U.S. patent application number 09/802960 was filed with the patent office on 2002-07-25 for intelligent pet robot.
Invention is credited to Rheey, Jin Sung.
Application Number | 20020098879 09/802960 |
Document ID | / |
Family ID | 19704848 |
Filed Date | 2002-07-25 |
United States Patent
Application |
20020098879 |
Kind Code |
A1 |
Rheey, Jin Sung |
July 25, 2002 |
Intelligent pet robot
Abstract
The subject invention relates to an intelligent pet robot
equipped with an electric motor which enables the pet robot to
move. The pet robot, equipped further with infrared ray generators
and sensors, not only can evade obstacles when it moves, but also
can follow a racing track laid by a user. The pet robot, further
comprising a sound sensing part, can receive sounds from a user.
Since the user's sound includes clapping of the hands, the user can
give instructions to the pet robot by clapping his hands as well.
The pet robot comprises further a mode setting part which allows
setting of a specific operation mode among various operation modes
of the pet robot. In addition to the Basic mode, the operation
modes may include Racing mode, Escape mode, Sing-and-run mode,
Sumo-wrestling mode, and so on. Since the pet robot is endowed with
a gender, either a male or a female, it is also capable of dating
with other pet robot under certain conditions. Restrictions in
respect to the power reserve, age, etc of the pet robots may serve
as prerequisites for a particular operation mode. The pet robot may
further be equipped with an interface for data communication which
enables the pet robot to connect to a server on the Internet, to
download data, game programs, music, etc., and to recognize the
gender of a partner before it proceeds to a dating with the
partner
Inventors: |
Rheey, Jin Sung; (Seoul,
KR) |
Correspondence
Address: |
BIRCH STEWART KOLASCH & BIRCH
PO BOX 747
FALLS CHURCH
VA
22040-0747
US
|
Family ID: |
19704848 |
Appl. No.: |
09/802960 |
Filed: |
March 12, 2001 |
Current U.S.
Class: |
463/1 |
Current CPC
Class: |
A63H 11/00 20130101 |
Class at
Publication: |
463/1 |
International
Class: |
A63F 009/24 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 19, 2001 |
KR |
01-3111 |
Claims
What is claimed is:
1. A pet robot comprising a motor driving part for forward/backward
and left/right turn movements, infrared ray generators and sensors
for sensing objects, a sound sensing part for sensing sound, a mode
setting part for setting the operation mode; a memory for storing
programs and data, and a control part for controlling said motor
driving part, said infrared ray generators and sensors, said sound
sensing part, and said mode setting part in accordance with said
set operation mode
2. The pet robot as set forth in claim 1, wherein said motor
driving part comprises a motor capable of rotating and reverse
rotating, wheels coupled with the axes of said motor, and a means
for changing the direction of the wheels.
3 The pet robot as set forth in claim 1, wherein said mode setting
part is consisted of a button and said control part sets the
operation mode of the pet robot in accordance with the number of
the pressure on the button.
4 The pet robot as set forth in claim 1, wherein said sound sensing
part comprises a microphone capable of converting sounds into
electric signals, an amplifier capable of amplifying the electric
signals from the microphone, a high-pass filter capable of
filtering only high frequency signals from the amplifier; and a
means for converting signals from the high-pass filter into signals
compatible to the control part
5 The pet robot as set forth in claim 1, which further comprises a
sound generating part capable of generating sounds under control of
said control part.
6. The pet robot as set forth in claim 1, which further comprises a
vibration motor capable of vibrating under the control of said
control part.
7. The pet robot as set forth in claim 6, wherein said control part
reduces the power value of the pet robot stored in the memory if
the pet robot is not fed by the user for a predetermined period of
time, and said control part controls said vibration motor to
operate if the said power value falls below a predetermined
level
8. The pet robot as set forth in claim 1, which further comprises a
data communication interface capable of communicating data.
9. The pet robot as set forth in claim 8, wherein said data
communication interface is an infrared communication interface.
10. The pet robot as set forth in claim 8, wherein said memory
stores the gender information of the pet robot, and, if the mode is
set for the Dating mode, said control part controls the pet robot
to exchange the stored gender data with the partner, and then to
proceed to the dating behavior only when the partner is of the
opposite sex
11 The pet robot as set forth in claim 10, wherein the female pet
robot moves to directions at random while the male pet robot
follows the object it perceives
12 The pet robot as set forth in claim 10, wherein said control
part increases the stored power value when the pet robot is fed and
further increases the age of the pet robot for one step when the
power value reaches a predetermined level, and, if the mode is set
for the Dating mode, allows the pet robot to proceed to the dating
behavior only when the age of the pet robot is over the
predetermined age.
13. The pet robot as set forth in claim 12, wherein said digital
food is downloaded from the Internet using said data communication
interface
14. A pet robot comprising: a motor driving part for
forward/backward and left/right turn movements; an infrared rays
generating and sensing part including at lest two infrared ray
generators and sensors on the front part, and at least two infrared
ray generators and sensors at the bottom, a memory for storing
behavior programs and data; and a control part for controlling said
motor driving part and said infrared rays generating and sensing
part in accordance with mode set by said mode setting part.
15 The pet robot as set forth in claim 14, wherein said control
part controls the motor driving part to turn the direction of
movement when an object is perceived during it moves, by at least
one of the infrared sensors of the at least two infrared ray
generators and sensors installed on the front part of the pet
robot.
16 The pet robot as set forth in claim 14, wherein said control
part controls the motor driving part to turn the direction of the
movement to a side opposite to the infrared ray sensor(s), in case
one or more of said sensor(s), among the at least two infrared ray
sensors installed on the front part of the pet robot, fails to
perceive an object during the pet robot's follow movement after the
object.
17. The pet robot as set forth in claim 14, wherein said control
part controls the motor driving part to turn the direction of the
movement to a side opposite to the infrared ray sensor(s), in case
one or more of said sensor(s), among the at least two infrared ray
sensors installed on the bottom part of the pet robot, fails to
perceive an object during the pet robot's follow movement after the
object.
18 The pet robot as set forth in claim 14, wherein at least one of
said infrared ray generators and sensors is equipped with an
infrared communication modem which allows exchange of data.
19 The pet robot as set forth in claim 14, wherein said control
part controls said motor driving part to make turn movements until
an object is perceived by said infrared ray generators and sensors
installed on the front part of the pet robot; upon perceiving an
object, further controls said motor driving part to move toward the
object; and controls said motor driving part to repeatedly turn the
direction of the movement if said infrared ray generators and
sensors installed at the bottom part of the pet robot perceives the
black boundary while the pet robot is in movement
20. A pet robot comprising a motor driving part including a motor
capable of rotation and reverse-rotation, and wheels coupled with
the axes of the motor, a sound sensing part including a microphone
for converting sounds into electric signals, an amplifier for
amplifying the electric signals from the microphone, a high-pass
filter for filtering only high frequency signals from the
amplifier, and a means for converting signals from the high-pass
filter into signals perceivable to microprocessors; a sound
generating part including a sound generating device and a sound
source device; a memory for storing the behavior programs and data;
and a control part for control of said motor driving part, said
infrared ray generators and sensors, said sound sensing part, and
said mode setting part in accordance with the operation mode as set
by said mode setting part; wherein said control part controls said
sound generating part to generate a tone and to increase the scale
of the tone at a predetermined speed for a predetermined time
period upon perceiving a sound through said sound sensing part,
further controls said sound generating part to stop generating the
tone while virtually increasing the scale at a predetermined speed,
and further controls, upon perceiving a sound during said virtual
increase of the scale through said sound sensing part, said motor
driving part to move a distance corresponding to the scale of the
tone at the time of perceiving the sound
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The subject invention relates to an intelligent pet robot,
in particular, to a pet robot that can perform various games or
behaviors, alone or together with other robots.
[0003] 2. Description of the Prior Art
[0004] Based on the recent developments in the fields of the
information technologies, various toys utilizing such information
technologies have been introduced, an example of which is
"Tamagotchi", a toy that allows a virtual pet animal to grow in
that toy.
[0005] However, since this toy allows a pet animal to grow only
within the toy, actual exchange of feelings with the animal is not
possible. As a consequence, if the pet animal fails to grow as the
owner desires, the owner is inclined to bring the animal to death
in order to begin raising of the animal anew, a phenomenon often
blamed for fostering the tendency of ignoring the lives.
[0006] In addition, since the above mentioned toy allows a simple
raising game of a virtual pet animal, not allowing any other games,
one may easily lose interest in it.
[0007] The present invention, conceived to solve the above
problems, discloses a pet robot capable of competing with other pet
animal after it has been grown up. This new toy, employing a power
value system according to which each virtual animal has a different
power value based on the progress of its growth and an animal with
a higher power value prevails if two toys are connected to each
other to compete, is capable of attracting enhanced interest of the
users
[0008] However, the merits of these toys are limited in that the
pet animal exists only in a cyber space, thus, no real exchange of
feelings between the users and the pet animal is possible, and that
the game the toys provide is very limited.
[0009] A possible solution of these problems has been provided by a
pet robot introduced by the Japanese company "Sony", which has
attracted public attention because this pet robot behaves like a
real pet animal having a considerable level of intelligence. The
problem with this toy, however, is that it is of such a high price,
exceeding several thousand dollars, that it is not accessible for
ordinary users.
[0010] The present invention, made in view of the afore-mentioned,
aims to provide a pet robot that exists not merely in a virtual
space but in the real world, at a reasonably low price.
[0011] The present invention aims further to provide a pet robot
capable of performing various games.
[0012] Still another objective of the present invention is to
provide a pet robot capable of playing games or even dating with
other pet robots.
SUMMARY OF THE INVENTION
[0013] A pet robot of the present invention, equipped with an
electric motor, can move itself. The pet robot, equipped further
with infrared ray generators and sensors, not only can evade
obstacles when it moves, but also can follow a racing track laid by
a user. The pet robot, further comprising a sound sensing part, can
receive sounds from a user, Since the user's sound includes
clapping of the hands, the user may give instructions to the pet
robot by clapping his hands as well. The pet robot comprises
further a mode setting part which allows setting of a specific
operation mode among various operation modes of the pet robot. In
addition to the Basic mode, the operation modes may include Racing
mode, Escape mode, Sing-and-run mode, Sumo-wrestling mode, and so
on. Since the pet robot is endowed with a gender, either a male or
a female, it is also capable of dating with other pet robot under
certain conditions Restrictions in respect to the power reserve,
age, etc, of the pet robots may serve as prerequisites for a
particular operation mode. The pet robot may further be equipped
with an interface for data communication which enables the pet
robot to be connected to a server on the Internet, to download
data, game programs, music, etc., and to recognize the gender of a
partner before it proceeds to a dating with the partner.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is a schematic block chart showing the internal
construction of the pet robot in accordance with the present
invention,
[0015] FIG. 2 is a flowchart showing the process of selecting a
operation mode of the pet robot;
[0016] FIG. 3 is a flowchart showing the flow of operations at the
Basic mode,
[0017] FIG. 4 is a flowchart showing the flow of operations at the
Racing mode;
[0018] FIG. 5 is a flowchart showing the flow of operations at the
Escape mode,
[0019] FIG. 6 is a flowchart showing the flow of operations at the
Sing-and-run mode;
[0020] FIG. 7 is a flowchart showing the flow of operations at the
Dating mode;
[0021] FIG. 8 is a flowchart showing the flow of operations at the
Sumo-wrestling mode;
[0022] FIG. 9 illustrates the pet robot as viewed from the front,
wherein (a) shows an example of the arrangement of the infrared ray
generators and sensors as viewed from the front; (b) shows that an
object in front is perceived by the infrared sensors; and (c) shows
how the infrared sensors perceive an object which moves to the left
side,
[0023] FIG. 10 illustrates how a movement of an object is perceived
by only two infrared sensors;
[0024] FIG. 11 is a flowchart showing an example of the growth
algorithm of the pet robot, and
[0025] FIG. 12 shows a network construction for explanation of an
embodiment of the invention wherein the pet robot is connected to a
server via the Internet in order to download digital foods, cyber
medicines, or programs.
DETAILED DESCRIPTION OF THE INVENTION
[0026] A detailed description of the present pet robot is given
below making reference to the drawings.
[0027] 1. Construction of the Pet Robot
[0028] A detailed explanation of the construction of the pet robot
100 is given below with reference to FIG. 1.
[0029] The pet robot 100 is equipped with a memory 190 for storing,
of various programs, the ID of the pet robot 100, the present power
value of the pet robot 100, etc. For the memory 190, a non-volatile
memory such as ROM (Read Only Memory), EEPROM (Electrically
Erasable Programmable ROM), flash memory, and/or a volatile memory
such as DRAM(Dynamic Random Access Memory), SRAM(Static Random
Access Memory) may be used A CD-ROM or magnetic memory device may
be used as a supplementary memory device
[0030] Since the pet robot 100 comprises a motor driving part
including an electric motor, it is capable of forward/backward as
well as right/left movement. The motor, linked with wheels, enables
movements of the pet robot through its rotation: Rotation and
reverse-rotation of the motor enables forward and backward
movements of the pet robot respectively. Since the motor driving
part comprises further a means to control the angles of the wheels,
a turning movement to the right or to the left is also possible. It
is also possible that the control of the wheels are arranged in a
manner that only wheels of one side are driven while those of the
other side not, so that a circular movement is made on the axis of
the latter wheels. It is preferable that the motor is driven
electrically and that the distance of the movement is controlled by
a PWM (pulse width modulation) generator.
[0031] The infrared ray generators and sensors 130 enable the pet
robot to automatically perceive any obstacle ahead of it and to
evade the obstacle, or to be directed to a desired position when it
moves.
[0032] To be able to perceive an object ahead of the pet robot, the
infrared ray generators and sensors need to be placed on the front
part of the pet robot 100. To be able to recognize the more diverse
forms of obstacles, the more infrared ray generators and sensors
need to be installed, which will results in higher costs. Thus, an
appropriate number of the infrared ray generators and sensors need
to be selected in consideration of both the economy and the purpose
of the toy FIG. 9(a) shows an example of the pet robot having six
infrared ray generators and sensors 131 in a raw.
[0033] In case an object is ahead of the pet robot, all the six
sensors (a, b, c, d, e, f) perceive it as illustrated in FIG. 9(b).
If the object moves to the left, the sensor `a` cannot perceive it
as shown in FIG. 9(c) In this way, the direction of a movement of
an object is recognized through the perceptions of each individual
sensors of the object.
[0034] Further, to enable the pet robot to run over a track marked
in black color on a floor, both the left and the right side of its
bottom should be equipped with an infrared ray generator and sensor
respectively. In case the pet robot 100, in movement in the arrow
marked direction, correctly runs over the black track R, the
sensors at both sides all perceives the black track (as illustrated
in FIG. 10 at t1 and t2) However, if the right sensor 131b
perceives the black track, while the left sensor 131a does not,
this would mean that the track R is curved to the right. In this
case, the control part 110 controls the motor driving part 130 to
direct the pet robot 100 to the right, so that the pet robot 100
continues to move over the black track R
[0035] For making the movement over the black track more sensitive,
an increased number of the infrared ray generators and sensors is
required. In contrast to FIG. 10 where only two generators and
sensors, each one at the right and the left side, are adopted, more
generators and sensors may also be adopted as in FIG. 9(b) where
each three generators and sensors have been adopted at both sides,
to the effect that the distances between the sensors are reduced
and more sensitive perception of an object is enabled. Another
advantage of the increase of the sensors would be that it enables a
movement over a track R having a narrower width.
[0036] The sound sensing part 140 has been adopted to allow the pet
robot to perceive and react to sounds. For example, the pet robot
can be controlled to move or to stop moving in accordance with hand
clapping of a user. For this purpose, the sound sensing part 140
comprises a microphone that transforms sounds into electric
signals, an amplifier which amplifies the electric signals from the
microphone, and an integration circuit or an analogue-digital
converter (A/D converter) which transforms the signals from the
amplifier into signals perceivable by a microprocessor
[0037] If a voice recognition function is added to the sound
sensing part 140, the pet robot can also react to voice
instructions. For that purpose, either a software for recognition
of the digital signals from the A/D converter in voice signals
shall be added to the control part, or an additional hardware for
voice recognition is needed.
[0038] According to an embodiment of the present invention, the pet
robot reacts to hand clapping. Since the hand clapping produces a
tone in high frequency ranges in contrast to human voice, the sound
sensing part 140 is preferably equipped with a high-pass filter so
that only tones having high frequencies pass it and are perceived
Moreover, since a hand clapping lasts only for 0 05 to 1 second,
exclusion of all tones having a shorter or longer duration is
desirable to reduce malfunctions.
[0039] The mode setting part 150 is used for setting a operation
mode of the pet robot, for example, the pet robot may perform a
competition game with other pet robot(s) at competition game mode
while it may play alone at an exercise mode, etc The mode setting
part 150 may be embodied in form of a button, a touch screen
combined with the display part 160, or a remote control using
infrared rays, but not limited to any of these specific means.
[0040] The control part 110 controls the other parts of the pet
robot based on the preprogrammed contents. The control part 110 can
be embodied either by software utilizing microprocessors, or by
hardware utilizing logic devices
[0041] Furthermore, the pet robot 100 may comprise a display part
160 for displaying the status of the pet robot 100 or messages to
assist the users in selecting the desired functions LED (light
emitting diode) or LCD (liquid crystal display) can be used as a
display device for the display part 160. If only one LED is used,
different states of the pet robot may be displayed by different
intervals of the blinking, e g. the state of hunger by fast
blinking, the state of satisfaction by slow blinking, and so on. If
a LCD is used, the quantity of the displayable information will
increase so that a help screen or a dialogue screen for
communication between the pet robot 100 and a user can also be
provided.
[0042] The pet robot 100 may further comprise a sound generating
part 170 capable of producing music or sound. The sound generating
part 170 is used for sending messages of the pet robot 100 to the
users, e.g the pet robot 100 moans when it has hunger, while it
sings a song when it feels good. The sound generating part 170
includes a sound generating device such as a buzzer, piezo device,
speaker, etc, and a sound source device such as a melody IC,
etc.
[0043] The pet robot 100 may further comprise a data communication
interface 180 for data communication with other pet robots or with
computers. For the data communication interface 180, various means
including wireless communication interfaces such as infrared
communication interface, acoustic coupled communication interface,
BlueTooth, etc., wire communication interfaces using wired
connection means such as RS-232C, USB, etc., communication
interfaces utilizing light sense, etc. can be used. The pet robot
100 can be connected via the above means to internet compatible
communication terminals such as computer, mobile phone, PDA, TV,
etc. and (also can be connected) through these internet connection
terminals to the Internet.
[0044] A pet robot 100 equipped with the data communication
interface 180 can be connected to a pet robot administration server
on the Internet via the data communication interface 180 and can
download various game programs, audio files, cyber foods necessary
for its growth, cyber medicines, etc from the server.
[0045] It is also possible that the pet robot 100 is connected
directly to a server on the Internet without using a computer,
mobile phone, PDA, TV, etc provided that the pet robot is equipped
with a communication means such as modem, or LAN interface, or the
like which allows a direct connection to the Internet.
[0046] In case an infrared communication interface, or wireless
communication interface, etc is used, the computer, mobile phone,
PDA, TV, etc. should be equipped with a corresponding infrared
communication interface, or wireless communication interface, etc.
The user can then proceed, while the Internet compatible terminal
is being connected with the server on the Internet, to communicate
data with the Internet compatible terminal through the data
communication interface 180, and then proceed data communication
with the server on the Internet using the internet compatible
terminal
[0047] In case an infrared communication interface is adopted, the
infrared ray generators and sensors for detecting obstacles can be
made compatible also for data communication by combining at least
one of the infrared ray generators and sensors with an infrared
communication modem.
[0048] The pet robot 100 can further comprise a vibration motor
175. A pet robot 100 equipped with such a vibration motor 175 can
be arranged to shiver itself when it feels good (or bad), or when
it is in bad health.
[0049] 2. Functions of the Pet Robot
[0050] 2-1 Selection of the Mode
[0051] The pet robot 100, allowing a user to select from various
modes of operation, can perform different behaviors in accordance
with the selected mode The mode selection can be made using the
mode setting part 150
[0052] The mode setting part 150 can be embodied, as explained
above, using a button, a touch screen combined with the display
part 160, or a remote control device utilizing infrared rays
[0053] In case a button is adopted, different modes of operation
can be controlled by different numbers of the pressures on the
button. In case a touch screen is adopted, the display part 160 may
show the selectable modes so that the user may select one of them
on the screen. If a remote control device utilizing infrared rays
is adopted, selection of the mode can be made by pressing special
mode button(s) on the remote control device, or by the numbers of
the pressures on the mode setting button of the remote control
device.
[0054] The process of selecting the mode is described below making
reference to FIG. 2
[0055] The user selects a mode using the mode setting part 150(step
S10). As a means for mode setting, as explained above, a button, a
touch screen, a remote control device, etc., may be adopted but is
not limited thereto
[0056] For performance of specific operation modes prescribed
conditions can be required: e.g. the Racing mode may require that
the power of the pet robot 100 exceeds a prescribed level, or the
Dating mode may require that the pet robot 100 should be over a
certain prescribed age, an so on.
[0057] Accordingly, if the user selects a mode, it should be
confirmed whether the pet robot 100 satisfies all the prescribed
conditions for the selected operation (step S20).
[0058] If the conditions are met, the selected operation is
performed (step S30), otherwise an error message is displayed on
the display part 160 or the sound generating part 170 releases an
error sound (step S40) Alternatively it is also possible that no
reaction occurs in the place of showing an error message.
[0059] 2-2 Operations at Different Modes
[0060] It is possible that the modes are so designed that a wide
variety of different behaviors are covered. In the following, some
exemplary modes are explained Although the following explanation
exemplifies clapping of hands as the means for delivering
instructions to the pet robot 100 the present invention is not
limited thereto, but rather comprises instruction via voice, remote
control device, or other various means.
[0061] 2-2-1. Basic Mode
[0062] In the Basic mode, the pet robot moves to the left upon one
clapping, to the right upon two clapping, and can move evading any
obstacle it confronts. In the absence of further clapping within a
predetermined time limit the pet robot automatically stops further
action and goes into the sleep mode If an additional predetermined
time limit elapses in the sleep mode without perceiving any
clapping, the pet robot escapes from the Basic mode. In this state,
the pet robot can be activated anew by resetting a operation mode
via the mode setting part 150.
[0063] FIG. 3 illustrates a flowchart showing the flow of
operations in the Basic mode The flow of operations in the Basic
mode is explained in detail below making reference to FIG. 3.
[0064] Upon entering the Basic mode the sleep timer begins to
function (step S110). The sleep timer controls the pet robot to
stop further action if the pet robot does not receive any
instructions within a predetermined time limit (sleep time).
[0065] Along with the functioning of the sleep timer, the control
part 110 controls the motor driving part 120 to effect the pet
robot to move forward for a predetermined distance (step S111)
Alternatively, the movement can be so controlled that it continues
until further instructions are given, instead of moving a
predetermined distance.
[0066] If one clapping is given to the pet robot 100 in still state
after having moved a predetermined distance (an example of step
S120), the control part 110 controls the motor driving part 120 to
effect a left turn and to move a predetermined distance (step
S121). In addition, since a clapping has been received, the sleep
timer is reset and the time counting commences anew (step S115).
Alternatively, the turning movement can be allowed upon clapping
also while the pet robot is in movement.
[0067] If two clapping is given to the pet robot 100 in still state
(an example of step S130), the control part 110 controls the motor
driver part 120 to effect a right turn and to move a predetermined
distance (step S131). In addition, since a clapping has been
received, the sleep timer is reset and the time counting commences
anew (step S115). Alternatively, the turning movement can be
allowed upon clapping also while the pet robot is in movement.
[0068] If the pet robot 100 perceives through the infrared ray
generators and sensors 130 an obstacle ahead of it while it moves
forward (an example of step S140), the control part 110 controls
the motor driving part 120 to evade the obstacle (step S141)
[0069] As to the method of evading an obstacle, an evading motion
can either be made after collision with an obstacle by slightly
moving backward and turning to any other directions, or to detect
an obstacle using the infrared ray generators and sensors 130 prior
to a collision with it, and make a prior turn movement to evade
it.
[0070] If the time limit (sleep time) set by the sleep timer
elapses during the above movement, the movement ceases (step S160).
If the time limit has not elapsed (`no` at step S150) the operation
returns to step S111 and repeats the above movement
[0071] After cease of the movement and within a predetermined reset
time (`no` at step S170) the operation returns to step S111 and the
pet robot waits for the next clapping If no clapping is perceived
within a predetermined time limit (reset time) (`yes` at step
S170), the pet robot escapes from the Basic mode (step S180).
[0072] Once the pet robot has escaped from the Basic mode, the pet
robot 100 can only be re-activated if a mode is selected anew using
the mode setting part 150. In order to reduce the power
consumption, it is preferable that the microprocessor of the
control part 110 is set to a sleep mode when an automatic escape
from the Basic mode occurs, and that the microprocessor is
controlled via an interrupt, etc to escape the sleep mode when the
user resets the mode using the mode setting part 150. This process
can be designed in a manner, e.g that the microprocessor is
interrupted if a user presses the button of the mode setting part
150, in case the mode setting part operates by button
[0073] Furthermore, various other modes can be designed in addition
to the above mentioned e g. the pet robot follows a moving object
upon a triple clapping, it sings a song upon a quadruple clapping,
and so forth.
[0074] 2-2-2. Racing Mode
[0075] The pet robot 100 moves over a black track on the floor at
the Racing mode. The black track can be made in various manners,
for instance, by marking a track on the paper using a water-proof
marker in black color, by attaching a black tape on the floor,
etc.
[0076] FIG. 4 illustrates a flowchart showing the flow of
operations at the Racing mode. The flow of operations at the Racing
mode is explained in detail below making reference to FIG. 4.
[0077] If the pet robot 100 is placed on the black track with its
mode set at the Racing mode, the control part 110 controls the
motor driving part 120 to go forward (step S210).
[0078] The pet robot 100 perceives the track using the infrared ray
generators and sensors 130. For perceiving the black track, at
least two infrared ray generators and sensors are required, each
one at its left side and right side. If the black track is not
perceived at any of these two sides, the control part 110
recognizes that the black track is curved to the opposite direction
and controls the motor driving part 120 to make turn movements
until the track is perceived by the sensors at both sides
[0079] In other words, if the left sensor perceives the black track
at step S220, it is then confirmed at step S230 if the right sensor
also perceives it. If the black track is perceived at both sides
(`no` at step S230), the operation returns to step S220 and
continues to perceive the black track.
[0080] If the black track is not perceived at the right side, which
means that the track is curved to the left, the control part 110
controls the motor driving part 120 to make a turn to the left. The
speed of the left turn movement is determined considering the speed
of the current forward movement.
[0081] If the pet robot moves at a speed of 10 cm/sec. and can make
turn movements ten times per second, one turn movement shall have
an angle of 4 5.degree. or more in order to follow a track having a
maximal 45.degree. curve per 10 cm However, in case a too big turn
is programmed for one turn movement, a manifold turn movements will
be necessary to follow a track curved with a small angle, thus, an
appropriate value should be selected to reduce the turn
movements.
[0082] On the other hand, if no black track is perceived by the
left sensor at step S220, the operation proceeds to step S250 and
confirms if it is perceived by the right sensor. If the right
sensor perceives the track (`no` at step S250), this means that
only the left sensor does not perceive it, thus, the black track is
curved to the right Accordingly, the control part 10 controls the
motor driving part 120 to make a turn movement to the right.
[0083] If the right sensor does not perceive the black track also
(`yes` at step S250), which means that the racing is over, the
movement ceases (step S260) It is possible that the pet robot 100
is designed to automatically escape the Racing mode at this
stage.
[0084] 2-2-3. Escape Mode
[0085] The Escape mode is a game wherein a pet robot that escape
first from a predetermined space marked with a black band wins. At
the Escape mode, the pet robot makes turn movements to a direction
at random upon clapping of hands. Here, the pet robot can also make
movements evading any obstacle it confronts
[0086] FIG. 5 illustrates a flowchart showing the flow of
operations at the Escape mode. The flow of the operations at the
Escape mode is explained in detail below making reference to FIG.
5.
[0087] With commencement of the Escape mode, the pet robot 100
begins to move forward (step S310) Upon perceiving a clapping
(`yes` at step 320), the control part 110 of the pet robot 100
controls the motor driving part 120 to make a turn movement to a
direction at random (step S340).
[0088] Furthermore, the pet robot also makes a turn movement to a
direction at random if it confronts an obstacle (step S340).
[0089] If the black band is perceived (`yes` at step S350), which
means that the pet robot has arrived at the boundary line, it
crosses over the black band or stops on it (step S360), terminating
the Escape mode. It is possible that the pet robot 100 is designed
to automatically escape the Escape mode at this stage
[0090] 2-2-4 Sing-and-Run Mode
[0091] At the Sing-and-run mode the pet robot starts to sing at an
initial tone by a clapping of the hands and the pet robot's singing
tone ascends higher and higher. After the singing is terminated,
the pet robot waits for a clapping, during the waiting time,
however, the tone ascends without producing any sound from the
initial tone, at the same speed as before. If a clapping is
perceived in this state, the pet robot moves a distance in
proportion to the scale of the tone. If a time limit equal to the
previous singing time elapses without any clapping being perceived,
an error sound is released The pet robot which has moved most near
to the target point wins the game.
[0092] FIG. 6 illustrates a flowchart showing the flow of
operations at the Sing-and-run mode. The flow of operations at the
Sing-and-run mode is explained below in detail making reference to
FIG. 6
[0093] With commencement of the Sing-and-run mode, the control part
110 waits for a clapping to be perceived by the sound sensing part
140.
[0094] If a clapping is perceived, the control part 110 controls
the sound generating part 170 to generate the initial tone (step
S420). The initial tone can be either a fixed tone, or a tone
selected at random. Alternatively, a mono-frequency sound can be
used instead of a tone.
[0095] The control part 110 controls the sound generating part 170
to ascend the tone in predetermined intervals, wherein the
predetermined interval can be a fixed time period such as 0.5
second, or a time period determined at random. It is also possible
that the tone is made to ascend continuously, instead of ascending
in intervals. If the tone reaches the highest frequency or the
highest scale, the ascending can begin anew from the initial
tone.
[0096] After having generated sound for a predetermined period, the
pet robot 100 ceases to generate sound and waits for a clapping.
The tone ascends without producing any sound at the same speed as
before during the waiting time (step S430)
[0097] Since the duration of the time for ascending the tone
without generation of sound is equal to the immediately preceding
time for generation of the sound, the time for termination is
counted while the tone ascends (step S440) If the termination time
comes, i e if no clapping is perceived within a predetermined time
limit after generation of the sound has ceased, the operation
enters step S470 and the sound generating part 170 is controlled to
generate an error sound
[0098] The pet robot waits for a clapping prior to the termination
time. If a clapping is perceived during the time period when the
tone ascends internally without generating sound (`yes` at step
S450), the control part 110 controls the motor driver part 120 to
move a distance in proportion to the present level of the tone
(step S460) For example, if the range of the tone to be generated
covers eight levels from the low C to the high C, the distances to
be moved can be prescribed as 1 cm at the low C, 2 cm at D, etc.,
so that the distance of the movements is determined by the scale of
the present tone.
[0099] If no clapping is perceived within the time limit in the
course of repeating the operations between step S430 and S450, an
error sound is generated In contrast, if a clapping is perceived
within the above time limit, a movement for a distance
corresponding to the present tone is effected 2-2-5. Dating
Mode
[0100] The Dating mode allows two pet robots 100 to exchange data
with each other, to sing together, or allows one pet robot to
follow the other For this purpose the memory 190 of the pet robot
100 is provided with a code for identification of the gender of the
pet robot. The pet robot 100 can verify that a partner pet robot is
of the opposite sex by exchanging the codes using the data
communication interface 180 before it proceeds to date with the
partner.
[0101] FIG. 7 illustrates a flowchart showing the flow of
operations at the Dating mode The flow of operations at the Dating
mode is explained below in detail making reference to FIG. 7.
[0102] With commencement of the Dating mode, the pet robot 100
waits for a clapping (step S510) If a clapping is perceived, the
control part 110 proceeds to exchange data with a pet robot 100 in
the neighborhood using the data communication interface 180(step
S520).
[0103] For the data communication interface 180, various means
including wireless communication interface such as infrared
communication interface, acoustic coupled communication interface,
BlueTooth; wired communication interface such as RS-232C, USB using
a wire connection means; light sensing communication interface,
etc. can be used.
[0104] In case an infrared communication interface is adopted, the
infrared ray generators and sensors for detecting obstacles can
also be used for the infrared communication purposes. One or more
of the infrared ray generators and sensors for detection of
obstacles as illustrated in FIG. 9 can be used for data
communication as well For instance, if the far left infrared ray
generator sends data and the far right sensor receives data, two
pet robots 100 facing to each other can exchange data.
[0105] After the exchange of data the pet robots can verify based
on the data, whether their partner is of the opposite sex (step
S530)
[0106] The pet robot 100 does not proceed further with the dating
and escapes the Dating mode, if the partner is not of the opposite
sex The pet robot 100 can also manifest that it is not of the
opposite sex, by a vibration motion using the vibration motor 175,
by generating a sound expressive of the unpleasant feeling using
the sound generating part 170, or by displaying a message
expressive of the unpleasant feeling using the display part
160.
[0107] After confirming that the partner is of the opposite sex at
step S530, the pet robot 100 sings a song using the sound
generating part (step S540) Here, the singing can be so arranged
that the two pet robots 100 sing one song each in succession, or
that they sing one song in duet dividing the tone range of the song
into two parts, i.e. male part and female part.
[0108] Aside the singing, various other dating behaviors can also
be designed, e g. the male pet robot 100 follows the female pet
robot 100. If the female pet robot moves to a direction at step
S540, the male pet robot 100 detects the female pet robot using its
infrared ray generator/sensor part 130 and follows it To enable
such dating operation, the female pet robot and the male pet robot
should be positioned sufficiently nearby so that detection of the
female pet robot by the male partner via the latter's infrared ray
generator/sensor part 130 is possible.
[0109] Further, it is possible that the Dating mode is coupled with
an age bar in connection with the growth of the pet robot 100, an
explanation of which follows below. If the Dating mode is selected
at step S10 in FIG. 2, it is checked at step S20 as to whether the
pet robot is over a predetermined age, e.g. six years The pet robot
100 can enter the Dating mode only if it satisfies the age
requirement 2-2-6 Sumo-Wrestling Mode
[0110] The Sumo-wrestling mode is a game wherein two or more pet
robots 100 compete to push another pet robot out of the
predetermined boundary marked in black FIG. 8 illustrates a
flowchart showing the flow of operations at the Sumo-wrestling mode
The flow of operations at the Sumo-wrestling mode is explained in
detail below making reference to FIG. 8.
[0111] With commencement of the Sumo-wrestling mode the pet robot
100 searches for a competitor by turning continuously its direction
until it finds one (steps S710, S720). Alternatively, the game can
begin with two pet robots 100 facing to each other.
[0112] If an object is perceived (`yes` at step S710), the pet
robot 100 moves toward the object (step S730). The pet robot 100
pushes the competitor out of the boundary by continuing its forward
movement even after collision with the object.
[0113] In order to stay within the boundary, the pet robot 100
continuously checks if the black boundary is detected (step S740).
Upon perceiving the black boundary, the pet robot makes a turn
movement to another direction in order not to cross over the
boundary (step S750).
[0114] Since a turn movement may lead to a loss of sensing the
competitor, the pet robot 100 returns to step S710 and repeats the
above operations. In this way, two or more pet robots can push
other pet robots out of the boundary, and the pet robot that
remains last in the boundary wins the game
[0115] 2-3 Growth of the Pet Robot
[0116] The pet robot 100 can be raised by various activities of the
user such as feeding, playing with the pet robot, etc. The growth
algorithm of the pet robot 100 is explained below making reference
to FIG. 11. The pet robot 100 can be equipped with an automatic
growth control algorithm using a hardware in it or using the
function of a software It is also possible that the growth of the
pet robot is controlled by a pet robot server using the data of the
pet robot.
[0117] Although the growth of the pet robot can be designed
diversely, the growth is determined basically by the quantity of
the digital food the pet robot receives However, it can be so
designed that the pet robot gets sick if it is not fed at the right
time, and, once sick, it has to be cured using a cyber medicine
before it receives further digital food In such a case, the growth
of the pet robot is also correlated with the quantity of the
received cyber medicine. In this case, a power value can be
established based on the quantities of the digital food and the
cyber medicine, and if the power reaches a predetermined value k,
the age of the pet robot increases. The age of the pet robot can be
controlled in a manner that the power increases by a predetermined
quantity .DELTA.n when the pet robot receives digital food while
the power decreases by a predetermined quantity .DELTA.m when it
receives cyber medicine. Alternatively, it can be so designed that
the power continues to decrease in the state of sickness until an
ample injection is received.
[0118] The digital food and the cyber medicine can be supplied via
the display part 160 and the mode setting part 150, or,
alternatively, they can be downloaded from the pet robot server on
the Internet after the pet robot has been connected to the server
using the data communication interface 180.
[0119] As illustrated in FIG. 12, the user can connect to a pet
robot server 300 via the Internet 500 for the purpose of
downloading digital food or cyber medicine for the pet robot using
his terminal 200. The pet robot server 300 is connected to a
database 400 that stores information on the pet robot. As the
user's terminal 200 for connection to the pet robot server 300 any
one of a PC, PDA (personal digital assistant), mobile phone, TV,
etc can be used The user can connect to the game server 300 via the
terminal 200 using the data communication interface 180 of his pet
robot and download the digital food, etc
[0120] An example in which a user connects to the pet robot server
by using his pet robot's data communication interface 180 and
downloads the cyber food or cyber medicine from the server is
explained below.
[0121] As shown in FIG. 11; the user connects to the game server
(step S610) and downloads the digital food (step S630), if
necessary after initializing the pet robot (step S620). If the
downloading succeeds, a predetermined quantity .DELTA.n is added
(step S640) The success in downloading the digital food means that
the digital food has been downloaded to the pet robot at the right
time, i.e if the digital food is downloaded to the pet robot when
the pet robot is already in possession of the maximum quantity of
the digital food, or when the pet robot is sick and not able to
receive the digital food, this does not result in the increase of
the power.
[0122] On the other hand, if the user succeeds in downloading the
cyber medicine (step S650), a predetermined quantity .DELTA.m of
power is reduced (step S660). It is preferable that the quantity to
be reduced .DELTA.m is greater than the quantity to be added
.DELTA.n after the downloading of the digital food. In case of
downloading the cyber medicine, the power value changes only when
the downloading succeeds i.e. in case where the pet robot is not
sick, either the downloading of cyber medicine does not succeeds,
or the downloading does not result in reduction of the power
[0123] In this manner, the power value is counted to determine
whether it reaches a predetermined value k required for the
increase of the age (step S670). If the value k is sufficient, the
age of the pet robot increases for one step (step S680), otherwise,
the operation returns to the initial state.
[0124] With the increase of the age, the pet robot can be allowed
to do a specific behavior For example, if the game server increases
the age of the pet robot for one step and this result is
communicated to the pet robot, so that the age data in the pet
robot is adjusted, the pet robot can sing a birthday song, or
perform a specific dance
[0125] As to the growth of the pet robot, it is preferable that the
growth is so designed that frequent interactions between the user
and the pet robot accelerate the growth of the pet robot
Accordingly, not only the quantity of the downloaded digital food,
but also the frequency of the downloading can be used as parameters
of the ageing Since the power (digital food) is consumed by the
movements of the pet robot, a pet robot having more play with the
user consumes more power than a pet robot left alone in still
state, and thus, needs to be fed more often. Since the time for
maintaining a certain level of power is shorter for a pet robot
with more movements than a pet robot with less movements, when fed
with the same quantity of the digital food, a control method using
only the download frequency of the digital food and the cyber
medicine can reflect the interactions between the pet robot and the
user.
[0126] It is also possible that the digital food, programs, etc.
are stored in a PC instead of a sever on the Internet and
downloaded therefrom. A PDA, a game device, a DVD player, a video
player, etc can be used for the same purpose, instead of a PC as
well
[0127] Although the above detailed description of the subject
invention has been made in the light of the examples as above, the
scope of the rights of the subject invention is not restricted
thereto, but rather shall be determined by the claims as attached
below, allowing modifications and changes within the ideas of the
present invention, as it will be recognized by persons skilled in
the art.
* * * * *