Electronic equipment with an autonomous function

• US 6,708,081 B2
• Filed: 07/27/2001
• Issued: 03/16/2004
• Est. Priority Date: 07/27/2000
• Status: Expired due to Fees

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Yoshida, Makoto
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/917,193
• Publication Number:
  US 20020068995A1
• Time in Patent Office: 963 Days
• Field of Search: 700/31, 700/245, 700/248, 700/258, 700/259, 318/568.1, 318/568.11, 318/568.12, 318/568.2, 318/569, 318/565, 901/1, 901/15, 901/47, 704/207, 704/209, 704/270, 348/121
• US Class Current: 700/245
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 2219/37563 Ccd, tv camera
• CPC Class Codes: G05B 2219/39254 Behaviour controller, robot have feelings, learns behaviour

Abstract

The invention is directed to electronic equipment, such as a pet robot, with an autonomous emotion-based function. The electronic equipment executes environment detection processing, emotion-production processing for producing an emotion, and movement determination processing for determining a movement based on the emotion. The movement determination processing is arranged such that actions representing the emotion by the movement of given parts of the pet robot are performed prior to main actions based on the emotion. Therefore, a user can understand the emotion of the pet robot by intuition and thereby predict the subsequent movement naturally and effectively, providing the user feeling that the movement of the pet robot is reasonable.

Claims

1. A pet robot-type of device with an autonomous emotion-based function, comprising:

an environment detection device for detecting surroundings;

an emotion-production module for producing an emotion based at least in part on data from the environment detection device; and

a movement-determination module for determining a movement based on the emotion produced by the emotion-production module, wherein the movement determination module determines the movement so that actions expressing the emotion by movements of given parts of the device are performed prior to main actions based on the emotion, wherein a speed of movement of portions of the device are moved relatively more gradually in response to relatively weaker emotions and relatively more Quickly in response to relatively stronger emotions.

2. The pet robot-type of device of claim 1, wherein the movement determination module determines the movement so that when the produced emotion exceeds a predetermined threshold, reflective actions are performed instead of actions expressing the emotion.

3. A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising:

detecting an object;

producing an emotion based at least in part on the detected object;

determining movements of the electronic equipment based on the emotion;

generating a control signal based on the object and the movements; and

producing one or more motions of the electronic equipment in response to the controlling signal, wherein a speed of movement of portions of the electronic equipment are moved relatively more gradually in response to relatively weaker emotions and relatively more quickly in response to relatively stronger emotions.

4. The method of claim 3, wherein said determining movements of the electronic equipment is performed so that when a predetermined emotion is below a specified threshold, predetermined parts of the electronic equipment are moved relatively gradually to express the emotion.

5. The method of claim 4, wherein the predetermined emotion comprises like or dislike.

6. The method of claim 4, wherein the predetermined parts of the electronic equipment comprise at least one of a face, an eye, a neck, a hand, and a leg.

7. The method of claim 3, wherein said determining movements of the electronic equipment is performed so that when a predetermined emotion is above a specified threshold, parts of the electronic equipment are moved relatively sharply.

8. The method of claim 3 A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising:

detecting an object;

producing an emotion based at least in part on the detected object;

determining movements of the electronic equipment based on the emotion;

generating a control signal based on the object and the movements; and

producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes searching in a relatively wide field-of-view and at a relatively lower resolution when looking for an object, and then searching in a relatively narrow field-of-view and a relatively higher resolution when the object has been found.

9. The method of claim 3, wherein said detecting an object includes collecting images.

10. A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising:

detecting an object;

producing an emotion based at least in part on the detected object;

determining movements of the electronic equipment based on the emotion;

generating a control signal based on the object and the movements; and

producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes a relatively rough search of the surroundings when the object has not been found, and then searching a specific region of the surroundings when the object has been found.

11. A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising:

detecting an object;

producing an emotion based at least in part on the detected object;

determining movements of the electronic equipment based on the emotion;

generating a control signal based on the object and the movements; and

producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting sounds.

12. A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising:

detecting an object;

producing an emotion based at least in part on the detected object;

determining movements of the electronic equipment based on the emotion;

generating a control signal based on the object and the movements; and

producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting odors.

13. A method of controlling movements of electronic equipment with an autonomous function based on a simulated emotion, the method comprising:

detecting an object;

producing an emotion based at least in part on the detected object;

determining movements of the electronic equipment based on the emotion;

generating a control signal based on the object and the movements; and

producing one or more motions of the electronic equipment in response to the controlling signal, wherein said detecting an object includes collecting tactile senses.

14. An apparatus with emotion-based movements, comprising:

an object detection device for detecting an object;

an emotion-production module producing an emotion of the apparatus based on the detected object;

a movement-determination module for determining movements of the apparatus based on the production of the emotion;

a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and

a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein a speed of movement of portions of the apparatus are moved relatively more gradually in response to relatively weaker emotions and relatively more quickly in response to relatively stronger emotions.

15. The electronic equipment of claim 14, wherein the movement determination module operates so that when a predetermined emotion is below a specified threshold, predetermined parts of the electronic equipment are moved relatively gradually to express the emotion.

16. The electronic equipment of claim 14, wherein the movement determination module operates so that when a predetermined emotion is above a specified threshold, predetermined parts of the electronic equipment are moved relatively sharply to express the emotion.

17. An apparatus with emotion-based movements, comprising:

an object detection device for detecting an object;

an emotion-production module producing an emotion of the apparatus based on the detected object;

a movement-determination module for determining movements of the apparatus based on the production of the emotion;

a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and

a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device is configured to perform a relatively low-resolution search to find an object, perform actions showing an emotion based on the relatively low-resolution search, and perform a relatively higher resolution examination of the object that has been found.

18. An apparatus with emotion-based movements, comprising:

an object detection device for detecting an object;

an emotion-production module producing an emotion of the apparatus based on the detected object;

a movement-determination module for determining movements of the apparatus based on the production of the emotion;

a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and

a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes at least one imaging device having an adjustable field of view, the imaging device having a relatively wide field-of-view and a relatively lower resolution for use when looking for an object, and the imaging device having a relatively narrow field-of-view and a relatively higher resolution for use when an object has been found.

19. An apparatus with emotion-based movements, comprising:

an object detection device for detecting an object;

an emotion-production module producing an emotion of the apparatus based on the detected object;

a movement-determination module for determining movements of the apparatus based on the production of the emotion;

a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and

a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes a plurality of sound collection devices.

20. An apparatus

with emotion-based movements, comprising:

an object detection device for detecting an object;

an emotion-production module producing an emotion of the apparatus based on the detected object;

a movement-determination module for determining movements of the apparatus based on the production of the emotion;

a control signal generation module for generating a control signal based on the detected object and the determination of the movements of the apparatus; and

a controlling device for controlling the movements of the apparatus in response to the controlling signal, wherein the object detection device includes at least one odor collection device.