JP2005078529A - Robot control apparatus and method, recording medium, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a robot to inherit learning information by a learning program when the learning program is updated.
A comparison unit 55a of an inheritance management unit 55 compares the size relationship between the version number of data (learning information) recorded in a built-in memory and the version number of data (learning information) in a removable memory. Thus, the data recorded in the internal memory is read and executed only when the version number of the data recorded in the internal memory is smaller than the version number of the data in the removable memory. The present invention can be applied to a robot control device.
[Selection] Figure 3

Description

  The present invention relates to a robot control apparatus and method, a recording medium, and a program, and more particularly, to a robot control apparatus and method, and a recording medium that allow a robot to inherit contents learned by a learning program when the learning program is updated. As well as programs.

  In recent years, for example, a robot (including a stuffed animal in the present specification) that recognizes an external state and performs a certain gesture based on the recognition result has been commercialized as a toy or the like. Yes.

  Some robots recognize external information and act based on a recognition result obtained by the recognition to perform predetermined gestures or learn predetermined information based on external information.

For example, there has been disclosed a robot that recognizes the called name as its own name when the user calls on the name (see, for example, Patent Document 1).
JP 2002-310987 A

  By the way, the program installed in the robot can be so-called upgraded by overwriting a program with a new function added as necessary.

  However, in the above configuration, overwriting and installing a new program having a new function also overwrites the learning information obtained by the previous learning, so all the previous learning information is lost. As a result, there has been a problem that the contents learned by the old version of the program must be learned again from the beginning by the new version of the program.

  The present invention has been made in view of such a situation, and in particular, makes it possible to upgrade a program used for learning while inheriting learning information acquired by the robot through learning.

  The robot control apparatus according to the present invention includes an execution unit that executes a program that causes a robot to execute a predetermined operation, and data that is accumulated when the execution unit executes the first program. Holding means for holding together, comparing means for comparing the version number of the first program and the version number of the second program held together with the data by the holding means, and holding based on the comparison result of the comparing means And updating means for updating the first program to the second program while maintaining the data held by the means.

  The second program can be stored in a storage medium together with a flag indicating whether or not to update data, and the updating means is based on the state of the flag and the comparison result of the comparing means. The first program can be updated to the second program while maintaining the data held by the holding means.

  The robot control method according to the present invention includes an execution step for executing a program for causing a robot to execute a predetermined operation, and data accumulated by the execution of the first program in the processing of the execution step. In the holding step for holding together with the version number, the comparing step for comparing the version number of the first program and the version number of the second program held together with the data in the holding step processing, and the processing in the comparing step An update step of updating the first program to the second program while maintaining the data held in the process of the holding step based on the comparison result.

  The recording medium program of the present invention includes an execution control step for controlling execution of a program for causing a robot to execute a predetermined operation, and data accumulated by controlling execution of the first program in the processing of the execution control step. And a holding control step for controlling the holding of the version number of the first program, a version number of the first program whose holding is controlled together with data in the processing of the holding control step, and a version number of the second program The first program is updated to the second program while maintaining the data whose holding is controlled in the holding control step processing based on the comparison result in the comparison step and the comparison step processing And an update step.

  The program of the present invention includes an execution control step for controlling execution of a program for causing a robot to execute a predetermined operation, data accumulated by controlling execution of the first program in the processing of the execution control step, The holding control step for controlling holding of the version number of one program, the version number of the first program whose holding is controlled together with the data in the processing of the holding control step, and the version number of the second program are compared. A updating step for updating the first program to the second program while maintaining the data whose holding is controlled in the processing of the holding control step based on the comparison result in the processing of the comparing step Is executed by a computer.

  In the robot control apparatus and method and the program according to the present invention, a program for causing the robot to execute a predetermined operation is executed, and the data accumulated by executing the first program is the version number of the first program. The version number of the first program held together with the data and the version number of the second program are compared, and based on the comparison result, the held data is maintained and the first program is maintained. The program is updated to the second program.

  The robot control apparatus of the present invention may be an independent apparatus or a block that performs robot control.

  According to the present invention, learning information learned by a robot by a learning program can be inherited when the learning program is updated.

  Embodiments of the present invention will be described below. The correspondence relationship between the invention described in this specification and the embodiments of the invention is exemplified as follows. This description is intended to confirm that the embodiments supporting the invention described in this specification are described in this specification. Therefore, although there is an embodiment which is described in the embodiment of the invention but is not described here as corresponding to the invention, it means that the embodiment is not It does not mean that it does not correspond to the invention. Conversely, even if an embodiment is described herein as corresponding to an invention, that means that the embodiment does not correspond to an invention other than the invention. Absent.

  Further, this description does not mean all the inventions described in this specification. In other words, this description is for the invention described in the present specification, which is not claimed in this application, that is, for the invention that will be applied for in the future or that will appear and be added by amendment. It does not deny existence.

  That is, in the robot control apparatus of the present invention, the first program is executed by the execution means (for example, the action determination mechanism unit 52 in FIG. 3) that executes a program that causes the robot to execute a predetermined operation. The holding means (for example, the model storage unit 51 in FIG. 3) that holds the data accumulated by the first program together with the version number of the first program, the version number of the first program held together with the data by the holding means, Based on the comparison result of the comparison means (for example, the comparison unit 55a in FIG. 3) for comparing the version number of the second program and the comparison means, the first data is maintained while maintaining the data held by the holding means. Update means for updating the program to the second program (for example, the inheritance management unit 55 in FIG. 3) is provided.

  The robot control method according to the present invention includes an execution step for executing a program for causing a robot to execute a predetermined operation, and data accumulated by the execution of the first program in the processing of the execution step. A holding step held together with the version number (for example, the process of step S36 in the flowchart of FIG. 8), the version number of the first program held together with the data in the holding step process, and the version number of the second program Based on the comparison result in the comparison step (for example, step S15 in the flowchart of FIG. 6) and the comparison step process, the data held in the holding step process is maintained, while maintaining the first An update step for updating the program to the second program (eg, the flowchart of FIG. 6) Characterized in that it comprises a process of step S14) of.

  Note that the invention relating to the recording medium and the program is the same as the robot control method, and is therefore omitted.

  FIG. 1 shows an external configuration example of an embodiment of a robot 1 to which the present invention is applied, and FIG. 2 shows an electrical configuration example thereof.

  In the present embodiment, the robot 1 has, for example, a shape of a four-legged animal such as a dog, and leg units 3A, 3B, 3C, 3D are provided on the front, rear, left, and right of the body unit 2, respectively. The head unit 4 and the tail unit 5 are connected to the front end and the rear end of the body unit 2 while being connected.

  The tail unit 5 is drawn out from a base portion 5B provided on the upper surface of the body unit 2 so as to be curved or swingable with two degrees of freedom.

  The body unit 2 stores a controller 10 that controls the entire robot 1, a battery 11 that is a power source of the robot 1, an internal sensor unit 14 that includes a battery sensor 12 and a heat sensor 13, and the like.

  The head unit 4 includes a microphone (microphone) 15 corresponding to “ear”, a CCD (Charge Coupled Device) camera 16 corresponding to “eye”, a touch sensor 17 corresponding to “tactile sense”, and a “mouth”. The speaker 18 is disposed at a predetermined position, and an LED (Light Emitting Diode) 19 is provided at the “eye” position. Further, a lower jaw portion 4A corresponding to the lower jaw of the mouth is movably attached to the head unit 4 with one degree of freedom, and the opening / closing operation of the mouth of the robot 1 is realized by moving the lower jaw portion 4A. It is like that.

The joint parts of the leg units 3A to 3D, the connecting parts of the leg units 3A to 3D and the body unit 2, the connecting parts of the head unit 4 and the torso unit 2, the head unit 4 and the lower jaw part 4A connecting portion, and the like in the connecting portion of the tail unit 5 and the body unit 2, as shown in FIG. 2, the actuators 3AA ₁ to 3AA _K, respectively, 3BA ₁ to 3BA _K, 3CA ₁ to 3CA _K, 3DA ₁ to 3DA _K , 4A _{1 to} 4A _L , 5A ₁ and 5A ₂ are arranged.

  The microphone 15 in the head unit 4 collects surrounding sounds (sounds) including utterances from the user and sends the obtained sound signals to the controller 10. The CCD camera 16 images the surrounding situation and sends the obtained image signal to the controller 10.

  The touch sensor 17 is provided, for example, in the upper part of the head unit 4 and detects the pressure received by a physical action such as “stroking” or “tapping” from the user, and the detection result is used as a pressure detection signal. Send to controller 10.

  The battery sensor 12 in the body unit 2 detects the remaining amount of the battery 11 and sends the detection result to the controller 10 as a battery remaining amount detection signal. The thermal sensor 13 detects the heat inside the robot 1 and sends the detection result to the controller 10 as a heat detection signal.

  The controller 10 includes a CPU (Central Processing Unit) 10A, a memory 10B, and the like. The CPU 10A executes various processes by executing a control program stored in the memory 10B. The memory 10 </ b> C includes a flash memory, and stores information (learning information) stored in a model storage unit 51 described later. Further, the CPU 10A loads a program or data stored in the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34 connected to the drive 30 to the memory 10B and executes it.

  That is, the controller 10 is based on an audio signal, an image signal, a pressure detection signal, a battery remaining amount detection signal, and a heat detection signal given from the microphone 15, the CCD camera 16, the touch sensor 17, the battery sensor 12, and the heat sensor 13. Then, it is determined whether there is a surrounding situation, a command from the user, an action from the user, or the like.

Furthermore, the controller 10, based on the determination results and the like, followed by action determines, based on the determination result, the actuators 3AA ₁ to 3AA _K, 3BA ₁ to 3BA _K, 3CA ₁ to 3CA _K, 3DA ₁ to 3DA _K , 4A _{1 to} 4A _L , 5A ₁ and 5A ₂ are driven as required. As a result, the head unit 4 is swung up and down and left and right, and the lower jaw 4A is opened and closed. Further, the tail unit 5 can be moved, or the leg units 3A to 3D are driven to cause the robot 1 to walk.

  Further, the controller 10 generates a synthesized sound and supplies it to the speaker 18 for output as necessary, or turns on, turns off, or blinks the LED 19 provided at the “eye” position of the robot 1.

  As described above, the robot 1 autonomously takes action based on surrounding conditions and the like.

  Next, FIG. 3 shows a functional configuration example of the controller 10 of FIG. The functional configuration shown in FIG. 3 is realized by the CPU 10A executing the control program stored in the memory 10B.

  The sensor input processing unit 50 performs a specific external state or a specific action from the user based on a voice signal, an image signal, a pressure detection signal, or the like given from the microphone 15, the CCD camera 16, the touch sensor 17, or the like. The state recognition information representing the recognition result is notified to the model storage unit 51 and the action determination mechanism unit 52.

  That is, the sensor input processing unit 50 includes a voice recognition unit 50A, and the voice recognition unit 50A performs voice recognition on the voice signal provided from the microphone 15. Then, the voice recognition unit 50A uses, as state recognition information, commands such as “walk”, “turn down”, and “follow the ball” as the voice recognition result, and the model storage unit 51 and the action determination mechanism unit 52 Notify

  The sensor input processing unit 50 includes an image recognition unit 50B, and the image recognition unit 50B performs image recognition processing using an image signal provided from the CCD camera 16. When the image recognition unit 50B detects, for example, “a red round object”, “a plane perpendicular to the ground and higher than a predetermined height” as a result of the processing, “there is a ball”, “ An image recognition result such as “There is a wall” is notified to the model storage unit 51 and the action determination mechanism unit 52 as state recognition information.

  Further, the sensor input processing unit 50 includes a pressure processing unit 50C, and the pressure processing unit 50C processes a pressure detection signal given from the touch sensor 17. When the pressure processing unit 50C detects a pressure that is equal to or greater than a predetermined threshold and for a short time as a result of the processing, the pressure processing unit 50C recognizes that the head has been touched, and uses the recognition result as state recognition information. The model storage unit 51 and the behavior determination mechanism unit 52 are notified.

  The model storage unit 51 stores and manages an emotion model, an instinct model, and a growth model that express the emotion, instinct, and growth state of the robot 1, respectively.

  Here, the emotion model represents, for example, emotional states (degrees) such as “joyfulness”, “sadness”, “anger”, “joyfulness”, etc., by values in a predetermined range, and sensor input processing units The value is changed based on the state recognition information from 50 and the passage of time.

  The instinct model represents, for example, states (degrees) of desires based on instinct such as “appetite”, “sleep desire”, “exercise desire”, etc. by values in a predetermined range, and state recognition information from the sensor input processing unit 50 The value is changed based on the passage of time or the like.

The growth model is composed of, for example, an automaton as shown in FIG. In this automaton, the growth state is expressed by nodes (states) NODE _{0 to} NODE _G , and the growth, that is, the transition of the growth state is performed from the node NODE _g corresponding to a certain growth state to the node NODE corresponding to the next growth state. is represented by the arc aRC _{g + 1} which represents the transition to _{g + 1 (g = 0,1,} ···, G-1).

Here, in the present embodiment, the growth state transitions from the left node to the rightward node in FIG. Therefore, in FIG. 4, for example, the leftmost node NODE ₀ represents the state of the “newborn” just born, the second node NODE ₁ from the left represents the “infant” state, and the third from the left Node NODE ₂ represents the state of “child”. In the same manner, the rightward node represents a more grown state, and the rightmost node NODE _G represents an “aged” state.

A condition (input) P _{tg + 1} for setting the transition is set in the arc ARC _{g + 1} representing the transition from a certain node NODE _g to the node NODE _{g + 1} on the right side. The transition (growth) of is determined based on this condition. That is, in the arc ARC _{g + 1} , the conditions P _{tg + 1} for the output from the CCD camera 16, the microphone 9 and the touch sensor 17 and the passage of time required for the transition are set. When the condition P _{tg + 1} is satisfied, a transition from the node NODE _g to the right node NODE _{g + 1} occurs, and the robot 1 grows.

  The model storage unit 51 sends the emotion, instinct, and growth states represented by the values of the emotion model, instinct model, and growth model as described above to the behavior determination mechanism unit 52 as state information.

  In addition to the state recognition information supplied from the sensor input processing unit 50, the model storage unit 51 receives the current or past behavior of the robot 1 from the behavior determination mechanism unit 52, specifically, for example, “long time Action information indicating the content of the action such as “walked” is supplied, and even if the same state recognition information is given, different state information (emotions) is provided according to the action of the robot 1 indicated by the action information. Emotions, instinct, and growth states represented by model, instinct model, and growth model values.

  The action determination mechanism unit 52 determines the next action based on the state recognition information from the sensor input processing unit 50, the state information from the model storage unit 51, the passage of time, and the like. It is sent to the posture transition mechanism unit 53 as action command information.

  That is, the behavior determination mechanism unit 52 manages a finite automaton that associates the behavior that the robot 1 can take with the state as a behavior model that regulates the behavior of the robot 1. The state in the finite automaton is transitioned based on the state recognition information from the sensor input processing unit 50, the value of the emotion model, instinct model, or growth model in the model storage unit 51, the time course, etc. The corresponding action is determined as the next action to be taken.

  Here, when the behavior determination mechanism unit 52 detects that there is a predetermined trigger (trigger), it changes the state. That is, the behavior determination mechanism unit 52 is supplied from the model storage unit 51 when, for example, the time during which the behavior corresponding to the current state is executed reaches a predetermined time or when specific state recognition information is received. The state is changed when the emotion, instinct, and growth state values indicated by the state information are below or above a predetermined threshold.

  Note that, as described above, the behavior determination mechanism unit 52 is based not only on the state recognition information from the sensor input processing unit 50 but also based on the emotion model, instinct model, growth model value, etc. in the model storage unit 51. Since the state in the behavior model is transitioned, even if the same state recognition information is input, the state transition destination differs depending on the value (state information) of the emotion model, instinct model, and growth model.

  As a result, for example, when the state information indicates “not angry” and “not hungry”, the behavior determination mechanism unit 52 determines that the state recognition information is “the palm in front of the eyes”. Is generated, action command information for taking the action of “hand” is generated in response to the palm being presented in front of the eyes. The data is sent to the unit 53.

  Further, for example, when the state information indicates “not angry” and “hungry”, the behavior determination mechanism unit 52 indicates that the state recognition information indicates that “the palm is in front of the eyes. When it indicates that it has been `` submitted, '' action command information is generated to perform an action such as `` flipping the palm '' in response to the palm being presented in front of the eyes. And sent to the posture transition mechanism unit 53.

  In addition, for example, when the state information indicates “angry”, the behavior determination mechanism unit 52 indicates that “the palm is presented in front of the eyes”. Sometimes, even if the status information indicates "I am hungry" or "I am not hungry", I want to behave like "Looking sideways" Action command information is generated and sent to the posture transition mechanism unit 53.

  Note that the behavior determination mechanism unit 52 uses, for example, walking as a behavior parameter corresponding to the transition destination state based on the emotion, instinct, and growth state indicated by the state information supplied from the model storage unit 51. , The magnitude and speed of the movement when moving the limb, and in this case, action command information including these parameters is sent to the posture transition mechanism unit 53.

  The posture transition mechanism unit 53 generates posture transition information for transitioning the posture of the robot 1 from the current posture to the next posture based on the behavior command information supplied from the behavior determination mechanism unit 52. The data is sent to the control mechanism unit 54.

Here, the posture that can be transited from the current posture is, for example, the physical shape of the robot 1 such as the shape and weight of the torso, the hand or the foot, the connection state of each part, and the direction and angle of the joint bending. And the mechanism of the actuators 3AA _{1 to} 5A ₁ and 5A ₂ .

  Further, as the next posture, there are a posture that can be directly changed from the current posture and a posture that cannot be directly changed. For example, the four-legged robot 1 can make a direct transition from a lying state by throwing out its limbs to a lying position, but cannot make a direct transition to a standing state. It requires a two-step movement that pulls you close and puts you down and then stands up. There are also postures that cannot be executed safely. For example, a four-legged robot 1 falls easily if it tries to banzai with both front legs raised from its four-legged posture.

  Therefore, the posture transition mechanism unit 53 registers in advance a posture that can be directly transitioned, and when the behavior command information supplied from the behavior determination mechanism unit 52 indicates a posture that can be transitioned directly, the behavior command The information is sent to the control mechanism unit 54 as it is as posture transition information. On the other hand, when the action command information indicates a posture that cannot be directly transitioned, the posture transition mechanism unit 53 displays posture transition information that makes a transition to a target posture after temporarily transitioning to another transitionable posture. It is generated and sent to the control mechanism unit 54. As a result, it is possible to avoid situations where the robot 1 tries to forcibly execute a posture incapable of transition or falls.

The control mechanism unit 54 generates a control signal for driving the actuators 3AA _{1 to} 5A ₁ and 5A ₂ according to the posture transition information from the posture transition mechanism unit 53, and generates the control signals from the actuators 3AA _{1 to} 5A ₁ and 5A. Send to ₂ . Accordingly, the actuators 3AA _{1 to} 5A ₁ and 5A ₂ are driven according to the control signal, and the robot 1 autonomously takes action.

  When the inheritance management unit 55 ends (when the power of the robot 1 is turned off), the information of the emotion model, instinct model, and growth model stored in the model storage unit 51 is magnetically connected to the drive 30. In addition to writing to the disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34, writing to the internal memory 10C.

  Further, the inheritance management unit 55 reads from the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, the semiconductor memory 34, or the built-in memory 10C when starting up (when the power of the robot 1 is turned on). The emotion model, the instinct model, and the growth model stored in are stored in the model storage unit 51.

  More specifically, the sensor input unit 50 to the control mechanism unit 54 of the controller 10 are programs stored in the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34 connected to the drive 30, It is read at startup and loaded into the memory 10B for execution. Therefore, the program for realizing the sensor input unit 50 to the control mechanism unit 54 can be updated.

  The degree of update of this program is managed by the version number, and each program is given a version number. The information of the emotion model, instinct model, and growth model stored in the model storage unit 51 is assigned the version number of the program used when the information is generated.

  Normally, when this program is activated, the program, emotion model, instinct model, and growth model are read out from the magnetic disk 31, optical disk 32, magneto-optical disk 33, or semiconductor memory 34. With such a configuration, by replacing the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34, the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor can be used in another robot 1. Information on the emotion model, instinct model, and growth model of the robot 1 to which the memory 34 is attached can be used as it is.

  However, for example, when this program is updated, that is, when a so-called version upgrade is performed, the program is generally distributed on the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34. Therefore, the program of the new version number is stored, but the emotion model, instinct model, and growth model information of the robot 1 accumulated so far is not recorded. Therefore, the comparison unit 55a of the inheritance management unit 55 includes the version number of the program recorded in the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34, and the emotion model and instinct stored in the built-in memory 10C. Compare the model and the version number of the growth model information. And the inheritance management unit 55 is based on the comparison result, the emotion model, instinct model, and growth model information recorded in the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34, or Any of the emotion model, instinct model, and growth model information stored in the built-in memory 10 </ b> C is developed in the model storage unit 51.

  As a result, it is possible to inherit the accumulated information of the emotion model, the instinct model, and the growth model by using the program with the old version number, by using the program with the new version number.

  Next, the startup process by the inheritance management unit 55 will be described with reference to the flowchart of FIG. Hereinafter, the magnetic disk 31, the optical disk 32, the magneto-optical disk 33, or the semiconductor memory 34 are collectively referred to as a removable memory 35. Further, since the information on the emotion model, the instinct model, and the growth model can be said to be information that is learned by the repetitive operation by the function shown in FIG. 3, the information is hereinafter collectively referred to as learning information.

  In step S11, the inheritance management unit 55 makes an inquiry to the drive 30 to determine whether or not the removable memory 35 in which a program for realizing the function shown in FIG. 3 is recorded is connected, and determines that it is connected. The process is repeated until For example, when the removable memory 35 is connected, the process proceeds to step S12.

  In step S <b> 12, the inheritance management unit 55 confirms the inheritance flag attached to the connected removable memory 35. Here, the inheritance flag 113 (FIG. 6) means that the learning information stored in the removable memory 35 in advance is developed in the model storage unit 51, or the learning information stored in the memory 10C is stored in the model storage unit 51. This is a flag for designating whether or not to expand, and is information recorded in the removable memory 35.

  When the inheritance flag 113 is on, it is specified that the learning information stored in the built-in memory 10C is expanded in the memory 10B (an area having the function of the model storage unit 51), and when the inheritance flag 113 is off, the removable memory It is specified that the learning information stored in the memory 35 is expanded in the memory 10B (an area having the function of the model storage unit 51). Basically, when only the program is recorded in the removable memory 35 and no learning information is recorded (when the removable memory 35 in which only the program is recorded is in the shipping state), the inheritance flag is turned on. In other cases, that is, after learning information has been recorded even once, the inheritance flag is set to OFF.

  In step S13, the inheritance management unit 55 determines whether or not the inheritance flag 113 recorded in the removable memory 35 attached to the drive 30 is on. For example, as shown in FIG. 6, when a removable memory 35 in which learning information is not recorded (unused removable memory 35) is attached to the robot 1 in which learning information is not recorded in the built-in memory 10C. Since the inheritance flag 113 is turned on, the process proceeds to step S15.

  Here, the removable memory 35 before being attached to the drive 30 shown in the upper and lower parts of the left part of FIG. 6, and the built-in memory 10C at that time will be described. The removable memory 35 in the upper left part of FIG. 6 shows the state of the removable memory 35 before being attached to the drive 30 of the robot 1. The removable memory 35 is provided with a data file list 111. The number of files that can be stored and the list are recorded. In this case, 1 to 4 are recorded, and up to four files are recorded. Can be recorded as learning information (in the drawing, it is described outside the removable memory 35, but the information is recorded in the removable memory 35). In the upper right of the removable memory 35 of FIG. 6, a version number 112 indicating the version of the program in which the stored data is written is shown. In this case, “1” is recorded, and the version number 1 It is shown that the learning information is recorded by the program. Further, in this case, since the removable memory 35 is in a state where only the program is recorded and no learning information is recorded, the inheritance flag 113 is turned on. Furthermore, although the number of data 121 to 124 corresponding to the data file list 111 is described, only the storage area is secured and the data itself is not stored. For the data indicated by the dotted line, only the area is reserved, indicating that no data is actually recorded, and the data indicated by the solid line indicates that the actual data is stored. It shows that. Although not shown, the removable memory 35 also records a program for realizing the functions shown in FIG.

  On the other hand, the built-in memory 10C is shown in the lower left, and in this case, the learning information is not recorded in the built-in memory 10C, and unlike the removable memory 35, no program is recorded. No information is recorded in the version number 132 or the file data list 131.

  Now, the description returns to the flowchart of FIG.

  In step S14, the inheritance management unit 55 determines whether data is recorded in the built-in memory 10C. In the case of FIG. 6, since no data is recorded in the built-in memory 10C, it is determined that no data is recorded in the built-in memory 10C, and the process proceeds to step S18.

  In step S18, the inheritance management unit 55 reads the data recorded in the removable memory 35, updates it by overwriting the area of the model storage unit 51 of the memory 10B, and ends the process. That is, in this case, no data is recorded in the built-in memory 10C (an area for writing data is not secured), so information in the removable memory 35 is written in the model storage unit 51 as it is. In the case of FIG. 6, the data 121 to 124 of the removable memory 35 are overwritten and recorded as data 151 to 154 in the model storage unit 51 in the center left part of the figure.

  Through the above processing, learning information is recorded in the data 151 to 154 in the area of the model storage unit 51 of the memory 10B by the function shown in FIG. For example, as shown in FIG. 6, when learning information is recorded in the data 151 and 153, the data 151 'and 153' are overwritten as shown by the memory 10B 'in the center right part of FIG. In the upper right part of the figure, the version number of the program that recorded the data is recorded. In this case, it is “1”, and the data 151 ′ and 153 ′ are recorded by the program of version number 1. It is shown that. Note that “update” in the figure indicates that there has been an update or overwriting.

  Here, the termination process will be described with reference to the flowchart of FIG.

  In step S31, the inheritance management unit 55 determines whether or not the end of the operation is instructed, and repeats the process until the end of the operation is instructed. For example, a power switch (not shown) is operated, If termination is instructed, the process proceeds to step S32.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 6, the data file list 111 is 1 to 4, whereas the data file list 131 is not recorded, so it is determined that they do not match, and the process proceeds to step S34. move on.

  In step S <b> 34, the inheritance management unit 55 updates the data file list in the built-in memory 10 </ b> C according to the removable memory 35. That is, in the case of FIG. 6, since the data file list 111 is 1 to 4, the data file list 131 is updated to 1 to 4 as the data file list 131 '. In other words, at this stage, the data 141 to 144 are secured as data areas although no actual data exists.

  In step S35, the inheritance management unit 55 stores the data 151 ′, 152, 153 ′, and 154 stored in the area of the memory 10B functioning as the model storage unit 51 in the built-in memory 10C and the removable memory 35, respectively. 121 ′, 122, 123 ′, 124 and data 141 ′, 142, 143 ′, 144 are recorded.

  In step S36, the inheritance management unit 55 accesses the removable memory 35, sets the inheritance flag 113 to OFF, and the process ends.

  By using the detachable memory 35 to be used for the first time by the above processing, the learning information is stored in the detachable memory 35 and the inheritance flag 113 is turned off by using the robot 1 for the first time. The same learning information is recorded in both the built-in memory 10C and the removable memory 35. In FIG. 6 and subsequent figures, those marked with a symbol without “′” indicate the state at the time of activation, and those marked with a symbol with “′” are those at the end. It shows the state.

  Here, it returns to the flowchart of FIG. In the following, description of processes similar to those described above will be omitted as appropriate. That is, for example, as shown in FIG. 8, when the data 141 to 144 are stored in the built-in memory 10C using the removable memory 35 that is used for the first time (the data 141 and 144 are recorded by the version 1 program). If the version numbers 112 and 132 are both the same 1, in step S14, it is determined that there is data in the built-in memory 10C. Advances to step S15.

  Further, in step S15, the comparison unit 55a of the inheritance management unit 55 determines whether or not the version number of the data recorded in the internal memory 10C is smaller than the version number of the data in the removable memory 35. In the case of FIG. 8, in step S15, the comparison unit 55a of the inheritance management unit 55 determines whether or not the version number of the data recorded in the built-in memory 10C is smaller than the version number of the data in the removable memory 35. To do. In the case of FIG. 8, the version number 112 of the data in the removable memory 35 and the version number of the data recorded in the internal memory 10C are both 1, and the version number of the data recorded in the internal memory 10C is Since it is not smaller than the version number of the data in the removable memory 35, the process proceeds to step S18.

  As a result, as shown in the center left part of FIG. 8, the data 121 to 124 of the removable memory 35 are expanded in the area of the model storage unit 51 of the memory 10B and recorded as data 151 to 154.

  Through the processing as described above, the memory 10B records learning information in the data 151 to 154 by the function shown in FIG. For example, as shown in FIG. 8, when learning information is recorded in the data 151, 153, 154, the data 151 ′, 153 ′, 154 ′ are stored as shown in the memory 10B ′ in the center right part of FIG. Overwritten. In this case, it is indicated that the data 151 ′, 153 ′, and 154 ′ are recorded by the program of version number 1.

  Here, the termination process will be described with reference to the flowchart of FIG. In the following, description of the processing similar to the main exit described above will be omitted as appropriate.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 8, since the data file lists 111 and 131 are both 1 to 4, it is determined that they match, so the process of step S34 is skipped, and the process proceeds to step S35.

  In step S35, the inheritance management unit 55 uses the data 151 ′, 152, 153 ′, 154 ′ stored in the area of the memory 10B functioning as the model storage unit 51 as the built-in memory 10C ′ and the removable memory 35 ′. Are recorded as data 121 ′, 122, 123 ′, 124 ′ and data 141 ′, 142, 143 ′, 144 ′, respectively.

  As described above, when the version number of the removable memory 35 matches the version number of the internal memory 10C, the data of the removable memory 35 is used, and when learning information is accumulated, the information is stored in the removable type. It is recorded in the memory 35 ′ and the internal memory 10C ′. As a result, the learning information stored in the internal memory 10C is not inherited. However, this is because the learning information stored in the internal memory 10C accumulated in the first user's removable memory 35 is driven by the second user's removable memory 35 in which the program of the same version number is recorded. Even when connected to the memory 30, if it is read into the memory 10 </ b> B and executed, the learning information may be stolen or destroyed by the second user's removable memory 35, and therefore stored in the memory 10 </ b> B. The learned information is not inherited.

  For example, as shown in FIG. 9, when the data file list 111 is 1 to 5 and the removable memory 35 used for the first time is used, the data 141 to 144 is stored in the built-in memory 10C ( When the version number 112 is 1 and the version number 132 is 2, the built-in memory 10C is stored in step S14. Since it is determined that there is data, the process proceeds to step S15.

  Further, in step S15, the comparison unit 55a of the inheritance management unit 55 determines whether or not the version number of the data recorded in the internal memory 10C is smaller than the version number of the data in the removable memory 35. In the case of FIG. 9, in step S15, the comparison unit 55a of the inheritance management unit 55 determines whether the version number of the data recorded in the internal memory 10C is smaller than the version number of the data in the removable memory 35. To do. In the case of FIG. 9, since the version number 112 of the data in the removable memory 35 is 2 and the version number of the data recorded in the internal memory 10C is 1, the version number of the data recorded in the internal memory 10C. Is smaller than the version number of the data in the removable memory 35, the process proceeds to step S16.

  In step S16, the inheritance management unit 55 sets the number of data corresponding to the data file list 111 in the memory 10B. That is, in this case, the inheritance management unit 55 sets the data 151 to 155. In this process, areas for data 151 to 155 are only reserved, and the data itself is not recorded.

  In step S17, the inheritance management unit 55 reads the learning information stored in the built-in memory 10C and develops it in the area of the model storage unit 51 of the memory 10B. In the case of FIG. 9, in the internal memory 10C, data 141 to 144 are recorded as learning information, and learning information based on the program of version number 1 is recorded as data 141 and 144. As a result, in step S17 By the processing, data 151 to 155 are set in the memory 10B, and the learning information is overwritten on the data 151 and 154.

  Through the processing described above, learning information is recorded in the data 151 to 155 by the function shown in FIG. 3 in the area of the model storage unit 51 of the memory 10B. For example, as shown in FIG. 9, when learning information is recorded in the data 151, 153, 153, the data 151 ′, 153 ′ to 155 ′ are stored as shown in the memory 10B ′ in the center right part of FIG. Overwritten. Further, in this case, it is shown that the data 151 ′, 153 ′ to 155 ′ are recorded by the version number 2 program recorded in the removable memory 35.

  Here, the termination process will be described with reference to the flowchart of FIG.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 9, since the data file list 111 is 1 to 5 and the data file list 131 is 1 to 4, it is determined that they do not match, so the process proceeds to step S34.

  In step S <b> 34, the inheritance management unit 55 updates the data file list in the built-in memory 10 </ b> C according to the removable memory 35. That is, in the case of FIG. 9, since the data file list 111 is 1 to 5, the data file list 131 is updated to 1 to 5 to be the data file list 131 '.

  In step S35, the inheritance management unit 55 uses the data 151 ′, 152, 153 ′ to 155 ′ stored in the area of the memory 10B functioning as the model storage unit 51 as the built-in memory 10C ′ and the removable memory 35 ′. Are recorded as data 121 ′, 122, 123 ′ to 125 ′ and data 141 ′, 142, 143 ′ to 145 ′, respectively.

  As described above, when the version number of the removable memory 35 is larger than the version number of the internal memory 10C, the learning information of the internal memory 10C is inherited, and further, when the learning information is accumulated, the information becomes the removable type. It is recorded in the memory 35 ′ and the internal memory 10C ′. As a result, the learning information stored in the internal memory 10C is inherited, and the version of the program that implements the controller 10 shown in FIG. 3 can be upgraded. Therefore, when the program is upgraded as before, the problem of losing the previous learning information is solved, and the user can further accumulate the learning information by the program having a new function. It becomes possible.

  Further, for example, as shown in FIG. 10, when the data 141 to 145 are stored in the built-in memory 10C using the removable memory 35 that is used for the first time (the data 141, 144, and 145 are version 2 programs). If the version number 112 is 1 and the version number 132 is 2, it is determined in step S14 that the internal memory 10C has data. Therefore, the process proceeds to step S15.

  Further, in step S15, the comparison unit 55a of the inheritance management unit 55 determines whether or not the version number of the data recorded in the internal memory 10C is smaller than the version number of the data in the removable memory 35. In the case of FIG. 10, in step S15, the comparison unit 55a of the inheritance management unit 55 determines whether the version number of the data recorded in the internal memory 10C is smaller than the version number of the data in the removable memory 35. To do. In the case of FIG. 10, since the version number 112 of the data in the removable memory 35 is 1 and the version number 132 of the data recorded in the built-in memory 10C is 2, it is determined that they are not the same. Proceed to step S18.

  As a result, as shown in the center left part of FIG. 10, the data 121 to 124 of the removable memory 35 are overwritten on the memory 10B and recorded as data 151 to 154.

  Through the processing as described above, the learning information is recorded in the data 151 to 154 in the area of the model storage unit 51 of the memory 10B by the function shown in FIG. For example, as shown in FIG. 10, when learning information is recorded in the data 151, 153, 153, the data 151 ′, 153 ′ are overwritten as shown by the memory 10B ′ in the center right part of FIG. . In this case, it is indicated that the data 151 ′ and 153 ′ are recorded by the program of version number 1.

  Here, the termination process will be described with reference to the flowchart of FIG.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 10, since the data file list 111 is 1 to 4 and the data file list 131 is 1 to 5, it is determined that they do not match, so the process proceeds to step S34.

  In step S <b> 34, the inheritance management unit 55 updates the data file list in the built-in memory 10 </ b> C according to the removable memory 35. That is, in the case of FIG. 10, since the data file list 111 is 1 to 4, the data file list 131 is updated to 1 to 4 to be the data file list 131 '.

  In step S35, the inheritance management unit 55 transfers the data 151 ′, 152, 153 ′, and 154 stored in the area of the memory 10B functioning as the model storage unit 51 to the built-in memory 10C ′ and the removable memory 35 ′. They are recorded as data 121 ′, 122, 123 ′, 124 and data 141 ′, 142, 143 ′, 144, respectively.

  As described above, when the version number of the removable memory 35 is smaller than the version number of the internal memory 10C, when the data in the removable memory 35 is used and learning information is accumulated, the information is stored in the removable memory. 35 'and the internal memory 10C'. As a result, the learning information stored in the internal memory 10C is not inherited, and further, the learning information so far is deleted. That is, in the case of FIG. 10, the version number of the program recorded in the removable memory 35 is 1, and the data recorded in the built-in memory 10C accumulated by the program having the version number 2 is version number 1. Since there is a possibility that the program cannot be used, the learning information stored in the internal memory 10C is deleted.

  Further, for example, as shown in FIG. 11, data 121 to 124 in which learning information is recorded is stored (the data 121 and 122 are shown to be data recorded by a version 1 program). When the data 141 to 144 are stored in the built-in memory 10C using the removable memory 35 (the data 141 and 144 are shown to be data recorded by the version 1 program). If both the version numbers 112 and 132 are 1, learning information is recorded in step S13, so that the inheritance flag 113 is turned off and it is determined that it is not turned on, and the process is as follows. The process proceeds to step S18.

  As a result, as shown in the center left part of FIG. 11, the data 121 to 124 of the removable memory 35 are expanded in the area of the model storage unit 51 of the memory 10B and recorded as data 151 to 154.

  Through the processing as described above, the learning information is recorded in the data 151 to 154 in the area of the model storage unit 51 of the memory 10B by the function shown in FIG. For example, as shown in FIG. 11, when learning information is recorded in the data 151, 152, the data 151 'to 153' are overwritten as shown by the memory 10B 'in the center right part of FIG. In this case, it is indicated that the data 151 ′ to 153 ′ are recorded by the program of version number 1.

  Here, the termination process will be described with reference to the flowchart of FIG.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 11, since the data file lists 111 and 131 are all 1 to 4 and are determined to match, the process of step S34 is skipped, and the process proceeds to step S35.

  In step S35, the inheritance management unit 55 stores the data 151 ′ to 153 ′ and 154 stored in the area of the memory 10B functioning as the model storage unit 51 into the internal memory 10C ′ and the data 121 ′ to 123 ′ and 124. Is recorded as data 141 ′ to 143 ′ in the removable memory 35 ′, and the data recorded in the data 144 is deleted, and only the area is secured.

  As described above, when the version number of the removable memory 35 in which learning information is stored in advance and the version number of the internal memory 10C are the same, as a result, the data of the removable memory 35 is used, and further, the learning information is stored. Once stored, the information is recorded in the removable memory 35 ′ and the internal memory 10C ′. As a result, the learning information stored in the internal memory 10C will not be inherited. However, even if the user takes out the removable memory 35 from the robot 1 and attaches it to other robots, it is the same as his own robot 1. Learning information can be reflected.

  Further, for example, as shown in FIG. 12, data 121 to 125 in which learning information is recorded is stored (the data 121, 122, and 125 are data recorded by a version 2 program). In the case where the data 141 to 144 are stored in the built-in memory 10C using the removable memory 35 (the data 141 and 144 are shown to be data recorded by the version 1 program). ), And the version number 112 is 2 and the version number 132 is 1, since learning information is recorded, the inheritance flag 113 is turned off, so that it is not turned on in step S13. And the process proceeds to step S18.

  As a result, as shown in the center left part of FIG. 12, the data 121 to 125 of the removable memory 35 are expanded in the area of the model storage unit 51 of the memory 10B and recorded as data 151 to 155.

  Through the processing as described above, the learning information is recorded in the data 151 to 155 in the area of the model storage unit 51 of the memory 10B by the function shown in FIG. For example, as shown in FIG. 12, when learning information is recorded in the data 151 to 153 and 155, the data 151 ′ to 153 ′ and 155 ′ are stored as shown in the memory 10B ′ in the center right part of FIG. Overwritten. Further, in this case, it is indicated that the data 151 'to 153' and 155 'are recorded by the version number 2 program.

  Here, the termination process will be described with reference to the flowchart of FIG.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 12, since the data file list 111 is 1 to 5 and the data file list 131 is 1 to 4, it is determined that they do not match, so the processing proceeds to step S34.

  In step S <b> 34, the inheritance management unit 55 updates the data file list in the built-in memory 10 </ b> C according to the removable memory 35. That is, in the case of FIG. 12, since the data file list 111 is 1 to 5, the data file list 131 is updated to 1 to 5 to be the data file list 131 '.

  In step S35, the inheritance management unit 55 stores the data 151 ′ to 153 ′, 154, and 155 ′ stored in the area of the memory 10B functioning as the model storage unit 51 into the internal memory 10C ′ and the data 121 ′ to 123. Recorded as ', 124, 125' and recorded in the removable memory 35 'as data 141' to 143 ', 144, 145', and the data recorded in the data 144 is deleted, and only the area is secured To.

  As described above, when the version number of the removable memory 35 in which the learning information is stored in advance is larger than the version number of the internal memory 10C, as a result, the data of the removable memory 35 is used, and the learning information is further updated. Once stored, the information is recorded in the removable memory 35 ′ and the internal memory 10C ′. As a result, the learning information stored in the internal memory 10C will not be inherited. However, even if the user takes out the removable memory 35 from the robot 1 and attaches it to other robots, it is the same as his own robot 1. Learning information can be reflected.

  Further, for example, as shown in FIG. 13, data 121 to 124 in which learning information is recorded is stored (the data 121 and 122 are shown to be data recorded by the version 1 program). In the case where data 141 to 145 are stored in the built-in memory 10C using the removable memory 35 (the data 141, 144, 145 are shown to be data recorded by the version 2 program) ) And the version number 112 is 1 and the version number 132 is 2. Since the learning information is recorded, the inheritance flag 113 is turned off, so that it is not turned on in step S13. And the process proceeds to step S18.

  As a result, as shown in the center left part of FIG. 13, the data 121 to 124 of the removable memory 35 are expanded in the area of the model storage unit 51 of the memory 10B and recorded as data 151 to 154.

  Through the processing as described above, the learning information is recorded in the data 151 to 154 in the area of the model storage unit 51 of the memory 10B by the function shown in FIG. For example, as shown in FIG. 13, when learning information is recorded in the data 151 to 153, the data 151 'to 153' are overwritten as shown by the memory 10B 'in the center right part of FIG. In this case, it is indicated that the data 151 ′ to 153 ′ are recorded by the program of version number 1.

  Here, the termination process will be described with reference to the flowchart of FIG.

  In step S32, the inheritance management unit 55 compares the data file list 111 in the removable memory 35 with the data file list 131 in the built-in memory 10C, and determines in step S33 whether the comparison results match. In the case of FIG. 13, since the data file list 111 is 1 to 4 and the data file list 131 is 1 to 5, it is determined that they do not match, so the processing proceeds to step S34.

  In step S <b> 34, the inheritance management unit 55 updates the data file list in the built-in memory 10 </ b> C according to the removable memory 35. That is, in the case of FIG. 13, since the data file list 111 is 1 to 4, the data file list 131 is updated to 1 to 4 to be the data file list 131 '.

  In step S35, the inheritance management unit 55 stores the data 151 ′ to 153 ′ and 154 stored in the area of the memory 10B functioning as the model storage unit 51 into the internal memory 10C ′ and the data 121 ′ to 123 ′ and 124. And data 141 ′ to 143 ′, 144 are recorded in the removable memory 35 ′, and the data recorded in the data 144 is deleted, and only the area is secured.

  As described above, when the version number of the removable memory 35 in which the learning information is stored in advance is larger than the version number of the internal memory 10C, as a result, the data of the removable memory 35 is used, and the learning information is further updated. Once stored, the information is recorded in the removable memory 35 ′ and the internal memory 10C ′. As a result, the learning information stored in the internal memory 10C will not be inherited. However, even if the user takes out the removable memory 35 from the robot 1 and attaches it to other robots, it is the same as his own robot 1. Learning information can be reflected.

  Regarding the above example, in the example of FIG. 6, when the removable memory 35 is used for the first time, and the learning information is not recorded in the built-in memory 10C of the robot 1 (Case 1), in the example of FIG. Is the case where the removable memory 35 is used for the first time, and the version number of the program storing the data recorded in the removable memory 35 and the data recorded in the built-in memory 10C of the robot 1 are stored. When the version numbers of the programs are the same (Case 2), in the example of FIG. 9, the detachable memory 35 is used for the first time, and the version of the program storing the data recorded in the detachable memory 35 is used. The number is larger than the version number of the program storing the data recorded in the built-in memory 10C of the robot 1. 10 (Case 3), in the example of FIG. 10, the detachable memory 35 is used for the first time, and the version number of the program storing the data recorded in the detachable memory 35 is stored in the robot 1. When the data recorded in the memory 10C is smaller than the version number of the program (Case 4), in the example of FIG. 11, the removable memory 35 in which learning information is recorded in advance is used. When the version number of the program storing the data recorded in the removable memory 35 is the same as the version number of the program storing the data recorded in the built-in memory 10C of the robot 1 (Case 5), FIG. In this example, the removable memory 35 in which learning information is recorded in advance is used, and the removable memory 35 is used. When the version number of the program storing the data recorded in the mold memory 35 is larger than the version number of the program storing the data recorded in the built-in memory 10C of the robot 1 (Case 6), in the example of FIG. Is a case where the removable memory 35 in which learning information is recorded in advance is used, and the version number of the program storing the data recorded in the removable memory 35 is recorded in the built-in memory 10C of the robot 1. If the data is smaller than the version number of the program storing the stored data (Case 7), it is classified.

  FIG. 14 summarizes the above-described conditions. The version number (ver0 to 4) of the program storing the data recorded in the internal memory 10C of the robot 1 is written in the top row of each column, and the removable memory is shown in the leftmost column of each row. 35 is the version number (ver 1 to 5) of the program recorded in FIG. 35, and “1st” in the second column from the left indicates that it is the first removable memory 35 to be used, and “Used” It shows that the memory is a removable memory 35 in which learning information is recorded. As shown in FIG. 14, in the state indicated by Case 3, that is, the removable memory 35 in which a version of the program higher than the version of the program that records the learning information recorded in the built-in memory 10 </ b> C is recorded. Learning information is inherited only when it is first used. As a result, it is possible to retain learning information up to that time while upgrading the program as in the past, and even if the version is upgraded, there is no need to learn from the beginning.

  In the above, for example, as shown in FIG. 15A, the learning information 171a accumulated in the program 171 recorded in the removable memory 35 for realizing the function shown in FIG. As shown in FIG. 15B, when the program 171 ′ having a higher version number than the program 171 is executed, the learning information 172 stored in the internal memory 10C is read and executed as shown in FIG. 15B. Although the case has been described, for example, it can be used for the configuration shown in FIG. 15C.

  That is, in FIG. 15C, it is possible to correspond to a case where the robot 181 executes a completely different program 181 from the program 171 and a case where the learning information 172 stored by the program 171 can be read and used. it can.

  However, in this case, the inheritance management unit 55 realized when the program 181 is executed has no guarantee that the learning information accumulated by the program 181 can be used by the program 171 or 171 ′. The learning information is not recorded in 10C, but only in the removable memory 35.

  The flowchart in FIG. 16 shows end processing corresponding to the program 181. Note that the processing of steps S51, S53 to S57 in the flowchart in FIG. 16 is the same as steps S31 to S36 in the flowchart in FIG.

  In step S52, the inheritance management unit 55 checks whether it is permitted to write the learning information acquired by the processing of the program 181 to the internal memory 10C, that is, if it is permitted, that is, the processing in the program 181. If the learning information acquired by the above can be recorded in the built-in memory 10C, the process proceeds to step S53. That is, it is determined that a normal program can be written in the built-in memory 10C.

  In step S52, when it is determined that the learning information acquired by the processing of the program 181 is not permitted to be written in the internal memory 10C, the learning information is recorded in the removable memory 35 in step S58.

  With the configuration as described above, it is possible to use learning information learned so far even for various programs.

  The series of processes described above can be executed by hardware, but can also be executed by software. When a series of processes is executed by software, a program constituting the software may execute various functions by installing a computer incorporated in dedicated hardware or various programs. For example, it is installed from a recording medium in a general-purpose personal computer or the like.

  As shown in FIG. 2, this recording medium is provided to the user in a state of being pre-installed in the robot 1, in order to provide the program to the user separately from the computer as well as the built-in memory 10C on which the program is recorded. , A magnetic disk 31 (including a flexible disk) on which a program is recorded, an optical disk 32 (including a compact disk-read only memory (CD-ROM), a DVD (digital versatile disk)), and a magneto-optical disk 33. (Including MD (Mini-Disc) (registered trademark)) or a package medium including a semiconductor memory 34 (including Memory Stick).

  In this specification, the step of describing the program recorded on the recording medium is not limited to the processing performed in time series in the order described, but of course, it is not necessarily performed in time series. Or the process performed separately is included.

It is a perspective view which shows the example of an external appearance structure of one Embodiment of the robot to which this invention is applied. It is a block diagram which shows the internal structural example of the robot of FIG. It is a functional block diagram explaining the function of the controller of FIG. It is a figure explaining an automaton. It is a flowchart explaining the starting process by the robot of FIG. It is a figure explaining the starting process and completion | finish process at the time of connecting to the robot for the first time the removable memory used for the first time. It is a flowchart explaining the completion | finish process by the robot of FIG. It is a figure explaining the starting process and completion | finish process when the version number of a removable memory and the version number of a built-in memory are the same when connecting the removable memory used for the first time to a robot. It is a figure explaining the starting process and completion | finish process when the version number of a removable memory is larger than the version number of a built-in memory, when connecting the removable memory used for the first time to a robot. It is a figure explaining the starting process and completion | finish process when the version number of a removable memory is smaller than the version number of a built-in memory, when connecting the removable memory used for the first time to a robot. It is a figure explaining the starting process and completion | finish process when the version number of a removable memory and the version number of a built-in memory are the same when connecting the removable memory with which data was recorded to the robot. It is a figure explaining the starting process and completion | finish process when the version number of a removable memory is larger than the version number of a built-in memory, when connecting the removable memory with which data was recorded to the robot. It is a figure explaining the starting process and completion | finish process when the version number of a removable memory is smaller than the version number of a built-in memory, when connecting the removable memory with which data was recorded to a robot. It is a figure explaining the starting process and completion | finish process by the combination of the version number of a removable memory and the version number of an internal memory. It is a figure explaining the example of another robot. It is a flowchart explaining the completion | finish process by the robot of FIG.

Explanation of symbols

  3, 3A to 3D leg unit, 4 head unit, 5 tail unit, 10 controller, 10A CPU, 10B memory, 10C internal memory, 12 battery sensor, 13 thermal sensor, 14 internal sensor, 15 microphone, 16 CCD camera , 17 touch sensor, 18 speaker, 19 LED, 51 model storage unit, 52 action determination mechanism unit, 53 posture transition mechanism unit, 54 control mechanism unit, 55 inheritance management unit, 55A comparison unit

Claims (5)

Execution means for executing a program for causing the robot to execute a predetermined operation;
Holding means for holding data accumulated when the first program is executed by the execution means together with a version number of the first program;
Comparing means for comparing the version number of the first program held with the data by the holding means with the version number of the second program;
The robot control comprising: an updating unit that updates the first program to the second program while maintaining the data held by the holding unit based on the comparison result of the comparing unit apparatus. The second program is stored in a storage medium together with a flag indicating whether to update the data,
The updating means updates the first program to the second program while maintaining the data held by the holding means based on the state of the flag and the comparison result of the comparing means. The robot control apparatus according to claim 1. An execution step of executing a program for causing the robot to perform a predetermined operation;
A holding step of holding data accumulated by the execution of the first program in the process of the execution step together with a version number of the first program;
A comparison step of comparing the version number of the first program held together with the data in the processing of the holding step with the version number of the second program;
An update step of updating the first program to the second program while maintaining the data held in the holding step processing based on the comparison result in the comparison step processing. A featured robot control method. An execution control step for controlling execution of a program for causing the robot to execute a predetermined operation;
A holding control step for controlling holding of data accumulated by controlling execution of the first program in the processing of the execution control step, and a version number of the first program;
A comparison step of comparing the version number of the first program whose holding is controlled together with the data in the processing of the holding control step, and the version number of the second program;
An update step for updating the first program to the second program while maintaining the data whose holding is controlled in the processing of the holding control step based on the comparison result in the processing of the comparing step. A recording medium on which a computer-readable program is recorded. An execution control step for controlling execution of a program for causing the robot to execute a predetermined operation;
A holding control step for controlling holding of data accumulated by controlling execution of the first program in the processing of the execution control step, and a version number of the first program;
A comparison step of comparing the version number of the first program whose holding is controlled together with the data in the processing of the holding control step, and the version number of the second program;
An update step for updating the first program to the second program while maintaining the data whose holding is controlled in the processing of the holding control step based on the comparison result in the processing of the comparing step. A program characterized by being executed by a computer.

Images