JP2006314065A - Playback apparatus, playback method, and playback program - Google Patents

Abstract

【Task】
To be able to significantly improve entertainment.
[Solution]
The music reproduction robot device 1 rotates the left wheel 3 and the right wheel 4 in the direction D1 around the horizontal rotation axis L1 in accordance with the tone of the music that is being reproduced. As a result, the music reproducing robot device 1 can stably travel on the floor or the like so as to synchronize with the music tone output from the speakers 14 and 19.
[Selection] Figure 1

Description

  The present invention relates to a playback apparatus, a playback method, and a playback program, and is suitable for application to a music playback apparatus that plays back music based on music data, for example.

Conventionally, as this type of music playback device, there is a device that executes music playback processing for outputting music from a speaker based on music data (see, for example, Patent Document 1).
JP 2002-169645 A

  By the way, the music reproducing apparatus having such a configuration has a problem that it has poor entertainment properties because it only outputs music from a speaker based on music data.

  The present invention has been made in consideration of the above points, and an object of the present invention is to propose a playback device, a playback method, and a playback program that can significantly improve entertainment properties.

  In order to solve such a problem, in the present invention, first and second wheel portions that are rotatable in the direction around the axis of rotation, a reproduction unit that reproduces content data, and reproduction contents of content data reproduced by the reproduction unit Accordingly, a wheel drive unit that rotationally drives the first and second wheel units is provided.

  Thereby, it can drive | work stably on a floor etc. so that it may synchronize with the reproduction content of the content data currently reproduced | regenerated.

  According to the present invention, the first and second wheel portions that are rotatable in the direction around the axis of rotation, the reproduction unit that reproduces the content data, and the reproduction content of the content data that is reproduced by the reproduction unit, By providing the wheel drive unit that rotationally drives the first and second wheel units, the vehicle can stably travel on the floor or the like so as to synchronize with the reproduction content of the content data being reproduced. As a result, entertainment can be improved dramatically.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

(1) Configuration of Music Reproducing Robot Device In FIG. 1, reference numeral 1 denotes a music reproducing robot device as a whole, and this music reproducing robot device 1 has an ellipsoidal housing 2 that is, for example, an ellipsoid.

  In addition, as shown in FIG. 2, the music reproducing robot device 1 is horizontally rotated to connect the farthest vertices P2 and P3 of the surface of the ellipsoidal casing 2 from the center point P1 of the ellipsoidal casing 2 with a straight line. By projecting so as to make a round along the outer periphery of the ellipsoidal housing 2 on the left vertical surface S1 and the right vertical surface S2 orthogonal to the axis L1 at a position equidistant from the center point P1. The left wheel 3 and the right wheel 4 are formed in an annular shape and the same shape, and the left wheel 3 and the right wheel 4 are configured to be rotatable in a direction D1 around the axis of the horizontal rotation axis L1.

  Furthermore, the ellipsoidal housing 2 is provided on the left side of the central housing 5 between the left wheel 3 and the right wheel 4, and as it approaches the left end from the central housing 5 side. A left housing 6 configured to sag toward the horizontal rotation axis L1 side, and provided on the right side of the central housing 5 and configured to sag toward the horizontal rotation axis L1 as it approaches the right end from the central housing 5 side. And a right housing 7.

  The central housing 5 has a weight 8 for suppressing the rotation in the direction D1 around the axis of the horizontal rotation axis L1 on the inner lower side. Further, as shown in FIG. 3, a contact detection sensor unit 9 for detecting that a finger, a hand, or the like is in contact is provided on the surface of the central housing 5. Incidentally, in the case of the present embodiment, the contact detection sensor unit 9 is configured to detect, for example, a finger or a hand that is in contact with a fingertip-sized region on the surface of the central housing 5.

  On the other hand, the left housing 6 has a left rotating body 10 configured to be rotatable in the direction D1 around the horizontal rotation axis L1 with respect to the central housing 5 and a hinge 11 on the left side of the left rotating body 10. The left opening / closing body 12 is configured to be openable / closable outwardly by being provided. The left rotator 10 is provided with a light emitting portion 13 that emits light on the surface thereof. The left opening / closing body 12 has a speaker 14 therein, and when the left opening / closing body 12 is opened outwardly on the left side via the hinge 11, the speaker 14 is exposed to the outside as shown in FIG. Yes.

  Similarly, the right casing 7 has a right rotating body 15 configured to be rotatable in the direction D1 around the horizontal rotation axis L1 with respect to the central casing 5, and a hinge portion 16 on the right side of the right rotating body 15. And a right opening / closing body 17 configured to be openable / closable outwardly on the right side. The right-hand rotating body 15 is provided with a light emitting unit 18 that emits light on the surface thereof. Further, the right opening / closing body 17 has a speaker 19 therein, and when the right opening / closing body 17 is opened to the right outside through the hinge portion 16, the speaker 19 is exposed to the outside as shown in FIG. Yes.

  Next, each circuit provided in the ellipsoidal casing 2 will be described with reference to FIG. The control unit 20 that comprehensively controls the music reproducing robot device 1 as a whole detects, by the acceleration sensor unit 21, that the ellipsoidal casing 2 has been lifted from the floor or the like by the user's hand.

  Then, after detecting that the ellipsoidal casing 2 is lifted from the floor or the like by the user's hand, the control unit 20 detects the user's contact with the contact detection sensor unit 9 provided on the surface of the central casing 5. When it is detected that a finger, a hand, or the like is in contact, and the acceleration sensor unit 21 detects that the ellipsoidal casing 2 is swung at an acceleration of a predetermined value or more, the swing of the ellipsoidal casing 2 is detected. A swing direction determination process is performed to determine the direction in which the casing is being moved.

  For example, in this swing direction determination process, when the control unit 20 recognizes that the direction of swinging the casing is a direction for instructing to play music by the acceleration sensor unit 21, a playback control command for instructing to play back music. Is determined to have been entered.

  In response to this, the control unit 20 reads out music data stored in the storage unit 26 and outputs music based on the read-out music data via the music processing unit 22 and the speakers 14 and 19 in order. In this way, the music playback robot device 1 can execute music playback processing for outputting music from the speakers 14 and 19 based on the music data stored in the storage unit 26.

  Subsequently, when the control unit 20 detects that the ellipsoidal housing 2 is placed on the floor with both the left wheel 3 and the right wheel 4 in contact with the floor by the acceleration sensor unit 21, the control unit 20 performs a music reproduction process. A reproduction tune operation process for operating each part of the ellipsoidal housing 2 in accordance with the tune (tempo, pitch, etc.) of the music being played is executed.

  That is, in this reproduction tune operation process, the control unit 20 controls the wheel drive unit 23 according to the tune of the music that is being reproduced, so that the left wheel 3 and the right wheel 4 configured in an annular shape are the same. It is rotationally driven in a direction D1 around the axis of the horizontal rotation axis L1. As a result, the music reproducing robot device 1 can stably travel on the floor or the like so as to synchronize with the music tone output from the speakers 14 and 19.

  Further, in this reproduction tune operation process, the control unit 20 drives the left rotator 10 and the right rotator 15 to rotate by controlling the rotator drive unit 24 according to the tune of the music that is being reproduced. The left side housing 6 configured to be recessed toward the horizontal rotation axis L1 as it approaches the left end from the central housing 5 side, and the right side configured to be retracted toward the horizontal rotation axis L1 as it approaches the right end from the central housing 5 side. The housing 7 is rotated in the direction D1 around the axis of the horizontal rotation axis L1. As a result, the music reproducing robot device 1 does not interfere with the traveling by the left wheel 3 and the right wheel 4 and synchronizes with the music tone output from the speakers 14 and 19 so as to synchronize with the left casing 6 and the right wheel. The housing 7 can be rotated.

  Further, in this reproduction tune operation process, the control unit 20 controls the open / close body drive unit 25 according to the tune of the music being subjected to the music reproduction process, so that the left open / close body 12 and the right open / close body 17 are left outward and right. Open and close outward. Thereby, the music reproducing robot apparatus 1 can open and close the left opening / closing body 12 and the right opening / closing body 17 so as to be synchronized with the tone of the music output from the speakers 14, 19.

  Furthermore, in this reproduction music tone operation processing, the control unit 20 emits light via the light emitting units 13 and 18 in accordance with the music tone of the music being reproduced. As a result, the music reproducing robot device 1 can emit light so as to be synchronized with the music tone output from the speakers 14 and 19.

  Thus, the music reproducing robot apparatus 1 can operate to dance on the floor or the like according to the music tone output from the speakers 14 and 19, and as a result, the entertainment performance can be greatly improved. .

  Incidentally, in the case of the present embodiment, the music reproducing robot device 1 rotates on the spot or draws a curve according to the tone of the music output from the speakers 14 and 19, for example, as shown in FIG. You can travel or go straight ahead and back.

  For example, when the control unit 20 of the music playback robot apparatus 1 rotates on the spot, the left wheel 3 and the right wheel 4 are rotated in the opposite directions with the same force by controlling the wheel driving unit 23. When the controller 20 travels in a curve, the control unit 20 controls the wheel drive unit 23 to rotate and drive the left wheel 3 and the right wheel 4 in the same direction with different forces. Further, when the control unit 20 goes straight in the front-rear direction, the left driving wheel 3 and the right driving wheel 4 are driven to rotate in the same direction with the same force by controlling the wheel driving unit 23.

(2) Playback Music Tone Operation Processing Here, the music data transfer system 31 shown in FIG. 6 is a recording medium on which music data or music data acquired from the music data providing server 32 that provides music data via the network 33 is recorded. Music data acquired from (for example, a CD (Compact Disc)) 34 is transferred to the music playback robot apparatus 1 via, for example, a USB (Universal Serial Bus) cable 35 and a cradle 36 on which the music playback robot apparatus 1 is placed. The transfer device 37 is configured as described above. Incidentally, in the case of the present embodiment, the transfer device 37 corresponds to a personal computer or the like.

  The transfer device 37 executes, for example, a frequency analysis process on the music data before supplying the music data to the music playback robot device 1. Thus, for example, as shown in FIG. 7, the transfer device 37 can obtain music analysis result information INF1 in which the frequency analysis result of the music data is shown along the reproduction time axis AX1.

  Next, based on the obtained music analysis result information INF1, the transfer device 37 rotates the left wheel 3 and the right wheel 4, the rotation speed, the rotation direction of the left rotating body 10 and the right rotating body 15, and the rotation thereof. The drive unit operation information INF2 is generated along the reproduction time axis AX1 such as the rotation angle, the opening / closing angle for opening and closing the left opening / closing member 12 and the right opening / closing member 17, the timing for causing the light emitting units 13 and 18 to emit light. Thus, the transfer device 37 can obtain drive unit operation information INF2 for operating the drive units (3, 4, 12, 17, 10, 15) in accordance with the music tone of the music data. Incidentally, the drive unit operation information INF2 shown in FIG. 7 indicates an opening / closing angle for opening and closing the left opening / closing body 12 and the right opening / closing body 17 along the music data reproduction time axis AX1.

  For example, when a transfer operation is performed by the user, the transfer device 37 transfers the music data and the drive unit operation information INF2 corresponding to the music data to the music playback robot device 1 via the USB cable 35 and the cradle 36. Forward. At this time, the control unit 20 of the music playback robot device 1 stores the music data from the transfer device 37 and the drive unit operation information INF2 in the storage unit 26.

  As a result, when the music data stored in the storage unit 26 is subjected to music reproduction processing, the control unit 20 of the music reproduction robot device 1 performs the driving unit (3) based on the driving unit operation information INF2 corresponding to the music data. 4, 12, 17, 10, 15) can be executed.

  Next, a reproduction tune operation control processing procedure RT1 for performing control such as starting or stopping the reproduction tune operation processing will be described using the flowchart shown in FIG.

  For example, the control unit 20 of the music playback robot device 1 proceeds to step SP1 in response to the input of a playback control command for commanding to play music, and whether or not the ellipsoidal casing 2 has been lifted from the floor. The lifting determination process for determining whether or not.

  Next, for example, as a result of the lifting determination process, the control unit 20 recognizes that the ellipsoidal housing 2 is placed on the floor so that both the left wheel 3 and the right wheel 4 are in contact with the floor. Then, a negative result is obtained in step SP2, and the process proceeds to step SP3.

  In step SP3, the control unit 20 recognizes the time t1 on the reproduction time axis AX1 at which the music reproduction process is started according to the input reproduction control command as the reproduction tune operation start time t1 at which the reproduction tune operation process is started. Thereafter, the process proceeds to step SP4 to execute a slow drive process.

  In this slow driving process, the control unit 20 refers to the drive unit operation information INF2 at the recognized reproduction tune operation start time t1, and the left and right opening and closing bodies 12 and right opening and closing units indicated in the referred drive unit operation information INF2 are referred to. The opening / closing angle 17 is compared with the opening / closing angle at the current position where the left opening / closing body 12 and the right opening / closing body 17 are currently positioned. As a result, when the difference between the opening / closing angle indicated in the driving unit operation information INF2 and the opening / closing angle at the current position is smaller than a predetermined value, the control unit 20 is indicated in the driving unit operation information INF2 from the current position. It is determined that an excessive load is not applied around the left opening / closing body 12 and the right opening / closing body 17 even if the opening / closing angle suddenly opens and closes. In this slow driving process, the control unit 20 refers to the drive unit operation information INF2 at the reproduction tune operation start time t1, and the left side rotator 10 and right side rotator 15 shown in the referred drive unit operation information INF2 are referred to. And the rotation angle of the current position where the left side rotator 10 and right side rotator 15 are currently positioned are compared. As a result, when the difference between the rotation angle indicated in the drive unit operation information INF2 and the rotation angle at the current position is smaller than a predetermined value, the control unit 20 can rotate the left side rotary body 10 and the right side rotary body even if it suddenly rotates. It is judged that an excessive load is not applied around 15. Thus, in this case, the control unit 20 proceeds to step SP5 as it is.

  In step SP5, the control unit 20 starts to execute the reproduction tune operation process at the recognized reproduction tune operation start time t1. As a result, the music playback robot device 1 can execute a playback tune operation process in which the drive units (3, 4, 12, 17, 10, 15) are operated in synchronization with the tune of the music being processed. .

  Next, the control unit 20 moves to step SP6, and again executes lifting determination processing for determining whether or not the ellipsoidal casing 2 has been lifted from the floor. Here, as a result of the lifting determination process, the control unit 20 recognizes that the ellipsoidal housing 2 is placed on the floor so that both the left wheel 3 and the right wheel 4 are in contact with the floor. In step SP7, a negative result is obtained, and the process returns to step SP5 described above, and the reproduction tune operation process is continued. On the other hand, as a result of the lifting determination process, when it is recognized that the ellipsoidal casing 2 is lifted from the floor, the control unit 20 obtains a positive result in step SP7 and proceeds to step SP8.

  In step SP8, the control unit 20 ends the reproduction tune operation process while performing the music reproduction process. Thus, the drive unit (3, 4, 12, 17, 10, 15) provided in the ellipsoidal casing 2 stops its operation, so that the user who has the ellipsoidal casing 2 can operate this ellipsoidal body. A situation such as dropping the casing 2 can be avoided.

  Next, the control unit 20 moves to step SP9 and again executes lifting determination processing for determining whether or not the ellipsoidal casing 2 is lifted from the floor. Here, when the control unit 20 recognizes that the ellipsoidal casing 2 is lifted from the floor as a result of the lifting determination process, the control unit 20 obtains a positive result in step SP10 and returns to the above-described step SP9 to perform the reproduction tune operation. The music playback process is continued while the process is stopped. On the other hand, as a result of the lifting determination process, the controller 20 recognizes that the ellipsoidal housing 2 is placed on the floor with both the left wheel 3 and the right wheel 4 in contact with the floor. In step SP10, a negative result is obtained, and the process proceeds to step SP11.

  In step SP11, the control unit 20 recognizes the time t3 when a predetermined time (for example, 10 seconds) has elapsed from the current time t2 on the reproduction time axis AX1 as the reproduction tune operation start time t3 at which the reproduction tune operation process is resumed. Returning to step SP4 described above, the slow drive process is executed.

  In this slow drive processing, the control unit 20 refers to the drive unit operation information INF2 at the recognized reproduction tune operation start time t3, and the left and right opening and closing bodies 12 and right opening and closing units indicated in the referred drive unit operation information INF2 are referred to. 17 is compared with the open / close angle of the current position where the left open / close body 12 and the right open / close body 17 are currently located. As a result, the open / close angle indicated in the drive unit operation information INF2 and the open / close angle of the current position are compared. When the opening / closing angle is suddenly opened from the current position to the opening / closing angle indicated in the drive unit operation information INF2, it is determined that too much load is applied around the left opening / closing body 12 and the right opening / closing body 17. Then, the left opening / closing body 12 and the right opening / closing body 17 are opened / closed at a moderate speed so as to approach the opening / closing angle indicated in the drive unit operation information INF2. In this slow driving process, the control unit 20 refers to the drive unit operation information INF2 at the reproduction tune operation start time t3, and the left side rotator 10 and the right side rotator 15 shown in the referred drive unit operation information INF2. Are compared with the rotation angle of the current position where the left side rotator 10 and the right side rotator 15 are currently located. As a result, the rotation angle indicated in the drive unit operation information INF2 and the rotation angle of the current position If the difference is equal to or greater than a predetermined value, it is determined that if the rotation is suddenly performed, too much load is applied around the left side rotator 10 and the right side rotator 15, and the speed is gradually increased to approach the rotation angle indicated in the drive unit operation information INF2. The left rotating body 10 and the right rotating body 15 are rotated at a high speed. Thus, according to the music reproducing robot apparatus 1, the reproduction tune operation process can be resumed without applying an excessive load around the drive unit (12, 17, 10, 15).

  Then, after executing the slow drive process, the control unit 20 proceeds to step SP5 and resumes executing the reproduction tune operation process at the recognized reproduction tune operation start time t3.

  As described above, according to the music reproducing robot device 1, when the ellipsoidal casing 2 is placed again on the floor so that both the left wheel 3 and the right wheel 4 are in contact with the floor, the reproduction continues. The operation of the drive unit (3, 4, 12, 17, 10, 15) can be resumed so as to synchronize with the music tone.

  Next, with reference to the flowchart shown in FIG. 9, the lifting determination processing procedure RT2 executed in steps SP1, SP6, SP9, etc. of the reproduction tune operation control processing procedure RT1 will be specifically described.

  In step SP21, the control unit 20 of the music playback robot device 1 detects the gravitational acceleration value in the horizontal rotation axis direction D2 of the ellipsoidal casing 2 by the acceleration sensor unit 21, and the detected gravitational acceleration value falls within a predetermined range. Judge whether there is. Incidentally, in the case of the present embodiment, this gravitational acceleration corresponds to the acceleration generated by the gravity applied to the ellipsoidal casing 2.

  If a negative result is obtained in step SP21, this means that the posture of the ellipsoidal casing 2 is tilted because the gravitational acceleration in the horizontal rotation axis direction D2 has changed. After the control unit 20 determines that both the left wheel 3 and the right wheel 4 are not in contact with the floor, the process proceeds to step SP22 and recognizes that the ellipsoidal housing 2 is lifted. Then, the process proceeds to an end step SP23, and the lifting determination processing procedure RT2 is ended.

  On the other hand, if an affirmative result is obtained in step SP21, this means that the posture of the ellipsoidal casing 2 is not tilted, and at this time, the control unit 20 proceeds to step SP24.

  In step SP24, the control unit 20 detects the acceleration value including the other direction by the acceleration sensor unit 21, and determines whether or not the detected acceleration value is within a predetermined range. Incidentally, in the case of the present embodiment, this acceleration corresponds to the acceleration generated by the external force applied to the ellipsoidal casing 2.

  If a negative result is obtained in this step SP24, this means that the ellipsoidal casing 2 has moved to some extent in some direction. For example, it is determined that the movement of the user is a camera shake of the user, the process proceeds to step SP22, and it is recognized that the ellipsoidal casing 2 is lifted.

  On the other hand, if an affirmative result is obtained in step SP24, it means that the ellipsoidal casing 2 has not moved substantially in any direction, and the control unit 20 moves to step SP25.

  In step SP25, the control unit 20 determines whether or not a predetermined time (for example, several seconds) has passed while the detected acceleration value remains within the predetermined range.

  If a negative result is obtained in this step SP25, this means that the ellipsoidal housing 2 has moved to some extent during this predetermined time. At this time, the control unit 20 For example, the movement of the ellipsoidal casing 2 is determined to be a camera shake of the user, for example, and the process proceeds to step SP22, and it is recognized that the ellipsoidal casing 2 is lifted. Exit.

  On the other hand, if an affirmative result is obtained in step SP25, this means that the ellipsoidal housing 2 has not moved in any direction during the predetermined time. After moving to SP26 and recognizing that the ellipsoidal casing 2 is placed on a flat part such as the floor so that both the left wheel 3 and the right wheel 4 are brought into contact with each other, the process moves to the end step SP23 and is lifted. The determination processing procedure RT2 is terminated.

  Next, the slow driving process procedure RT3 executed in step SP4 of the reproduction tune motion control process procedure RT1 will be specifically described with reference to the flowchart shown in FIG.

  In step SP31, the control unit 20 of the music playback robot device 1 refers to the drive unit operation information INF2 at the playback tune operation start time for starting the playback tune operation process, and the left side indicated in the referenced drive unit operation information INF2 The opening / closing angle of the opening / closing body 12 and the right opening / closing body 17 is compared with the opening / closing angle at the current position where the left opening / closing body 12 and the right opening / closing body 17 are currently located.

  As a result, if the difference between the opening / closing angle indicated in the drive unit operation information INF2 and the opening / closing angle at the current position is greater than or equal to a predetermined value, the control unit 20 obtains an affirmative result in step SP32 and proceeds to step SP33. The left opening / closing body 12 and the right opening / closing body 17 are driven to open and close at a moderate speed so as to approach the opening / closing angle indicated in the drive unit operation information INF2 for 2 seconds, and the process proceeds to the next step SP34. On the other hand, when the difference between the opening / closing angle indicated in the drive unit operation information INF2 and the opening / closing angle at the current position is smaller than the predetermined value, the control unit 20 obtains a negative result in step SP32 and executes step SP33. Without proceeding to step SP34.

  In step SP34, the control unit 20 refers to the drive unit operation information INF2 at the reproduction tune operation start time, and determines the rotation angles of the left side rotary body 10 and the right side rotary body 15 indicated in the referred drive unit operation information INF2. The rotation angle of the current position where the left side rotator 10 and the right side rotator 15 are currently positioned is compared.

  As a result, if the difference between the rotation angle indicated in the drive unit operation information INF2 and the rotation angle at the current position is greater than or equal to a predetermined value, the control unit 20 obtains an affirmative result in step SP35 and proceeds to step SP36. The left-side rotating body 10 and the right-side rotating body 15 are driven to rotate at a moderate speed so as to approach the rotation angle indicated in the drive unit operation information INF2 for 2 seconds, and the process proceeds to the end step SP37 to perform a slow driving process procedure. End RT3. On the other hand, if the difference between the rotation angle indicated in the drive unit operation information INF2 and the rotation angle at the current position is smaller than the predetermined value, the control unit 20 obtains a negative result in step SP35 and executes step SP36. Without moving to the end step SP37, the slow drive processing procedure RT3 is ended.

(3) Operation and Effect In the above configuration, the music playback robot device 1 rotates the left wheel 3 and the right wheel 4 in the direction D1 around the horizontal rotation axis L1 in accordance with the tone of the music being played. To drive. As a result, the music reproducing robot device 1 can stably travel on the floor or the like so as to synchronize with the music tone output from the speakers 14 and 19.

  Thus, the music reproducing robot apparatus 1 can operate on the floor or the like according to the music tone output from the speakers 14 and 19, and as a result, the entertainment performance can be greatly improved.

  According to the above configuration, the left wheel 3 and the right wheel 4 are rotationally driven in the direction D1 about the axis of the horizontal rotation axis L1 according to the tone of the music that is being played back. It is possible to stably travel on the floor or the like so as to synchronize with the music tone, and as a result, it is possible to significantly improve entertainment.

  In addition, the music playback robot device 1 includes a left housing 6 configured so as to be recessed toward the horizontal rotation axis L1 as it approaches the left end from the central housing 5 side according to the music tone of the music being played back, The right housing 7 configured to be recessed toward the horizontal rotation axis L1 as it approaches the right end from the central housing 5 side is rotated in the direction D1 around the axis of the horizontal rotation axis L1. As a result, the music reproducing robot device 1 does not interfere with the traveling by the left wheel 3 and the right wheel 4 and synchronizes with the music tone output from the speakers 14 and 19 so as to synchronize with the left casing 6 and the right wheel. The housing 7 can be rotated, and thus entertainment can be further improved.

  Further, the music reproducing robot device 1 opens and closes the left opening / closing body 12 and the right opening / closing body 17 to the left outer side and the right outer side in accordance with the tone of the music being processed. Thereby, the music reproducing robot apparatus 1 can open and close the left opening / closing body 12 and the right opening / closing body 17 so as to synchronize with the tone of the music output from the speakers 14, 19, thereby further improving entertainment properties. Can do.

  Further, the music reproducing robot device 1 executes lifting determination processing for determining whether or not the ellipsoidal casing 2 is lifted from the floor, and the ellipsoidal casing 2 is lifted from the floor. When this is recognized, the operation of the drive unit (3, 4, 12, 17, 10, 15) is stopped while the music playback process is being executed. Thereby, it can be avoided that a user having the ellipsoidal casing 2 drops the ellipsoidal casing 2.

  Further, the music reproducing robot apparatus 1 is configured to reproduce the reproduction music tone when the drive amount (opening / closing angle amount, rotation angle amount, etc.) of the drive unit (12, 17, 10, 15) at the start of the reproduction music tone operation exceeds a predetermined value. Before the operation process is executed, the drive units (12, 17, 10, 15) are gently driven in the drive direction to be driven. As a result, according to the music reproducing robot device 1, it is possible to avoid an excessive load around the drive units (12, 17, 10, 15), and thus the mechanical force applied to the music reproducing robot device 1 can be avoided. The load can be reduced.

  Incidentally, in the case of the present embodiment, the transfer device 37 shown in FIG. 6 changes the drive unit operation information INF2 shown in FIG. 7 according to the user's operation, and the changed drive unit operation information INF2 and the music corresponding thereto. Data can be transferred to the music reproducing robot apparatus 1. As a result, the music reproducing robot device 1 can execute the reproduction tune operation process according to the drive unit operation information INF2 changed by the user. As a result, the user can cause the music reproducing robot device 1 to perform a desired operation, and thus the entertainment performance can be greatly improved.

  In the slow drive processing of the present embodiment, the control unit 20 refers to the drive unit operation information INF2 at the reproduction tune operation start time, and the left wheel 3 and the right wheel indicated in the referred drive unit operation information INF2 are referred to. If the rotational speed of 4 is too high to exceed a predetermined value, it is determined that if the motor is suddenly rotated, too much load is applied around the left wheel 3 and the right wheel 4 so as to approach the rotational speed indicated in the drive unit operation information INF2. The left wheel 3 and the right wheel 4 are rotated in advance in a direction to be driven at a moderate speed.

(4) Other Embodiments In the above-described embodiment, as the first and second wheel portions 41 and 42 that are rotatable in the direction around the axis of the rotation axis L41, as shown in FIG. The same and annular left wheel 3 and right wheel 4 that can rotate in the axis rotation direction D1 of the horizontal rotation axis L1 are applied. However, the present invention is not limited to this, and wheels of different sizes are applied. You may make it do.

  In the above-described embodiment, a case has been described in which a music processing unit 22 that reproduces music based on music data is applied as the reproduction unit 51 that reproduces content data, as shown in FIG. However, the present invention is not limited to this, and for example, a video processing unit that plays back video based on video data may be applied.

  In the above-described embodiment, as shown in FIG. 11B, wheel driving for rotating the first and second wheel portions 41 and 42 in accordance with the reproduction contents of the content data reproduced by the reproduction unit 51. Although the case where the wheel drive unit 23 that rotates the left wheel 3 and the right wheel 4 according to the reproduction content (musical tone) of the music data is applied as the unit 52 has been described, the present invention is not limited to this, for example, video data A wheel drive unit that rotationally drives the first and second wheel units according to the reproduction content (brightness, movement, etc. of the video) may be applied.

  Further, in the above-described embodiment, as a central housing 43 provided between the first and second wheel portions 41 and 42 as shown in FIG. Although the case where the rounded central casing 5 is applied to form a part has been described, the present invention is not limited to this, and other various central shapes such as a cube may be applied. good.

  Further, in the above-described embodiment, as shown in FIG. 11A, provided on the left side of the first wheel portion 41 and provided so as to be recessed toward the rotation axis L41 as it approaches the left end from the central housing 43 side. An ellipsoidal body is provided as the right housing 45 provided on the right side of the left housing 44 and the second wheel portion 42 and provided so as to be recessed toward the rotation axis L41 as it approaches the right end from the central housing 43 side. Although the case where the rounded left housing 6 and the right housing 7 are applied to form a part of the cylindrical housing 2 has been described, the present invention is not limited to this, and other shapes such as a conical shape and a triangular pyramid are used. You may make it apply the left side housing | casing and right side housing | casing which were various shapes.

  Further, in the above-described embodiment, as shown in FIG. 11B, the left housing 44 and the right housing 45 are rotated around the axis of rotation L41 in accordance with the content of the content data reproduced by the reproducing unit 51. Although the case where the rotating body driving unit 24 that rotates the left housing 6 and the right housing 7 is applied as the housing rotation driving unit 53 that rotates and rotates, the present invention adopts various other configurations. Also good.

  Further, in the above-described embodiment, the left opening / closing body 47 and the right side provided on the left side of the left rotating body 46 in accordance with the playback content of the content data played back by the playback unit 51 as shown in FIG. The left opening / closing body 12 provided on the left side of the left rotating body 10 and the right side rotation are provided as a casing opening / closing drive unit 54 that opens and closes the right opening / closing body 49 provided on the right side of the rotating body 48 to the left outer side and the right outer side. Although the case where the opening / closing body drive unit 25 for opening and closing the right opening / closing body 17 provided on the right side of the body 15 is described, various other configurations may be adopted in the present invention.

  In the above-described embodiment, the lifting recognition unit 55 that recognizes whether or not the playback device 40 is lifted and the lifting recognition unit 55 as shown in FIG. When this is recognized, the playback tune motion control processing procedure RT1, the lifting determination processing procedure RT2, and the like are executed as the drive control unit 56 that stops the rotational driving of the first and second wheel units 41 and 42 by the wheel driving unit 52. Although the case where the control unit 20 is applied has been described, the present invention is not limited to this, and various other configurations can be applied.

  In the above-described embodiment, the case where the transfer unit 37 generates the drive unit operation information INF2 has been described. However, the present invention is not limited to this. For example, the control unit 20 of the music playback robot device 1 may include the storage unit. The drive unit operation information INF2 may be generated based on the music data stored in the H.26. Further, in this case, the control unit 20 of the music playback robot device 1 sequentially generates the drive unit operation information INF2 based on the music data while executing the music playback process for playing back the music data, and the generated drive unit operation The reproduction tune operation process may be executed based on the information INF2.

  In the embodiment described above, according to the program installed in the music playback robot device 1, the control unit 20 performs the playback tune motion control process procedure RT1, the lifting determination process procedure RT2, and the slow drive process procedure RT3 in terms of software. Although the case where it executes is described, the present invention is not limited to this, and a circuit for executing these processes RT1 to RT3 is provided in the music playback robot apparatus 1, and these processes RT1 to RT3 are executed by hardware by this circuit. You may make it do. A program for executing these processes RT1 to RT3 may be recorded on a recording medium such as a CD.

  The present invention can be applied to, for example, a music playback device that plays music based on music data.

It is a basic diagram which shows the external appearance structure of the music reproduction robot apparatus in this Embodiment. It is a basic diagram which shows the front structure of a music reproduction robot apparatus. It is a basic diagram which shows the upper surface structure of a music reproduction robot apparatus. It is a basic diagram which shows the circuit structure of a music reproduction robot apparatus. It is a basic diagram with which it uses for description of driving | running | working of a music reproduction robot apparatus. It is a basic diagram which shows the structure of a music data transfer system. It is a basic diagram which shows music analysis result information and drive part operation | movement information. It is a flowchart which shows the reproduction | regeneration music tone operation control processing procedure. It is a flowchart which shows a lifting determination processing procedure. It is a flowchart which shows a slow speed drive processing procedure. It is a basic diagram which shows the structure of the reproducing | regenerating apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Music reproduction robot apparatus, 2 ... Ellipsoidal housing, 3 ... Left wheel, 4 ... Right wheel, 5 ... Center housing, 6 ... Left housing, 7 ... Right housing, 9 ... Contact detection sensor unit, 10 ... Left side rotating body, 12 ... Left side opening / closing body, 14, 19 ... Speaker, 15 ... Right side rotating body, 17 ... Right side opening / closing body, 20 ... Control unit, 21 …… Acceleration sensor unit, 22 …… Music processing unit, 23 …… Wheel drive unit, 24 …… Rotating body drive unit, 25 …… Opening / closing body drive unit, RT1 …… Reproduction tune motion control processing procedure, RT2 …… Hold Upper judgment processing procedure, RT3... Slow drive processing procedure.

Claims (10)

First and second wheel portions rotatable in a direction around the axis of rotation;
A playback unit for playing back content data;
A playback device comprising: a wheel drive unit that rotationally drives the first and second wheel units according to the playback content of the content data played back by the playback unit. A central housing provided between the first and second wheel portions;
A left-side housing provided on the left side of the first wheel portion and provided so as to be recessed toward the rotation axis as it approaches the left end from the central housing side;
According to the playback content of the content data to be played back by the right side housing provided on the right side of the second wheel portion and being recessed toward the rotational axis as it approaches the right end from the central housing side, and the playback unit, The playback apparatus according to claim 1, further comprising: a housing rotation driving unit that rotationally drives the left housing and the right housing in a direction around an axis of rotation. The left housing includes a left rotating body that is rotationally driven by the housing rotation driving unit, and a left opening body that is provided on the left side of the left rotating body and that can be opened and closed to the left.
The right casing includes a right rotating body that is rotationally driven by the casing rotation driving unit, and a right opening body that is provided on the right side of the right rotating body and that can be opened and closed outward.
A housing opening / closing drive unit configured to open / close the left opening / closing member and the right opening / closing member to the left outer side and the right outer side according to the reproduction contents of the content data reproduced by the reproducing unit. Item 3. The playback device according to Item 2. A lifting recognition unit for recognizing whether or not the playback device is lifted;
2. A drive control unit that stops rotation of the first and second wheel units by the wheel drive unit when recognizing that the lift is lifted by the lifting recognition unit. The playback device described in 1. The reproduction apparatus according to claim 4, wherein the reproduction unit continues reproduction of the content data even when the drive control unit stops the rotation driving of the first and second wheel units. When the rotational drive amount at the start exceeds a predetermined value when the wheel drive unit starts to rotationally drive the first and second wheel units according to the reproduction contents of the content data reproduced by the reproduction unit, The reproducing apparatus according to claim 1, wherein the first and second wheel portions are rotated in advance in a direction to be driven. When the housing rotation driving unit starts to rotationally drive the left housing and the right housing according to the reproduction content of the content data reproduced by the reproducing unit, the rotational driving amount at the start exceeds a predetermined value The playback apparatus according to claim 2, wherein the left housing and the right housing are rotated in advance in a direction to be driven. The case opening / closing drive unit starts opening and closing the left opening and right opening and closing the left and right opening members to the left outer side and the right outer side according to the reproduction contents of the content data reproduced by the reproducing unit. The reproducing apparatus according to claim 3, wherein when the opening / closing drive amount exceeds a predetermined value, the left opening / closing body and the right opening / closing body are previously opened and closed in a direction to be driven. A playback step of playing back the content data;
A wheel driving step of rotating and driving the first and second wheel portions provided to rotate in a direction around the axis of rotation according to the content of the content data to be reproduced in the reproduction step. A playback method of a playback device. Against the computer
A playback step of playing back the content data;
A wheel driving step of rotating and driving the first and second wheel portions provided to rotate in the direction around the axis of rotation according to the content of the content data to be reproduced in the reproduction step. A featured playback program.

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