JP6734607B2 - Robots, portable items and robot control programs - Google Patents

Description

The present invention relates to a robot that autonomously selects an action according to an internal state or an external environment.

Humans keep pets for healing. On the other hand, many people give up their pets for various reasons, such as not being able to secure sufficient time to care for them, having no living environment for keeping pets, having allergies, and having a difficult bereavement. If there is a robot that plays the role of a pet, it may be possible to give the healing that the pet gives to a person who cannot keep the pet (see Patent Document 1).

JP, 2000-323219, A

One of the joys of keeping pets is to see them interact with each other. Even for robots, if there is a mechanism that encourages interaction between robots, it is possible to further deepen their attachment to robots. The prerequisite for interaction between robots is the ability of a robot to identify other robots.

The present invention is an invention completed based on the above recognition, and a main object thereof is to provide a technique for a robot to easily and surely recognize another robot.

An autonomous behavior type robot according to an aspect of the present invention includes a motion control unit that selects a motion of a robot, a drive mechanism that executes the motion selected by the motion control unit, and a predetermined short-range wireless communication system from another robot. A receiver for receiving the ID of the other robot transmitted according to the above, and a recognition unit for discriminating the other robot by the received ID.

An autonomous behavior type robot according to another aspect of the present invention includes a motion control unit that selects a motion, a drive mechanism that executes the motion selected by the motion control unit, and an ID that identifies the robot itself in a predetermined short-range wireless communication. And a transmitter for transmitting according to the method.

An autonomous behavior type robot according to another aspect of the present invention includes a motion control unit that selects a motion of the robot, a drive mechanism that executes the motion selected by the motion control unit, a charger, and a predetermined short-range wireless communication system. A receiver for receiving the ID transmitted in accordance with the above, and a charge monitoring unit for monitoring the remaining battery level of the secondary battery.
The operation control unit selects, as the movement target point, the charger that transmits the ID associated with the robot of the plurality of chargers when the remaining battery power becomes less than or equal to a predetermined threshold value.

An autonomous action robot according to another aspect of the present invention includes a communication connection unit that connects to the server by a first wireless communication method based on access information to the server, an operation control unit that determines a motion of the robot, and an operation. A drive mechanism that executes a motion selected by the control unit, a receiver that receives the ID of another robot from another robot using a second wireless communication method that has a shorter communication distance than the first wireless communication method, A transmitter for transmitting access information to another robot when the ID is received.

An autonomous behavior type robot according to another aspect of the present invention includes a transmitter that transmits an ID for identifying the robot itself according to a predetermined short-range wireless communication system. A plurality of transmitters are arranged in a ring shape on a protrusion formed on the head or the crown of the robot.

An autonomous action type robot according to another aspect of the present invention includes an action control unit that selects a motion of a robot, a drive mechanism that executes a motion selected by the action control unit, and an autonomous action type robot from another autonomous action type robot. A receiver for receiving the robot ID.
The operation control unit instructs the drive mechanism to move to a position where the position code transmitted from the transmitter installed at the predetermined position of the autonomous behavior type robot can be received.

An accessory according to an aspect of the present invention includes a transmitter that transmits an operation command to an autonomous action robot according to a predetermined short-range wireless communication system.

According to the present invention, a robot can easily recognize another robot.

FIG. 1A is a front external view of the robot. FIG. 1B is a side view of the robot. It is sectional drawing which represents the structure of a robot roughly. It is a block diagram of a robot system. It is a conceptual diagram of an emotion map. It is a hardware block diagram of a robot. It is a functional block diagram of a robot system. It is an enlarged view of the horn. It is a top view of a communication device arrangement surface. It is a schematic diagram which shows a mode that a some robot forms a formation. It is a schematic diagram which shows the action instruction|indication to a robot by accessory. It is a schematic diagram for demonstrating the authentication process of the guest robot by a host robot. It is an external view of a charging station.

FIG. 1A is a front external view of the robot 100. FIG. 1B is a side external view of the robot 100.
The robot 100 in the present embodiment is an autonomous action type robot that determines actions and gestures (gestures) based on an external environment and an internal state. The external environment is recognized by various sensors such as a camera and a thermo sensor. The internal state is quantified as various parameters expressing the emotion of the robot 100. These will be described later.

In principle, the robot 100 sets the indoor area of the owner's home as the range of action. Hereinafter, a person related to the robot 100 is called a “user”, and a user who is a member of the household to which the robot 100 belongs is called an “owner”.

The body 104 of the robot 100 has a rounded shape as a whole and includes an outer skin formed of a soft and elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed. By making the body 104 round and soft and having a good feel, the robot 100 provides the user with a sense of security and a pleasant feel.

The robot 100 has a total weight of 15 kilograms or less, preferably 10 kilograms or less, and more preferably 5 kilograms or less. By 13 months of age, the majority of babies start walking alone. A 13-month-old baby has an average weight of over 9 kilograms for boys and a little under 9 kilograms for girls. Therefore, if the total weight of the robot 100 is 10 kilograms or less, the user can hold the robot 100 with almost the same effort as holding a baby who cannot walk alone. Babies younger than 2 months have an average weight of less than 5 kilograms for both sexes. Therefore, if the total weight of the robot 100 is 5 kilograms or less, the user can hold the robot 100 with the same effort as holding an infant.

Due to various attributes such as appropriate weight, roundness, softness, and good feel, the effect that the user can easily hold the robot 100 and that he/she wants to hold the robot 100 is realized. For the same reason, the height of the robot 100 is 1.2 meters or less, preferably 0.7 meters or less. It is an important concept for the robot 100 in the present embodiment that the robot can be held.

The robot 100 has three wheels for traveling three wheels. As shown, it includes a pair of front wheels 102 (left wheel 102a, right wheel 102b) and one rear wheel 103. The front wheels 102 are driving wheels and the rear wheels 103 are driven wheels. The front wheels 102 do not have a steering mechanism, but the rotation speed and the rotation direction can be individually controlled. The rear wheel 103 is a so-called omni wheel, and is rotatable for moving the robot 100 back and forth and left and right. By making the number of rotations of the right wheel 102b larger than that of the left wheel 102a, the robot 100 can turn left or rotate counterclockwise. By making the rotation speed of the left wheel 102a larger than that of the right wheel 102b, the robot 100 can turn right or rotate clockwise.

The front wheels 102 and the rear wheels 103 can be completely housed in the body 104 by a drive mechanism (a rotation mechanism or a link mechanism). Most of the wheels are hidden in the body 104 even when the vehicle is running, but when the wheels are completely housed in the body 104, the robot 100 becomes immovable. That is, the body 104 descends as the wheels are retracted, and sits on the floor surface F. In this seated state, a flat seating surface 108 (ground contact bottom surface) formed on the bottom of the body 104 contacts the floor surface F.

The robot 100 has two hands 106. The hand 106 does not have a function of grasping an object. The hand 106 can perform simple operations such as raising, shaking, and vibrating. The two hands 106 can also be individually controlled.

The eye 110 can display an image with a liquid crystal element or an organic EL element. The robot 100 is equipped with various sensors such as a microphone array and an ultrasonic sensor capable of specifying the sound source direction. It also has a built-in speaker and can emit simple voice.

A horn 112 is attached to the head of the robot 100. Since the robot 100 is lightweight as described above, the user can also lift the robot 100 by grasping the horn 112. A spherical camera is attached to the horn 112, and the entire upper portion of the robot 100 can be imaged at once. Further, the horn 112 has a transmitter and a receiver built therein, which will be described later in detail with reference to FIGS. 7 and 8.

FIG. 2 is a sectional view schematically showing the structure of the robot 100.
As shown in FIG. 2, the body 104 of the robot 100 includes a base frame 308, a body frame 310, a pair of resin-made wheel covers 312, and an outer cover 314. The base frame 308 is made of metal, constitutes the shaft core of the body 104, and supports the internal mechanism. The base frame 308 is configured by vertically connecting an upper plate 332 and a lower plate 334 with a plurality of side plates 336. A sufficient space is provided between the plurality of side plates 336 to allow ventilation. A battery 118, a control circuit 342, and various actuators are housed inside the base frame 308.

The body frame 310 is made of a resin material and includes a head frame 316 and a body frame 318. The head frame 316 has a hollow hemispherical shape and forms the head skeleton of the robot 100. The body frame 318 has a stepped tubular shape and forms a body skeleton of the robot 100. The body frame 318 is fixed integrally with the base frame 308. The head frame 316 is assembled to the upper end of the body frame 318 so as to be relatively displaceable.

The head frame 316 is provided with a yaw axis 320, a pitch axis 322, and a roll axis 324, and an actuator 326 for rotationally driving each axis. The actuator 326 includes a plurality of servo motors for individually driving each axis. The yaw shaft 320 is driven for the swinging motion, the pitch shaft 322 is driven for the nodding motion, and the roll shaft 324 is driven for the tilting motion.

A plate 325 that supports the yaw shaft 320 is fixed to the upper portion of the head frame 316. The plate 325 is formed with a plurality of ventilation holes 327 for ensuring ventilation between the upper and lower sides.

A metal base plate 328 is provided so as to support the head frame 316 and its internal mechanism from below. The base plate 328 is connected to the plate 325 via a cross link mechanism 329 (pantograph mechanism), and is also connected to the upper plate 332 (base frame 308) via a joint 330.

The body frame 318 houses the base frame 308 and the wheel drive mechanism 370. The wheel drive mechanism 370 includes a rotation shaft 378 and an actuator 379. The lower half of the body frame 318 has a small width so as to form a storage space S for the front wheels 102 between the lower half of the body frame 318 and the wheel cover 312.

The outer cover 314 is made of urethane rubber and covers the body frame 310 and the wheel cover 312 from the outside. The hand 106 is integrally formed with the outer cover 314. An opening 390 for introducing outside air is provided at the upper end of the outer cover 314.

FIG. 3 is a configuration diagram of the robot system 300.
The robot system 300 includes a robot 100, a server 200, and a plurality of external sensors 114. A plurality of external sensors 114 (external sensors 114a, 114b,..., 114n) are installed in advance in the house. The external sensor 114 may be fixed to the wall surface of the house or may be placed on the floor. The position coordinates of the external sensor 114 are registered in the server 200. The position coordinates are defined as x, y coordinates in the house, which is assumed as the action range of the robot 100.

The server 200 is installed inside the house. The server 200 determines the basic behavior of the robot 100 based on the information obtained from the sensor incorporated in the robot 100 and the plurality of external sensors 114.
The external sensor 114 is for reinforcing the sensory organs of the robot 100, and the server 200 is for reinforcing the brain of the robot 100.

The external sensor 114 periodically transmits a wireless signal (hereinafter, referred to as “robot search signal”) including an ID of the external sensor 114 (hereinafter, referred to as “beacon ID”). When the robot 100 receives the robot search signal, it returns a wireless signal including a beacon ID (hereinafter referred to as “robot reply signal”). The server 200 measures the time from the external sensor 114 transmitting the robot search signal to the reception of the robot response signal, and measures the distance from the external sensor 114 to the robot 100. The position coordinates of the robot 100 are specified by measuring the respective distances between the plurality of external sensors 114 and the robot 100.
Of course, the system in which the robot 100 periodically transmits its own position coordinates to the server 200 may be used.

FIG. 4 is a conceptual diagram of the emotion map 116.
The emotion map 116 is a data table stored in the server 200. The robot 100 selects an action according to the emotion map 116. The emotion map 116 illustrated in FIG. 4 indicates the magnitude of positive/negative emotions with respect to the location of the robot 100. The x-axis and the y-axis of the emotion map 116 represent two-dimensional space coordinates. The z-axis shows the magnitude of good and bad feelings. When the z value is a positive value, the place is highly liked, and when the z value is a negative value, the place is disliked.

In the emotion map 116 of FIG. 4, a coordinate P1 is a point (hereinafter, referred to as a “favorable point”) in the indoor space managed by the server 200, which has a high favorable feeling as the action range of the robot 100. The favored point may be a “safe place” such as behind a sofa or under a table, or a place where people can easily gather, such as a living room, or a lively place. It may also be a place that has been gently stroked or touched in the past.
Although the definition of what kind of place the robot 100 prefers is arbitrary, it is generally desirable to set the place favored by small children or small animals such as dogs and cats as the favored point.

The coordinate P2 is a point where the bad feeling is high (hereinafter, referred to as “dislike point”). Dislike points are places where there is a loud noise such as near a TV, places that get wet easily such as baths and washrooms, closed spaces and dark places, and places that lead to unpleasant memories that have been roughly treated by users. It may be.
Although the definition of what place the robot 100 dislikes is arbitrary, it is generally desirable to set a place where a small child or a small animal such as a dog or a cat is afraid as a dislike point.

The coordinate Q indicates the current position of the robot 100. The server 200 identifies the position coordinates of the robot 100 based on a robot search signal and a robot response signal to the robot search signal that are periodically transmitted by the plurality of external sensors 114. For example, when the external sensor 114 with beacon ID=1 and the external sensor 114 with beacon ID=2 respectively detect the robot 100, the distance between the robot 100 is obtained from the two external sensors 114, and the position coordinate of the robot 100 is obtained from the distance. ..

Alternatively, the external sensor 114 with beacon ID=1 transmits a robot search signal in a plurality of directions, and the robot 100 returns a robot response signal when receiving the robot search signal. Accordingly, the server 200 may grasp the distance from which external sensor 114 the robot 100 is in which direction and how much. Further, in another embodiment, the current position may be specified by calculating the moving distance of the robot 100 from the rotation speed of the front wheel 102 or the rear wheel 103, or the current position may be determined based on the image obtained from the camera. May be specified.
When the emotion map 116 shown in FIG. 4 is given, the robot 100 moves in a direction attracted to the favored point (coordinate P1) and a direction away from the disliked point (coordinate P2).

The emotion map 116 changes dynamically. When the robot 100 reaches the coordinate P1, the z value (favorable feeling) at the coordinate P1 decreases with time. As a result, the robot 100 can emulate the biological action of reaching the favored point (coordinate P1), "being satisfied with emotions", and eventually "getting tired" at that place. Similarly, the bad feeling at the coordinate P2 is also alleviated with time. With the passage of time, new favor points and aversion points are created, which causes the robot 100 to make new action selections. The robot 100 has an “interest” in a new favor point and constantly selects actions.

The emotion map 116 represents ups and downs of emotions as an internal state of the robot 100. The robot 100 aims at the favored point, avoids the disliked point, stays at the favored point for a while, and then takes the next action again. By such control, the action selection of the robot 100 can be made human or biological.

The map that affects the behavior of the robot 100 (hereinafter collectively referred to as “action map”) is not limited to the emotion map 116 of the type shown in FIG. For example, various action maps can be defined such as curiosity, fearlessness, reassurance, calmness, darkness, and physical comfort such as coolness and warmth. Then, the destination point of the robot 100 may be determined by weighting and averaging the z values of the plurality of action maps.

The robot 100 has parameters indicating the magnitudes of various emotions and sensations, in addition to the action map. For example, when the value of the emotional parameter of loneliness is increasing, the weighting coefficient of the action map for evaluating a safe place is set to be large, and the value of this emotional parameter is lowered by reaching the target point. Similarly, when the value of the parameter indicating the feeling of being boring is increasing, the weighting coefficient of the action map for evaluating the place satisfying the curiosity may be set large.

FIG. 5 is a hardware configuration diagram of the robot 100.
The robot 100 includes an internal sensor 128, a communication device 126, a storage device 124, a processor 122, a drive mechanism 120, and a battery 118. The drive mechanism 120 includes the wheel drive mechanism 370 described above. The processor 122 and the storage device 124 are included in the control circuit 342. Each unit is connected to each other by a power supply line 130 and a signal line 132. The battery 118 supplies electric power to each unit via the power supply line 130. Each unit sends and receives a control signal via a signal line 132. The battery 118 is a lithium-ion secondary battery and is a power source of the robot 100.

The internal sensor 128 is an assembly of various sensors incorporated in the robot 100. Specifically, the camera (omnidirectional camera), microphone array, the distance measuring sensor (infrared sensor), thermosensor, a touch sensor, an acceleration sensor is etc. Nioisen service. The touch sensor is installed between the outer cover 314 and the main body frame 310 and detects a user's touch. The odor sensor is a known sensor that applies the principle that electric resistance changes due to adsorption of molecules that are the origin of odor.

The communication device 126 is a communication module that performs wireless communication with various external devices such as the server 200, the external sensor 114, and a mobile device that the user has. The communication device 126 includes a first communication device 302 in charge of communication with the server 200 and the external sensor 114, and a second communication device 304 in charge of communication with another robot 100 or the like. The first communication device 302 communicates with the server 200 and the like by a communication method (first wireless communication method) based on omnidirectional Wi-Fi (registered trademark). The second communication device 304 communicates with another robot 100 by a communication method (second wireless communication method) based on IrDA (Infrared Data Association) (registered trademark) that has directivity and has a narrow communication range. Details will be described later.

The storage device 124 includes a non-volatile memory and a volatile memory, and stores a computer program and various setting information. The processor 122 is a means for executing a computer program. The drive mechanism 120 is an actuator that controls the internal mechanism. In addition to this, it will also be equipped with indicators and speakers.

The processor 122 selects an action of the robot 100 while communicating with the server 200 and the external sensor 114 via the communication device 126. Various external information obtained by the internal sensor 128 also influences action selection. The drive mechanism 120 mainly controls the wheels (the front wheels 102) and the head (the head frame 316). The drive mechanism 120 changes the moving direction and moving speed of the robot 100 by changing the rotating speed and rotating direction of each of the two front wheels 102. The drive mechanism 120 can also move the wheels (the front wheels 102 and the rear wheels 103) up and down. When the wheels are raised, the wheels are completely housed in the body 104, and the robot 100 comes into contact with the floor surface F at the seating surface 108 and becomes seated. In addition, the drive mechanism 120 controls the hand 106 via the wire 135.

FIG. 6 is a functional block diagram of the robot system 300.
As described above, the robot system 300 includes the robot 100, the server 200, the accessory 140, and the plurality of external sensors 114. The accessory 140 has a function of transmitting an operation command to the robot 100. Each component of the robot 100, the server 200, and the accessory 140 is a computing unit such as a CPU (Central Processing Unit) and various coprocessors, a storage device such as a memory or a storage, and hardware including a wired or wireless communication line connecting them. And is stored in a storage device and is realized by software that supplies a processing instruction to an arithmetic unit. The computer program may be configured by a device driver, an operating system, various application programs located in their upper layers, and a library that provides common functions to these programs. Each block described below is not a hardware-based configuration but a function-based block.
Some of the functions of the robot 100 may be realized by the server 200, and some or all of the functions of the server 200 may be realized by the robot 100.

(Server 200)
The server 200 includes a communication unit 204, a data processing unit 202, and a data storage unit 206.
The communication unit 204 is in charge of communication processing with the external sensor 114 and the robot 100. The data storage unit 206 stores various data. The data processing unit 202 executes various processes based on the data acquired by the communication unit 204 and the data stored in the data storage unit 206. The data processing unit 202 also functions as an interface between the communication unit 204 and the data storage unit 206.

The data storage unit 206 includes a motion storage unit 232, a map storage unit 216, and a personal data storage unit 218.
The robot 100 has a plurality of motion patterns (motions). Various motions such as shaking the hand 106, approaching the owner while meandering, and staring at the owner with his or her neck bent are defined.

The motion storage unit 232 stores a “motion file” that defines the motion control content. Each motion is identified by a motion ID. The motion file is also downloaded to the motion storage unit 160 of the robot 100. Which motion is to be executed may be determined by the server 200 or the robot 100.

Most of the motions of the robot 100 are configured as complex motions including a plurality of unit motions. For example, when the robot 100 approaches the owner, it may be expressed as a combination of a unit motion of turning toward the owner, a unit motion of approaching while raising a hand, a unit motion of approaching while shaking the body, and a unit motion of sitting while raising both hands. .. Such a combination of four motions realizes a motion of “approaching the owner, raising his hand in the middle, and finally shaking his body to sit down”. In the motion file, the rotation angle, angular velocity, etc. of the actuator provided in the robot 100 are defined in association with the time axis. According to the motion file (actuator control information), various motions are expressed by controlling each actuator over time.

The transition time when changing from the previous unit motion to the next unit motion is called "interval". The interval may be defined according to the time required to change the unit motion and the content of the motion. The length of the interval is adjustable.
Hereinafter, the settings relating to the behavior control of the robot 100, such as when and which motion to select, output adjustment of each actuator in realizing the motion, are collectively referred to as “action characteristics”. The behavior characteristic of the robot 100 is defined by a motion selection algorithm, a motion selection probability, a motion file, and the like.

The motion storage unit 232 stores, in addition to motion files, a motion selection table that defines motions to be executed when various events occur. In the motion selection table, one or more motions and their selection probabilities are associated with an event.

The map storage unit 216 stores not only a plurality of action maps but also a map showing the arrangement status of obstacles such as chairs and tables. The personal data storage unit 218 stores information of users, especially owners. Specifically, master information indicating intimacy with the user and physical/behavioral characteristics of the user is stored. Other attribute information such as age and gender may be stored. In addition, the personal data storage unit 218 registers not only the user's familiarity with other robots 100.

The robot 100 has an internal parameter called intimacy for each user. When the robot 100 recognizes an action that favors itself, such as hugging itself or calling out to the user, the degree of intimacy with the user increases. The degree of intimacy with a user who is not involved in the robot 100, a user who works violently, or a user who rarely encounters is low. The closeness of the robot 100 to the robot 100 will be described later.

The data processing unit 202 includes a position management unit 208, a map management unit 210, a recognition unit 212, an operation control unit 222, an intimacy management unit 220, and a state management unit 244.
The position management unit 208 specifies the position coordinates of the robot 100 by the method described with reference to FIG. The position management unit 208 may also track the position coordinates of the user in real time.

The state management unit 244 manages various internal parameters such as the charging rate, the internal temperature, and various physical states such as the processing load of the processor 122. The state management unit 244 includes an emotion management unit 234.
The emotion management unit 234 manages various emotion parameters indicating the emotion of the robot 100 (loneliness, curiosity, desire for approval, etc.). These emotional parameters are always fluctuating. The importance of the plurality of action maps changes according to the emotion parameter, the movement target point of the robot 100 changes according to the action map, and the emotion parameter changes according to the movement of the robot 100 and the passage of time.

For example, when the emotional parameter indicating loneliness is high, the emotion management unit 234 sets a large weighting coefficient of the action map for evaluating a safe place. When the robot 100 reaches a point where loneliness can be eliminated in this action map, the emotion management unit 234 reduces the emotion parameter indicating loneliness. In addition, various emotion parameters also change due to a response action described later. For example, the emotional parameter indicating loneliness decreases when the owner "hugs" it, and the emotional parameter indicating loneliness gradually increases when the owner is not visually recognized for a long time.

The map management unit 210 changes the parameter of each coordinate by the method described with reference to FIG. 4 for a plurality of action maps. The map management unit 210 may select one of the plurality of action maps, or may perform a weighted average of z values of the plurality of action maps. For example, in the action map A, z values at the coordinates R1 and coordinates R2 are 4 and 3, and in the action map B, the z values at the coordinates R1 and coordinates R2 are -1 and 3. In the case of the simple average, the total z value of the coordinate R1 is 4-1=3, and the total z value of the coordinate R2 is 3+3=6. Therefore, the robot 100 moves toward the coordinate R2 instead of the coordinate R1.
When the action map A is emphasized five times as much as the action map B, the total z value of the coordinates R1 is 4×5-1=19, and the total z value of the coordinates R2 is 3×5+3=18. Heading for.

The recognition unit 212 recognizes the external environment. The recognition of the external environment includes various recognitions such as recognition of weather and season based on temperature and humidity, and recognition of shade (safety zone) based on light intensity and temperature. The recognition unit 156 of the robot 100 acquires various environmental information by the internal sensor 128, performs primary processing on the environmental information, and transfers the environmental information to the recognition unit 212 of the server 200.

Specifically, the recognition unit 156 of the robot 100 extracts a moving object, in particular, an image region corresponding to a person or an animal from the image, and a feature indicating the physical feature or behavioral feature of the moving object from the extracted image region. A "feature vector" is extracted as a set of quantities. The feature vector component (feature amount) is a numerical value that quantifies various physical and behavioral features. For example, the width of the human eye is digitized in the range of 0 to 1 to form one feature vector component. The method of extracting the feature vector from the captured image of a person is an application of a known face recognition technique. The robot 100 transmits the feature vector to the server 200.

The recognition unit 212 of the server 200 further includes a person recognition unit 214 and a response recognition unit 228.
The person recognizing unit 214 compares the feature vector extracted from the image captured by the built-in camera of the robot 100 with the feature vector of the user (cluster) registered in the personal data storage unit 218 in advance to capture the imaged user. It is determined which person corresponds to (user identification processing). The person recognition unit 214 includes a facial expression recognition unit 230. The facial expression recognition unit 230 estimates the emotion of the user by image-recognizing the facial expression of the user.
The person recognizing unit 214 also performs the user identifying process on a moving object other than a person, for example, a cat or dog that is a pet.

The response recognition unit 228 recognizes various response actions made by the robot 100 and classifies them as pleasant/unpleasant actions. The response recognition unit 228 also classifies the response action of the owner in response to the action of the robot 100 into positive and negative reactions.
The pleasant/unpleasant behavior is determined depending on whether the user's behavior is pleasant or uncomfortable as a living thing. For example, being held is a pleasant act for the robot 100, and being kicked is an unpleasant act for the robot 100. The affirmative/negative reaction is determined depending on whether the user's response action indicates the user's pleasant feeling or unpleasant feeling. For example, being held is an affirmative reaction indicating the user's pleasant feeling, and being kicked is a negative reaction indicating the user's unpleasant feeling.

The operation control unit 222 of the server 200 cooperates with the operation control unit 150 of the robot 100 to determine the motion of the robot 100. The operation control unit 222 of the server 200 creates a movement target point of the robot 100 and a movement route therefor based on the action map selection by the map management unit 210. The operation control unit 222 may create a plurality of movement routes and select any one of the movement routes.

The motion control unit 222 selects the motion of the robot 100 from the plurality of motions in the motion storage unit 232. A selection probability is associated with each motion for each situation. For example, a selection method is defined in which, when a pleasant action is performed by the owner, the motion A is executed with a probability of 20%, and when the temperature exceeds 30 degrees, the motion B is executed with a probability of 5%. ..
The movement target point and the movement route are determined on the action map, and the motion is selected by various events described later.

The intimacy degree management unit 220 manages the intimacy degree for each user. As described above, the degree of intimacy is registered as a part of personal data in the personal data storage unit 218. When the pleasant behavior is detected, the intimacy degree management unit 220 increases the intimacy degree with respect to the owner. The intimacy decreases when an offensive behavior is detected. In addition, the intimacy of owners who have not been visually recognized for a long time gradually decreases.

The familiarity management unit 220 of the present embodiment manages not only the owner but also the familiarity of each robot 100. The intimacy with respect to the other robot 100 is also registered in the personal data storage unit 218 as a part of the personal data. The degree of intimacy with respect to another robot 100 increases or decreases depending on how it interacts with the robot 100, but details will be described later.

(Robot 100)
The robot 100 includes a first communication unit 142, a second communication unit 134, a data processing unit 136, a data storage unit 148, an internal sensor 128, and a drive mechanism 120.
The first communication unit 142 corresponds to the first communication device 302, and the second communication unit 134 corresponds to the second communication device 304 (see FIG. 5). The first communication unit 142 is in charge of communication processing with the external sensor 114 and the server 200. The second communication unit 134 is in charge of communication processing with the other robot 100 and the accessory 140. The accessory 140 in the present embodiment will be described as a wristband.

The first communication unit 142 includes a communication connection unit 138. The communication connection unit 138 communicates with the server 200 by Wi-Fi (registered trademark) (first wireless communication method). The second communication unit 134 includes a transmitter 162 (transmitter) and a receiver 164 (receiver). The second communication unit 134 performs short-range wireless communication with another robot 100 or the accessory 140 by IrDA (registered trademark) (second wireless communication method).
The “short-distance wireless communication” in the present embodiment means a wireless communication within a communication range of at least 5 meters, preferably 1.5 meters or less, more preferably 1 meter or less. Although not essential, the short-range wireless communication is preferably a directional communication method and is preferably an ad hoc communication (direct type).

The data storage unit 148 stores various data. The data storage unit 148 corresponds to the storage device 124 (see FIG. 5). The data processing unit 136 executes various processes based on the data acquired by the first communication unit 142 and the second communication unit 134, the sensor information detected by the internal sensor 128, and the data stored in the data storage unit 148. To do. The data processing unit 136 corresponds to the processor 122 and a computer program executed by the processor 122. The data processing unit 136 also functions as an interface for the first communication unit 142, the second communication unit 134, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.

The data storage unit 148 includes a motion storage unit 160 that defines various motions of the robot 100.
Various motion files are downloaded from the motion storage unit 232 of the server 200 to the motion storage unit 160 of the robot 100. The motion is identified by the motion ID. The front wheel 102 is seated and seated, the hand 106 is lifted, the two front wheels 102 are rotated in reverse, or only one of the front wheels 102 is rotated to rotate the robot 100, and the front wheel 102 is stored. In order to express various motions such as trembling by rotating the front wheel 102, stopping and turning when leaving the user, the operation timing, operation time, operation direction, etc. of various actuators (drive mechanism 120) are The time series is defined in the motion file.

Various data may be downloaded to the data storage unit 148 also from the map storage unit 216 and the personal data storage unit 218.

The data processing unit 136 includes a recognition unit 156, an operation control unit 150, a command selection unit 166, a robot detection unit 152, and a charge monitoring unit 154.
The operation control unit 150 of the robot 100 determines the motion of the robot 100 in cooperation with the operation control unit 222 of the server 200. The server 200 may determine some motions, and the robot 100 may determine other motions. Although the robot 100 determines the motion, the server 200 may determine the motion when the processing load of the robot 100 is high. The base motion may be determined in the server 200 and the additional motion may be determined in the robot 100. How the server 200 and the robot 100 share the motion determination process may be designed according to the specifications of the robot system 300.

The operation control unit 150 of the robot 100 determines the moving direction of the robot 100 together with the operation control unit 222 of the server 200. The movement based on the action map may be determined by the server 200, and the immediate movement such as avoiding an obstacle may be determined by the operation control unit 150 of the robot 100. The drive mechanism 120 drives the front wheels 102 in accordance with the instruction of the operation control unit 150 to cause the robot 100 to move to the movement target point.

The operation control unit 150 of the robot 100 instructs the drive mechanism 120 to execute the selected motion. The drive mechanism 120 controls each actuator according to the motion file.

The motion control unit 150 can also perform a motion of lifting both hands 106 as a gesture to hold a "hug" when a user with high intimacy is nearby, and when the user gets tired of the "hug", the left and right front wheels 102 can be moved. By alternately repeating the reverse rotation and the stop while the robot is housed, it is possible to express a motion to hate the hug. The drive mechanism 120 causes the robot 100 to express various motions by driving the front wheel 102, the hand 106, and the neck (head frame 316) according to an instruction from the operation control unit 150.

The instruction selection unit 166 selects an operation instruction. The motion command is a command for instructing another robot 100 to select a motion. The instruction selection unit 166 may randomly select a plurality of types of operation instructions at any timing, or may select an operation instruction corresponding to an event when the event occurs. For example, when the motion control unit 150 selects the motion M, the command selection unit 166 may select the motion command X associated with the motion M in advance. The transmission unit 162 transmits the selected motion command to another robot 100.

When the receiving unit 164 detects the robot information, the robot detecting unit 152 identifies the existence of another robot and the direction and position of the existence of the other robot. Details of the robot information will be described later. The charge monitoring unit 154 monitors the remaining battery level of the battery 118.

The recognition unit 156 of the robot 100 interprets external information obtained from the internal sensor 128. The recognition unit 156 can perform visual recognition (visual part), odor recognition (olfactory part), sound recognition (auditory part), and tactile recognition (tactile part).

The recognition unit 156 periodically captures the outside world with a built-in spherical camera to detect a moving object such as a person or a pet. The recognition unit 156 includes a feature extraction unit 146. The feature extraction unit 146 extracts a feature vector from the captured image of the moving object. As described above, the feature vector is a set of parameters (feature amount) indicating the physical feature and the behavioral feature of the moving object. When a moving object is detected, physical characteristics and behavioral characteristics are also extracted from an odor sensor, a built-in sound collecting microphone, a temperature sensor, and the like. For example, when a moving object appears in the image, bearded, active in the early morning, wearing red clothes, smelling perfume, loud, wearing glasses, wearing a skirt Various features such as standing, gray hair, tall, fat, tanned, on the sofa are extracted. These features are also quantified and become feature vector components.

The robot system 300 clusters users that appear with high frequency as “owners” based on physical characteristics and behavioral characteristics obtained from a large amount of image information and other sensing information.
For example, if a moving object with a beard (user) is often active in the early morning (early rising) and rarely wears red clothes, a cluster with a beard growing early and not wearing much red clothes ( User)). On the other hand, a moving object wearing glasses often wears a skirt, but if this moving object does not have a beard, a cluster wearing glasses and wearing a skirt but never a beard A second profile called (user) is created.
The above is a simple example, but the above method forms the first profile corresponding to the father and the second profile corresponding to the mother, and the house has at least two users (owners). The robot 100 recognizes that.

However, the robot 100 does not need to recognize that the first profile is “father”. All that is required is to be able to recognize a person's image of "a cluster with a beard often rising early and rarely wearing red clothes". A feature vector that characterizes the profile is defined for each profile.

It is assumed that the robot 100 newly recognizes a moving object (user) while such cluster analysis is completed.
At this time, the person recognition unit 214 of the server 200 executes a user identification process based on the new feature vector of the moving object, and determines which profile (cluster) the moving object corresponds to. For example, when a moving object with a beard is detected, the moving object is highly likely to be a father. If this moving object behaves early in the morning, it is even more certain that it is a father. On the other hand, when a moving object wearing glasses is detected, the moving object may be the mother. If this moving object bears a beard, it is neither a mother nor a father, so it is determined to be a new person who has not been subjected to cluster analysis.

The formation of clusters (profiles) by feature extraction (cluster analysis) and the fitting to clusters associated with feature extraction may be performed concurrently.

Of the series of recognition processing including detection, analysis, and determination, the recognition unit 156 of the robot 100 selects and extracts information necessary for recognition, and the interpretation processing such as determination is executed by the recognition unit 212 of the server 200. .. The recognition process may be performed only by the recognition unit 212 of the server 200, or may be performed only by the recognition unit 156 of the robot 100. As described above, both parties perform the recognition process while sharing roles. Good.

When a strong shock is applied to the robot 100, the recognition unit 156 recognizes this by the built-in acceleration sensor, and the response recognition unit 228 of the server 200 recognizes that “a violent act” is performed by a user in the vicinity. Even when the user holds the horn 112 and lifts the robot 100, it may be recognized as a violent act. When the user facing the robot 100 speaks in a specific sound volume region and a specific frequency band, the response recognition unit 228 of the server 200 may recognize that a “calling action” has been performed. Further, when a temperature around the body temperature is detected, it is recognized that the "contact action" has been performed by the user, and when an upward acceleration is detected in the state of contact recognition, it is recognized that the "hugging" has been performed. Physical contact may be sensed when the user lifts the body 104, or the hug may be recognized when the load applied to the front wheel 102 is reduced.
In summary, the robot 100 acquires the action of the user as physical information by the internal sensor 128, the response recognition unit 228 of the server 200 determines comfort/discomfort, and the recognition unit 212 of the server 200 performs the user identification process based on the feature vector. To execute.

The response recognition unit 228 of the server 200 recognizes various responses of the user to the robot 100. Some typical response actions among various response actions are associated with pleasant or unpleasant, affirmative or negative. In general, most of the pleasant behaviors are positive reactions, and most of the offensive behaviors are negative reactions. Pleasure/discomfort is related to intimacy, and positive/negative reactions influence behavior selection of the robot 100.

The intimacy degree management unit 220 of the server 200 changes the intimacy degree with respect to the user according to the response action recognized by the recognition unit 156. In principle, the degree of intimacy with respect to the user who has performed a pleasant act increases, and the degree of intimacy with respect to the user who has performed an unpleasant act decreases.

The intimacy with the user changes depending on what kind of action is performed by the moving object (user).

The robot 100 sets a high degree of intimacy with people who often meet, people who touch it often, and people who often talk. On the other hand, the degree of intimacy with people who rarely see it, people who do not touch it very much, violent people, and people who scold loudly becomes low. The robot 100 changes the intimacy degree for each user based on various external world information detected by sensors (visual, tactile, auditory).

The actual robot 100 autonomously performs complicated action selection according to the action map. The robot 100 acts while being influenced by a plurality of action maps based on various parameters such as loneliness, boredom, and curiosity. If the influence of the action map is excluded, or the robot 100 is in an internal state where the influence of the action map is small, the robot 100 will, in principle, try to approach a person with high intimacy and move away from a person with low intimacy. And

The behavior of the robot 100 is categorized as follows according to intimacy.
(1) User who has a very high degree of intimacy The robot 100 approaches the user (hereinafter referred to as “proximity behavior”) and performs affection gesture that is defined in advance as a gesture that favors a person. Express strongly.
(2) User who has a relatively high degree of intimacy The robot 100 performs only a proximity action.
(3) User with a relatively low degree of intimacy The robot 100 does not take any particular action.
(4) User who has a particularly low degree of intimacy The robot 100 performs a leaving action.

According to the control method described above, the robot 100 approaches the user when it finds a user with high intimacy, and leaves the user when it finds a user with low intimacy. With such a control method, so-called "knowing" can be expressed. Further, when a visitor (user A having low intimacy) appears, the robot 100 may leave the visitor and head toward a family (user B having high intimacy). In this case, the user B can feel that the robot 100 is shy and anxious, and that he is relying on himself. By such an action expression, the user B evokes the joy of being selected and relying on, and the emotion of attachment accompanying it.

On the other hand, when the user A who is a visitor frequently visits, speaks, and touches, the degree of intimacy of the robot 100 with respect to the user A gradually increases, and the robot 100 does not perform a shyness action (leave action) with respect to the user A. .. The user A can also have an attachment to the robot 100 by feeling that the user 100 is familiar with the robot 100.

The above action selection is not always executed. For example, when the internal parameter indicating the curiosity of the robot 100 is high, the behavior map that seeks a place satisfying the curiosity is emphasized, and thus the robot 100 may not select the behavior influenced by the intimacy. .. Further, when the external sensor 114 installed at the entrance detects the user's return home, the user's welcome action may be executed with the highest priority.

(Accessory 140)
The accessory 140 (wristband) is an accessory that can transmit operation commands to an unspecified number of robots 100. The accessory 140 includes a transmission unit 144, a reception unit 170, and an instruction selection unit 172. The transmission unit 144 and the reception unit 170 communicate with the robot 100 by IrDA (registered trademark) (second wireless communication method). The receiving unit 170 receives robot information described below from the transmitting unit 162 of the robot 100. The transmission unit 144 transmits an operation command to the robot 100. The operation command of the accessory 140 will be described later with reference to FIG. The instruction selection unit 172 selects an operation instruction according to an instruction from the user. A plurality of operation commands are registered in advance in the accessory 140. The user can select an operation command to be transmitted by operating a button (not shown) of the accessory 140.

FIG. 7 is an enlarged view of the outer appearance of the horn 112.
A communication device placement surface G is formed on the horn 112. An IrDA (registered trademark) transmitter and receiver are installed on the communication device placement surface G. IrDA (registered trademark) has strong directivity and has a short communication range of about 0.3 to 1.0 meters. The communication range of IrDA (registered trademark) is limited to a short distance as compared with general wireless communication. In addition, IrDA (registered trademark) is in a state that it is not only a short distance but also visible because it cannot communicate even if there is a simple non-transparent shield such as paper between the transmitter and the receiver. Can only communicate with the other party. In other words, transmission and reception are possible only when the other party is visually recognizable, which enables extremely natural and secure communication such as a person telling a secret story.

FIG. 8 is a top view of the communication device placement surface G.
On the circular communication device placement surface G, eight second communication devices 304 (second communication devices 304a to 304h) are annularly arranged. In FIG. 8, the upper part of the drawing corresponds to the front of the robot 100 (frontal head side), and the lower part of the drawing corresponds to the rear of the robot 100 (occipital part side). The second communication device 304 includes one transmitter 158 and one receiver 168. Therefore, eight transmitters 158 and eight receivers 168 are alternately arranged on the communication device arrangement surface G. A position code (ID) is set in each of the eight second communication devices 304 (transmitter 158 and receiver 168) as described below.
Position code of the second communication device 304a (front): F
Position code of second communication device 304b (left front): FL
Position code of second communication device 304c (left side): L
Position code of the second communication device 304d (left rear): BL
Position code of the second communication device 304e (rear): B
Position code of second communication device 304f (right rear): BR
Position code of the second communication device 304g (right side): R
Position code of second communication device 304h (front right): FR
The eight transmitters 158 (transmitters 158a to 158h) correspond to the transmitting unit 162 in FIG. 6, and the eight receivers (receivers 168a to 168h) correspond to the receiving unit 164.

The transmitter 158 transmits “robot information” and operation commands by IrDA (registered trademark). Since IrDA (registered trademark) has directivity, signals such as robot information are periodically and simultaneously transmitted in eight directions by eight transmitters 158. The robot information includes a “robot ID” for identifying the robot 100 and a position code (transmitter ID) for identifying the second communication device 304 (transmitter 158). For example, the transmitter 158a transmits the robot ID and the position code (F), and the transmitter 158b transmits the robot ID and the position code (FL). The robot ID may be information that uniquely identifies the robot 100, such as a MAC address (Media Access Control address) or a manufacturing number.

The receiver 168 receives robot information and operation commands from another robot 100. The receiver 168 also receives an operation command from the accessory 140.

When the robot information is transmitted from the first robot 100 to the second robot 100, the second robot 100 can identify the type, position, orientation, and distance of the transmission source from the robot information. The second robot 100 first identifies the first robot 100 that is the transmission source by the robot ID. Here, it is assumed that the receiver 168c (position code: L) on the left side of the second robot 100 receives the robot information including the "position code: F" from the first robot 100. At this time, the robot detection unit 152 of the second robot 100 determines that the first robot 100 is located to the left of the second robot 100, and the first robot 100 faces the second robot 100. It is determined that This is because the receiver 168c (position code: L) on the left side of the second robot 100 has received robot information from the transmitter 158a (position code: F) in front of the first robot 100.

More strictly, the robot detection unit 152 of the second robot 100 specifies the direction in which the first robot 100 exists based on the reception intensity of the robot information in each of the plurality of receivers 168. For example, if the reception intensity of the receiver 168c (on the left side) is higher than the reception intensity of any of the other receivers 168, it can be specified that the first robot 100 exists on the left side of the second robot 100. Furthermore, the robot detection unit 152 also specifies the distance from the external robot 100 based on the reception intensity. When the reception intensity of the signal from the transmitter 158a of the first robot 100 is higher than the reception intensity of the signal from another transmitter, the first robot 100 is facing the second robot 100. You can judge.

Next, the operation of the robot 100 associated with the short-range wireless communication based on IrDA (registered trademark) will be described.
As described above, the transmitter 158 can transmit the robot information only to a narrow area of about 1 meter. For this reason, the short-range wireless communication by IrDA (registered trademark) is established only when the other robot 100 (hereinafter, referred to as “external robot 100”) is in a close range. The server 200 registers the robot ID of the external robot 100 in the “robot list”. Hereinafter, the external robot 100 whose robot ID has been registered (recognized) is also referred to as “registered robot 100”, and the unregistered external robot 100 is also referred to as “unregistered robot 100”. The robot list is shared by the server 200 and the robot 100. With respect to the recognized external robot 100, the robot 100 on the recognizing side will also be referred to as “self robot 100”.

When any of the plurality of receivers 168 mounted on the own robot 100 receives the robot information from the external robot 100, the recognition unit 156 determines the external robot 100 by referring to the robot list. When the robot ID that does not exist in the robot list is received, the external robot 100 is an unregistered robot 100. In this case, the robot 100 itself transmits the robot ID to the server 200, and the recognition unit 212 of the server 200 registers the newly detected robot ID in the robot list. The registered robot 100 means an external robot 100 that the robot 100 itself knows, in other words, has been involved with.

When the robot ID of the external robot 100 is detected, the operation control unit 150 selects any one of a plurality of types of motion associated with the event E1 of “new detection of robot ID”. Specifically, various motions such as turning around, approaching, and leaving can be considered. In response to the event E1, the motion control unit 150 expresses the action of the recognition of the external robot 100 by stopping the motion being executed, changing the motion interval, changing the motion execution speed, or the like. Good.

In particular, when the unregistered robot ID is detected, the operation control unit 150 selects any one of a plurality of types of motion associated with the event E2 of “detection of unregistered robot ID”. Specifically, various motions such as turning around, approaching, and tilting the head are possible. In response to the event E2, the operation control unit 150 may express a curiosity or a vigilance by finding a strange robot 100, such as stopping a motion being executed or reducing the execution speed of the motion.

The motion control unit 150 changes the action characteristic of the robot 100 according to the direction in which the external robot 100 is present. For example, when the external robot 100 is behind, the motion of leaving the external robot 100 may be executed. In other words, when the event E3 of "detect the robot ID by the receiver 168e (position code: B) located behind" occurs, the operation control unit 150 sets the movement target point of the robot 100 to the front. , Expresses an action of being surprised by the robot 100 appearing behind and escaping. The motion control unit 150 may rotate the robot 100 to execute a motion of turning around. Similarly, when the external robot 100 is present in front of the self robot 100, the operation control unit 150 may execute a motion of approaching the external robot 100.

The transmission unit 162 of the robot 100 transmits an operation command to the external robot 100. The operation instruction includes the motion ID of the motion to be executed. The robot 100 may transmit an arbitrary operation command at an arbitrary timing, for example, a random timing, or may transmit the operation command when an event occurs such as when the external robot 100 is detected. For example, when the robot 100P transmits an operation command X1 that instructs the robot 100Q to perform a follow-up operation, the operation control unit 150 of the robot 100Q moves behind the robot 100P that is the transmission source, and then follows the robot 100P. You may. The follow-up operation will be described in further detail with reference to FIG.

When the robot 100Q receives the operation command X from the robot 100P, the robot 100Q may or may not follow the operation command X. The robot 100Q may follow the operation command X with a predetermined probability.

When the motion control unit 150 selects a motion of the robot 100, the command selection unit 166 may select a motion command associated with the selected motion. For example, it is assumed that the motion M1 “raise the hand 106” is associated with the motion command X2 “raise the hand 106” and the motion command X3 “stop”. When the robot 100P selects the motion M1, the command selection unit 166 of the robot 100P randomly selects one of the motion commands X2 and X3. It is assumed that the operation command X2 is selected. The transmitter 162 (transmitters 158a to 158h) of the robot 100P transmits the operation command X2 to the robot 100Q (external robot 100). According to such a control method, when the robot 100P raises the hand 106 (motion M1), another robot 100Q also raises the hand 106 accordingly. As another example, when the motion command X1 for instructing the “following motion” for the motion M2 of “move” is selected, when the robot 100P moves, another robot 100Q also starts to move and a behavior chain is realized. It

As described above, the closeness management unit 220 manages not only the user but also the closeness to the external robot 100. The intimacy degree management unit 220 changes the intimacy degree with respect to the external robot 100 according to the short-range wireless communication. For example, when the robot ID of the external robot 100 is detected, the self robot 100 adds the intimacy degree to the external robot 100.

Further, when the operation command is transmitted from the own robot 100 to the external robot 100, it is probabilistically determined whether or not the external robot 100 executes the operation command. When the external robot 100 executes the operation command X, in other words, when it accepts the operation command X, the transmission unit 162 of the external robot 100 returns an “acceptance signal” to the transmission source self robot 100. When the self robot 100 receives the acceptance signal, the self robot 100 adds the intimacy degree to the external robot 100. The external robot 100 selects a motion according to the operation command X.

When the external robot 100 rejects the operation command X, the external robot 100 returns a "rejection signal" to the transmission source self robot 100. When the self robot 100 receives the refusal signal, the self robot 100 subtracts the degree of intimacy with the external robot 100. According to such a control method, the intimacy degree (favorability) is increased for the external robot 100 according to the operation command, and the intimacy degree (favorability) is decreased for the external robot 100 not complying with the operation command. In other words, it is possible to give the robot 100 the biological characteristic that it likes the robot 100 who listens to commands and dislikes the robot 100 who does not listen to commands.

The self robot 100 may subtract the intimacy degree with respect to the external robot 100 with time. According to such a control method, it is possible to express the biological characteristic that the familiarity (intimacy) gradually decreases with respect to the external robot 100 that has become less involved.

Whether or not the robot 100Q follows the operation command X from the robot 100P is influenced by the degree of closeness of the robot Q to the robot P. Specifically, it is assumed that the robot 100Q receives the operation command X together with the robot information from the robot 100P. The operation control unit 150 of the robot 100Q transmits the robot ID from the first communication unit 142 to the server 200 to inquire about the degree of closeness of the robot 100Q to the robot 100P. The operation control unit 150 of the robot 100Q accepts the operation command X with a probability of 90% if the intimacy degree is 70 or more, and accepts the operation command X with a probability of 50% when the intimacy degree is 30 or more and less than 70. To do. On the other hand, when the degree of intimacy is less than 30, the probability of accepting the operation command X is 5%.

According to such a control method, it is possible to realize a behavior characteristic that it is easy to follow the operation command of the robot 100 having high intimacy, but it is hard to follow the operation command from the robot 100 having low intimacy. When the intimacy of the robots 100P and 100Q with respect to each other increases, when one of the robots 100 transmits the operation command X, the other robot 100 changes the motion in response to the operation command X, so that the plurality of robots 100 become friends. This makes it possible to express actions as if you were playing together, in other words, as if you were friends. In particular, in the case of robots 100 having a high degree of intimacy, one of the robots 100 selects a motion and transmits a motion command, while the other robot 100 selects a motion according to the motion command and newly issues a motion command. The action chain of sending continues for a long time.

The robot 100 may change the behavior characteristic according to the degree of intimacy. When receiving the robot ID of the external robot 100, the self robot 100 confirms the intimacy degree of the external robot 100. For example, the operation control unit 150 of the robot 100 approaches the external robot 100 when the intimacy degree of the external robot 100 is 70 or more, and sits with the body facing the external robot 100 when the intimacy degree is 30 or more and less than 70. .. When the intimacy degree of the external robot 100 is less than 30, the operation control unit 150 may instruct the drive mechanism 120 to move away from the external robot 100. According to such a control method, it is possible to express the behavior characteristic that the robot 100 approaches the familiar robot 100 and moves away from the robot 100 which is not familiar.

FIG. 9 is a schematic diagram showing how a plurality of robots 100 form a line.
In FIG. 9, the head robot 100P transmits an operation command X1 instructing a “following operation”. The plurality of transmitters 158 mounted on the robot 100P transmit the operation command X1 in all directions. The robot 100Q receives the operation command X1 from the robot 100P. The robot 100Q identifies the transmitter 158e at the rear of the robot 100P among the plurality of transmitters 158 mounted on the robot 100P by the position code (B) included in the robot information. The operation control unit 150 of the robot 100Q moves to the rear part of the robot 100P and follows the robot 100P. Specifically, the robot 100Q has a position where the receiver 168a (front) of the robot 100Q can receive the robot information from the transmitter 158e (rear) of the robot 100P with a higher reception intensity than the other receivers 168. Move to. In this way, the robot 100Q moves to a position where robot information can be received from the transmitter 158e at the rear of the robot 100P, and then follows the robot 100P, so that the robot 100Q follows the robot 100P. Can be expressed.

Based on the reception intensity of the operation command X1, the operation control unit 150 of the robot 100Q adjusts the moving speed so that the distance from the robot 100P is within a predetermined range. The robot 100Q maintains a distance such that the reception intensity of the operation command X1 from the rear transmitter 158e (position code: B) of the plurality of transmitters 158 of the robot 100P falls within a predetermined range. At the time of tracking, the robot 100Q returns an acceptance signal together with the robot ID to the robot 100P.

The robot 100Q further transmits (relays) the operation command X1. The robot 100P that has transmitted the motion command X1 is set to the “command mode” by the motion control unit 150. The robot 100 set to the command mode will not accept operation commands from other robots 100. Therefore, in FIG. 9, the robot 100P does not react to the operation command X1 of the robot 100Q. On the other hand, the robot 100R not in the command mode receives the operation command X1 from the robot 100Q and follows the robot 100Q. According to such a control method, it is possible to cause a plurality of robots 100 to take a platooning action triggered by the transmission of the operation command X1 from the robot 100P. The operation control unit 150 releases the command mode after the elapse of a predetermined time.

The following operation can be performed not only from the rear but also from the side. For example, the robot 100P can move left and right according to the robot 100Q and the robot 100R. In this case, the robot 100Q receives the operation command X1 from the transmitter 158g (position code: R) on the right side of the robot 100P, and the robot 100R receives the operation command X1 from the transmitter 158c (position code: L) on the left side of the robot 100P. It is sufficient to move to a position where the operation command X1 is received. According to such a control method, when a large number of robots 100 gather in a large event venue such as a gymnasium, it is possible to cause the robots 100 to take simultaneous actions. Not limited to the follow-up motion, various action chains such as raising the hands 106 all at once and raising the head all at once are possible. The action chain can provide the enjoyment of the owner bringing the robot 100 and interacting with it.

FIG. 10 is a schematic diagram showing an action instruction to the robot 100 by the accessory 140.
The accessory 140 (wristband) includes a plurality of transmitters 158 and a plurality of receivers 168, similar to the communication device placement surface G shown in FIG. The set of transmitters 158 corresponds to the transmitter 144, and the set of receivers 168 corresponds to the receiver 170. The transmitter 158 and receiver 168 of the jewelery 140 are also identified by the position code. The transmission unit 144 of the accessory 140 periodically transmits the operation command X. The transmission reach area 190 indicates a range where the operation command X of the accessory 140 reaches.

The user wearing the accessory 140 (wristband) can switch the operation command to be transmitted via the instruction selection unit 172. It is assumed that the accessory 140 has transmitted an operation command X5 “prohibit entry into the entry-prohibited area 180”. The entry prohibition region 180 may be set as a range in which the robot 100 can visually recognize the accessory 140, or may be set as a range closer to the accessory 140 as the reception intensity of the operation command X5 becomes a predetermined threshold value or more. In FIG. 10, since the robot 100S receives the operation command X5, the robot 100S moves away from the accessory 140 without approaching the entry prohibition region 180. The operation command X5 enables the operation instruction to keep the robot 100 away from the accessory 140.

When the user does not want to be associated with the robot 100 for study or work, if the user wears the accessory 140 (wristband) and transmits the operation command X5, the user can concentrate on the work without being disturbed by the robot 100. .. The prohibited area 180 does not have to be circular. The entry-prohibited area 180 may have another shape such as an ellipse, or may change its size or shape periodically. When the robot 100 receives the operation command, the robot 100 makes a probability determination of acceptance or rejection and returns an acceptance signal or a rejection signal indicating the determination result to the accessory 140. However, the operation may not be rejected for some "strong operation instructions" such as the operation instruction X5.

It is also assumed that the accessory 140 has transmitted an operation command X4 of “sit down”. When the robot 100T located in the transmission arrival area 190 receives the operation command X4, it accommodates the front wheel 102 and sits down. The command selection unit 166 of the robot 100T selects the motion command X4 and transmits (relays) the motion command X4. When the robot 100U receives the operation command X4 from the robot 100T, the robot 100T also sits down.

Since the robot 100U is outside the transmission reach area 190, the robot 100U does not receive the operation command X4 of the accessory 140, but is seated by the relay of the operation command X4 by the robot 100T. According to such a control method, the operation command X of the accessory 140 can be relayed to many robots 100 without being restricted by the transmission reach area 190 of the accessory 140. For example, when the accessory 140 transmits the operation command X4 when there are many robots 100, the robots 100 near the accessory 140 cause the multiple robots 100 to be seated one after another, so to speak, like "domino defeat". be able to.

The transmitter 144 of the accessory 140 may transmit the operation command X on condition that the robot information is received from the robot 100. According to such a control method, since the operation command X is not transmitted when the robot 100 is not around, the power consumption of the transmitting unit 144 can be suppressed. Further, the transmitting unit 144 may transmit not only the motion command X but also the accessory ID or the transmitter ID for identifying the accessory 140, as in the robot 100.

The accessory 140 can simultaneously transmit the operation command X to the plurality of robots 100 existing in the transmission reach area 190. For this reason, the user of the accessory 140 can enjoy the sensation of instructing a plurality of robots 100 at the same time. For example, a plurality of robots 100 are gathered around themselves by transmitting a motion command X6 that means “approach”, and next, a motion command X4 that means “seated” is transmitted to collect the collected robots 100. Can be seated all at once. Other than this, it is possible to define various operation commands such as shaking the hand 106 and bending the head. Since a monitor is installed in the eye 110 of the robot 100, the facial expression of the eye 110 may be controlled by an operation command. For example, an operation command that causes the eyes 110 of the robot 100 to simultaneously glow red is considered.

FIG. 11 is a schematic diagram for explaining an authentication process of the guest robot 100W by the host robot 100V.
The robot system 300 including the server 200 and the host robot 100V can accept a new guest robot 100W. The host robot 100V is the robot 100 that receives action support from the server 200. The term "accept" here means that the guest robot 100W, which is an alien, connects to the server 200 and accesses resources (hardware, software, and data) managed by the server 200 to support the action from the server 200. It means that it is possible to receive. After that, the server 200 will support the actions of the two robots 100, the host robot 100V and the guest robot 100W.

In the following, description will be made on the assumption that the guest robot 100W is brought to the home that is the base of the robot system 300 (server 200 and host robot 100V). The guest robot 100W can be connected to the server 200 by receiving the access information from the host robot 100V. The “access information” mentioned here is an access key of a wireless LAN (Local Area Network) to which the server 200 is connected, an IP address of the server 200, a port number, a password, and the like.

The first communication unit 142 of the host robot 100V connects to the server 200 via Wi-Fi (registered trademark). More specifically, the communication connection unit 138 of the host robot 100V connects to the wireless LAN (wireless environment) to which the server 200 belongs by using the access information of Wi-Fi (registered trademark), and wirelessly communicates with the server 200. Communicate. To utilize the resources of the server 200, the host robot 100V is authenticated by the server 200. On the other hand, the guest robot 100W does not know the access information of the server 200. When the host robot 100V receives the robot information from the guest robot 100W, the host robot 100V transmits the access information by IrDA (registered trademark) to the guest robot 100W (S1). At this time, the communication connection unit 138 of the host robot 100V generates a guest password, and the transmission unit 162 of the host robot 100V notifies the guest robot 100W of the guest password as well.

The host robot 100V transmits the robot ID of the guest robot 100W and the guest password to the server 200 (S2). The server 200 registers the robot ID and guest password of the guest robot 100W.

The communication connection unit 138 of the guest robot 100W connects to the wireless LAN and wirelessly connects to the server 200 based on the access information and the guest password received from the host robot 100V (S3). The server 200 checks the robot ID and the guest password notified from the host robot 100V with the one notified from the guest robot 100W, and then permits the connection with the guest robot 100W.

As described above, when the host robot 100V detects the unregistered robot 100, the host robot 100V supports the connection of the guest robot 100W to the server 200 by passing the access information and the like to the unregistered robot 100 (guest robot 100W). When the access information is transmitted by a communication method that is omnidirectional and has a wide communication range, there is a risk that the access information will be intercepted. IrDA (registered trademark) has a strong directivity as described above and has a limited communication range, and thus has a low risk of being intercepted. Note that the access information may be transmitted when the external robot 100 is detected, not limited to the unregistered robot 100. By providing the access information in this way, the guest robot 100W can access the network without human intervention.

FIG. 12 is an external view of the charging station 250.
The charging station 250 (charging station 250a and charging station 250b) is a charger for the robot 100 and has an internal space for housing the robot 100. When the robot 100 enters the charging station 250 (charger) and takes a predetermined posture, charging is started. The charging station 250 and the robot 100 are in one-to-one correspondence. The charging station 250 has a communication device 252 built therein. The communication device 252 periodically transmits the robot ID of the corresponding robot 100 by IrDA (registered trademark).

The charging station 250 includes a table 260, a slope 262 that smoothly bridges the upper surface of the table 260 and the floor surface F, and a frame 254 provided around the table 260. A marker M, which serves as a mark when the robot 100 enters the charging station 250, is attached to the center of the table 260. The marker M is a circular area colored with a color different from that of the table 260.

The frame 254 includes a decoration member 256 surrounding the table 260. The decorative member 256 is obtained by stacking a large number of decorative pieces having a leaf motif as an image, and is an image of a hedge. A connection terminal 258 for power feeding is provided at a position slightly offset from the center marker M on the table 260.

The charge monitoring unit 154 of the robot 100 monitors the remaining battery level of the battery 118. When the battery remaining amount (charge amount) is less than or equal to a predetermined threshold value, for example, the charging rate is 30% or less, the robot 100 moves to the charging station 250. The robot 100 receives the robot ID from the communication device 252 incorporated in the charging station 250. The robot 100 sets the charging station 250 that transmits its own robot ID as the movement target point. In FIG. 12, the robot 100 is stored in the charging station 250a.

The robot 100 captures an image of the marker M when entering the charging station 250a, and controls the traveling direction with the marker M as a mark. After entering the charging station 250a, the connection terminal 258 is connected to the connection terminal provided on the bottom of the robot 100. As a result, the charging circuits of the robot 100 and the charging station 250 are brought into conduction. When entering the charging station 250a, the operation control unit 150 adjusts the orientation of the robot 100 so that the receiver 168a (front) can receive the robot ID with a higher reception intensity than the other receivers 168.

According to such a control method, the robot 100 can distinguish and charge the “own charging station 250” even when a plurality of charging stations 250 are installed. Therefore, the biological characteristics similar to the homing instinct can be expressed in the robot 100.

The robot 100 and the robot system 300 including the robot 100 have been described above based on the embodiment.
There is no big difference in the appearance of the robot 100. Therefore, it is difficult to identify the external robot 100 by image recognition. In the present embodiment, since the external robot 100 is recognized by the robot ID transmitted by IrDA (registered trademark), the external robot 100 can be easily identified.

In the case of image recognition, there is a possibility of misunderstanding that the robot 100 reflected in the mirror is the external robot 100. However, if the identification method based on the robot ID (hereinafter referred to as “ID identification method”) is such an error. No recognition occurs. For example, when the robot 100 having the robot ID=01 receives the robot ID=01, which is reflected by the mirror, it can be recognized that the robot 100 reflected in the mirror is the own robot 100 and not the external robot 100. The ID identification method also has an advantage that the processing load is lighter than that of image recognition.

The robot detection unit 152 can easily identify the direction in which the robot 100 is present, depending on which of the plurality of receivers 168 receives the signal from the external robot 100 with the maximum reception intensity. Further, the robot detection unit 152 can also identify the orientation of the external robot 100 with respect to the own robot 100 by the “position code of the transmitter 158” transmitted from the external robot 100.

The distance at which the robot 100 can receive the robot ID of the external robot 100 is the distance at which the robot 100 can recognize the external robot 100. When the receiving ability of the robot 100 is low, only the external robot 100 in the vicinity can be recognized. In other words, the "visual acuity (recognizable range)" of the robot 100 can be expressed by the receiving ability of the robot 100.

When the robot ID of the external robot 100 is detected, the self robot 100 changes the behavior characteristic. According to such a control method, it becomes possible to express an action as if the action of the robot 100 itself has changed in consideration of the presence of the external robot 100 (another person). In particular, when an unregistered robot is detected, "curiosity" may be expressed by selecting a motion that approaches the external robot 100, or "vigilance" may be given by turning away from the head or leaving the external robot 100. You may express an action.

By managing the degree of closeness of the robot 100 to the robot 100, likes and dislikes among the robots 100 can be expressed. For example, it is also possible to express a relationship between the robots 100, which is similar to a “human relationship” such that the robot 100P likes the robot 100Q, but the robot 100Q does not like the robot 100P very much. In other words, the “sociality” between the robots 100 can be expressed.

According to the present embodiment, the robot 100P transmits the operation command X to the robot 100Q, and the robot 100Q transmits the operation command X to another robot 100R, so that an action chain of many robots can be realized. The same applies when the accessory 140 transmits the operation command X. According to such a control method, not only the behavioral characteristics of the single robot 100 but also the behavioral characteristics of the group can be expressed in various ways.

It should be noted that the present invention is not limited to the above-described embodiments and modifications, and the constituent elements can be modified and embodied without departing from the scope of the invention. Various inventions may be formed by appropriately combining a plurality of constituent elements disclosed in the above-described embodiments and modifications. In addition, some constituent elements may be deleted from all the constituent elements shown in the above-described embodiments and modifications.

The description has been given assuming that the robot system 300 is configured by one robot 100, one server 200, and a plurality of external sensors 114, but some of the functions of the robot 100 may be realized by the server 200, or the functions of the server 200. Part or all of the above may be assigned to the robot 100. One server 200 may control a plurality of robots 100, or a plurality of servers 200 may cooperate to control one or more robots 100.

A third device other than the robot 100 and the server 200 may take a part of the function. The aggregate of the functions of the robot 100 and the functions of the server 200 described with reference to FIG. 6 can be grasped as one “robot” in a broad sense. How to distribute the plurality of functions required to implement the present invention to one or more pieces of hardware is determined in consideration of the processing capability of each piece of hardware and the specifications required for the robot system 300. It may be decided.

As described above, the “robot in the narrow sense” is the robot 100 that does not include the server 200, but the “robot in the broad sense” is the robot system 300. Many of the functions of the server 200 may possibly be integrated into the robot 100 in the future.

The action control program of the robot 100 may be provided from a predetermined server via the Internet, or may be provided by a fixed recording medium such as a CD-ROM. In any case, the behavior control program of the robot 100 may be installed in the robot 100 by being provided from a recording medium (server, CD-ROM, etc.) different from the robot 100.

The operation instruction X may be an action instruction for executing a game by the plurality of robots 100. As an example, "game of tag" by a plurality of robots 100 is assumed. The robot 100P first transmits an operation command X7 "I want to play tag" to collect friends. The robot 100 that has accepted the motion command X7 participates in tag playing. It is assumed that the three robots 100P to 100R participate in tag playing. The state management unit 244 of the server 200 first registers the robot 100P as a "demon". The communication unit 204 of the server 200 notifies the robots 100P to 100R that the robot 100P is a "demon".

The robot 100P acting as a demon pursues the robot 100Q and the robot 100R, and the robot 100Q and the robot 100R escape from the robot 100P (demon). When the robot 100P (oni) touches the robot 100Q, the robot 100Q recognizes that the "oni" is touched by receiving the robot information and the detection signal of the touch sensor, and notifies the server 200 of the touch. The server 200 sets the robot 100Q as a "demon". With such a control method, when a plurality of robots 100 gather, it is possible to express the action of playing tag while playing with the robots 100 alone.

The motion command X may be a command for starting various action control programs (application programs) installed in the external robot 100, instead of directly specifying a motion. For example, by instructing an external robot 100 equipped with an action control program for executing "game of tag" (hereinafter referred to as "game of tag") to start the tag game, the tag of multiple robots 100 can be played. May be performed. Not limited to "game of tag", various action control programs such as "following motion" described with reference to FIG. These behavior control programs are identified by the application ID. The first robot 100 may instruct the second robot 100 which action control program to start by transmitting an operation command X specifying an application ID to the second robot 100. Then, when the second robot 100 returns the acceptance signal, the first robot 100 may also start the same action control program. As described above, the robot 100 is equipped with an action selection program (application program) that defines an action selection method based on a specific rule as well as a basic motion, and a start instruction from one to another ( An operation command as an invitation for play) may be transmitted.

The accessory 140 and the action selection program may be sold as a set. For example, when the accessory 140 is associated with the application ID and the purchaser of the accessory 140 accesses a predetermined server and inputs the application ID, the action selection program corresponding to the application ID is downloaded from the server to the robot 100. May be According to this aspect, since the behavior pattern of the robot 100 can be enriched by purchasing the accessory 140, it is possible to collect the accessory 140 and provide the robot 100 with the joy of learning various behaviors.

The robot 100 may perform short-range wireless communication with the external robot 100 only when the external robot 100 can be visually recognized. Specifically, the robot detection unit 152 of the robot 100 captures an image of the external robot 100 with a camera, and only when the robot information is received from the external robot 100 in a state where the external robot 100 can be image-recognized. The position and orientation of the robot 100 may be specified. Further, the motion control unit 150 may accept the motion command X from the external robot 100 only when the external robot 100 can be image-recognized. If the direction in which the external robot 100 recognized by the camera exists and the direction in which the external robot 100 recognized by the second communication unit 134 does not match, the operation control unit 150 ignores the operation command X from the external robot 100. May be According to such a control method, the own robot 100 performs short-distance wireless communication only with the visible external robot 100, and thus unnecessary and unnatural reaction to short-distance wireless communication from other than the external robot 100. Stop taking action. Regarding the accessory 140, the robot 100 may accept the operation command X from the accessory 140 on condition that the accessory 140 is visually recognized. The operation command functions like “telepathy” between the robots 100. According to the control method, it is possible to express a more solid behavior characteristic that only the operation command (telepathy) from the external robot 100 in front of the user is accepted.

When the image of the external robot 100 is recognized, the operation control unit 150 may approach the external robot 100 and confirm the robot ID by short-range wireless communication. The robot 100 can normally see the external robot 100 from outside the communication range of IrDA (registered trademark). According to such a control method, it is possible to express an action characteristic of confirming the external robot 100 from a distance and confirming its identity by approaching.

In this embodiment, the robot information and the operation command are described as being transmitted and received by IrDA (registered trademark). As a modification, the second communication unit 134 may communicate with the external robot 100 or the accessory 140 by another short-range wireless communication method such as ultrasonic communication, NFC (Near Field Communication), or Bluetooth (registered trademark).

The robot 100 may control home electric appliances in the room by an IrDA signal or the like. For example, when the robot 100 receives a voice instruction “air conditioner on” from the user, the robot 100 may send a power-on signal to the air conditioner to instruct activation of the air conditioner on behalf of the user. ..

The accessory 140 may be an article (portable item) that the user can carry. For example, the accessory 140 may be a piercing, a mobile phone, a smartphone, a strap, a key chain, a ring, an amulet, or the like. The accessory 140 may transmit a plurality of operation commands at the same time. For example, the entry prohibition command and the sitting command may be transmitted at the same time. The accessory 140 may transmit an operation command in a plurality of directions at the same time, or may transmit the operation command by an omnidirectional radio wave.

In the present embodiment, the transmitter 158 and the receiver 168 have been described as being installed in the horn 112. As a modification, the transmitter 158 and the receiver 168 may be installed on the head of the robot 100, or may be installed on the chest or abdomen. In any case, it is desirable that the communication device placement surface G be substantially horizontal with respect to F (the inclination angle with respect to F is within 30 degrees).

(First modified example of accessory 140)
The accessory 140 may be formed as a guide device having a communication function with the robot 100, for example, a stick-shaped object imitating a magic wand or a baton. Specifically, the accessory 140 includes a grip portion that is a portion that the user grips and operates, and a stick (stretching member) that is connected to the grip portion. A light emitting unit is attached to the tip of the stick.

The grip part includes a switch. Further, a battery is built in the grip portion. A user operates a switch to select one of a plurality of modes. The multiple modes are, for example, a mode in which a robot at a remote place is called (hereinafter called "calling mode"), a mode in which the robot is moved by using a stick (hereinafter called "guidance mode"), For example, there is a mode for taking a walk as if leads (strings) are connected (hereinafter referred to as "walking mode"). The instruction selection unit 172 selects an operation instruction in accordance with these modes and how to move the stick at that time in response to the switch operation.

The light emitting portion (tip portion) is formed to be able to emit light by an infrared LED used for communication. The light emitting unit includes a transmitter 144 and a receiver 170 that use infrared rays for communication. The light emitting portion (tip portion) is also provided with an acceleration sensor for measuring the movement of the tip portion and a visible light LED. A unique identification number is given to the accessory 140, and the identification number is registered in the built-in memory of the accessory 140.

The accessory 140 includes a link forming portion. The link forming unit notifies the robot 100 of the identification number of the accessory 140 and establishes a connection with the robot 100. Hereinafter, the state in which the robot 100 is notified of the identification number of the accessory 140 and the connection with the accessory 140 is established is referred to as a “link state”. When the robot 100 is in the linked state, it is possible to receive an operation command from the accessory 140 to be linked. After the connection with the robot 100 is established, the accessory 140 also transmits its identification number together with various operation commands. The robot 100 follows the operation command when the identification number received together with the operation command matches the identification number of the accessory 140 to be linked (the identification number registered as the link destination). When the identification number received together with the operation command is different from the identification number of the accessory 140 to be linked, the operation command is ignored. Linking means that the robot 100 follows an instruction from the accessory 140.

The link forming unit communicates with the robot 100 using short-range wireless communication such as NFC. For example, the accessory 140 may be brought into contact with the robot 100 to establish a link using mutual short-range wireless communication means. When the accessory 140 is brought into contact with the robot 100 again after the link is established, the robot 100 may delete the registered identification number of the accessory 140 to be linked, thereby canceling the linked state. When the robot 100 already in the linked state is contacted with another accessory 140 that is not a link target, the robot 100 overwrites and registers the identification number of the new accessory 140. At this time, the existing link state is canceled and the link with the accessory 140 newly contacted is established. The robot 100 may automatically cancel the link state after a predetermined period has elapsed. The robot 100 may automatically cancel the link state after a predetermined period has elapsed from the time when the operation instruction was last received from the accessory 140.

An acceleration sensor built in the light emitting portion (tip portion) detects movement of the tip portion (speed, acceleration and moving direction). In the guidance mode, the user moves the stick to select an operation command according to the trajectory of the tip. For example, if the stick is moved in a circle around the robot, a motion command instructing to follow the motion is selected. If the stick is shaken in the desired direction from the front side, an operation command for moving in the shaken direction is selected.

In the call-in mode, the accessory 140 uses the communication means capable of wireless communication farther than the communicable range of the transmitter 144 to instruct the robot 100 having a link to “search”. For example, the accessory 140 transmits a search instruction by broadcasting by Bluetooth (registered trademark), and further transmits an operation command for instructing the robot 100 to approach the accessory 140 using infrared communication from the light emitting unit. When the robot 100 reaches the vicinity of the accessory 140, the robot 100 transmits a signal indicating arrival (called “arrival notification”) to the receiving unit 170 of the accessory 140. After receiving the arrival notification, the accessory 140 determines that the calling has been completed and stops transmitting the search instruction.

The accessory 140 includes a wireless communication means in an extremely close range such as NFC (hereinafter referred to as “first wireless communication means”) and a short-range wireless communication means having a wider communication range than the first wireless communication means (hereinafter, referred to as “first wireless communication means”). and referred to as a second wireless communication unit "), and a communication range is wide wireless a communication vehicle than the second wireless communication means. The accessory 140 switches an appropriate communication means according to the mode and communicates with the robot 100.

In the walk mode, the accessory 140 transmits an operation command for instructing “follow” from the light emitting unit to the robot 100. Since the distance between the accessory 140 and the robot 100 is relatively short, the second wireless communication means is used. Upon receiving the operation command instructing the follow-up, the robot 100 moves following the user (the accessory 140) while keeping the distance to the accessory 140 substantially constant. The grip of the accessory 140 includes a tactile sense realizing unit (a vibrator or the like) for realizing a tactile sensation as if the robot 100 is connected to the accessory 140 by a lead that cannot be seen.

The tactile sense realization unit stimulates the tactile sense of the user's hand using a tactile technique or a technique called haptics. The tactile sense realizing unit realizes a tactile sense that is pulled by the robot 100 and a tactile sense that the robot 100 is moving left and right in association with the following state of the robot 100. For example, when the robot 100 moves to the right, the tactile sense realizing unit realizes a tactile sense that is pulled to the right in conjunction with the movement. The communication unit of the robot 100 transmits information specifying the content of the change (hereinafter referred to as “exercise information”) toward the accessory 140 at the timing of changing the tracking state. The tactile sense realization unit realizes a tactile sense according to the motion information. If the motion information means “move to the right”, the tactile sense realization unit stimulates the user's hand via the gripping unit so as to obtain the sensation of being pulled to the right.

When the switch is not operated, the robot 100 can operate autonomously even in the linked state. When the link between the accessory 140 and the robot 100 is established, the haptic realization unit and the visible light LED may notify the user of the establishment of the link. For example, when the link is established, the haptic realization unit may vibrate the gripping unit in a specific vibration pattern, or the visible light LED may be lit/blinking in a specific color. Similarly, one or both of the tactile sense realizing unit and the visible light LED may notify the user of various information such as power on/off of the accessory 140, transmission of an operation command, and type of the transmitted operation command.

(Second modified example of accessory 140)
When the switch of the grip portion is pressed, the transmitter 144 incorporated in the light emitting portion (tip portion) may transmit a directional link signal. When the user transmits a link signal by directing the light emitting portion (tip portion) of the accessory 140 toward the operation target robot 100 and the robot 100 receives the link signal, the robot is in the “link state”. The robot 100 in the linked state subsequently follows the operation command transmitted from the accessory 140. After linking the robot 100, the user can control the robot 100 as if it had been subjected to hypnosis by moving the light emitting portion (tip portion) of the accessory 140.

For example, when the light emitting part (tip part) of the accessory 140 is circulated in the air while the switch is pressed, the instruction selection part 172 detects the orbital motion and speed by the acceleration sensor built in the light emitting part (tip part), An operation command for instructing a circular motion is transmitted to the robot 100. When the robot 100 in the linked state receives the operation command, it orbits the ground. The orbiting radius and moving speed of the robot 100 are linked to the orbiting radius and the orbiting speed of the accessory 140. The operation command includes information designating the orbiting radius and the orbiting speed.

When the user holds the accessory 140 while not pressing the switch, the robot 100 in the linked state follows the accessory 140 (user). When the switch is not pressed, the transmission unit 144 periodically transmits an operation signal instructing "following" to the link target robot 100.

The light emitting part (tip part) may include a transmitter 144 for transmitting a link signal in the axial direction of the stick and a plurality of transmitters 144 for transmitting an operation signal in the radial direction. During the following operation, the robot 100 follows the user (accessories 140) while keeping a certain distance. At this time, the robot 100 may express that the robot 100 is in the "accompanied by the lead" state by causing the built-in infrared LED to emit light. The light emitting unit may emit light when linked to the robot or when a switch is pressed.

The user may control one robot 100 by the transmission unit 144, or may collectively control a plurality of robots 100. For example, the user may set the plurality of robots 100 in the linked state by sequentially establishing links to the plurality of robots 100 to be operated. At this time, the user may instruct the unspecified number of robots 100 to collectively transmit the operation command.

Claims (16)

A robot detection unit that recognizes the ID of the other robot and the direction of the other robot with respect to the own robot based on a signal received from the other robot via a predetermined short-range wireless communication system,
And a recognition unit that discriminates the other robot based on the received ID. A motion control unit that selects the motion of the robot,
The robot according to claim 1, further comprising: a drive mechanism that executes a motion selected by the motion control unit. The robot according to claim 2, wherein the operation control unit changes the behavior characteristic of the robot itself when the ID is received. The said operation control part selects the predetermined motion matched with the detection event of the said unregistered ID on condition that the received ID is an unregistered ID. robot. The robot detection unit further based on the plurality of front relaxin No. to identify the direction in which the other robot exists,
The robot according to claim 3, wherein, when the ID of the other robot is detected, the motion control unit changes the action characteristic of the robot itself according to the specified direction. From the other robots, comprising a receiver for receiving the operation instruction,
The robot according to claim 2, wherein, when the operation command is received, the operation control unit activates a predetermined application program associated with the operation command. The robot further includes an intimacy management unit that manages intimacy with other robots,
The robot according to claim 2, wherein the intimacy degree management unit updates the intimacy degree of the other robot when the ID is received. The operation control unit may instruct the drive mechanism to move in a direction away from the other robot when an ID is received from the other robot whose intimacy degree is equal to or lower than a predetermined threshold value. The robot according to 7. Receives operation commands transmitted from the user's mobile device according to a specified short-range wireless communication method
Equipped with a receiver to
The robot according to claim 2, wherein the motion control unit selects a motion corresponding to the motion command when the motion command is received. The robot according to claim 9, further comprising a transmitter that transmits the operation command to another robot when the operation command is received. The robot according to claim 1, further comprising: a transmitter that transmits the ID of the robot itself according to the short-range wireless communication system. A link forming unit that establishes a link with the robot by transmitting the ID of the portable item to the robot according to claim 9.
A portable article, comprising: a transmitter that transmits an operation command to a linked robot after a link is established according to a predetermined short-range wireless communication method. A receiver for receiving the ID of the robot from the robot according to claim 9, further comprising:
The portable device according to claim 12, wherein the transmitter transmits the operation command on condition that the ID of the robot is received. The portable device according to claim 12, wherein the transmitter transmits the operation command in a plurality of directions within a predetermined range according to the short-range wireless communication system. The link forming unit determines the ID of the portable item on condition that the portable item and the robot are in contact with each other.
13. The portable item according to claim 12, wherein a link with the robot is established by transmitting the message. A function of recognizing an ID of the other robot and a direction of the other robot with respect to the own robot based on a signal received from the other robot via a predetermined short-range wireless communication system;
A robot control program for causing a computer to exhibit the function of discriminating the other robot based on the received ID.