JPH01140202A - Interactive type robot apparatus - Google Patents

Abstract

PURPOSE: To efficiently operate an interactive robot by receiving the information from an external computer and responding to the information, responding to the information, the data or the command from the computer, moving the part of a robot device or generating sound. CONSTITUTION: This robot device 3 having an internal computer 4 is connected to a main computer 1 through a connectable/disconnectable route 2. The robot device 3 is provided with a movement generation mechanism 5, a sound generation mechanism 6 and a ROM 7. This robot device 3 receives the information from the main computer 1 and responds to the information. Further, the robot 3 generates a movement 5 or generates sound 6 in the part of the robot device 3 or makes the both of them be enforced by responding to the information, the data or the command from the main computer 1 and executing the command. Thus, the robot 3 can be effectively operated by making the robot interactive with the main computer 1.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an interactive communication robot device. These devices can be connected to and disconnected from a computer, and are capable of interacting with the computer. In certain embodiments, the robotic devices have a means for receiving and responding to information, data, and instructions from a computer external to them or in response to and responding to information, data, or instructions from a computer external to the robotic devices. The robotic device may include means for moving moving parts such as arms, legs, eyes and mouth, or both. These embodiments may also include means for transmitting information, data or commands from the robotic device to a computer external to it and coupled to it. , may produce an audible output of sounds such as whines, growls, or sighs.

In certain embodiments, the robotic device includes its own data processing means, such as a microprocessor or other computer means, and memory means for storing information, data and instructions from a computer external to the robotic device. It can be equipped.

The computer of the robotic device itself may be used to process data and execute commands within the robotic device, with or without the processing of data, e.g. by producing mechanical movements in the robotic device, or by producing an audible output from the robotic device. The external computer may receive and/or respond to information, data, and commands from an external computer. In the case of a robotic device equipped with means for executing commands or for interpreting and representing information and data by processing means internal to the robot device, the robot is attached to a computer external to it. Alternatively, the robotic device can generate audible responses or mechanical movements while being disconnected from a computer external to it.

Certain embodiments of the robotic device may include means for playing audio tapes. Such a playback device may include means for starting or stopping the playback device in response to commands from a computer external to the robotic device or in response to instructions from a computer internal to the robotic device. . In addition, this robot device
A voice-activated or sound-activated device for producing mechanical movements or audible responses of the robotic device independently of or in conjunction with commands, information, or data from a computer external to or internal to it. It can be equipped with means for

In still other embodiments, a robotic device may receive information, data, and instructions from sources other than or in addition to a computer external to and connected to it. Information, data and instructions may be received from a cable signal transmission system or a VCR system connected via means for decoding and/or demodulating signals.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a robot device 3 having an internal computer 4.
The main computer 1 is shown linked by an R3232 path 2 which can be connected to and disconnected from the main computer 1.

The robot device W3 also includes a motion generating mechanism 5, a sound generating mechanism 6, and a read-only memory 7.

The robotic device 3 reacts and responds to information, data or commands from the computer 1 transmitted by path 2 to the robotic device 3 by mechanical movements and/or audible sounds.

The robotic device 3 can also transmit information, data and instructions to the computer 1 via the path 2, by executing instructions from the computer and/or by transmitting information.

FIG. 2 shows a computer 10 connected to a robotic device 11 through a connectable/detachable R3232 path 12. In this case, the robot device 11 is equipped with an internal microprocessor 13, a motion generator 14, a sound generator 15 and a read-only memo IJl 6.The robot device 11 is in the same manner as the robot device 3 in FIG. Operate.

FIG. 3 shows the main computer 20 linked to the robotic device 21 via a connectable/detachable R332 path. In this case, the robotic device 21 is equipped with a motion generating mechanism 23 and a sound generating mechanism 24, but without an internal microprocessor or computer. may respond to information, data, or commands from 20;

FIG. 4 schematically shows the signal communication between the robotic device and a computer external to but connected to the robotic device as shown in FIGS. 1-3. Computer 3 connected to input/output terminal 31 via path 32
0 is connected to a data acquisition/control interface 34 through an input/output path 33. interface 34
is connected to the robotic device through an R3232 boat. Data, information, and commands transmitted from computer 30 through path 33, interface 34, and R3232 boat 35 are transmitted along path 36 through digital-to-analog signal converter 37 to the robotic device. Signals from transducer 37 are sent over path 38 to a motion generating mechanism 39, such as a servo motor, to generate motion of the head or arm of the robotic device.

When triggered, the motion generating mechanism 54 causes the solenoid 1 to
03 (see Figures 5 and 7) to open and close the eyes and mouth, coordinating the mouth and eye movements with the speech pattern. The motion generating mechanism can also produce head movement in either direction by a reversible motor 104 that is pulsed to produce movement in the desired direction. Motor 1
04 is deenergized when the head reaches stop 106 to prevent damage. The movable lip 109 is also continuously movable in the vertical direction as if the head is rotating as required. By causing such mechanical movement, a signal is generated on path 40 indicating the same. This signal is sent to an analog-to-digital converter 41 which generates a digital signal on path 42 to interface 34 representing the execution of a mechanical motion command by the robotic device.

The commands are also sent to the interface 34 through the acoustic transducer 43.
can be input. In this case, the signal is sent to interface 34 via path 44. Similarly, computer 3
0's interaction with the robotic device is controlled by an optical or acoustic transducer 45, in which case signals are sent along a path 46 to the interface 34. Similarly, information, data or commands from computer 30 and interface 34 are transmitted digitally via paths 47 and 48.
Analog signals can also be sent to analog converters 49 and 50 to generate analog signals on paths 51 and 52. When the servo motor 53 is pulsed, it pivots the robot device's hand at the elbow joint to cause it to clap. If the servo motor 53 is not pulsed, the spring 115 pushes the arm back to the starting position (see FIG. 6).

Once these movements occur, an analog signal is sent to path 5
5 and 56 and sent to analog-to-digital converters 57 and 58 to form corresponding digital signals and along paths 59 and 60 to interface 34 along with information about the execution of the mechanical movement command. return.

5-10 illustrate one embodiment of a motion generating mechanism for a robotic device. Pulleys 101 and 10
2 controls the movement of the arm. A motor 107 drives alignment pulley 101 and arm pulley 102.

Solenoid 103 controls opening and closing of the mouth. The lips 109 of the robotic device are movable relative to the head, while the other lips of the robotic device are fixed. The lips 109 can be opened and closed, and the eyes 1
05 are linked to each other, so they can blink in unison. The forward/reverse two-way motor 104 is the cam 10
8 and its motor 104 is pulse driven,
That motor rotates cam lO8. Along with this, the cam 108 causes the robot device to be stopped by the stopper member 1.
06's! Rotate to the right or left until you reach . The stop member 106 is attached to the body of the robot device and does not rotate with the head, and the Wfi sphere plate 120 has eyelashes that move up and down when the solenoid 103 is activated.

Figures 5 to 9 show pulleys 101 and 102 and spring 11.
The motor 107 is shown connected to the motor 4. spring 114
limits the movement of the robotic device when motor 107 is activated. Spring 114 also controls tension in the arm to provide movement.

The hand attached to the arm of the robotic device opens and closes in response to the force imparted by motor 107. When motor 107 is not running, spring 115 closes their hands.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a robot device comprising an internal computer, a read-only memory, a sound generating means, and a motion generating means connected to an external computer; FIG. 2 is a block diagram showing an internal microprocessor, a read-only memory, a sound generating means; 3 is a block diagram showing a robot device equipped with a motion generating device connected to an external computer; FIG. 3 is a block diagram showing a robot device equipped with a voice generating means and a motion generating device and connected to a computer; FIG. 5 is a block diagram schematically showing a circuit for connecting a robot device as shown in FIGS. 1 to 3 to an external computer; FIG. 6 is a schematic diagram showing other parts of the motion generating means shown in FIG. 5, FIG. 7 is a schematic diagram showing other parts of the motion generating means shown in FIG. 5, and FIG. The figure is a view of the spring mechanism of the elbow portion of the robot device shown in FIG. 6 taken along line 8-8, and FIG.
9--9, and FIG. 10 is a cross-sectional view of the cam mechanism shown in FIG. 7, taken along line 10--10. In the drawings, l is a main computer, 3 is a robot device, 4 is an internal computer, 5 is a motion generation mechanism, 6 is a sound generation mechanism, 7 is a read-only memory, II is a robot device,
13 is an internal microprocessor, 14 is a motion generation mechanism,
15 is a sound generation mechanism, 16 is a read-only memory, 2o is a main computer, 21 is a robot device, 23 is a movement generation mechanism, 24 is a voice generation mechanism, 30 is a computer, 31 is an input/output terminal, 34 is a data collection/output terminal A control interface, 37 a digital-to-analog converter, 39 a motion generation mechanism, 54 a motion generation mechanism, and 104 a reversible motor.

Claims (1)

[Scope of Claims] 1. A robot device equipped with means for connecting and disconnecting the robot device to a computer, the robot device receiving and responding to information, data, and commands from a computer external to the robot device. or means for moving parts of the robotic device or generating sounds in response to information, data or commands from the computer. 2. The interactive type according to claim 1, further comprising means within the robot device for transmitting information, data, and commands from the external computer when the external computer is connected to the robot device. robotic equipment. 3. data processing means and storing information, data and instructions from the computer external to the robot device;
and further comprising memory means for executing instructions generated by said data processing means and/or by said computer external to said robotic device. 4. means for connecting and disconnecting the robotic device from a cable signal transmission system or a VCR system;
The robotic device of claim 1, further comprising means for generating audio from the robotic device and/or movement by the robotic device using signals from the cable system or the VCR system. 5. The robot apparatus according to claim 1, wherein said response means comprises means for generating an audio response.