Robot controlled by wireless signals

• US 7,047,105 B2
• Filed: 02/15/2002
• Issued: 05/16/2006
• Est. Priority Date: 02/16/2001
• Status: Expired due to Fees

• Current Assignee: Xaraz Properties LLC (Intellectual Ventures LLC)
• Original Assignee: Sanyo Electric Company Limited (Panasonic Holdings Corporation)
• Inventors: Murakami, Seiji, Kataoka, Shinya, Kakutani, Kazushige, Tojo, Naoto, Aoki, Hideaki, Tokumaru, Tomoyoshi, Miyaji, Shin
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US10/076,782
• Publication Number:
  US 20020161480A1
• Time in Patent Office: 1,551 Days
• Field of Search: 700/245, 700/257, 700/246, 700/247, 700/248, 700/249, 700/250, 318/568.12, 318/800, 701/23, 901/1, 901/46, 901/47
• US Class Current: 700/245
• 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

A user communicates with a companion with his or her portable telephone attached to a telephone attachment pocket of a robot. The robot acts in accordance with a voice signal which is outputted from the portable telephone, thereby behaving as if it were speaking to the user. The robot outputs a voice in response to the user'"'"'s voice which is picked up by a microphone, thereby behaving as if it were listening to the user. Owing to this robot or a robot system using the same, the user feels less odd in his or her communication using the portable telephone.

Claims

1. A robot system comprising:

a communication apparatus of one of a portable telephone and a radio communication unit for communicating with an outside communication device to receive a voice signal and output one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

an imaging unit; and

a control unit which drives said movable unit based on an evaluation value obtained by calculating the one of the voice and the voice signal outputted from said communication apparatus and an image captured by said imaging unit.

2. The robot system according to claim 1 wherein a portion of the robot has features that correspond to those of a human and said control unit drives said movable unit to operate the robot to perform at least one of the acts of blinking, opening/closing the mouth and nodding.

5. The robot system which operates a robot based on emotions thereof according to claim 2, further comprising:

an emotion determining unit which determines the emotion of the robot based on external stimulation;

a state determining unit which determines the current interaction state of said robot based on external stimulation; and

a reply operation control unit which causes said robot to realize an emotion for the present which is determined by said emotion determining unit and an interactional action for the present which is determined by said state determining unit.

3. A robot system comprising:

a communication apparatus of one of a portable telephone and a radio communication unit for communicating with an outside communication device to receive a voice signal and output one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on an evaluation value obtained by calculating the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit.

6. The robot system according to claim 3 wherein a portion of the robot has features that correspond to those of a human and said control unit drives said movable unit to operate the robot to perform at least one of the acts of blinking, opening/closing the mouth and nodding.

7. A robot system comprising a communication apparatus and a robot,

the communication apparatus having:

a first receiving unit which receives from outside first action instructing information which expresses an instruction regarding an action of said movable unit;

a first transmission unit which transmits to said robot second action instructing information which corresponds to said first action instructing information which is received by said first receiving unit;

a second receiving unit which receives first image information which expresses an image which is transmitted from said robot; and

a second transmission unit which transmits to outside second image information which corresponds to said first image information which is received by said second receiving unit,

the robot having;

a movable unit;

an imaging unit;

a third receiving unit which receives said second action instructing information which is transmitted from said communication apparatus;

a control unit which drives said movable unit based on said second action instructing information which is received by said third receiving unit; and

a third transmission unit which transmits said first image information to said communication apparatus based on an image captured by said imaging unit.

4. The robot system according to claim 7, wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit.

8. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

an imaging unit; and

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus and an image captured by said imaging unit;

wherein said communication apparatus further comprises;

a first receiving unit which receives from outside first action instructing information which expresses an instruction regarding an action of said movable unit;

a first transmission unit which transmits to said robot second action instructing information which corresponds to said first action instructing information which is received by said first receiving unit;

a second receiving unit which receives first image information which expresses an image which is transmitted from said robot; and

a second transmission unit which transmits to outside second image information which corresponds to said first image information which is received by said second receiving unit,

the robot further comprises;

a third receiving unit which receives said second action instructing information which is transmitted from said communication apparatus; and

a third transmission unit which transmits said first image information to said communication apparatus based on the image captured by said imaging unit, and

said control unit drives said movable unit based on said second action instructing information which is received by said third receiving unit.

9. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit;

wherein said communication apparatus further comprises;

a first receiving unit which receives from outside first action instructing information which expresses an instruction regarding an action of said movable unit;

a first transmission unit which transmits to said robot second action instructing information which corresponds to said first action instructing information which is received by said first receiving unit;

a second receiving unit which receives first image information which expresses an image which is transmitted from said robot; and

a second transmission unit which transmits to outside second image information which corresponds to said first image information which is received by said second receiving unit,

the robot further comprises;

a third receiving unit which receives said second action instructing information which is transmitted from said communication apparatus; and

a third transmission unit which transmits said first image information to said communication apparatus based on the image captured by said imaging unit, and

said control unit drives said movable unit based on said second action instructing information which is received by said third receiving unit.

10. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit;

further comprising;

a voice existence determining unit which judges whether there is an input voice in predetermined cycles based on a voice signal which is inputted at said voice input unit;

a speaker existence determining unit which judges whether there is a speaker in predetermined cycles based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the current interaction state of said robot based on the judgment result obtained at said voice existence determining unit and the judgment result obtained at said speaker existence determining unit.

11. The robot system according to claim 10, further comprising:

a darkness detector which judges whether it is dark around in predetermined cycles based on the image signal which is inputted at said imaging unit; and

a determining unit which determines the current interaction state of said robot based on the judgment result obtained at said voice existence determining unit, the judgment result obtained at said speaker existence determining unit, and the judgment result obtained at said darkness detector.

12. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit;

further comprising;

a first detector which detects a factor which changes an emotion, based on a voice signal which is inputted at said voice input unit;

a second detector which detects a factor which changes an emotion, based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the emotion of the robot based on the judgment results obtained at said first and said second detectors.

13. The robot system according to claim 12, wherein said first detector comprises a unit which judges the voice level of an input voice in predetermined cycles based on the voice signal which is inputted at said voice input unit, and

said second detector comprises a unit which judges whether a face is detected in predetermined cycles based on the image signal which is inputted at said imaging unit.

14. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit;

further comprising;

an emotion determining unit which determines the emotion of the robot based on external stimulation;

a state determining unit which determines the current interaction state of said robot based on external stimulation; and

a reply operation control unit which causes said robot to realize an emotion for the present which is determined by said emotion determining unit and an interactional action for the present which is determined by said state determining unit;

wherein said emotion determining unit comprises;

a first detector which detects a factor which changes an emotion, based on a voice signal which is inputted at said voice input unit;

a second detector which detects a factor which changes an emotion, based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the emotion of the robot based on the judgment results obtained at said first and said second detectors.

15. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit;

further comprising;

an emotion determining unit which determines the emotion of the robot based on external stimulation;

a state determining unit which determines the current interaction state of said robot based on external stimulation; and

a reply operation control unit which causes said robot to realize an emotion for the present which is determined by said emotion determining unit and an interactional action for the present which is determined by said state determining unit;

further comprising;

a voice existence determining unit which judges whether there is an input voice in predetermined cycles based on a voice signal which is inputted at said voice input unit;

a speaker existence determining unit which judges whether there is a speaker in predetermined cycles based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the current interaction state of said robot based on the judgment result obtained at said voice existence determining unit and the judgment result obtained at said speaker existence determining unit.

16. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

wherein said robot further comprises an imaging unit, and said control unit drives said movable unit based on an image captured by said imaging unit;

further comprising;

a first detector which detects a factor used for selecting the reply operation table, based on a voice signal which is inputted at said voice input unit;

a second detector which detects a factor used for selecting the reply operation table, based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the reply operation table based on the judgment results obtained at said first and said second detectors.

17. The robot system according to claim 16, wherein said first detector comprises a unit which judges the voice level of an input voice in predetermined cycles based on the voice signal which is inputted at said voice input unit, and

said second detector comprises a unit which judges whether a face is detected in predetermined cycles based on the image signal which is inputted at said imaging unit.

18. A robot system comprising:

a communication apparatus which receives a voice signal and outputs one of a voice and a voice signal which corresponds to the received voice signal; and

a robot;

the robot having;

a movable unit;

a voice input unit;

a voice output unit;

a control unit which drives said movable unit based on the one of the voice and the voice signal outputted from said communication apparatus; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice which is determined by said voice determining unit;

further comprising;

a reply operation table determining unit which determines the reply operation table of the robot based on external stimulation;

a state determining unit which determines the current interaction state of said robot based on external stimulation; and

a reply operation control unit which causes said robot based on the reply operation table for the present which is determined by said reply operation table determining unit and an interactional action for the present which is determined by said state determining unit.

19. The robot system according to claim 18, wherein said reply operation table determining unit comprises:

a first detector which detects a factor which changes a reply operation table, based on a voice signal which is inputted at said voice input unit;

a second detector which detects a factor which changes a reply operation table, based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the reply operation table of the robot based on the judgment results obtained at said first and said second detectors.

20. The robot system according to claim 18, further comprising:

a voice existence determining unit which judges whether there is an input voice in predetermined cycles based on a voice signal which is inputted at said voice input unit;

a speaker existence determining unit which judges whether there is a speaker in predetermined cycles based on an image signal which is inputted at said imaging unit; and

a determining unit which determines the current interaction state of said robot based on the judgment result obtained at said voice existence determining unit and the judgment result obtained at said speaker existence determining unit.

21. A robot comprising:

a movable unit;

a motor which is disposed to said movable unit;

a drive circuit which drives said motor;

an imaging unit;

an input unit which accepts one of a voice and a voice signal from a communication apparatus of one of a portable telephone and a radio communication unit for communicating with an outside communication device to receive a voice signal and output one of a voice and a voice signal which corresponds to the received voice signal; and

a control unit which drives said movable unit based on an evaluation value obtained by calculating the one of the voice and the voice signal accepted at said input unit and an image captured by said imaging unit.

22. The robot according to claim 21, further comprising:

a receiving unit which receives action instructing information which expresses an instruction regarding an action of said movable unit; and

a transmission unit which transmits said image information containing an image captured by said imaging unit,

wherein said control unit drives said movable unit based on said action instructing information which is received by said receiving unit.

23. The robot according to claim 21 whereby an operation program is acquired to a memory from an external server apparatus through a communication network.

24. The robot according to claim 21, further comprises a programmable controller which can modify by means of program a hardware structure which is for supplying a control signal to said drive circuit.

25. The robot as claimed in claim 21, wherein a portion of the robot has features that correspond to those of a human and said control unit drives said movable unit to operate the robot to perform at least one of the acts of blinking, opening/closing the mouth and nodding.

26. A robot comprising:

a movable unit;

a motor which is disposed to said movable unit;

a drive circuit which drives said motor;

a voice input unit;

a voice output unit;

an input unit which accepts one of a voice and a voice signal from a communication apparatus of one of a portable telephone and a radio communication unit for communicating with an outside communication device to receive a voice signal and output one of a voice and a voice signal which corresponds to the received voice signal;

a control unit which drives said movable unit based on an evaluation value obtained by calculating the one of the voice and the voice signal accepted at said input unit; and

a voice determining unit which determines a voice to be outputted based on the voice which is inputted at said voice input unit,

wherein said voice output unit outputs the voice determined by said voice determining unit.

27. The robot according to claim 26 further comprising an imaging unit,

wherein said control unit drives said movable unit based on an image captured by said imaging unit.

28. The robot according to claim 27, further comprising:

a receiving unit which receives action instructing information which expresses an instruction regarding an action of said movable unit; and

a transmission unit which transmits said image information containing an image captured by said imaging unit,

wherein said control unit drives said movable unit based on said action instructing information which is received by said receiving unit.

29. The robot according to claim 26 whereby an operation program is acquired to a memory from an external server apparatus through a communication network.

30. The robot according to claim 26, further comprises a programmable controller which can modify by means of program a hardware structure which is for supplying a control signal to said drive circuit.

31. The robot as claimed in claim 26, wherein a portion of the robot has features that correspond to those of a human and said control unit drives said movable unit to operate the robot to perform at least one of the acts of blinking, opening/closing the mouth and nodding.

32. A robot comprising:

a movable unit;

a motor which is disposed to said movable unit;

a drive circuit which drives said motor;

an imaging unit for capturing an image;

a control unit that controls the movable unit to locate a user of the robot at the center of an image on the basis of a captured image;

a receiving unit which receives from an outside device by one of a portable telephone and a radio communication unit action instructing information, which expresses an instruction regarding an action of said movable unit;

said control unit also operating to drive said movable unit based on said action instructing information which is received by said receiving unit; and

a transmission unit which transmits by one of a portable telephone or radio communication unit to the outside device said image information containing an image captured by said imaging unit.

33. The robot according to claim 32 whereby an operation program is acquired to a memory from an external server apparatus through a communication network.

34. The robot according to claim 32, further comprises a programmable controller which can modify by means of program a hardware structure which is for supplying a control signal to said drive circuit.

35. A robot comprising:

a movable unit;

a motor which is disposed to said movable unit;

a drive circuit which drives said motor;

a voice output unit;

a receiving unit which receives by one of a portable telephone and a radio communication unit information related to everyday life of a target person from an outside device; and

a voice determining unit which determines a voice based on the information received by said receiving unit,

wherein said voice output unit outputs the voice determined by said voice determining unit.

36. The robot according to claim 35 whereby an operation program is acquired to a memory from an external server apparatus through a communication network.

37. The robot according to claim 35, further comprises a programmable controller which can modify by means of program a hardware structure which is for supplying a control signal to said drive circuit.

38. A robot comprising:

a movable unit;

a motor which is disposed to said movable unit;

a drive circuit which drives said motor;

a memory unit which stores manipulation history information regarding the history of manipulation given by a target person to an external apparatus; and

an operation unit which manipulates said external apparatus based on said manipulation history information stored in said memory unit.

39. The robot according to claim 38,

wherein said operation unit performs operations of:

manipulating said external apparatus, when said manipulation history information is information which indicates that information was received from a particular sender approximately at the same time of a day over a couple of days;

causing receipt of information from said particular sender at the time corresponding to said time of a day after said couple of days; and

causing transmission of said information which is received, and

the robot further comprises;

a receiving unit which receives said information transmitted from said external apparatus; and

a voice output unit which outputs a voice based on the information received by said receiving unit.

40. The robot according to claim 38 whereby an operation program is acquired to a memory from an external server apparatus through a communication network.

41. The robot according to claim 38, further comprises a programmable controller which can modify by means of program a hardware structure which is for supplying a control signal to said drive circuit.