Patent Publication Number: US-7720571-B2

Title: Process execution apparatus, process execution method and process execution program

Description:
CROSS REFERENCES TO RELATED APPLICATIONS 
   The present invention contains subject matter related to Japanese Patent Application JP 2005-136743 filed with the Japanese Patent Office on May 9, 2005, the entire contents of which being incorporated herein by reference. 
   BACKGROUND OF THE INVENTION 
   This invention relates to a process execution apparatus, a process execution method and a process execution program and can be suitably applied to a process execution apparatus which executes a process, for example, in response to a shaking direction of a housing member which is moved by shaking. 
   A process execution apparatus of the type described is disclosed, for example, in Japanese Patent Laid-open No. 2004-334642 which recognizes in which direction a housing member is shaken as viewed from the housing member and executes a process in response to the recognized housing member shaking direction. For example, if the housing member is shaken in the rightward direction as viewed from the housing member, then the process execution apparatus executes a process corresponding to the rightward direction. 
   SUMMARY OF THE INVENTION 
   Incidentally, if a user wants the process execution apparatus having the configuration described above to execute a process corresponding to the rightward direction, but the user holds the housing member in a leftwardly-rightwardly reversed posture, the user must either shake the housing member in the leftward direction to execute the process corresponding to the rightward direction, or re-hold the housing member in a correct leftwardly-rightwardly posture prior to shaking the housing member in the rightwardly direction. As a result, the process execution apparatus has a problem in that a desired process cannot necessarily be executed simply and readily therewith. 
   There is a need for the present invention to provide a process execution apparatus, a process execution method and a process execution program by which a process can be executed significantly simply and readily. 
   In order to satisfy the need described above, according to the present invention, there is provided a process execution apparatus including a direction recognition section configured to recognize a housing member shaking direction in which a housing member is shaken, and a process execution section configured to execute a process in response to the housing member shaking direction recognized by the direction recognition section, the direction recognition section recognizing the housing member shaking direction with respect to a direction of the gravity detected when the housing member is held by a person. 
   In the process execution apparatus, in whichever posture the housing member is held by a user, the housing member shaking direction as viewed from the user who shakes the housing member can be recognized accurately. 
   More particularly, since the housing member shaking direction with respect to the direction of the gravity detected when the housing member is held by the user is recognized, in whichever posture the housing member is held by the user, the housing member shaking direction as viewed from the user who shakes the housing member can be recognized accurately. As a result, the process execution apparatus can execute a process significantly simply and readily. 
   The above and other objects, features and advantages of the present invention will become apparent from the following description and the appended claims, taken in conjunction with the accompanying drawings in which like parts or elements are denoted by like reference symbols. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIGS. 1A and 1B  are schematic views showing an appearance of a music reproduction robot apparatus to which the present invention is applied; 
       FIG. 2  is a schematic front elevational view showing a configuration of the music reproduction robot apparatus; 
       FIG. 3  is a schematic top plan view showing a configuration of the music reproduction robot apparatus; 
       FIG. 4  is a block diagram showing a circuit configuration of the music reproduction robot apparatus; 
       FIG. 5  is a flow chart illustrating a music reproduction control processing procedure of the music reproduction robot apparatus; 
       FIG. 6  is a flow chart illustrating a lift decision processing procedure of the music reproduction robot apparatus; 
       FIG. 7  is a flow chart illustrating a shaking direction decision processing procedure of the music reproduction robot apparatus; and 
       FIGS. 8A and 8B  are a schematic view and a block diagram showing an appearance and a circuit configuration of a process execution apparatus to which the present invention is applied, respectively. 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
   1. Configuration of the Music Reproduction Robot Apparatus 
   Referring first to  FIGS. 1A and 1B , there is shown a music reproduction robot apparatus to which the present invention is applied. The music reproduction robot apparatus  1  includes an ellipsoid housing member  2  having, for example, an ellipsoid shape. 
   Referring also to  FIG. 2 , the music reproduction robot apparatus  1  includes a left side wheel  3  and a right side wheel  4  formed in a same ring shape on a left side vertical plane S 1  and a right side vertical plane S 2 . The vertical planes S and S 2  are positioned at equal distances from a central point P 1  of the ellipsoid housing member  2 , and extend perpendicularly relative to a horizontal rotational axial line L 1  which extends along a straight line from the central point P 1  to vertices P 2  and P 3  on the surface of the ellipsoid housing member  2 . The left side wheel  3  and the right side wheel  4  extend along the outer periphery of the ellipsoid housing member  2  and project outwardly from the outer periphery of the ellipsoid housing member  2 . The left side wheel  3  and the right side wheel  4  are supported for rotation in a direction D 1  around the horizontal rotational axial line L 1 . 
   The ellipsoid housing member  2  further includes a central housing member  5  provided between the left side wheel  3  and the right side wheel  4 , a left side housing member  6  provided on the left side in  FIG. 2  of the central housing member  5  and shaped such that the surface thereof approaches the horizontal rotational axial line L 1  (the diametrical dimension decreases) from the central housing member  5  side toward the left end, and a right side housing member  7  provided on the right side in  FIG. 2  of the central housing member  5  and shaped such that the surface thereof approaches the horizontal rotational axial line L 1  (the diametrical dimension decreases) from the central housing member  5  side toward the right end. 
   The central housing member  5  has a weight  8  provided inside a lower portion of the central housing member  5  for controlling the central housing member  5  from rotating in the direction D 1  round the horizontal rotational axial line L 1 . Further, a contact detection sensor section  9  for detecting that the surface of the central housing member  5  is contacted by a finger, a hand or the like as seen also in  FIG. 3  is provided on the surface of the central housing member  5 . Incidentally, in the present embodiment, the contact detection sensor section  9  detects a finger, a hand or the like which contacts, for example, with a region of the surface of the central housing member  5  which is as large as a fingertip. 
   Meanwhile, the left side housing member  6  includes a left side rotational member  10  mounted for rotation in the direction D 1  around the horizontal rotational axial line L 1  with respect to the central housing member  5 , and a left side opening and closing member  12  connected to the left side of the left side rotational member  10  by a hinge member  11  such that it can be pivotally opened outwardly in the leftward direction. The left side rotational member  10  has a light emitting element  13  provided on the surface thereof for emitting light. Further, the left side opening and closing member  12  has a speaker  14  provided in the inside thereof such that, when the left side opening and closing member  12  is pivotally opened outwardly in the leftward direction around the hinge member  11 , the speaker  14  is exposed to the outside as seen in  FIG. 1B . 
   Similarly, the right side housing member  7  includes a right side rotational member  15  mounted for rotation in the direction D 1  around the horizontal rotational axial line L 1  with respect to the central housing member  5 , and a right side opening and closing member  17  connected to the right side of the right side rotational member  15  by a hinge member  16  such that it can be pivotally opened outwardly in the rightward direction. The right side rotational member  15  has a light emitting element  18  provided on the surface thereof for emitting light. Further, the right side opening and closing member  17  has a speaker  19  provided in the inside thereof such that, when the right side opening and closing member  17  is pivotally opened outwardly in the rightward direction around the hinge member  16 , the speaker  19  is exposed to the outside as seen in  FIG. 1B . 
   Referring now to  FIG. 4 , there is shown an internal circuit configuration of the ellipsoid housing member  2 . The music reproduction robot apparatus  1  includes a control section  20  for controlling the entire music reproduction robot apparatus  1  and an acceleration sensor section  21 . The control section  20  detects through the acceleration sensor section  21  that the ellipsoid housing member  2  is lifted from the floor or the like by a hand of a user. 
   After the control section  20  detects that the ellipsoid housing member  2  is lifted from the floor or the like by a hand of a user, the control section  20  detects if a finger, a hand, or the like of the user is in contact with the contact detection sensor section  9  provided on the surface of the central housing member  5 . The control section  20  then detects through the acceleration sensor section  21  if the ellipsoid housing member  2  is shaken at an acceleration higher than a predetermined value, and if this condition is met, the control section  20  executes a shaking direction process for detecting the housing shaking direction in which the ellipsoid housing member  2  is shaken. 
   For example, if the control section  20  recognizes through the acceleration sensor section  21  in the shaking direction decision process that the housing shaking direction is a direction representative of an instruction to reproduce music, then the control section  20  decides that a reproduction control instruction to reproduce music is inputted. 
   The control section  20  reads out music data stored in a storage section  26  in accordance with the reproduction control instruction and outputs music based on the read out music data successively through a music processing section  22  and the speakers  14  and  19 . In this manner, the music reproduction robot apparatus  1  can execute the music reproduction process of outputting music from the speakers  14  and  19  based on the music data stored in the storage section  26 . 
   Then, if the control section  20  detects through the acceleration sensor section  21  that the ellipsoid housing member  2  is placed on the floor in such a manner that both of the left side wheel  3  and the right side wheel  4  contact with the floor, then the control section  20  executes a reproduction tune operation process of causing the pertaining sections of the ellipsoid housing member  2  to move in response to a tune (tempo, interval and so forth) of the music being currently reproduced. 
   In particular, in the reproduction tune operation process, the control section  20  controls a wheel driving section  23  in accordance with the tune of the music being currently reproduced to drive the left side wheel  3  and the right side wheel  4  to rotate in the direction D 1  around the horizontal rotational axial line L 1 . Consequently, the music reproduction robot apparatus  1  can travel stably on the floor or the like in a synchronized relationship with the tune of the music being outputted from the speakers  14  and  19 . 
   Further, in the reproduction tune operation process, the control section  20  controls a rotational member driving section  24  in response to the tune of the music being currently reproduced to drive the left side rotational member  10  and the right side rotational member  15  to rotate. Consequently, the left side housing member  6  and the right side housing member  7  are rotated in the direction D 1  around the horizontal rotational axial line L 1 . As a result, the left side housing member  6  and the right side housing member  7  can be rotated in synchronism with the tune of the music being currently outputted from the speakers  14  and  19  in such a manner that the traveling of the music reproduction robot apparatus  1  by the left side wheel  3  and the right side wheel  4  may not be disturbed. 
   Furthermore, in the reproduction tune operation process, the control section  20  controls an opening and closing member driving section  25  in response to the tune of the music being currently reproduced to move the left side opening and closing member  12  and the right side opening and closing member  17  to open outwardly to the left side and the right side, respectively. Consequently, the music reproduction robot apparatus  1  can open and close the left side opening and closing member  12  and the right side opening and closing member  17  in synchronism with the tune of the music being currently outputted from the speakers  14  and  19 . 
   Further, in the reproduction tune operation process, the control section  20  controls the light emitting elements  13  and  18  to emit light in response to the tune of the music being currently reproduced. Consequently, the music reproduction robot apparatus  1  can emit light in synchronism with the tune of the music being currently outputted from the speakers  14  and  19 . 
   Thus, the music reproduction robot apparatus  1  can operate in such a manner that it dances on the floor or the like in response to the tune of the music being outputted from the speakers  14  and  19 , and as a result, the entertainment performance can be enhanced significantly. 
   2. Music Reproduction Control Processing Procedure 
   Now, a music reproduction control processing procedure RT 1  of controlling music reproduction in response to the housing shaking direction of the ellipsoid housing member  2  is described particularly with reference to a flow chart shown in  FIG. 5 . 
   After the power supply to the music reproduction robot apparatus  1  is turned on, the control section  20  of the music reproduction robot apparatus  1  advances the processing to step SP 1 , at which it executes a lift decision process of deciding whether or not the ellipsoid housing member  2  is lifted from the floor. 
   Then, if the control section  20  recognizes as a result of the lift decision process that the ellipsoid housing member  2  is lifted from the floor, then the control section  20  obtains an affirmative result at step SP 2  and then advances the processing to step SP 3 . 
   At step SP 3 , the control section  20  decides whether or not the reproduction tune operation process is being currently executed. If a negative result is obtained at step SP 3 , then this signifies that the wheels  3  and  4 , rotational members  10  and  15 , opening and closing members  12  and  17  and so forth remain in an inoperative state, and at this time, the control section  20  advances the processing to step SP 5 . 
   On the other hand, if an affirmative result is obtained at step SP 3 , then this signifies that the wheels  3  and  4 , rotational members  10  and  15 , opening and closing members  12  and  17  and so forth are in an operative state. At this time, the control section  20  advances the processing to step SP 4 , at which it ends the reproduction tune operation process. Thereafter, the control section  20  advances the processing to step SP 5 . Consequently, when the music reproduction robot apparatus  1  is lifted by the user, the operation of the wheels  3  and  4 , rotational members  10  and  15 , opening and closing members  12  and  17  and so forth can be stopped. 
   Then at step SP 5 , the control section  20  detects the direction of the gravity applied to the ellipsoid housing member  2  by means of the acceleration sensor section  21 , and then advances the processing to step SP 6 . 
   In this manner, the control section  20  detects the direction in which gravity acts on the ellipsoid housing member  2  when the ellipsoid housing member  2  is lifted. 
   If the control section  20  detects, at step SP 6 , through the contact detection sensor section  9  that the contact detection sensor section  9  is contacted by a hand, a finger or the like of the user and further detects through the acceleration sensor section  21  that the ellipsoid housing member  2  is shaken at an acceleration higher than a predetermined value, then the control section  20  decides that a reproduction control instruction is inputted by the user shaking the ellipsoid housing member  2 , and advances the processing to step SP 7 , at which the control section  20  executes the shaking direction decision process. Incidentally, if it is not decided at step SP 6  that the contact detection sensor section  9  is contacted by a hand, a finger or the like of the user or that the ellipsoid housing member  2  is shaken at an acceleration higher than the predetermined value, then the processing returns to step SP 1 . If it is detected that the ellipsoid housing member  2  is shaken while the contact detection sensor section  9  is not contacted by a hand, a finger or the like of the user, then the control section  20  decides that the user does not intend a shaking operation of the ellipsoid housing member  2 . In other words, when the ellipsoid housing member  2  is shaken by an impact from the outside (for example, the ellipsoid housing member  2  is shaken in a bag), since this shaking movement is not an input by the user, the control section  20  decides that the shaking movement is noise and does not perform such operation as reproduction. Consequently, wrong operation of the ellipsoid housing member  2  can be prevented. 
   In the shaking direction decision process at step SP 7 , the control section  20  recognizes, through the acceleration sensor section  21 , the housing member shaking direction of the ellipsoid housing member  2  with respect to the gravity direction detected at step SP 5  by the acceleration sensor section  21 . If the control section  20  decides that the recognized housing member shaking direction signifies, for example, an instruction to reproduce music, then it decides that a reproduction control instruction to reproduce music is inputted, and returns the processing to step SP 1 . 
   Consequently, the control section  20  executes the lift decision process for deciding whether or not the ellipsoid housing member  2  is lifted from the floor at step SP 1  again. Then, if a negative result is obtained at step SP 2  next to step SP 1 , then this signifies that the ellipsoid housing member  2  is placed on the floor in such a manner that both of the left side wheel  3  and the right side wheel  4  contact with the floor. At this time, the control section  20  advances the processing to step SP 8 . 
   At step SP 8 , the control section  20  decides whether or not a mode set in advance is a reproduction tune operation mode in which the reproduction tune operation process should be executed. If a negative result is obtained at step SP 8 , then this signifies that the music reproduction robot apparatus  1  is not in the reproduction tune operation mode. At this time, the control section  20  advances the processing to step SP 9 , at which the control section  20  starts execution only of a music reproduction process of reproducing music based on the music data stored in the storage section  26 . Thereafter, the control section  20  returns the processing to step SP 1 . 
   On the other hand, if an affirmative result is obtained at step SP 8 , then this signifies that the music reproduction robot apparatus  1  is set to the reproduction tune operation mode. At this time, the control section  20  advances the processing to step SP 10 , at which execution of the music reproduction process and the reproduction tune operation process of causing the pertaining sections of the ellipsoid housing member  2  to operate in response to the tune of the music being currently produced is started. Thereafter, the control section  20  returns the processing to step SP 1 . 
   Now, the lift decision processing procedure RT 2  which is executed at step SP 1  of the music reproduction control processing procedure RT 1  is described particularly with reference to a flow chart of  FIG. 6 . 
   At step SP 21 , the control section  20  of the music reproduction robot apparatus  1  detects a gravity acceleration value of the ellipsoid housing member  2  in the horizontal rotational axial direction D 2  through the acceleration sensor section  21  and decides whether or not the detected gravity acceleration value is within a predetermined range. Incidentally, in the present embodiment, the gravity acceleration corresponds to an acceleration caused by the gravity acting upon the ellipsoid housing member  2 . 
   If a negative result is obtained at step SP 21 , then this signifies that the posture of the ellipsoid housing member  2  is inclined because the gravity acceleration in the horizontal rotational axial direction D 2  exhibits a variation. At this time, the control section  20  decides that the music reproduction robot apparatus  1  is not in a posture that both of the left side wheel  3  and the right side wheel  4  remain in contact with the floor, and advances the processing to step SP 22 . At step SP 22 , the control section  20  recognizes that the ellipsoid housing member  2  is lifted, and thereafter, the processing advances to an end step SP 23 , at which the control section  20  ends the lift decision processing procedure RT 2 . 
   On the other hand, if an affirmative result is obtained at step SP 21 , then this signifies that the posture of the ellipsoid housing member  2  is not in an inclined state. At this time, the control section  20  advances the processing to step SP 24 . 
   At step SP 24 , the control section  20  detects an acceleration value including a different direction by means of the acceleration sensor section  21  and decides whether or not the detected acceleration value is within a predetermined range. Incidentally, the acceleration in this instance in the present embodiment corresponds to an acceleration caused by an external force acting upon the ellipsoid housing member  2 . 
   If a negative result is obtained at step SP 24 , then this signifies that the ellipsoid housing member  2  is somewhat moving in some direction. At this time, the control section  20  decides that the movement of the ellipsoid housing member  2  in this instance is caused, for example, by hand shaking of the user, and advances the processing to step SP 22 . At step SP 22 , the control section  20  decides that the ellipsoid housing member  2  is lifted. Thereafter, the control section  20  advances the processing to the end step SP 23 , at which the control section  20  ends the lift decision processing procedure RT 2 . 
   On the other hand, if an affirmative result is obtained at step SP 24 , then this signifies that the ellipsoid housing member  2  is not substantially moving in any direction. At this time, the control section  20  advances the processing to step SP 25 . 
   At step SP 25 , the control section  20  decides whether or not a predetermined interval of time (for example, several seconds) elapses while the detected acceleration value remains within the predetermined range. 
   If a negative result is obtained at step SP 25 , then this signifies that the ellipsoid housing member  2  is moving in some direction within the predetermined period of time. At this time, the control section  20  decides that the movement of the ellipsoid housing member  2  at this time is caused, for example, by hand shaking of the user. Thereafter, the control section  20  advances the processing to step SP 22 , at which it recognizes that the ellipsoid housing member  2  is lifted. Thereafter, the control section  20  advances the processing to the end step SP 23 , at which it ends the lift decision processing procedure RT 2 . 
   On the other hand, if an affirmative result is obtained at step SP 25 , then this signifies that the ellipsoid housing member  2  does not substantially move in any direction within the predetermined period of time. Accordingly, at this time, the control section  20  advances the processing to step SP 26 , at which it recognizes that the ellipsoid housing member  2  is placed on a flat place such as the floor in such a manner that both of the left side wheel  3  and the right side wheel  4  contact with the flat place. Thereafter, the control section  20  advances the processing to the end step SP 23 , at which it ends the lift decision processing procedure RT 2 . 
   Now, the shaking direction decision processing procedure RT 3  executed at step SP 7  of the music reproduction control processing procedure RT 1  is described particularly with reference to flow charts shown in  FIGS. 3 and 7 . 
   At step SP 31 , the control section  20  of the music reproduction robot apparatus  1  calculates the deviation angle of the housing member shaking direction in with respect to the gravity direction D 3  detected at step SP 5  described hereinabove. 
   Then at step SP 32 , the control section  20  decides whether or not the angle calculated at step SP 31  is equal to or lower than 45°. If an affirmative result is obtained at step SP 32 , then this signifies that the ellipsoid housing member  2  held by the user is shaken in a substantially downward direction as viewed from the user. At this time, the control section  20  advances the processing to step SP 33 , at which it decides that the housing member shaking direction is the downward direction. As a result, the control section  20  recognizes that, for example, a reproduction control instruction to rewind music is inputted, and advances the processing to the ending step SP 34 , at which the control section  20  ends the shaking direction decision process. Thereafter, the control section  20  executes a music reproduction control process, for example, of rewinding the music being currently reproduced. 
   On the other hand, if a negative result is obtained at step SP 32 , then this signifies that the ellipsoid housing member  2  held by the user is shaken in a direction other than the downward direction as viewed from the user. At this time, the control section  20  advances the processing to step SP 35 , at which it decides whether or not the angle calculated at step SP 31  is equal to or smaller than 135°. 
   If an affirmative result is obtained at step SP 35 , then this signifies that the ellipsoid housing member  2  held by the user is shaken in a substantially horizontal direction as viewed from the user. At this time, the control section  20  advances the processing to step SP 36 , at which it decides that the housing member shaking direction is the horizontal direction. As a result, the control section  20  recognizes that a reproduction control instruction, for example, to reproduce or stop music is inputted, and advances the processing to the ending step SP 34 , at which it ends the shaking direction decision process. Thus, the control section  20  executes a music reproduction control process, for example, of starting music reproduction or stopping music reproduction. 
   On the other hand, if a negative result is obtained at step SP 35 , then this signifies that the ellipsoid housing member  2  held by the user is shaken substantially upwardly as viewed from the user. At this time, the control section  20  advances the processing to step SP 37 , at which it decides that the housing member shaking direction is the upward direction. As a result, the control section  20  recognizes that, for example, a reproduction control instruction to fast feed the music is inputted, and advances the processing to the ending step SP 34 , at which the shaking direction decision process is ended. Thus, the control section  20  thereafter executes a music reproduction control process, for example, of fast feeding music being currently reproduced. 
   3. Operation and Effects 
   The music reproduction robot apparatus  1  having the configuration described above recognizes the housing member shaking direction in which the ellipsoid housing member  2  is shaken and executes a music reproduction control process (music reproduction, stopping of music reproduction, rewinding of music, fast feeding of music or the like) in response to the recognized housing member shaking direction. 
   Here, the music reproduction robot apparatus  1  detects the gravity direction D 3  in which the gravity acts when the ellipsoid housing member  2  is lifted, and recognizes the housing member shaking direction with respect to the detected gravity direction D 3 . 
   Consequently, in whichever posture the ellipsoid housing member  2  is held by the user, the music reproduction robot apparatus  1  can accurately recognize the housing member shaking direction as viewed from the user in which the ellipsoid housing member  2  is shaken. 
   As a result, even if the user shakes, the ellipsoid housing member  2  without taking the posture of the ellipsoid housing member  2  into consideration, the music reproduction robot apparatus  1  can execute a music reproduction control process in response to the direction in which the ellipsoid housing member  2  is shaken. Consequently, the music reproduction robot apparatus  1  can execute a music reproduction control process very simply and easily. 
   With the music reproduction robot apparatus  1  having the configuration described above, since it detects, when the ellipsoid housing member  2  is lifted, the gravity direction D 3  and recognizes the housing member shaking direction with respect to the detected gravity direction D 3 , when the ellipsoid housing member is lifted, and in whichever posture the ellipsoid housing member  2  is held by the user, the music reproduction robot apparatus  1  can accurately recognize the housing member shaking direction as viewed from the user in which the ellipsoid housing member  2  is shaken. As a result, the music reproduction robot apparatus  1  can execute a music reproduction control process very simply and readily. 
   Further, in the present embodiment, the storage section  26  of the music reproduction robot apparatus  1  stores tempo information (BMP (Beat Per Minute)) representative of the tempo of the music corresponding to music data. Then, the control section  20  of the music reproduction robot apparatus  1  recognizes, through the acceleration sensor section  21 , the number of times by which the acceleration sensor section  21  is shaken in the housing member shaking direction representative of an instruction to reproduce music within a predetermined period of time (for example, several seconds). The control section  20  reads out music data coordinated with tempo information corresponding to the recognized number of times from the storage section  26  and performs a reproduction process of the music data. Consequently, if the music reproduction robot apparatus  1  is shaken fast in the housing member shaking direction representative of an instruction to reproduce music, then the music reproduction robot apparatus  1  reproduces music data having a high tempo in response to the shaking operation. However, if the music reproduction robot apparatus  1  is shaken slowly in the housing member shaking direction representative of an instruction to reproduce music, then the music reproduction robot apparatus  1  can reproduce music data having a low tempo. 
   Alternatively, the music reproduction robot apparatus  1  in the present embodiment may perform shuffle reproduction wherein the music data stored in the storage section  26  of the music reproduction robot apparatus  1  are reproduced arbitrarily in accordance with an instruction by a housing member shaking operation. At this time, if the music reproduction robot apparatus  1  is shaken fast in a housing member shaking direction representative of an instruction to reproduce music while the speed of the shaking operation of the user is coordinated with tempo information of music, then shuffle reproduction of an object of reproduction of music data having a high tempo corresponding to the shaking is performed. On the other hand, if the music reproduction robot apparatus  1  is shaken slowly in a housing member shaking direction representative of an instruction to reproduce music, then shuffle reproduction of an object reproduction of music data having a low tempo corresponding to the shaking is performed. 
   Further, in the present embodiment, if, for example, a reproduction control instruction to reproduce music is inputted by shaking of the ellipsoid housing member  2 , then the control section  20  of the music reproduction robot apparatus  1  executes a notification process for notifying the user that a reproduction control instruction to reproduce music is accepted in response to the input. In the notification process, the control section  20  energizes the light emitting elements  13  and  18  to be lit in accordance with the accepted reproduction control information and outputs music according to the accepted reproduction control instruction through the music processing section  22  and the speakers  14  and  19 . Consequently, the user can confirm the reproduction control instruction inputted by the shaking of the ellipsoid housing member  2 . 
   4. Other Embodiments 
   In the embodiment described above, the music reproduction robot apparatus  1  which executes a music reproduction control process in response to a housing shaking direction, may be implemented, for example, as such a process execution apparatus  30  which executes a process in response a housing shaking direction as shown in  FIGS. 8A and 8B . However, the present invention is not limited to this, but can be applied to an apparatus which executes an image reproduction control process in response to a housing shaking direction, a remote controller for remotely inputting a control instruction to an electronic apparatus and other various apparatus. 
   Further, in the embodiment described above, the ellipsoid housing member  2  is in the form of an ellipsoid, for example, as housing member  31 , which is shaken by a user as shown in  FIG. 8A . However, the present invention is not limited to this, but can be applied to housings of various shapes such as, for example, a cylindrical shape or a cubic shape. 
   Further, in the embodiment described above, the left side wheel  3  and the right side wheel  4  may compromise a supporting section  32  for supporting the housing member  31  as shown in  FIG. 8A . However, the present invention is not limited to this but can be applied to a pedestal or any other structure only if it contacts with the floor, ground or the like and supports the housing member  31  when the housing member  31  is placed on the floor, ground or the like. 
   Further, in the embodiment described above, the acceleration sensor section  21  and the control section  20 , may comprise, for example a direction recognition section  33  for recognizing the tubular member shaking direction in which the housing is shaken as shown in  FIG. 8B . However, the present invention is not limited to this but can be applied to various structures. 
   Further, in the embodiment described above, the control section  20  which executes a music reproduction control process and the music processing section  22  are applied, for example, as such a process execution section  34  which executes a process in response to the housing member shaking direction recognized by the direction recognition section  33  as shown in  FIG. 8B . However, the present invention is not limited to this, but can be applied to various processing execution sections which execute an image reproduction control process of controlling image reproduction of image data, a process of inputting a sentence and various other processes. 
   Further, in the embodiment described above, the acceleration sensor section  21  which corresponds to a three-axis acceleration sensor or the like which can detect three-dimensional accelerations, may comprise, for example, an acceleration detection section  35  for detecting an acceleration value applied to the housing member  31  and a gravity direction detection section  36  for detecting the direction of the gravity acting upon the housing member  31  when the acceleration value detected by the gravity direction detection section  36  is higher than a predetermined value as shown in  FIG. 8B . Further, the control section  20  may comprise, for example, an angle detection section  37  for detecting the angle of the housing member shaking direction with respect to the direction of the gravity detected by the gravity direction detection section  36  as shown in  FIG. 8B . However, the present invention is not limited to this but can be applied to various other configurations. 
   Furthermore, in the embodiment described above, a semiconductor memory is applied as the storage section  26  for storing music data supplied from an external apparatus such as, for example, a personal computer. However, the present invention is not limited to this but can be applied to various recording media such as a CD (Compact Disk), an MD (Mini Disk) and a hard disk driver. 
   Further, in the embodiment described above, the control section  20  executes the music reproduction control processing procedure RT 1 , lift decision processing procedure RT 2  and shaking direction decision processing procedure RT 3  according to software in accordance with a program installed in the music reproduction robot apparatus  1 . However, the present invention is not limited to this, but a circuit for executing the music reproduction control processing procedure RT 1 , lift decision processing procedure RT 2  and shaking direction decision processing procedure RT 3  may be provided in the music reproduction robot apparatus  1  such that the processing procedures RT 1  to RT 3  are executed by hardware. Further, a program for executing the music reproduction control processing procedure RT 1 , lift decision processing procedure RT 2  and shaking direction decision processing procedure RT 3  may be recorded in or on a recording medium such as a CD. 
   The present invention can be applied to music reproduction robot apparatus and so forth which execute a music reproduction control process, for example, in response to a housing member shaking direction in which a housing member is shaken. 
   While a preferred embodiment of the present invention has been described using specific terms, such description is for illustrative purposes only, and it is to be understood that changes and variations may be made without departing from the spirit or scope of the following claims.