present embodiment, "joy" and "anger" are given as examples of the predetermined emotion, but the present invention is not limited to this. That is, for example, “sadness”, “surprise”, “fear”, or “disgust” may be the predetermined emotion.

[0209] The output selection unit 75 determines whether the emotion parameter supplied from the first and second emotion modules 73 and 74 exceeds a predetermined threshold, and outputs the emotion parameter exceeding the threshold. . Also, the output selection unit 75
Are the two from the first and second emotion modules 73 and 74.
If any one of the emotion parameters exceeds the threshold value, the one with the larger emotion parameter is selected and output.

The action generation section 65 determines the next action based on the emotional state supplied from the output evaluation section 75. That is, the action generation unit 65 converts the emotion supplied from the output selection unit 75 into a command for instructing a specific action.
Then, the action generation unit 65 supplies information of a command instructing an action to the output unit 66 and feeds it back to the output evaluation unit 76. The output evaluation unit 76 evaluates information of the instruction command of the behavior supplied from the behavior generation unit 65, and controls to change the emotion parameter corresponding to the behavior. That is, the output evaluation unit 76 changes the state of the emotion according to the action to be executed next.

[0211] The output evaluator 76 is specifically designed to determine an action based on an action model, which will be specifically described later.

The output section 66 actually outputs according to the action command (determined action) from the action generation section 65. Specifically, the output unit 66 includes an actuator 22 that drives members corresponding to the legs 2a to 2d, the head 3, the body 4, and the like.
a to 22d, a speaker 23, and the like. For example, a predetermined actuator is driven to rotate the head 3 or output a cry.

With such an emotion model 64, the robot apparatus 1 performs an action caused by the emotion in accordance with the emotion parameter (emotion state) of the emotion model 64. Specifically, a process when “joy” is assigned to the first emotion module 73 and “anger” is assigned to the second emotion module 74 will be described. Here, the first sensor 6
1 will be described below as an image color recognition sensor, the second sensor 62 as a voice recognition sensor, and the third sensor 63 as a touch sensor 20.

The first input evaluator 71 receives an electric signal corresponding to "yellow" from the image color recognition sensor (first sensor) 61 and a predetermined frequency (for example, from the voice recognition sensor (second sensor) 62). When an electric signal corresponding to “レ”) and an electric signal corresponding to “stroking state” are supplied from the touch sensor (third sensor) 63, the respective signals are evaluated and “joy” is provided. Is determined. The first input evaluation unit 71 supplies the evaluation value of “joy” to the first emotion module 73. The emotion module 73 increases the parameter of the emotion of “joy” based on the evaluation value of “joy”. The emotion parameters are supplied to the output selection unit 75.

On the other hand, the second input evaluator 72 outputs an electric signal corresponding to “red” from the image color recognition sensor 61, an electric signal corresponding to a predetermined frequency (for example, “F”) from the voice recognition sensor 62, When an electric signal corresponding to the “hitting state” is supplied from the touch sensor 63, each signal is evaluated, and an evaluation value of “anger” is determined.
The second input evaluation unit 72 supplies the evaluation value of “anger” to the second emotion module 74. Second emotion module 7
No. 4 increases the parameter of the emotion of “anger” based on the evaluation value of “anger”. The emotion parameters are supplied to the output selection unit 75.

The output selection section 75 determines whether or not the emotion parameters supplied from the first and second emotion modules 73 and 74 exceed a predetermined threshold. here,
It is assumed that the emotion parameter of “anger” exceeds the threshold.

The action generating section 65 converts the emotion parameter of “anger” supplied from the output selecting section 75 into a command for instructing a specific action (barking), supplies the command to the output section 66, and outputs the command to the output evaluating section. 76 is fed back.

The output unit 66 outputs according to the action command (barking) from the action generation unit 65. That is, the corresponding sound is output from the speaker 23. Then, such an action result is fed back to the output evaluation unit 76, and the emotion parameter of “anger” of the second emotion module 74 is reduced, so that the robot apparatus 1 barks, and the “anger” is reduced. It is diverged and the state of "anger" feeling is suppressed.

(2-2) Instinct Model of Robot Device As shown in FIG. 22, an instinct model 164 is constructed.

The first to third sensors 6 in FIG.
As in the case of the emotion model 64, 1, 62 and 63 detect a stimulus given from the outside, such as the user and the environment, convert the stimulus into an electric signal, and output it. This electric signal is supplied to the first and second input evaluation units 171 and 172.

The first input evaluator 171 includes first to third
The electrical signals supplied from the sensors 61, 62, and 63 are evaluated to detect a predetermined instinct. Here, the predetermined instinct is, for example, an instinct of “loving desire”. The first input evaluator 171 supplies the detected instinct evaluation value to the first instinct module 173.

A predetermined instinct is allocated to the first instinct module 173, and the parameters of the instinct increase or decrease based on the instinct evaluation value supplied from the first input evaluator 171. For example, when “love lust” is assigned as the instinct, the parameter of the “love lust” instinct increases or decreases based on the evaluation value of “love lust” supplied from the first input evaluation unit 171. Will be. The first instinct module 173 outputs the instinct parameter to the output selection unit 175.
To supply.

Similarly, the second input evaluation section 172 also
To evaluate the electric signal supplied from the third sensor 61, 62, 63 to detect a predetermined instinct. Here, the predetermined instinct is, for example, an instinct of “appetite”. The second input evaluator 172 supplies the detected instinct evaluation value to the second instinct module 174. Specifically, when information on the remaining battery level is input from the first sensor 61, the second
The input evaluation unit 172 evaluates this as information on appetite and supplies the evaluation value to the second instinct module 174.

A predetermined instinct is assigned to the second instinct module 174, and the parameters of the instinct increase or decrease based on the instinct evaluation value supplied from the second input evaluator 172. For example, when “appetite” is assigned as the instinct, the parameter of the instinct of “appetite” increases or decreases based on the evaluation value of “appetite” supplied from the second input evaluation unit 172. . The second instinct module 174 supplies the instinct parameters to the output selection unit 175.

[0225] In the present embodiment, "loving desire" and "appetite" are given as examples of the predetermined instinct, but the present invention is not limited to this. In other words, for example, “greed for exercise”, “curiosity” and the like may be the predetermined instinct.

The output selection section 175 determines whether the instinct parameters supplied from the first and second instinct modules 173 and 174 exceed a predetermined threshold, and outputs the instinct parameters exceeding the threshold. . Further, the output selection unit 175 includes the first and second instinct modules 173, 17
If both of the instinct parameters from 4 exceed the threshold value, the one with the larger instinct parameter is selected and output.

The action generation unit 65 is provided with the emotion model 6 described above.
4, the next action is determined based on the state of the instinct supplied from the output evaluator 175. That is, the action generation unit 65 converts the instinct supplied from the output selection unit 175 into a command for instructing a specific action. Then, the action generation unit 65 supplies the information of the command instructing the action to the output unit 66 and feeds it back to the output evaluation unit 176. The output evaluation unit 176 evaluates information of the instruction command of the behavior supplied from the behavior generation unit 65,
Control is performed so as to change the instinct parameter corresponding to the action. That is, the output evaluation unit 176 changes the state of the instinct according to the action to be executed next.

The output section 66 performs output according to the action command from the action generation section 65 as described above.

With such an instinct model 164, the robot apparatus 1 behaves due to the instinct according to the instinct parameter (state of the instinct) of the instinct model 164. Specifically, the first instinct module 173 includes “
The process when “appetite” is assigned to the instinct module 174 will be described. Here, the first sensor 61 is the touch sensor 20 and the second sensor 62
Will be described as a battery sensor (battery manager).

[0230] The first input evaluator 171 outputs a "patched state" from the touch sensor 20 (first sensor 61).
Is supplied, the signal is evaluated, and the evaluation value of “loving desire” is determined. The first input evaluation unit 171 supplies the evaluation value of “loving desire” to the first instinct module 173. The instinct module 173 changes the parameters of the instinct based on the evaluation value of “loving desire”. The parameters of the instinct are supplied to the output selection unit 175.

On the other hand, when the second input evaluator 172 receives an electric signal corresponding to the “hungry state (state where the remaining battery power is low)” from the battery sensor (second sensor 62), The signal is evaluated, and an evaluation value of “appetite” is determined. The second input evaluator 172 supplies the evaluation value of “appetite” to the second instinct module 174. The second instinct module 174 increases the parameter of the “appetite” instinct based on the evaluation value of “appetite”. The parameter of the instinct of “appetite” is supplied to the output selection unit 75.

The output selector 75 determines whether or not the instinct parameters supplied from the first and second instinct modules 173 and 174 exceed a predetermined threshold. Here, it is assumed that the instinct parameter of “appetite” exceeds the threshold.

The action generation section 65 converts the instinct parameter of “appetite” supplied from the output selection section 175 into a command for instructing a specific action (for example, lying down).
6 and fed back to the output evaluator 176.

The output unit 66 performs an output according to the action command from the action generation unit 65. That is, the actuator 2
The legs 2a to 2d are driven by the 2a to 22d to make a transition to the prone position.

The above is the description of the emotion model and the instinct model of the robot apparatus 1. With such an emotion model and an instinct model, the robot apparatus changes the state of the emotion and the instinct based on an external factor or an internal factor including a recognition result or the like, and causes the behavior that expresses the emotion and the instinct. Become like Thereby, the user can appreciate the emotion and instinct changed by the external factor and the internal factor as the behavior of the robot device.

When the robot apparatus 1 encounters another robot apparatus, it sends such emotions and instinct states (parameters) to the other robot apparatus. This allows
The other robot device to which such an emotion or instinct has been sent starts a predetermined process corresponding to such information.
For example, the other robot device changes its own emotion or instinct state (parameter) according to the sent emotion or instinct state (parameter). By such a process, the other robot device expresses an emotion or instinct depending on the emotion or instinct state of the surrounding robot device.

(3) Behavior Model of Robot Apparatus The behavior determined by the state of the emotion model and the instinct model as described above is specifically based on the behavior model. Next, a behavior model in the behavior generation unit 65 will be described.

As shown in FIG. 23, the behavior model determines a behavior output for causing the robot apparatus 1 to operate based on a sensor input. Here, the sensor input is an input from a sensor for acquiring external information such as the potentiometers 19a to 19c in the CPC device 25. Specifically, the information is information from the input semantics converter 91 that has obtained recognition information from the CPC device 25.

The behavior model M ₃ has, as a subsystem, a plurality of transition state tables having different behavior purposes.
More specifically, as shown in FIG. 24, the subsystems include a system management F ₁ for the purpose of system management, a posture management F ₂ for the purpose of managing the posture, and avoiding obstacles. Obstacle avoidance F ₃ for action purpose, reflex F ₄ for reflex action, emotion expression F ₅ for emotion purpose, autonomous action general F ₆ for autonomous action in general, game game F ₇ for the execution and action objects, soccer F ₉ to instinct expressed F ₈ and the instinctive expression behavior object, the operation of the football and action objects, state transition, such as a recording F ₁₀ for storage of data and behavior object has a table, the behavior model M _3, and determines the action output with the transition from the current state on the basis of such a state transition table to the state of interest.

For example, priorities are assigned to the state transition tables, and the status transition tables are associated with each other so that actions having high importance are executed with priority. In this example, the record F ₁₀ , the soccer F ₉ , the instinct expression F ₈ , the game F ₇ , the general autonomous behavior F ₆ , the emotion expression F ₅ , the reflection F ₄ , the obstacle avoidance F ₃ , the posture management F _2, and the system management F _The priority is higher in the order of ₁ , so that the system management F ₁ , the attitude management F ₂ , the obstacle avoidance F ₃ , the reflection F ₄ , and the emotional expression F ₅ are given to the sensor input from the CPC device 25. , The general autonomous action F ₆ , the game F ₇ , the instinct expression F ₈ , the soccer F _9, and the record F ₁₀ in that order. Specifically, by assigning a priority in this way, when a plurality of outputs (actions) collide, an action with a higher priority is selected.

For example, for the state transition table, the principle of an algorithm called a stochastic finite state automaton that determines a state to transition stochastically based on the transition probability is used.

As shown in FIG. 25, the stochastic finite state automaton represents n (n is an integer) states in the nodes NODE ₀ to NODE ₀ .
When expressed as NODE _n , one node NODE ₀
To transition to other nodes NODE _{1 to} NODE _n from
Arc A connecting nodes NODE _{0 to} NODE _n
Transition probabilities P respectively set for RC _{1 to} ARC _n
This is an algorithm that determines stochastically based on _{1 to Pn} . Here, the arc is a device (robot device 1).
Are defined in advance, and the operation of the device when transitioning between the states is shown in order to transition the operation of the device between the defined states.

By applying such a stochastic finite state automaton algorithm to the state transition table, the current
In certain cases of the node NODE _0, the next node is determined based on the information for the state transition of the sensor input or the like of the present state and CPC device 25.

As described above, the action model is not limited to outputting the action based on the state transition table, and other means may be used. For example, a behavior model can be constructed using a neural network that refers to an information processing mechanism in a neural network.

It is needless to say that the subsystems constituting the behavior model are not limited to those described above.

When the behavior model M ₃ outputs behavior, as shown in FIG. 23, an emotion value (emotional parameter) which is an output signal of an emotion model and an instinct value (instinct parameter) which is an output signal of an instinct model are output. Is referring.

In emotion model M ₁ , the emotion parameter is
As described above, the value increases and decreases according to the input evaluation value based on the sensor input from the CPC device 25, and increases and decreases according to the output evaluation value obtained when an action is taken. In other words, the emotion model M ₁ is emotion parameters are updated by the input evaluation and output evaluation. The emotion model M ₁
Is caused by reactions to the input from the outside world, by internal conditions, or by changes over time. In addition to the above-mentioned anger and joy (joy), sadness, fear, surprise, disgust, etc. It is based on

Similarly, in the instinct model M ₂ , the instinct parameter increases and decreases according to an input evaluation value based on a sensor input from the CPC device 25 and increases and decreases according to an output evaluation value obtained when an action is taken. I do. That is, for even instinct model M _2, instinct parameters are updated by the input evaluation and output evaluation. Note that the instinct model M _2, mainly the internal state a factor, as it gradually changes, for example, appetite, movement desire, affection desire, a model based mainly on the desire, such as a curiosity.

The behavior model M ₃ refers to the emotion value (emotional parameter), which is the output signal of such an emotion model, and the instinct value (instinct parameter), which is the output signal of the instinct model, when determining the behavior. .

Further, as shown in FIG. 23, the behavior selection probability of the behavior model M ₃ is updated by the learning module M ₄ .

The learning module M ₄ is a module for reflecting past information in future actions and the like, and learns past actions, for example. For example, the learning module M ₄ based on the learning result, changing the behavior selection probability of subsystems (state transition table) constituting the behavioral model M _3. As a result, a subsystem in which past information is reflected is selected.

[0252] Specifically, the learning module M ₄ receives the instruction signal, changes the learning condition. The teaching signal is, for example, the input semantics converter 91 described above.
Information related to the teaching of learning among the recognition results obtained by
For example, it is information such as "hit" or "stroke".

When receiving such a teaching signal, the learning module M ₄ changes the action selection probability associated with the actions performed several times in the past. For example, learning module M
₄ is when the teaching signal is the information of "hit".
The action selection probabilities of some actions taken immediately before are lowered, and if the instruction signal is information on “stroke”, the action selection probabilities of some actions taken immediately before are reduced. Higher. By such an operation, for example, the robot apparatus does not express the action immediately before being struck, and frequently expresses the action immediately before being stroked.

The behavior model M ₃ as described above refers to the emotion value indicating the emotion parameter and the instinct value indicating the instinct parameter which change according to the input evaluation value and the output evaluation value, and furthermore, the learning module M ₄ sets the priority. The final behavior is determined by the subsystems that are changed.

[0255] In action selection module 180 selects a predetermined subsystem in behavioral model M ₃ (action), and outputs the selected action to the output unit 66 shown in FIG. 22. The output unit 66 controls the CPC device 25 so that the action selected by the action selection module 180 is performed, for example, operates a limb, a head, a tail, and the like to complete the action. Then, this operation is set as the output evaluation value described above and fed back to the emotion model M ₁ and the instinct model M ₂ described above.

It should be noted that the action selection module 180 and the CPC
The transfer of information to and from the device 25 is specifically performed via the output semantics converter 101 described above.

(4) Growth Model of Robot Apparatus The robot apparatus 1 further has a growth model for determining an action according to a growth stage. The growth model is a model in which the robot apparatus 1 changes its behavior or action as if a real animal “grows”.

According to the growth model, the robot device
An action corresponding to the growth level (growth degree) is developed. Specifically, the robot device 1 is adapted to perform an action according to four “growth stages” of “childhood”, “childhood”, “adolescence” and “adult” by the growth model. I have.

Specifically, the growth model includes “childhood”,
A behavior model as described above is provided for each of the growth stages of "childhood", "adolescence", and "adult", and the behavior model according to each growth stage is selected, so Action has been taken. For example, the difference between the behavior models depending on the “growth stage” is expressed by the difficulty or complexity of the behavior or the motion. Specifically, it is as follows.

The behavior model of “childhood” is, for example, “walking”, “standing”, “standing”, and “moving” so that the “walking state” becomes “toddling” by reducing the stride. For "simple" movements such as "sleeping" and "monotonous" actions such as repeating the same actions for "actions" It is designed to produce a "small and short" cry by lowering the amplification factor of the signal.

For such a transition of the growth stage, generation of a plurality of elements (hereinafter, referred to as growth elements) involved in predetermined “growth” such as predetermined actions and actions is performed. This is done by constantly monitoring and counting.

Specifically, using the cumulative frequency (count value) of this growth element as information indicating the degree of growth, the total value of the cumulative frequency of each growth element (hereinafter referred to as the total experience value of the growth element) is set in advance. When the threshold value is exceeded, the behavior model to be used is changed, that is, for example, “boy” whose growth level (the level of difficulty or complexity of behavior or movement) is higher than the behavior model of “childhood” Period, and change the growth stage.

Here, the growth factor is, for example, a command input using a sound commander (remote controller), a sensor input via the touch sensor 20 corresponding to “stroke” and “slap”, and a predetermined action. And a predetermined action or action such as sensor input via the touch sensor 20 that does not correspond to “stroke” or “slap”, or “playing with a ball”.

After the transition of the growth stage in this way, the rotation speed of each actuator 22 is increased for, for example, the “walking state” in accordance with the behavior model of the transitioned growth model “childhood”. Refer to the previous action for the "action" so that the "motion is a bit more advanced and complex" by increasing the number of motions, such as walking a little firmly. "A little purpose" by determining the next action
From each of the actuators 22 and the speakers 23 so that the sound becomes a little longer and longer by making the sound signal S6 longer and increasing the amplification factor. Control the audio output of

[0265] Similarly, thereafter, the behavior model is further increased each time the total experience value of the growth element exceeds each threshold value set in advance corresponding to "adolescence" or "adult life", respectively. The behavior model is sequentially changed to the "adolescent" or "adult" behavior model having a higher "stage", and the rotation speed of each actuator 22, the length of the audio signal given to the speaker 23, and the amplification factor are gradually increased according to the behavior model.

According to the growth model described above, the robot apparatus 1 has an increased “growth stage” (ie, from “childhood” to “childhood”, from “childhood” to “adolescence”, and from “adolescence”. "Change to" adult ".)" Walking state "changes from" toddling "to" steady walking "
In addition, "motion" changed from "simple" to "advanced / complex"
The action is expressed so that the "action" changes from "monotone" to "action with purpose" and the "sound" changes stepwise from "small and short" to "long and large".

The robot apparatus 1 exchanges information of its own growth stage defined by such a growth model of itself as growth level information with another robot apparatus as described above. I have. As a result, the robot apparatus 1 determines an action according to the growth level of the robot apparatus with which the robot apparatus 1 has encountered, as described above.

Note that the present invention is not limited to the above embodiment.

For example, a plurality of robot devices are designed to recognize the presence of another robot device and to perform an action for a plurality of devices such as a dance. Can also be changed. For example, the transition probability of actions such as running or banzai is increased. Specifically, the transition probability is determined in consideration of crowd psychology and the like.

Also, family information obtained by “crossing of robot devices” is sent together with the ID to the robot device, and the behavior model, transition probability, etc. are determined based on the information such as family, sibling, parent and child. Can also be changed.
Thus, in the case of siblings, the value of the joy of the emotion parameter may be increased, or the emotion parameter changing means may be adjusted so as not to get angry, so that the emotion value of the anger is not increased so much.

Also, the degree of influence can be changed depending on the distance by transmitting the distance information between the robot devices 1 together.

[0272] The directional sensor uses a directional infrared ray or the like to give a greeting, but is not limited to this. For example, a mark may be attached to a predetermined position of one of the robot devices, and a greeting may be given when the other robot device recognizes the mark with a camera serving as an imaging unit.

[0273]

The robot apparatus according to the present invention has a control means for starting a predetermined process when facing another robot apparatus in a predetermined direction, so that the robot apparatus can face another robot apparatus in a predetermined direction. At this time, a predetermined process such as an information exchange action can be realized.

Further, the control method of the robot apparatus according to the present invention is such that when the robot apparatus faces another robot apparatus in a predetermined direction,
By starting the predetermined process, when the robot device confronts another robot device in a predetermined direction, it is possible to express a predetermined process such as an information exchange action.

Further, the robot apparatus according to the present invention includes a control means for starting a predetermined process when the robot apparatus enters a predetermined area from another robot apparatus. When entering, a predetermined expression such as an information exchange action can be made.

[0276] Further, in the control method for a robot device according to the present invention, when a predetermined process is started when the robot device enters a predetermined area from another robot device, the robot device can control the robot device to perform a predetermined process. , A predetermined process such as an information exchange action can be started.

Further, the robot apparatus according to the present invention has a growth degree detecting means for detecting the growth degree of another robot apparatus around itself, and a growth degree of another robot apparatus detected by the growth degree detecting means. Control means for initiating a predetermined process in response to the other robot apparatus detected by the growth degree detecting means by detecting the degree of growth of another robot apparatus around itself. Predetermined processing can be started by the control means according to the degree of growth of.

Thus, the robot device can start a predetermined process according to the degree of growth of another robot device around itself.

[0279] Further, in the control method of the robot apparatus according to the present invention, the growth degree detecting step for detecting the growth degree of the other robot apparatus around itself, and the other robot apparatus detected in the growth degree detecting step. And a processing step of starting a predetermined process in accordance with the degree of growth of the robot device, whereby the robot device can start the predetermined process in accordance with the degree of growth of another robot device around itself. .

[0280] Further, the robot apparatus according to the present invention comprises: a receiving means for receiving map information transmitted from another robot apparatus; a position detecting means for detecting a current position; By providing control means for controlling the behavior based on the position information and the map information received by the receiving means, the receiving means receives the map information transmitted from another robot device and detects the position detecting means. The action can be controlled by the control means based on the current position information obtained by the above and the map information received by the receiving means.

Thus, the robot device can move to, for example, a predetermined target based on the map information obtained from another robot device.

[0282] Further, the control method of the robot apparatus according to the present invention includes a receiving step in which the robot apparatus receives map information transmitted from another robot apparatus, a current position information and a map information received in the receiving step. And moving the robot apparatus to a predetermined target based on the map information acquired from another robot apparatus. it can.

Further, the robot apparatus according to the present invention has a map information creating means for creating map information based on a surrounding situation obtained by moving, and a map information storage for storing the map information created by the map creating means. With this configuration, the map information can be created by the map information creation unit based on the surrounding situation obtained by moving, and the map information created by the map creation unit can be stored in the map information storage unit.

[0284] Thus, the robot device can generate map information and hold the map information to provide it to, for example, another robot device.

[0285] Further, the method for controlling a robot apparatus according to the present invention includes a map information creating step for creating map information based on a surrounding situation obtained by moving the robot apparatus, and a map information created in the map creating step. And a storage step of storing the map information in the map information storage means, so that the robot apparatus can generate the map information and hold the map information to provide it to, for example, another robot apparatus.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating an appearance of a robot device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a state where the robot apparatus is autonomously pushing.

FIG. 3 is a perspective view showing a robot device exchanging information by communication means using infrared rays.

FIG. 4 is a perspective view showing a robot device exchanging information by communication means using a musical scale.

FIG. 5 is a block diagram illustrating a robot apparatus including a communication unit using radio waves.

FIG. 6 is a block diagram showing a robot device exchanging information by communication means using radio waves.

FIG. 7 is a view used to explain a robot apparatus that greets when facing another robot apparatus.

FIG. 8 is a diagram used to describe a robot device that performs a predetermined process when entering a predetermined distance from another robot device.

FIG. 9 is a diagram used to describe a robot device that creates room map information.

FIG. 10 is a block diagram showing a configuration of a robot device according to another embodiment of the present invention.

FIG. 11 is a diagram used to explain a case of moving with matching of map information.

FIG. 12 is a diagram used to explain a case where a cooperative operation is performed by a plurality of robot devices.

FIG. 13 is a diagram illustrating a configuration of software and the like in a robot device that manages actions of a plurality of robot devices.

FIG. 14 is a diagram showing a specific example of a robot control script for controlling actions of a plurality of robot devices.

FIG. 15 is a diagram illustrating a “wave” operation by a cooperative action of a plurality of robot devices.

FIG. 16 is a block diagram illustrating a circuit configuration of the robot device.

FIG. 17 is a block diagram illustrating a signal processing unit of the robot device.

FIG. 18 is a block diagram showing a configuration of a robot device for performing communication using infrared rays.

FIG. 19 is a block diagram showing a middleware layer 80 and a virtual robot 110 configured in a software layer of the robot apparatus.

FIG. 20 is a block diagram illustrating a specific example of a software layer of the robot device.

FIG. 21 is a block diagram illustrating an emotion model of the robot device.

FIG. 22 is a block diagram showing an instinct model of the robot device.

FIG. 23 is a block diagram showing a behavior model of the robot device.

FIG. 24 is a block diagram showing a subsystem of the behavior model described above.

FIG. 25 is a diagram used to explain a stochastic automaton.

[Explanation of symbols]

1 robot device, 5 control means, 6 transmission means, 7
Receiving means, 8 storage means, 9 position detecting means, 10 map making means, 21 microphones, 23 speakers, 2
6 Communication means, 14 PC card I / F

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) 9A001 F term (Reference) 2C150 BA06 CA01 CA02 DA05 DA24 DA27 DA28 DF03 DF04 DF33 ED10 ED21 ED37 ED38 ED39 ED52 EF03 EF09 EF11 EF13 EF16 EF29 EF34 EF36 2F029 AB07 AC02 AC14 3F059 AA00 BA00 BB06 CA05 DA05 DB04 DC00 DC01 DC08 FC01 FC08 3F060 AA00 BA10 CA14 HA00 5H301 AA01 AA10 BB14 DD08 DD16 FF08 FF11 9A001 HH05 HH19 KK32

Claims (19)

[Claims] 1. An autonomous robot device for autonomously determining an action, comprising control means for starting a predetermined process when facing another robot device in a predetermined direction. Robotic device to do. 2. A signal output unit for outputting a signal having directivity in a forward direction, and a signal receiving unit for receiving a signal from another robot apparatus transmitted from the forward direction, wherein the control unit includes: The robot apparatus according to claim 1, wherein a predetermined process is started based on a signal received by the signal receiving unit. 3. The robot apparatus according to claim 2, wherein the signal output section outputs a signal by infrared rays, and the signal receiving section receives a signal by infrared rays. 4. The robot apparatus according to claim 1, wherein the control means executes a greeting action as the predetermined processing. 5. A method of controlling a robot apparatus for controlling an autonomous robot apparatus that independently determines an action, wherein a predetermined process is started when the robot apparatus faces another robot apparatus in a predetermined direction. A method for controlling a robot device, comprising: 6. An autonomous robot device for autonomously determining an action, comprising control means for starting a predetermined process when entering a predetermined area from another robot device. Robot device. 7. The robot apparatus according to claim 6, wherein said control means starts processing according to a distance from said another robot apparatus. 8. The robot apparatus according to claim 6, wherein said control means starts processing according to the number of said other robot apparatuses in said predetermined area. 9. A signal output unit for outputting a signal of an output level receivable in a predetermined area, and a signal receiving unit for receiving a signal from the other robot device, wherein the control unit is configured to control the signal 7. The robot apparatus according to claim 6, wherein a predetermined process is started based on a signal received by the receiving unit. 10. A control method of a robot apparatus for controlling an autonomous robot apparatus which independently determines an action, wherein a predetermined process is started when entering a predetermined area from another robot apparatus. A method for controlling a robot device, comprising: 11. An autonomous robot apparatus for independently determining an action, wherein the growth degree detecting means for detecting a growth degree of another robot apparatus around the self, and the growth degree detecting means detecting the growth degree. And a control means for starting a predetermined process in accordance with the degree of growth of the other robot device. 12. The method according to claim 1, wherein the control unit changes the degree of growth of the other robot apparatus according to the degree of growth of the other robot apparatus as the predetermined processing.
The robot device according to 1. 13. A comparison means for comparing the degree of growth of the other robot apparatus detected by the degree of growth detection means with the degree of growth of the robot apparatus, wherein the control means determines that the comparison result by the comparison means is If the degree of growth is lower, the action according to the other robot device is executed as the predetermined processing, and if the result of comparison by the comparing means indicates that the degree of self growth is higher, 2. The method according to claim 1, wherein the predetermined processing includes performing an action that does not follow the other robot device.
The robot device according to 1. 14. A control method for a robot apparatus for controlling an autonomous robot apparatus which independently determines an action, comprising: a growth degree detecting step for detecting a growth degree of another robot apparatus around the robot apparatus. And a processing step of starting a predetermined process in accordance with the degree of growth of the other robot apparatus detected in the growth degree detecting step. 15. An autonomous robot device for autonomously determining an action, a receiving device for receiving map information transmitted from another robot device, a position detecting device for detecting a current position, A robot device comprising: control means for controlling an action based on current position information obtained by detection of a position detection means and the map information received by the reception means. 16. A method for controlling a robot apparatus for controlling an autonomous robot apparatus for autonomously determining an action, comprising: a receiving step in which the robot apparatus receives map information transmitted from another robot apparatus. A control step of controlling an action of the robot apparatus based on information on a current position and the map information received in the receiving step. 17. An autonomous robot apparatus for autonomously determining an action, wherein the map information creating means creates map information based on a surrounding situation obtained by moving, and the map creating means creates the map information. A robot apparatus comprising: map information storage means for storing map information. 18. The robot device according to claim 17, further comprising a transmission unit that transmits the map information stored in the map information storage unit to another robot device. 19. A method for controlling a robot apparatus for controlling an autonomous robot apparatus for independently determining an action, the map generating map information based on a surrounding situation obtained by moving the robot apparatus. A method for controlling a robot apparatus, comprising: an information creation step; and a storage step of storing map information created in the map creation step in a map information storage unit.