Toboy device and method for controlling the same

• US 6,415,203 B1
• Filed: 03/12/2001
• Issued: 07/02/2002
• Est. Priority Date: 05/10/1999
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Noma, Hideki, Inoue, Makoto
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/743,293
• Time in Patent Office: 477 Days
• Field of Search: 700/246, 700/245, 700/264, 700/260, 700/263, 706/23, 706/11, 706/16, 706/20, 702/182, 702/141, 345/473, 345/953, 846/15, 846/33, 846/36, 846/58, 414/5, 701/70, 701/79
• US Class Current: 700/245
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 19/0054 Cooling means
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

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.

Claims

1. A robot apparatus having a movable part of which one end has been connected freely in rotation in the direction of at least one axis or more, comprising:

motion control means for operating said movable part according to input information to be supplied; and

emotion/instinct model changing means having emotion/instinct models caused by motion of said movable part, for changing said emotion/instinct model based on said input information and determining said motion of said movable part.

2. The robot apparatus according to claim 1, wherein said motion control means operates said movable part so as to bend, shake and/or turn centering around said one end.

3. The robot apparatus according to claim 1, wherein said input information is information on approaches from a user and/or information on environment around said robot apparatus.

4. A robot apparatus having a movable part of which one end has been connected freely in rotation in the direction of at least one axis or more, comprising:

detecting means for detecting the internal state of said robot apparatus; and

motion control means for operating said movable part according to the detected result by said detecting means, wherein said motion control means operates said movable part so as to bend, shake and/or turn centering around said one end.

5. The robot apparatus according to claim 4, wherein said detecting means detects, as the internal state of said robot apparatus, one or more than one of states in a connecting state between each of the circuits in said robot apparatus, the operating state of a driving system and/or a sensor system in said robot apparatus, the state of the remaining amount of battery in said robot apparatus, the walking state of said robot apparatus and the starting state of a program stored in storing means in said robot apparatus.

6. The robot apparatus according to claim 4, further comprising temperature measuring means for measuring the temperature around said robot apparatus, and wherein said motion control means operates said movable part according to the measured result by said temperature measuring means.

7. The robot apparatus according to claim 4, further comprising communication means for communicating with the outside, and wherein said motion control means operates said movable part according to an amount of data transmission or the communicating state of said communication means.

8. A robot apparatus capable of having a battery built-in as a power source, comprising:

remaining amount of battery detecting means for detecting the remaining amount of said battery; and

motion control means, if the remaining amount of said battery detected by said remaining amount of said battery detecting means becomes a prescribed level or below, for changing said robot apparatus into a predetermined posture and/or performing a predetermined motion.

9. The robot apparatus according to claim 8, wherein said predetermined posture is a posture suitable for battery charging.

10. The robot apparatus according to claim 8, wherein:

said remaining amount of battery detecting means detects the remaining amount of said battery in phased levels; and

said motion control means reduces said specified motion of said robot apparatus in every said phase detected by said remaining amount of battery detecting means.

11. The robot apparatus according to claim 8, wherein said robot apparatus has a body part and a tail unit connected to the body part, and said predetermined motion is a shaking of said tail unit in specified directions and/or at a specified amplitude for indicating a shortage of the remaining amount of battery.

12. A robot apparatus having a body part capable of having a power source built-in and in that an exhausting opening has been formed at a predetermined position of said body part, comprising:

temperature detecting means for detecting the internal temperature of said body part; and

motion control means, if said internal temperature detected by said temperature detecting means becomes a prescribed temperature and over, for changing said robot apparatus into a predetermined posture and/or performing a predetermined motion.

13. The robot apparatus according to claim 12, wherein said predetermined motion is a motion to raise said body part.

14. A method of controlling a robot apparatus having a battery built-in as a power source, comprising:

a first step of detecting the remaining amount of said battery; and

a second step, if said detected remaining amount of said battery becomes a prescribed level or below, changing said robot apparatus into a predetermined posture and/or performing a predetermined motion.

15. The robot apparatus control method according to claim 14, wherein in said second step, said predetermined posture is a posture suitable for battery charging.

16. The robot apparatus control method according to claim 14, wherein:

in said first step, the remaining amount of said battery is detected in phased levels; and

in said second step, said predetermined motion of said robot apparatus is reduced with every said detected phase.

17. A method of controlling a robot apparatus having a body part having a power source built-in and in that an exhausting opening has been formed at a predetermined position of said body part, comprising:

a first step of detecting an internal temperature of said body part; and

a second step, if said detected internal temperature becomes a prescribed temperature or over, of changing said robot apparatus into a predetermined posture and/or performing a predetermined motion.

18. The robot apparatus control method according to claim 17, wherein in said second step, said predetermined motion is a motion to raise said body part.