Source: http://www.google.com/patents/US6415203?ie=ISO-8859-1&dq=7493558
Timestamp: 2014-07-12 12:18:28
Document Index: 525522347

Matched Legal Cases: ['art 22', 'art 7', 'art 7', 'art 7', 'art 50', 'art 51', 'art 52', 'art 50', 'art 51', 'art 52', 'art 50', 'art 51', 'art 52', 'art 50', 'art 51', 'art 52', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 52', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 51', 'art 52', 'art 52', 'art 53', 'art 52', 'art 53', 'art 52', 'art 53', 'art 52', 'art 53', 'art 51', 'art 52', 'art 52', 'art 53', 'art 51', 'art 52', 'art 52', 'art 53', 'art 53', 'art 54', 'art 53', 'art 53', 'art 54', 'art 7', 'art 7', 'art 7', 'art 5', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7']

Patent US6415203 - Toboy device and method for controlling the same - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign in<nobr>Advanced Patent Search</nobr>PatentsIn the robot system and the control method thereof, the motion of the movable part of which one end has been connected freely in rotation in the direction of at least one axis or more will be determined by changing the emotion/instinct model based on input information. On the other hand, the remaining...http://www.google.com/patents/US6415203?utm_source=gb-gplus-sharePatent US6415203 - Toboy device and method for controlling the sameAdvanced Patent SearchPublication numberUS6415203 B1Publication typeGrantApplication numberUS 09/743,293PCT numberPCT/JP2000/002988Publication dateJul 2, 2002Filing dateMay 10, 2000Priority dateMay 10, 1999Fee statusLapsedAlso published asCN1205002C, CN1304346A, EP1112821A1, EP1112821A4, WO2000067960A1Publication number09743293, 743293, PCT/2000/2988, PCT/JP/0/002988, PCT/JP/0/02988, PCT/JP/2000/002988, PCT/JP/2000/02988, PCT/JP0/002988, PCT/JP0/02988, PCT/JP0002988, PCT/JP002988, PCT/JP2000/002988, PCT/JP2000/02988, PCT/JP2000002988, PCT/JP200002988, US 6415203 B1, US 6415203B1, US-B1-6415203, US6415203 B1, US6415203B1InventorsMakoto Inoue, Hideki NomaOriginal AssigneeSony CorporationExport CitationBiBTeX, EndNote, RefManPatent Citations (4), Non-Patent Citations (7), Referenced by (21), Classifications (19), Legal Events (4) External Links: USPTO, USPTO Assignment, EspacenetToboy device and method for controlling the sameUS 6415203 B1Abstract In the robot system and the control method thereof, the motion of the movable part of which one end has been connected freely in rotation in the direction of at least one axis or more will be determined by changing the emotion/instinct model based on input information. On the other hand, the remaining amount of the battery is detected and if the above detected remaining amount of the battery becomes a prescribed level or below, besides, the internal temperature of the body part is detected and if the above detected internal temperature becomes a prescribed temperature and over, the robot system is changed into a predetermined attitude and/or appears a predetermined motion.
TECHNICAL FIELD The present invention relates to a robot system and a control method thereof, and is suitably applicable to for example a pet robot.
BACKGROUND ART In recent years, a four pedalism type pet robot which performs predetermined motions according to instructions from a user or circumferential environment has been provided and developed by the present applicant. Such pet robot has a form like a dog or a cat kept in general homes, and it performs the motions according to the instructions from the user or the circumferential environment.
For that reason, in viewing of insuring its safety, it is extremely desirable that the above pet robot is stood upright and the internal air can be circulated via the ventilating opening just before the internal temperature of the pet robot reaches �critical temperature�.
DISCLOSURE OF THE INVENTION Considering the above points, the present invention provides a robot system and a control method thereof in that amusement characteristic can be remarkably improved on the other hand the necessity of battery charging can be represented by an attitude and its safety can be ensured.
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a perspective view showing the structure of a pet robot system to which the present invention has applied.
When the pet robot 2 is practically combined with the station 3, the pet robot 2 should be first changed into an attitude of �lie down.�, i.e. an attitude so that each of the leg units 5A to 5C are bent and the bottom side 4B of the body unit 4 is closed to the floor (hereinafter, this attitude is referred to as attitude to shift to station).
In the head unit 6, a microphone 15 which corresponds to �ear�, a charge coupled device (CCD) camera 16 which corresponds to �eye�, a touch sensor 17, a speaker 18 which corresponds to �mouse�, etc. have been disposed at respective predetermined positions.
The microphone 15 in the head unit 6 picks up an instructing voice such as �walk.�, �lie down.�, �follow the ball.� or the like that was given from the user as a musical scale by means of a sound commander not shown (commander for generating sounds different in musical scale corresponding to operating contents), and transmitting thus obtained voice signal S1 to the controller 10. On the other hand, the CCD camera 16 picks up an image around the pet robot 2, and transmitting thus obtained image signal S2 to the controller 10.
The touch sensor 17 has been provided at the top of the head unit 6 as shown in FIG. 2. It detects a pressure received by physical approaches from the user, such as �stroked�, �slapped� or the like, and transmitting the detected result to the controller 10 as a pressure detection signal S3.
The battery sensor 12 in the body unit 4 detects the remaining amount of the battery 11 in five phased levels, and sequentially transmitting the detected result in the above levels to the controller 10 as a remaining amount of battery detection signal S4. In this case, the battery sensor 12 detects the remaining amount of the battery 11 in phased levels when it is 80 [%] and over, 80 to 50[%], 50 to 25[%], 25 to 20[%], and 20[%] or below, respectively as �Full�, �Middle-Full�, �Middle�, �Low� and �Low-Low�.
Additionally, at this time, the controller 10 supplies a predetermined voice signal S6 to the speaker 18 as the occasion demands, and generating a voice based on the above voice signal S6 to the outside, or it makes LEDs (not shown) provided at the position of �eye� of this pet robot 2 turn on, off or on and off.
This differential gear mechanism 35 has a spindle 36 that has been held freely in rotation in the spherical shell body 22A so as to be orthogonalized to the fourth and fifth shafts 31 and 32. A lateral pair of bell-shaped gears 37 and 38 having a large diameter that have been inserted freely in rotation in an arrow �a� direction or the inverted direction in the hollow part 22H centering around the above spindle 36, have been engaged with both a vertical pair of bell-shaped gears 39 and 40 having a small diameter that have been coaxially combined with the gears 33 and 34 fitted to the fourth and fifth shafts 31 and 32 in one unit body.
Thereby, as shown in FIGS. 9A and 9B that sections by a line Q-Q′ in FIG. 7 have taken, when the large diameter bell-shaped gears 37 and 38 are rotated in mutually inverse directions (an arrow �a� direction and the inverse direction) centering around the spindle 36, each of the projections 38A and 38B of the above bell-shaped gear 38 are abutted and pressurized in the rotational direction of the bell-shaped gear 38 while respectively sliding along the slide grooves 42AH and 42BH. Thereby, the sliders 42A and 42B can be slid on the slide guide 41 in the mutually inverse directions. Accordingly, in the head part 7B, when the pair of actuators 7A1 and 7A2 are drive-controlled at the same rotating speed so that each of the output shafts 7A1X and 7A2X are rotated in the mutually inverse directions, the vertical pair of gears 33 and 34 fitted to the fourth and the fifth shafts 31 and 32 through the gear transmission mechanism 21 are rotated in the mutually inverse directions (an arrow �b� direction and the inverse direction) in one unit body to the vertical pair of small diameter bell-shaped gears 39 and 40 forming the differential gear mechanism 35. Thereby, the lateral pair of large diameter bell-shaped gears 37 and 38 forming the differential gear mechanism 35 pushes out one of the pair of sliders 42A and 42B in the longitudinal direction of the slide guide 41, and at the same time, pulls back the other, while rotating in the mutually inverse directions (the arrow �a� direction and the inverse direction).
Furthermore, in the head part 7B, when the pair of actuators 7A1 and 7A2 are drive-controlled at the same rotating speed so that the output shafts 7A1X and 7A2X are rotated in the same direction, the vertical pair of gears 33 and 34 fitted to the fourth and the fifth shafts 31 and 32 via the gear transmission mechanism 21 are rotated in the same direction (the arrow �b� direction or the inverse direction). At this time, the vertical pair of small diameter bell-shaped gears 39 and 40 forming the differential gear mechanism 35 cannot be rotated in the same direction because they have been engaged with both the lateral pair of large diameter bell-shaped gears 37 and 38. As a result, the differential gear mechanism 35 i.e. the gearbox 22 is rotated in the same direction as the vertical pair of gears 33 and 34 in one unit body centering around the fourth and fifth shafts 31 and 32.
In this manner, in the tail unit 7, as shown in FIG. 10, when the pair of actuators 7A1 and 7A2 are drive-controlled so that the output shafts 7A1X and 7A2X are rotated in the mutually same direction at the same rotating speed, the gearbox 22 and the inside differential gear mechanism 35 are rotated in a desired direction according to the above drive control. Thereby, the tail part 7T can be bent in an arrow �c� direction or the inverse lateral direction, or an arrow �d� direction or the vertical direction inverse to that, or the like at a desired amplitude, or can be shaken in the lateral direction at a desired amplitude and speed.
Concretely, the sensor input processing part 50 monitors the voice signal S1 supplied from the microphones 15 at all times. And when a spectrum having the same musical scale as a command sound that is supplied from a sound commander (not shown) is detected according to a command such as �walk.� �lie down.� �follow the ball.�, etc. as a spectrum of the above voice signal S1, it recognizes that the command has given, and informing the emotion/instinct model part 51 and the motion determining mechanism part 52 the above recognition result.
The sensor input processing part 50 monitors the image signal S2 supplied from the CCD camera 16 at all times. And when for example �a red round object� or �a level perpendicular to the ground and being a predetermined height or more� has detected in an image based on the image signal S2, it recognizes that �there is a ball.�, �there is a wall.�, and informing the emotion/instinct model part 51 and the motion determining mechanism part 52 the above recognition result.
The sensor input processing part 50 monitors the pressure detection signal S3 supplied from the touch sensor 17 at all times. And when a pressure at a predetermined threshold value or more and in a short period (e.g. less than 2 minute) has detected based on the above pressure detection signal S3, it recognizes that the pet robot 2 was �slapped (scolded)�. When a pressure at less than the predetermined threshold value and for a long period (e.g. 2 seconds or more) has detected based on the above pressure detection signal S3, it recognizes that the pet robot 2 was stroked (praised)�, and informing the emotion/instinct model part 51 and the motion determining mechanism part 52 the recognition result.
Furthermore, the sensor input processing part 50 monitors the heat detection signal S5 supplied from the thermosensor 13 at all times. And when that the internal temperature of the pet robot 2 is a prescribed critical temperature and over has detected based on the above heat detection signal S5, it recognizes �it is critical�, and informing the emotion/instinct model part 51 and the motion determining mechanism part 52 the above recognition result.
In the basic emotion group 60, the emotion unit 60A shows an emotion �be glad�, the emotion unit 60B shows an emotion �be sad�, and the emotion unit 60C shows an emotion �be angry�.
On the other hand, in the basic wants group 61, the wants unit 61A shows wants of �appetite�, the wants unit 61B shows wants of �curiosity�, and the wants unit 61C shows wants for �exercise�.
That is, as shown in FIG. 13, by mutually inhivitively combining the �glad� emotion unit 60A with the �sad� emotion unit 60B, when the pet robot 2 has praised by the user, the emotion/instinct model part 51 increases the intensity of the �glad� emotion unit 60A. And at the time, even if the state recognition information D1 that changes the intensity of the �sad� emotion unit 60B was not supplied, the emotion/instinct model part 51 naturally decreases the intensity of the �sad� emotion unit 60B corresponding to the increase of the intensity of the �glad� emotion unit 60A. Similarly, if the intensity of the �sad� emotion unit 60B is increased, the emotion/instinct model part 51 naturally decreases the intensity of the �glad� emotion unit 60A corresponding to the increase of the intensity of the above �sad� emotion unit 60B.
On the other hand, by mutually stimulatively combining the �sad� emotion unit 60B with the �angry� emotion unit 60C, when the pet robot 2 has slapped by the user, the emotion/instinct model part 51 increases the intensity of the �angry� emotion unit 60C. And at the time, even if the state recognition information D1 that changes the intensity of the �sad� emotion unit 60B was not supplied, the emotion/instinct model part 51 naturally increases the intensity of the �sad� emotion unit 60B corresponding to the increase of the intensity of the �angry� emotion unit 60C. Similarly, if the intensity of the �sad� emotion unit 60B is increased, the emotion/instinct model part 51 naturally increases the intensity of the �angry� emotion unit 60C corresponding to the increase of the intensity of the above �sad� emotion unit 60B.
That is, as shown in FIG. 14, by mutually inhivitively combining the �appetite� wants unit 61A with the �exercise� wants unit 61B, when the remaining amount of the battery 11 inside the pet robot 2 is less, the emotion/instinct model part 51 increases the intensity of the �appetite� wants unit 61A. And at the time, even if the state recognition information D1 that changes the intensity of the �exercise� wants unit 61B was not supplied, the emotion/instinct model part 51 naturally decreases the intensity of the �exercise� wants unit 61B corresponding to the increase of the �appetite� wants unit 61A. Similarly, if the intensity of the �exercise� wants unit 61B is increased, the emotion/instinct model part 51 naturally decreases the intensity of the �appetite� wants unit 61A corresponding to the increase of the intensity of the above �exercise� wants unit 61B.
On the other hand, by mutually stimulatively combining the �curiosity� wants unit 61B with the �exercise� wants unit 61C, when the pet robot 2 had not been moved in a predetermined time, the emotion/instinct model part 51 increases the intensity of the �exercise� wants unit 61C. And at the time, even if the state recognition information D1 that changes the intensity of the �curiosity� wants unit 61B was not supplied, the emotion/instinct model part 51 naturally increases the intensity of the �curiosity� wants unit 61B corresponding to the increase of the intensity of the �exercise� wants unit 61C. Similarly, if the intensity of the �curiosity� wants unit 61B is increased, the emotion/instinct model part 51 naturally increases the intensity of the �exercise� wants unit 61C corresponding to the increase of the intensity of the above �curiosity� wants unit 61B.
Referring to FIG. 11, to the emotion/instinct model part 51, motion information D3 which shows the content of the present or the past motion of the pet robot 2 itself, for example a motion such as �it walked for a long time.� will be supplied from the motion determining mechanism part 52 in the following stage. Thereby, even if the same state recognition information D1 has given, different emotion/instinct state information D2 will be generated according to the motion of the pet robot 2 shown by the above motion information D3.
For instance, if the head is stroked by the user when the pet robot 2 greeted the user, that is, if the motion information D3 showing that it greeted the user and the state recognition information D1 showing that the head was stroked are given to the intensity increasing/decreasing function 65A, the emotion/instinct model part 51 increases the intensity of the �glad� emotion unit 60A. On the other hand, however, even if the head was stroked when it is executing some job, that is, even if the motion information D3 showing that it is executing a job and the state recognition information D1 showing that the head was stroked are given to the intensity increasing/decreasing function 65A, the emotion/instinct model part 51 does not change the intensity of the �glad� emotion unit 60A.
In this manner, the emotion/instinct model part 51 determines the intensity of each emotion unit 60A to 60C while referring to not only the state recognition information D1 but also the motion information D3 showing the present or the past motion of the pet robot 2. Thereby, that the pet robot 2 appears unnatural emotion like that for example in the case where the user stroked its head with the intention of playing a prank on it when it is executing some job, the intensity of the �glad� emotion unit 60A is increased, can be avoided.
For instance, if the motion information D3 showing that it is seeing an object in its liking color and the state recognition information D1 showing that it has not been moved for a period of time are given to the intensity increasing/decreasing function 66A, the emotion/instinct model part 51 increases the intensity of the �curiosity� wants unit 61B. On the other hand, however, even if the motion information D3 showing that it is in immediately after walked around and it is resting and the state recognition information D1 showing that it has not been moved for a period of time in an environment that there is nothing to be interesting are given to the intensity increasing/decreasing function 65A, the emotion/instinct model part 51 does not change the intensity of the �curiosity� wants unit 61B.
In this manner, the emotion/instinct model part 51 determines the intensity of each wants unit 61A to 61C while referring to not only the state recognition information D1 but also the motion information D3 showing the present or the past motion of the pet robot 2. Thereby, that the pet robot 2 appears unnatural instinct like that for example when it saw an object in its liking color when it is tired to walk and resting, the intensity of the �curiosity� wants unit 61B is increased, can be avoided.
Accordingly, for example in a state ST1 that �it is following a ball.�, if the state recognition information D1 showing that �it had lost sight of the ball.� is supplied, it shifts to a state ST5 that �it is standing.�. On the other hand, in a state ST2 that �it is lying down.�, if the state recognition information D1 showing that �get up.� is supplied, it shifts to a state ST4 that �it is standing.�. In this manner, between these state ST4 and state ST5, the motion is identical but the history of the past state recognition information D1 is different. Thus, it is found that also the state is different between them.
Accordingly, if the motion determining mechanism part 52 detects for example that a palm was held out to right in front of it based on the supplied state recognition information D1, that the intensity of the �angry� emotion unit 60C is the prescribed threshold value or below based on the emotion/instinct state information D2, and that �it is not hungry.� that is, the battery voltage is the prescribed threshold value or more by the state recognition information D1, the motion determining mechanism part 52 generates the motion command information D5 to make the pet robot 2 perform a motion of �give me a hand.� responding to that the palm has held out to right in front of it, and transmitting this to the attitude transition mechanism part 53.
If detecting for example that a palm was held out to right in front of it, that the intensity of the �angry� emotion unit 60C is the prescribed threshold value or below, and that �it is hungry.�, that is, the battery voltage is below the prescribed threshold value, the motion determining mechanism part 52 generates motion command information D5 to make the pet robot 2 perform a motion as if �it licks the palm�, and transmitting this to the attitude transition mechanism part 53.
If detecting for example that a palm was held out to right in front of it and the intensity of the �angry� emotion unit 60C is the prescribed threshold value and over, the motion determining mechanism part 52 generates motion command information D5 to make the pet robot 2 perform a motion that �it looks away in anger� whether �it is not hungry.� or not, that is, whether the battery voltage is the prescribed threshold value and below or not, and transmitting this to the attitude transition mechanism part 53.
Furthermore, if detecting for example that the remaining amount of the battery 11 is the prescribed threshold value or below based on the supplied state recognition information D1, and that the intensity of the �appetite� wants unit 61A is the prescribed threshold value and over based on the emotion/instinct state information D2, the motion determining mechanism part 52 generates motion command information D5 to make the pet robot 2 perform a motion �to urge the user its battery charging�, and transmitting this to the attitude transition mechanism part 53.
For instance, if the state recognition information D1 that �the head was stroked.� is supplied, the controller 10 generates emotion/instinct state information D2 showing that �it is glad.� by the emotion/instinct model part 51, and supplying the above emotion/instinct state information D2 to the motion determining mechanism part 52. In this state, however, if the state recognition information D1 showing that �there is a palm right in front of it.� is supplied, the controller 10 generates motion command information D5 showing that �it cheerfully gives a hand.� in the motion determining mechanism part 52 based on the aforementioned emotion/instinct state information D2 showing that �it is glad.� and the state recognition information D1 showing that �there is a hand right in front of it.�, and transmitting this to the attitude transition mechanism part 53.
On the other hand, for instance, if state recognition information D1 showing that �there is almost no remaining amount of the battery 11.� is supplied, the controller 10 generates emotion/instinct state information D2 showing that �it is hungry.� by the emotion/instinct model part 51, and supplying the above emotion/instinct state information D2 to the motion determining mechanism part 52. In this state, however, if state recognition information D1 showing that �the internal temperature of the pet robot 2 is abnormally high.� is supplied, the controller 10 makes motion determining mechanism part 52 generate motion command information D5 showing that �it appeals that by standing up.� based on the aforementioned emotion/instinct state information D2 showing that �it is hungry.� and state recognition information D1 showing that �it wants to be cooled.�, and transmitting this to the attitude transition mechanism part 53.
For example, when the present attitude is at the node NODE2 that shows an attitude �lying down�, if motion command information D5 that means �sit down.� is supplied, the attitude transition mechanism part 53 gives attitude transition information D6 that shows �sit down.� to the control mechanism part 54 by utilizing that a transition can be directly made from the node NODE2 that shows an attitude �lying down� to the node NODE5 that shows the attitude �sitting down�.
On the contrary, if motion command information D5 that means �walk.� is supplied, the attitude transition mechanism part 53 plans attitude transition by searching for a route from the node showing �lying down� NODE2 to the node showing �walking� NODE4. As a result, the attitude transition mechanism part 53 generates attitude transition information D6 that makes an instruction of �stand up.� and then makes an instruction of �walk.�, and transmitting this to the control mechanism part 54.
Then, the controller 10 proceeds to step SP2 to determine whether or not the remaining amount of the battery 11 is �Low-Low� being 20[%] or below. In this step SP2, if a negative result is obtained, this means that the remaining amount of the battery 11 is one of �Full� being 80[%] and over, �Middle-Full� being 80 to 50[%], �Middle� being 50 to 25[%] or �Low� being 25 to 20[%]. At this time, the controller 10 controls the motion of the pet robot 2 according to the respective levels of the remaining amount of the battery 11, and then returns to step SP1 again.
In this case, when the remaining amount of the battery 11 is �Full� being 80[%] and over, the controller 10 controls a walking step and a speed to be relatively large. And as the remaining amount of the battery 11 becomes 80 to 20[%], that is, becomes �Low� from the �Middle-Full� passing �Middle�, the controller 10 controls each of the units 5A to 5D, 6 and 7 so as to reduce the moving amount of the pet robot 2 as the remaining amount reduces. On the contrary, if a negative result is obtained in step SP2, the controller 10 proceeds to step SP4 to change the pet robot 2 to the aforementioned attitude to move to the station and appeal to the user wants for battery charging. Thereafter, the controller 10 proceeds to step SP5 and finishing the above battery charging request processing procedure RT1.
Concretely, the controller 10 drive-controls each of the leg units 5A to 5D so that the pet robot 2 is in the attitude to move to the station as well as drive-controls the tail unit 7 to shake the tail part in the specified direction, at a specified amplitude and speed and drive-controls the head unit 6 to make the LED provided at the position of �eye� turn on and off in a prescribed light emitting pattern. And at the same time, the controller 10 makes generating prescribed warning sound (e.g. �I'm hungry.� or the like) from the speaker 18 built-in at the position of �ear�.
In this step SP13, the controller 10 determines whether or not the pet robot 2 is presently in an attitude �lying down� or �lying on its belly�. When an affirmative result is obtained, the controller 10 proceeds to step SP14 to drive-control each of the leg units 5A to 5D of the pet robot 2 and change over the pet robot 2 to a �standing up� attitude. Thereafter, the controller 10 returns to step SP11 again and repeating the processing similar to the above.
On the contrary, if a negative result is obtained in step SP13, this means that with respect to the pet robot 2, the battery 11 built in the body unit 4 has broken or the exhausting opening 4AX and/or the intake 4BX in a closing state because some object has been stuck to or wound around the above body unit 4. At this time, the controller proceeds to step SP15 to appeal �trouble occurred.� to the user, and then, it returns to step SP11 again and repeating the processing similar to the above.
Concretely, the controller 10 drive-controls each of the leg units 5A to 5D and the tail unit 7 so that the pet robot 2 becomes into a standing upright state as well as drive-controls the head unit 6 to make the LED provided at the position of �eye� turn on and off in a specified light emitting pattern. And at the same time, the controller 10 makes generating a predetermined warning sound from the speaker 18 built-in at the position of �ear�.
According to the above configuration, in the pet robot 2, if the user approaches to the pet robot 2 by �slapping� or �stroking� it, or if the user generates a voice such as �walk.� or �lay down.� by word of mouth or by means of a sound commander, or if an object which has a distinctive feature in color or shape is placed in an area that the pet robot 2 can move, these recognition results will be converted into various emotions that real animals feel.
At this time, in the pet robot 2, each of the actuators 5AA1 to 7A1 and 7A2 of each of the leg units 5A to 5D, the head unit 6 and the tail unit 7 will be drive-controlled according to the intensity of emotions �glad�, �sad� and �angry�. Thereby, the pet robot 2 performs the same attitude and motion as emotional expression that real animals do.
For instance, when the pet robot 2 represents �gladness�, in the tail unit 7, the tail part 7T will be shaken in the lateral direction at an amplitude and at a speed in proportion to a degree of �gladness�. When in representing �sadness�, in the tail unit 7, the tail part 7T will be stood still in a state that it is bending to droop in the lower direction. And when in representing �anger�, in the tail unit 7, the tail part 7T will be shaken in the vertical direction at an amplitude and at a speed in proportion to the degree of �anger�.
Moreover, in this pet robot system 1, when the pet robot 2 is moving, the internal temperature of the body unit 4 will be detected. And if the internal temperature reaches the prescribed critical temperature when the pet robot 2 is presently in the attitude of �lying down� or �lying on its belly�, each of the leg units 5A to 5D is drive-controlled and the pet robot 2 is shifted to a �standing up� attitude. Thereby, the pet robot 2 can spontaneously ventilate the internal temperature of the body unit 4. Thus, trouble of the pet robot 2 can be prevented by its own motion.
On the contrary, if the internal temperature reaches the prescribed critical temperature when the pet robot is presently not in the attitude of �lying down� or �lying on its belly�, the head unit 6 and/or the tail unit 7 is controlled to make the LED turn on and off in a specified light emitting pattern, a specified warning sound will be generated from the speaker 18, and the tail unit 7 will be shaken in a specified direction at a specified amplitude and at a specified speed. Thereby, that the pet robot 2 is in a critical state can be informed the user directly. Thus, even if the pet robot 2 cannot prevent trouble by its own motion, the possibility of the trouble can be remarkably reduced.
Moreover, in this pet robot system 1, when the pet robot 2 is moving, if the internal temperature of the body unit user 4 reaches the prescribed critical temperature, on one hand when the pet robot 2 is presently in the attitude of �lying down� or �lying on its belly�, the pet robot 2 is shifted to a �standing up� attitude, on the other hand when it is in the other attitudes, the head unit 6 and/or the tail unit 7 is drive-controlled to represent that by its manner and inform the user that. Thereby, trouble of the battery 11 inside the pet robot 2 can be prevented. Thus, the pet robot system 1 in which its safety can be ensured can be accomplished.
Moreover, in the aforementioned embodiment, it has dealt with the case where as the emotional expression by the motion and attitude of the tail part 5T in the tail unit 5, only three kinds of expression �glad�, �sad� and �angry� have been applied. However, the present invention is not only limited to this but also it can be applied to various emotional expressions such as �surprise�, �scare�, �dislike� etc.
In this case, emotion units showing the emotions such as �surprise�, �scare� and �dislike� may be added to the emotion units 60A to 60C forming the basic emotion group 60 described above with reference to FIG. 12. Thereby, for example when the pet robot 2 represents �surprise�, in the tail unit 7, the tail part 7T may be only instantaneously shaken in the lateral or vertical direction at an amplitude in proportion to the degree of �surprise�. When in representing �scare�, in the tail unit 7, the tail part 7T may be stood still in the state where it is straight in the horizontal direction. And when in representing �dislike�, in the tail unit 7, the tail part 7T may be turned at an amplitude and at a speed in relation to the degree of �dislike�.
Furthermore, without only limiting to the emotional expression, it may be applied to instinctive expression. In this case, for example when in representing �hungry� or �sleepy�, the tail part 7T may be changed to the same attitude as �sad� described above. Oppositely, when in representing �full� or �wants for exercise�, the tail part 7T may be moved in relation to the degree in the same manner as �glad� described above.
Moreover, as emotional expression by the tail part 7T, if shaking it in a predetermined motion pattern in synchronization with a generated sound from the speaker 18 or the light emitting pattern of the LED (not shown) that corresponds to �eye� in the head unit 6, power of expression of the pet robot 2 can be further increased.
In the aforementioned embodiment, it has dealt with the case where when the internal temperature of the body unit 4 reaches the prescribed temperature and over, the pet robot 2 is made a transition to a motion that the body unit 4 is raised (that is, the attitude to �stand up�). However, the present invention is not only limited to this but also it may be shifted to various motions provided that it is a motion that the ventilating opening composed of the exhausting opening 4AX and the intake 4BX formed in the body unit 4 is opened.
Industrial Applicability The robot system and the control method thereof can be applied to a pet robot and an amusement robot or the like.
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KgFloor treatment systemUS7076334Nov 16, 2004Jul 11, 2006Sony CorporationRobot apparatus and method and system for controlling the action of the robot apparatusUS7099742 *Oct 19, 2001Aug 29, 2006Sony CorporationDevice for controlling robot behavior and method for controlling itUS7162331Jul 23, 2003Jan 9, 2007Fujitsu LimitedPower supply control device and method for mobile robotUS7805220Mar 11, 2004Sep 28, 2010Sharper Image Acquisition LlcRobot vacuum with internal mapping systemUS8210947 *Nov 24, 2010Jul 3, 2012Konami Digital Entertainment Co., Ltd.Game system using network, game program, game device, and method for controlling game using networkUS8483873 *Jul 20, 2010Jul 9, 2013Innvo Labs LimitedAutonomous robotic life formUS8583282 *Sep 29, 2006Nov 12, 2013Irobot CorporationCompanion robot for personal interactionUS20110070952 *Nov 24, 2010Mar 24, 2011Konami Digital Entertainment Co., Ltd.Game system using network, game program, game device, and method for controlling game using networkUS20120022688 *Jul 20, 2010Jan 26, 2012Innvo Labs LimitedAutonomous robotic life formUS20120256752 *Apr 6, 2011Oct 11, 2012James William MusserSystem and method to extend operating life of rechargable batteries using battery charge management* Cited by examinerClassifications U.S. Classification700/245, 700/263, 706/16, 706/23, 700/264, 701/70, 700/260, 700/246, 706/20, 701/79, 706/11International ClassificationG06N3/00, B25J19/00Cooperative ClassificationB25J19/005, B25J19/0054, G06N3/008European ClassificationB25J19/00F, B25J19/00G, G06N3/00L3Legal EventsDateCodeEventDescriptionAug 29, 2006FPExpired due to failure to pay maintenance feeEffective date: 20060702Jul 3, 2006LAPSLapse for failure to pay maintenance feesJan 18, 2006REMIMaintenance fee reminder mailedMar 12, 2001ASAssignmentOwner name: SONY CORPORATION, JAPANFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:INOUE, MAKOTO;NOMA, HIDEKI;REEL/FRAME:011611/0721Effective date: 20001225Owner name: SONY CORPORATION 7-35 KITASHINAGAWA 6-CHOME SHINAGOwner name: SONY CORPORATION 7-35 KITASHINAGAWA 6-CHOMESHINAGAFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:INOUE, MAKOTO /AR;REEL/FRAME:011611/0721RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google