WO2020241223A1 - Tidy-up inducing system, tidy-up inducing furniture, and tidy-up inducing method - Google Patents

Abstract

A tidy-up inducing system (1) comprises: a first sensor (10) for detecting a subject present in the vicinity; a second sensor (20) for detecting tidy-up done by the subject; an intention indicating device (30) which, in accordance with a detection result from the second sensor (20), provides an intention indication using at least one of motion, sound, image, and light; and a control device (40) which calculates a degree of the subject's interest in tidy-up from a detection result from the first sensor (10) and the detection result from the second sensor (20), and changes the intention indication outputted by the intention indicating device (30) in accordance with the calculated degree of interest.

Description

Clean-up attraction system, clean-up attraction furniture and clean-up attraction method

This disclosure relates to a tidying up attraction system, tidying up attracting furniture, and tidying up attraction method.

An expression means for expressing an intention by uttering by voice output, displaying a facial expression, and at least one act of movement of the main body, a first detection means for detecting surrounding people, and a garbage being thrown into a garbage storage part. A robot including a second detecting means for detecting the above and a controlling means for controlling the expression means by receiving the detection result of the first detecting means is disclosed (see Patent Document 1). When a person is detected by the first detection means, the control means executes an action for encouraging the person's action of picking up dust by the expression means.

Japanese Patent No. 4556024

In conventional robots, by expressing their intentions, unspecified people around the main body are urged to collect garbage, but if they are reluctant to collect garbage, , It is difficult to attract the act of picking up trash.

This disclosure is made to solve such a problem, and provides a tidying-up attraction system, a tidying-up attracting furniture, and a tidying-up attraction method that can induce a subject to voluntarily clean up. The purpose.

In order to achieve the above object, one aspect of the tidying up attraction system according to the present disclosure is a first sensor for detecting a target person existing in the vicinity, a second sensor for detecting the tidying up performed by the target person, and the like. From the operation device that expresses the intention by the operation according to the detection result of the second sensor, the detection result of the first sensor, and the detection result of the second sensor, the degree of interest regarding the tidying up of the target person is calculated. It is provided with a control device that changes the manifestation of intention output by the operating device according to the calculated degree of interest.

Further, in order to achieve the above object, one aspect of the tidying up attraction furniture according to the present disclosure includes a tidying up attraction system and a storage box for storing articles, and the operating device is mounted on the storage box. , The second sensor detects that the article is stored in the storage box.

Further, in order to achieve the above object, one aspect of the method of attracting cleanup according to the present disclosure is to detect a target person existing in the vicinity, to detect cleanup performed by the target person, and to detect the cleanup performed by the target person. The degree of interest regarding the cleanup of the target person is calculated from the manifestation of intention by the action according to the detection result of detecting the presence of the person, the detection result of detecting the presence of the target person, and the detection result of detecting the cleanup. Then, the manifestation of intention to be output is changed according to the calculated degree of interest.

According to the tidying up attraction system, tidying up attracting furniture, and tidying up attraction method according to the present disclosure, it is possible to induce the subject to voluntarily tidy up.

FIG. 1A is a schematic view illustrating a tidy-up attraction furniture equipped with the tidy-up attraction system according to the embodiment. FIG. 1B is a block diagram illustrating a tidying up attraction system according to the embodiment. FIG. 2A is a schematic view showing a state in which the subject is playing indoors and articles are scattered in the room in the tidying up attraction system according to the embodiment. FIG. 2B is a schematic view showing a state in which the subject has cleaned up the articles in the room in the cleanup attraction system according to the embodiment. FIG. 2C is a schematic view showing a state in which the subject is not cleaning up the articles in the room in the cleanup attraction system according to the embodiment. FIG. 2D is a schematic view showing a state in which the subject has not cleaned up the articles in the room even after the lapse of the third specified period from the state of FIG. 2C in the tidying up attraction system according to the embodiment. FIG. 2E is a schematic view showing a state in which the tidying up attraction system is brought into contact with an article in the tidying up attraction system according to the embodiment. FIG. 3 is a diagram illustrating data stored in the storage device of the tidying up attraction system according to the embodiment. FIG. 4 is a flow chart illustrating the process of approaching the target person in the tidying up attraction system according to the embodiment. FIG. 5 is a flow chart illustrating the process of expressing the intention to the target person by means of a video or the like in the cleanup attraction system according to the embodiment. FIG. 6 is a flow chart illustrating the process of expressing the intention to the target person by means of a video or the like in the tidying up attraction system according to the embodiment. FIG. 7 is a flow chart illustrating the process of expressing the intention to the target person by means of a video or the like in the cleanup attraction system according to the other modified example. FIG. 8 is a schematic view illustrating a tidy-up attraction furniture equipped with a tidy-up attraction system according to another modification.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. It should be noted that all of the embodiments described below show a specific example of the present disclosure. Therefore, the numerical values, shapes, materials, components, the arrangement positions and connection forms of the components, and the steps, the order of the steps, etc., which are shown in the following embodiments, are examples and are intended to limit the present disclosure. Absent. Therefore, among the components in the following embodiments, the components not described in the independent claims will be described as arbitrary components.

Each figure is a schematic view and is not necessarily shown exactly. Therefore, for example, the scales and the like do not always match in each figure. Further, in each figure, the same reference numerals are given to substantially the same configurations, and duplicate description will be omitted or simplified.

Hereinafter, the tidying up attraction system, tidying up attracting furniture, and tidying up attracting method according to the embodiment of the present disclosure will be described.

(Embodiment)
[Composition: tidying up furniture 1A]
FIG. 1A is a schematic view illustrating a tidy-up attraction furniture 1A equipped with the tidy-up attraction system 1 according to the embodiment.

As shown in FIG. 1A, the tidying up attraction furniture 1A is an autonomous mobile robot or vehicle that approaches or contacts the target person. The tidying up attraction furniture 1A is equipped with the tidying up attraction system 1.

[Cleanup attraction system 1]
The tidying up attraction system 1 is a system that induces the subject to actively tidy up the articles scattered around by using sound, motion, video, light, and the like in order to make the subject tidy up. .. The target person is an infant, a child, etc., and is a specific person. The articles are toys, clothing, etc., and are mainly present indoors or indoors. In this embodiment, a case where an infant plays with a toy in a room and the toys are scattered in the room is illustrated.

FIG. 1B is a block diagram illustrating the tidying up attraction system 1 according to the embodiment.

As shown in FIGS. 1A and 1B, the tidying up attraction system 1 includes a storage box 3, a first sensor 10, a second sensor 20, an intention expression device 30, a control device 40, a moving device 50, and the like. A storage device 60 and a power supply device 70 are provided.

<Storage box 3>
The storage box 3 is a container for storing articles in the storage space 3a formed inside. In the present embodiment, the storage box 3 is equipped with a lid 4b, a first sensor 10, a second sensor 20, an intention expression device 30, a control device 40, a storage device 60, and a mobile device 50. The storage box 3 is equipped with a moving device 50 for traveling on the ground or the floor surface. As a result, the storage box 3 can be moved.

Further, the storage box 3 has a storage portion 4a that substantially constitutes a storage space 3a, and a lid portion 4b. In the present embodiment, the storage portion 4a of the storage box 3 is a bottomed cylindrical container in which a storage space 3a is formed, but the shape may be cubic, an animal-like shape, or the like, and the shape is not limited. ..

An opening 3b is formed at the upper end of the accommodating portion 4a. The article is stored in the storage space 3a or taken out from the storage space 3a through the opening 3b.

The lid portion 4b is rotatably connected to the upper end portion of the accommodating portion 4a by a hinge or the like, and the opening 3b of the accommodating portion 4a can be opened and closed. The lid portion 4b is driven and controlled by the drive portion 31 to close the opening 3b or open the opening 3b.

<First sensor 10>
The first sensor 10 detects a target person existing in the surroundings. The first sensor 10 may be provided on the lid portion 4b, or may be provided on the traveling direction side of the storage box 3.

The first sensor 10 is, for example, a motion sensor, a TOF (Time Of Flight) camera, or the like. The first sensor 10 detects the position of the target person, the moving direction of the target person, and the like existing in the specified area. For example, the position of the subject is a position relative to the first sensor 10. The position of the target person is a position on the XY axis in which the target person exists when the horizontal plane in the specified space is defined by the two-dimensional coordinates indicated by the X-axis and the Y-axis. The position of the target person may indicate an absolute position such as latitude and longitude.

When the first sensor 10 detects the target person, the first sensor 10 sets an identifier for identifying the detected target person to the detected target person, and outputs a detection result indicating the position of the target person, the moving direction of the target person, and the like. Link with the information shown. As a result, even if there are a plurality of target persons, one target person can be identified from among the plurality of target persons.

The first sensor 10 outputs the first information including the identifier set for the target person, the position of the target person, and the information indicating the detection result indicating the moving direction of the target person to the control device 40.

The first sensor 10 is not limited to these sensors, and other known sensors may be used as long as it can detect the position of the target person, the moving direction of the target person, and the like.

<Second sensor 20>
The second sensor 20 detects the cleanup performed by the subject. The second sensor 20 may be provided on the opening 3b side of the lid portion 4b, or may be provided so as to be able to sense the inside of the storage space 3a of the storage box 3.

The second sensor 20 is, for example, a weight sensor, a pressure sensor, or the like, and detects the weight, pressure, or the like of the toys stored in the storage space 3a of the storage box 3 to clean up the articles performed by the subject. Detect. That is, the second sensor 20 detects that the article is stored in the storage box 3. In the present embodiment, the second sensor 20 detects the amount of toys existing in the storage space 3a of the storage box 3.

The second sensor 20 outputs the second information, which is information indicating the detection result, to the control device 40.

The second sensor 20 is not limited to these sensors, and other known sensors may be used as long as they can detect the toys stored in the storage space 3a of the storage box 3.

<Intention expression device 30>
The manifestation device 30 is a device that indicates the intention to the target person by at least one of motion, sound, video, and light according to the detection result of the second sensor 20. That is, the manifestation device 30 makes an anthropomorphic manifestation of intention to the subject by at least one of motion, sound, image, and light in order to induce the subject to clean up. The manifestation of intention is an emotion that the subject feels when he / she sees at least one of the movement, sound, image, and light of the tidying up attracting furniture 1A, and is an anthropomorphic manifestation of intention of the tidying up attracting furniture 1A. is there. The intention expression device 30 is an example of an operating device.

The intention expression device 30 includes a drive unit 31, a sound output unit 32, a display unit 33, and a light source unit 34.

The drive unit 31 is an actuator that expresses intention by controlling the rotation of the lid unit 4b. When the drive unit 31 acquires a control command according to the manifestation of intention determined by the control device 40, the drive unit 31 moves the lid unit 4b in response to the control command. The drive unit 31 can open and close the lid 4b many times during a certain period of time, open the lid 4b vigorously, and slowly close the lid 4b. Further, the drive unit 31 can move the lid portion 4b in various states according to the degree of interest in cleaning up the subject, which will be described later. In this way, the drive unit 31 expresses its intention by moving the lid unit 4b.

The sound output unit 32 is a speaker that expresses intention by outputting sound to the target person. The sound output unit 32 may be provided on the lid portion 4b or may be provided on the storage box 3.

When the sound output unit 32 acquires the control command according to the manifestation of intention determined by the control device 40, the sound output unit 32 outputs the sound according to the control command. For example, when the subject does not clean up, a sound indicating sadness is output, and when the subject cleans up, a sound indicating joy is output. In addition, the sound output unit 32 may emit voices such as "clean up the toys!" And "clean up the toys!" To the target person. In addition, the sound output unit 32 can output various sounds depending on the degree of interest of the subject regarding tidying up.

The sound indicating sadness is a sound that reproduces the state in which the tidying up attraction system 1 is pseudo-sad when the subject hears the sound. The sound indicating sadness has the effect of reminding the subject of sadness. Further, the sound showing joy is a sound that reproduces the state in which the tidying-up attraction system 1 is pseudo-pleased when the subject hears the sound. The sound indicating joy has the effect of reminding the subject of joy.

The display unit 33 is a display device such as a monitor that expresses intention by displaying an image. Although the display unit 33 is provided inside the lid portion 4b (opening 3b side), it may be provided on the traveling direction side of the storage box 3.

When the display unit 33 acquires the control command according to the manifestation of intention determined by the control device 40, the display unit 33 outputs the image corresponding to the control command. For example, when the subject does not clean up, a video showing sadness is displayed, and when the subject cleans up, a video showing joy is displayed. In addition, the display unit 33 may display the characters "clean up the toys!" And "clean up the toys!" To the target person. In addition, the display unit 33 can display various images according to the degree of interest of the subject regarding the tidying up.

The image showing sadness is an image that reproduces a pseudo-sadness of the tidying up attraction system 1 when the subject sees the image, for example, a face expressing sadness. The image showing sadness has the effect of reminding the subject of sadness. Further, the image showing joy is an image that reproduces a state in which the tidying up attraction system 1 is pseudo-pleased when the subject sees the image, for example, a face expressing joy. The image showing joy has the effect of reminding the subject of joy.

The light source unit 34 is a lighting device that expresses intention by emitting light. When the light source unit 34 acquires a control command according to the manifestation of intention determined by the control device 40, the light source unit 34 lights up in a lighting mode according to the control command. For example, when the subject does not clean up, cold-colored light is emitted, and when the subject cleans up, warm-colored light is emitted. In addition, the light source unit 34 can emit light of various colors depending on the degree of interest of the subject regarding tidying up.

The light source unit 34 may be provided on the traveling direction side of the storage box 3 or may be provided inside the lid portion 4b (opening 3b side).

<Control device 40>
The control device 40 causes the manifestation device 30 to indicate the intention based on the detection result of the first sensor 10 and the detection result of the second sensor 20. That is, when the control device 40 acquires the first information from the first sensor 10 and the second information from the second sensor 20, the control device 40 determines the manifestation of intention based on the first information and the second information, and expresses the intention. Have the device 30 indicate the determined intention. Specifically, the control device 40 calculates the degree of interest regarding the cleaning up of the target person from the detection result of the first sensor 10 and the detection result of the second sensor 20, and expresses the intention according to the calculated degree of interest. The manifestation of intention output by the device 30 is changed.

For example, the control device 40 is based on the position of the target person and the moving direction of the target person indicated by the first information, and the weight or pressure of the toy stored in the storage box 3 indicated by the second information. Then, the degree of interest in cleaning up the subject is calculated.

For example, when the position of the target person or the moving direction of the target person changes significantly within a short period of about several minutes, and the weight or pressure of the article stored in the storage box 3 increases significantly. , It is considered that the subject is actively cleaning up the goods. In this case, it can be said that the subject is highly interested in cleaning up. The control device 40 calculates the degree of interest higher than the average value which is the reference value of the degree of interest in consideration of the speed and period of cleaning up the subject.

In addition, the position of the target person or the moving direction of the target person does not change or hardly changes within a long period of about several tens of minutes, and the weight or pressure of the article stored in the storage box 3 is reduced. If it does not increase, the subject is considered to be obsessed with some work and reluctant to clean up the goods. In addition, when the position of the target person or the moving direction of the target person changes in a long time of about several tens of minutes, and when the weight or pressure of the article stored in the storage box 3 increases or decreases drastically, the target person It is considered that the person is reluctant to clean up the goods because he / she is playing with the goods. In these cases, it can be said that the subject is less interested in cleaning up. The control device 40 calculates the degree of interest lower than the average value which is the reference value of the degree of interest in consideration of the speed and period of cleaning up the subject.

A specific example of calculating the degree of interest will be described later, but the degree of interest is shown in percentage display, step display, etc.

When the second sensor 20 does not detect the cleaning up by the target person for the first specified period or longer, the control device 40 reduces the degree of interest in cleaning up the target person. In other words, if the subject does not clean up for the first specified period or more from the time when the subject is urged to clean up, it can be said that the awareness of cleaning up is low and the degree of interest in cleaning up is low. Therefore, the control device 40 lowers the degree of interest of the target person in accordance with the current consciousness of the target person. What urges the subject to clean up is the cleanup attraction system 1 or, if the subject is an infant or child, its guardian.

FIG. 2A is a schematic view showing a state in which the subject is playing indoors and articles are scattered in the room in the tidying up attraction system 1 according to the embodiment. FIG. 2B is a schematic view showing a state in which the subject has cleaned up the articles in the room in the cleanup attraction system 1 according to the embodiment. As shown in FIGS. 1B, 2A and 2B, when the second sensor 20 detects the cleanup by the subject within the first specified period (from the state of FIG. 2A to the state of FIG. 2B), the control device 40 Increase the subject's interest in tidying up. In other words, if the subject cleans up within the first specified period from the time when the subject is urged to clean up, it can be said that the subject has a high awareness of cleaning up and a high degree of interest in cleaning up. Therefore, the control device 40 raises the degree of interest of the target person in accordance with the current consciousness of the target person.

FIG. 2C is a schematic view showing a state in which the subject has not cleaned up the articles in the room in the cleanup attraction system 1 according to the embodiment. As shown in FIGS. 1B and 2C, the control device 40 controls the operation of the moving device 50. For example, the control device 40 controls the operation of the moving device 50 so that the tidying up attraction system 1 approaches the target person when the degree of interest of the target person decreases (from the state of FIG. 2A to the state of FIG. 2C). Approaching the subject corresponds to manifestation of intention.

Specifically, when the target person does not clean up during the first specified period, the control device 40 calculates the distance between the first sensor 10 and the target person from the first information, and heads for the target person from the calculated distance. Determine the amount of movement to move. The amount of movement here is a value smaller than the calculated distance. The control device 40 generates a control command based on the determined movement amount and outputs the control command to the movement device 50.

If the second sensor 20 does not detect the tidying up by the subject for the second specified period or more after approaching the subject (state of FIG. 2C), the control device 40 expresses the first manifestation of sadness. Let device 30 do it. Specifically, when the control device 40 does not clean up in the first specified period and the target person does not clean up in the second specified period, the control device 40 has a plurality of degrees of interest and a plurality of manifestations of intention. The first table in which and is associated one-to-one is read from the storage device 60, and the manifestation of intention (first manifestation of intention), which is a defined operation according to the degree of interest of the target person, is extracted. That is, the control device 40 determines the first manifestation of intention according to the degree of interest.

When the second sensor 20 further detects the cleaning by the target person within the second specified period after approaching the target person (state of FIG. 2B), the control device 40 expresses the second intention indicating joy. Let the output device 30 do this. Specifically, even if the control device 40 does not clean up in the first specified period, when the target person cleans up in the second specified period, the control device 40 has a plurality of degrees of interest and a plurality of manifestations of intention. The second table in which and is associated one-to-one is read from the storage device 60, and the manifestation of intention (second manifestation of intention), which is a prescribed operation according to the degree of interest of the target person, is extracted. That is, the control device 40 determines the second manifestation of intention according to the degree of interest.

FIG. 2D is a schematic view showing a state in which the subject has not cleaned up the articles in the room even after the lapse of the third specified period from the state of FIG. 2C in the tidying up attraction system 1 according to the embodiment. FIG. 2E is a schematic view showing how the tidying up attraction system 1 is brought into contact with an article in the tidying up attracting system 1 according to the embodiment.

As shown in FIGS. 1B and 2D, when the second sensor 20 does not detect the tidying up by the subject for more than the third specified period after approaching the subject, the control device 40 uses the tidying up attraction system 1 for the subject. (The state of FIG. 2D), or the tidying up attraction system 1 is brought into contact with the article (state of FIG. 2E). Specifically, the control device 40 calculates the distance between the first sensor 10 and the target person from the first information, and determines the calculated distance as the movement amount. The control device 40 generates a control command based on the determined movement amount and outputs the control command to the movement device 50.

Further, the control device 40 has a time measuring unit 41 for measuring time. Specifically, the control device 40 causes the timekeeping unit 41 to time the first specified period, the second specified period, and the third specified period.

The timekeeping unit 41 generates information indicating the time when the first sensor 10 detects the target person, information indicating the time when the second sensor 20 detects the cleaning by the target person, and the like. The control device 40 associates the generated time information with the first information and the second information, and stores the information in the storage device 60 for each target person. The timing unit 41 may be provided in the first sensor 10 and the second sensor 20.

The control device 40 is a first manifestation of intention or a first manifestation of intention to be output to the manifestation device 30 based on the information indicating the degree of interest of the target person stored in the storage device 60, the information indicating the manifestation of intention, and the information indicating the detection result. Determine the second manifestation of intention. Specifically, the control device 40 matches or is closest to the current interest level of the target person and the interest level shown in the past history information by referring to the past history information stored in the storage device 60. The degree of interest is extracted, and the manifestation of intention associated with the extracted degree of interest is determined. In this case, the control device 40 may, for example, extract the most frequently cleaned type (extract one type from the types such as motion, sound, video, and light). The control device 40 may make a manifestation of intention indicated by the extracted type.

<Storage device 60>
FIG. 3 is a diagram illustrating data stored in the storage device 60 of the tidying up attraction system 1 according to the embodiment.

The storage device 60 is a recording device that records on a storage medium such as a memory or a hard disk. As shown in FIGS. 1B and 3, the storage device 60 includes information indicating the degree of interest calculated by the control device 40 regarding the target person, and manifestation of intention output from the intention expression device 30 according to the calculated degree of interest. And the information indicating the detection result of whether or not the subject has cleared up by the output manifestation of intention (determined by the second information) is stored. When there are a plurality of target persons, the storage device 60 stores the identifiers for identifying the target persons and the information in association with each other.

<Mobile device 50>
As shown in FIG. 1B, the moving device 50 is an actuator that moves the tidying up attraction system 1. The moving device 50 is composed of, for example, a battery-driven motor, drive wheels rotated by the motor, and the like. The moving device 50 moves while calculating the moving distance and the moving direction by controlling the rotation speed and the rotation speed by a movement control unit (not shown).

Further, when the moving device 50 acquires a control command based on the moving amount from the control device 40, the moving device 50 moves, approaches, touches, or rotates the target person according to the moving amount shown therein. .. The mobile device 50 is an example of an operating device.

<Power supply device 70>
The power supply device 70 is a battery for supplying electric power to the first sensor 10, the second sensor 20, the intention expression device 30, the control device 40, the mobile device 50, and the storage device 60. The power supply device 70 has a control circuit that controls the electric power supplied to the intention expression device 30 by the control device 40.

[motion]
Next, the operation of the tidying up attraction system 1, the tidying up attracting furniture 1A, and the tidying up attraction method will be described.

FIG. 4 is a flow diagram illustrating the process of approaching the target person in the tidying up attraction system 1 according to the embodiment.

As shown in FIG. 4, first, the first sensor 10 detects a target person existing in the surroundings. Specifically, the first sensor 10 detects the position of the target person existing in the room (within the specified area) (S11). When the first sensor 10 detects the target person, the first sensor 10 identifies the detected target person and outputs the first information, which is information about the specified target person, to the control device 40.

Next, the second sensor 20 detects the cleanup performed by the subject (S12). Specifically, the second sensor 20 detects that the subject has cleaned up the article by detecting the weight, pressure, and the like of the toys stored in the storage box 3. The second sensor 20 outputs the second information, which is information indicating the detection result, to the control device 40. When a plurality of articles are stored in the storage box 3, the weight in the storage box 3 increases. Therefore, every time the weight in the storage box 3 increases or every specified period interval, the second sensor 20 is used. The second information is output to the control device 40. Further, when the subject has not cleaned up, the weight in the storage box 3 does not increase, so that the second sensor 20 does not output the second information to the control device 40.

Next, the control device 40 acquires the first information from the first sensor 10 and the second information from the second sensor 20. The control device 40 is based on the position of the target person and the moving direction of the target person indicated by the acquired first information, and the weight or pressure of the toy stored in the storage box 3 indicated by the acquired second information. , Calculate the degree of interest in cleaning up the subject (S13).

Here, the calculation of the degree of interest will be explained concretely with an example.

When the position of the target person or the moving direction of the target person changes significantly per unit time, and when the weight or pressure of the toys stored in the storage box 3 increases significantly, the degree of interest in cleaning up the target person. Can be said to be expensive. In the present embodiment, the degree of interest is displayed as a percentage, and the closer the degree of interest is to 100%, the higher the degree of interest. For example, when the average value as the reference value of the degree of interest is 50%, the control device 40 calculates a value in which the degree of interest of the subject is 70% or more, which is higher than the average value. Here, the unit time is a period set arbitrarily, and is several tens of minutes, one hour, or the like.

When the position of the target person or the moving direction of the target person changes per unit time, and when the weight or pressure of the toys stored in the storage box 3 increases a little, the degree of interest in cleaning up the target person is It can be said that it is normal. For example, the control device 40 calculates a numerical value between 30% and less than 70%, which is about 50% of the average value of the subject's interest level.

If the position of the target person or the moving direction of the target person does not change per unit time, and the weight or pressure of the toys stored in the storage box 3 does not increase, the target person is absorbed in playing. It can be said that the degree of interest in tidying up people is low. For example, the control device 40 calculates a numerical value in which the degree of interest of the subject is less than 30%, which is lower than the average value.

Note that the calculation of the degree of interest described here is just an example, and is not limited to these. For example, the control device 40 may read the past history information of the target person from the storage device 60, and if this history information exists, calculate the degree of interest based on the first information, the second information, and the history information. ..

Next, the control device 40 determines whether or not the subject has been tidied up for the first specified period or longer (S14). The start of the first specified period is the time when the operation of the tidying up attraction system 1 is started, but it may be the time when the target person finishes playing with the toy. When the control device 40 acquires the second information from the second sensor 20, the time measuring unit 41 acquires the information indicating the time when this operation is started, and starts the time counting. The control device 40 determines whether or not the subject has been tidied up for the first specified period or more after the start of timekeeping.

When the control device 40 acquires the second information from the second sensor 20 within the first specified period, the subject is cleaning up (NO in S14), so that the control device 40 has the degree of interest calculated in step S13. The specified value is added to the numerical value indicating (S17). The specified value is an arbitrary numerical value, for example, 10%.

The control device 40 controls the manifestation device 30 so as to perform a second manifestation of intention (indication of intention expressed by a prescribed operation) indicating joy (S18). Specifically, the control device 40 reads a table stored in the storage device 60 in which a plurality of degrees of interest and a plurality of manifestations of intention are associated one-to-one, and responds to the degree of interest calculated in step S17. The second manifestation of intention is decided. The control device 40 causes the manifestation device 30 to perform the determined second manifestation of intention. As a result, the intention expression device 30 outputs an image or the like expressing joy.

Note that the control device 40 may rotate the tidying up attraction system 1 or orbit around the target person by controlling the moving device 50 as a manifestation of joy.

Then, the control device 40 ends the process.

If the control device 40 has not acquired the second information from the second sensor 20 within the first specified period, the subject has not cleaned up (YES in S14), so the control device 40 was calculated in step S13. The specified value is subtracted from the numerical value indicating the degree of interest (S15). The default value is an arbitrary numerical value, which is the same value as in step S17.

Next, the control device 40 controls the moving device 50 to bring the tidying up attraction system 1 closer to the target person (S16). That is, the tidying up attraction system 1 works to make the target person take a tidying up action by approaching the target person.

In addition, the control device 40 executes step S16 and causes the display unit 33 of the manifestation device 30 to display the first intention display indicating sadness, or the light source unit 34 emits cold light (for example, cold blue). It may emit a light) or a sound expressing sadness.

Then, the control device 40 ends the process and proceeds to the process of FIG.

As described above, in the process of FIG. 4, when the target person does not clean up, the cleanup attraction system 1 approaches the target person.

The next operation will be described with reference to FIG.

FIG. 5 is a flow diagram illustrating the process of expressing the intention to the target person by means of a video or the like in the tidying up attraction system 1 according to the embodiment. The same processing as in FIG. 4 will be omitted as appropriate.

As shown in FIG. 5, first, the first sensor 10 detects a target person existing in the surroundings. Specifically, the first sensor 10 detects the position of the target person existing in the room (within the specified area) (S21). Step S21 is the same as step S11.

Next, when the first sensor 10 detects the target person, the first sensor 10 identifies the detected target person and outputs the first information, which is information about the specified target person (information indicating the detection result), to the control device 40.

Next, the second sensor 20 detects the cleanup performed by the subject (S22). The second sensor 20 outputs information indicating the detection result to the control device 40. Step S22 is the same as step S12.

From steps S21 and S22, the control device 40 acquires the first information from the first sensor 10 and the second information from the second sensor 20.

Next, the control device 40 defines the degree of interest regarding the tidying up of the subject as the degree of interest calculated in step S15 of FIG. 4 (S23).

Next, the control device 40 determines whether or not the subject has been cleaned up for the second specified period or longer (S24). The beginning of the second specified period is when the tidying up attraction system 1 approaches the target person and finishes the movement. When the control device 40 controls the moving device 50 to end the movement of the tidying up attraction system 1, the time measuring unit 41 acquires information indicating the time at the time of ending and starts the time counting. The control device 40 determines whether or not the subject has been tidied up for the second specified period or more after the start of timekeeping.

When the control device 40 acquires the second information from the second sensor 20 within the second specified period, the subject is cleaning up (NO in S24), so the control device 40 is calculated in step S15 of FIG. A specified value is added to the numerical value indicating the degree of interest (S27). The specified value is an arbitrary numerical value, and is a value equal to or less than the specified value in step S17 of FIG.

The control device 40 controls the manifestation device 30 so as to perform a second manifestation of intention indicating joy (S28). The control device 40 causes the manifestation device 30 to perform the determined second manifestation of intention. As a result, an image or the like expressing joy is output to the display unit 33 of the intention expression device 30.

The second manifestation of intention is expressed by an operation in which the control device 40 controls the drive unit 31 to open and close the lid portion 4b many times within a certain period of time. Further, the second manifestation of intention is expressed by outputting a sound expressing joy by controlling the sound output unit 32 by the control device 40. Further, the second manifestation of intention is expressed by outputting an image or the like expressed by a joyful face or the like by controlling the display unit 33 by the control device 40. Further, the third manifestation of intention is expressed by emitting warm-colored light by controlling the light source unit 34 by the control device 40.

Then, the control device 40 ends the process.

If the control device 40 does not acquire the second information from the second sensor 20 within the second specified period, the control device 40 is shown in FIG. 4 to indicate that the subject has not cleaned up (YES in S24). The specified value is subtracted from the numerical value indicating the degree of interest calculated in step S15 of the above (S25). The specified value is an arbitrary numerical value, and is a value equivalent to the specified value in step S27.

Next, the control device 40 controls the manifestation device 30 so as to perform the first manifestation of intention (indication of intention expressed by the prescribed operation) indicating sadness (S26). Specifically, the control device 40 reads a table stored in the storage device 60 in which a plurality of degrees of interest and a plurality of manifestations of intention are associated one-to-one, and responds to the degree of interest calculated in step S25. The first manifestation of intention is decided. The control device 40 causes the manifestation device 30 to perform the determined first manifestation of intention. As a result, the intention expression device 30 outputs an image or the like expressing sadness.

By referring to the past history information stored in the storage device 60, the control device 40 extracts the degree of interest of the current target person and the degree of interest that matches or is closest to the degree of interest shown in the past history information. , Determine the second manifestation of intention associated with the extracted degree of interest. Specifically, the control device 40 extracts, for example, the most frequently cleaned type out of the past 10 processes (extracts one type from the types such as motion, sound, video, and light). For example, when the video is displayed and the subject frequently takes the action of cleaning up, the extracted type of video is manifested. Here, since there are a plurality of types of images, the control device 40 extracts from the plurality of images the images in which the subject takes the action of cleaning up most frequently. In addition, each of operation, sound, and light has a plurality of types.

The first manifestation of intention is expressed by an action in which the control device 40 controls the drive unit 31 to forcefully open the lid 4b or slowly close the lid 4b. Further, the first manifestation of intention is expressed by outputting a sound expressing sadness by controlling the sound output unit 32 by the control device 40. Further, the first manifestation of intention is expressed by an image or the like expressed by a sad face or the like by controlling the display unit 33 by the control device 40. Further, the first manifestation of intention is expressed by emitting cold-colored light by controlling the light source unit 34 by the control device 40.

Then, the control device 40 ends the process and proceeds to the process of FIG.

As described above, in the process of FIG. 5, when the target person does not clean up, the manifestation device 30 is made to indicate the intention.

The next operation will be described with reference to FIG.

FIG. 6 is a flow diagram illustrating the process of expressing the intention to the target person by means of a video or the like in the tidying up attraction system 1 according to the embodiment. The same processing as in FIG. 4 will be omitted as appropriate.

As shown in FIG. 6, first, the first sensor 10 detects a target person existing in the surroundings. Specifically, the first sensor 10 detects the position of the target person existing in the room (within the specified area) (S31). Step S31 is the same as step S11.

Next, when the first sensor 10 detects the target person, the first sensor 10 identifies the detected target person and outputs the first information, which is information about the specified target person (information indicating the detection result), to the control device 40.

Next, the second sensor 20 detects the cleanup performed by the subject (S32). The second sensor 20 outputs the second information (information indicating the detection result) that detects the cleaning up of the target person to the control device 40. Step S32 is the same as step S12.

From steps S31 and S32, the control device 40 acquires the first information from the first sensor 10 and the second information from the second sensor 20.

Next, the control device 40 defines the degree of interest regarding the tidying up of the subject as the degree of interest calculated in step S25 of FIG. 5 (S33).

Next, the control device 40 determines whether or not the subject has been cleaned up for the third specified period or longer (S34). The start of the third specified period is the time when the manifestation device 30 of step S26 performs the first manifestation of intention expressed by the specified operation after the end of the second specified period. When the first manifestation of intention in step S26 of FIG. 5 is performed, the control device 40 acquires information indicating the time at the end time by the timing unit 41 and starts timing. The control device 40 determines whether or not the subject has been tidied up for the third specified period or more after the start of timekeeping.

When the control device 40 acquires the second information from the second sensor 20 within the third specified period, the subject is cleaning up (NO in S34), so the control device 40 is calculated in step S25 of FIG. A specified value is added to the numerical value indicating the degree of interest (S37). The specified value is an arbitrary numerical value, and is a value equal to or less than the specified value in step S27 of FIG.

The control device 40 controls the manifestation device 30 so as to perform a second manifestation of intention indicating joy (S38). The control device 40 causes the manifestation device 30 to perform the determined second manifestation of intention. As a result, an image or the like expressing joy is output to the display unit 33 of the intention expression device 30.

Then, the control device 40 ends the process.

If the control device 40 does not acquire the second information from the second sensor 20 within the third specified period, the control device 40 is shown in FIG. 5 to indicate that the subject has not cleaned up (YES in S34). The specified value is subtracted from the numerical value indicating the degree of interest calculated in step S25 of (S35). The specified value is an arbitrary numerical value, and is a value equivalent to the specified value in step S37.

Next, the control device 40 controls the moving device 50 to bring the tidying up attraction system 1 into contact with the target person or the article (S36). That is, the tidying up attraction system 1 works to make the target person take a tidying action by contacting the target person or the article. The control device 40 may come into contact with the article after contacting the subject in order to make the subject aware of the behavior of cleaning up the article.

Then, the control device 40 ends the process.

As described above, in the process of FIG. 6, if the target person does not clean up, the cleanup attraction system 1 contacts the target person.

[Action effect]
Next, the functions and effects of the tidying up attraction system 1, the tidying up attracting furniture 1A, and the tidying up attracting method in the present embodiment will be described.

As described above, the tidying up attraction system 1 according to the present embodiment has a first sensor 10 for detecting a target person existing in the vicinity, a second sensor 20 for detecting the tidying up performed by the target person, and a second sensor. The target is based on the manifestation device 30 that expresses intention by at least one of motion, sound, video, and light according to the detection result of the sensor 20, the detection result of the first sensor 10, and the detection result of the second sensor 20. It is provided with a control device 40 that calculates the degree of interest regarding the tidying up of the person and changes the manifestation of intention output by the manifestation device 30 according to the calculated degree of interest.

According to this, the control device 40 can express the intention according to the degree of interest to the target person by calculating the degree of interest regarding the cleanup of the target person. Therefore, the subject tends to be aware that he / she must clean up by recognizing the manifestation of intention shown on the manifestation device 30.

Therefore, the tidying up attraction system 1 can induce the subject to voluntarily tidy up. As a result, the subject will actively work on cleaning up.

In particular, when the target person is an infant, child, etc., the guardian of the target person is less likely to feel stress on the target person.

In addition, the method of attracting cleanup according to the present embodiment detects the target person existing in the surroundings, detects the cleanup performed by the target person, and responds to the detection result of detecting the presence of the target person. , The intention to express the intention by the action, calculate the degree of interest regarding the cleanup of the target person from the detection result of detecting the existence of the target person and the detection result of detecting the cleanup, and output according to the calculated degree of interest. Includes changing the display.

This method also has the same effect as described above.

Further, in the cleanup attraction system 1 according to the present embodiment, when the second sensor 20 does not detect the cleanup by the target person for the first specified period or more, the control device 40 lowers the degree of interest in the cleanup of the target person. When the second sensor 20 detects the cleaning up by the target person within the first specified period, the degree of interest in cleaning up the target person is increased.

According to this, if the subject is tidied up, the subject is interested in tidying up and the subject is raised, and if the tidying up is not done, the subject is not interested in tidying up and the subject is lowered. Can be calculated for the degree of interest in. Therefore, the control device 40 can be appropriately changed to a manifestation of intention suitable for the target person.

Further, the tidying up attraction system 1 according to the present embodiment further includes a moving device 50 for moving the tidying up attraction system 1. Then, the control device 40 controls the operation of the mobile device 50, and when the degree of interest of the target person decreases, the control device 40 approaches the target person.

If the target person's degree of interest declined, the target person's consciousness to clean up the goods decreased, so it was difficult for the target person to clean up. However, according to the present embodiment, when the tidying up attraction system 1 approaches the subject, the subject can be made aware that the article must be tidied up. Therefore, if the subject comes into contact with the tidying up attraction system 1, the subject tends to be aware that the tidying up must be performed. Therefore, in the tidying up attraction system 1, the subject can be made to attract more voluntary tidying up.

Further, the tidying up attraction system 1 according to the present embodiment further includes a moving device 50 for moving the tidying up attraction system 1. Then, the control device 40 controls the operation of the mobile device 50, and when the degree of interest of the target person is equal to or less than the specified value, the control device 40 approaches the target person.

Even in this case, the same action and effect as described above are obtained.

Further, in the tidying up attraction system 1 according to the present embodiment, if the second sensor 20 does not detect the tidying up by the target person for the second specified period or more after approaching the target person, the control device 40 shows sadness. Have the manifestation device 30 perform the first manifestation of intention.

According to this, when the manifestation device 30 makes a first manifestation of sadness, the subject can easily become aware that it is not good not to clean up (state in which articles are scattered). .. For this reason, it becomes easy for the subject to become aware that the goods must be cleaned up. Therefore, in the tidying up attraction system 1, the subject can be made to attract more voluntary tidying up.

Further, in the cleanup attraction system 1 according to the present embodiment, when the second sensor 20 further detects the cleanup by the target person within the second specified period after approaching the target person, the control device 40 is delighted. The intention expression device 30 is made to perform the second manifestation of intention to be shown.

According to this, when the manifestation device 30 makes a second manifestation of intention showing joy, the subject will be pleased if the tidying up is done, so that the consciousness of wanting to do more tidying up becomes easy to grow. For this reason, the subject will actively clean up.

Further, in the tidying up attraction system 1 according to the present embodiment, when the second sensor 20 does not detect the tidying up by the target person for the third specified period or more after approaching the target person, the control device 40 is the tidying up attraction system. 1 is brought into contact with the subject, or the tidying up attraction system 1 is brought into contact with the article.

If the target person's degree of interest declined, the target person's consciousness to clean up the goods decreased, so it was difficult for the target person to clean up. However, according to the present embodiment, when the tidying up attraction system 1 comes into contact with the subject, the subject can be made aware that the article must be tidied up. Therefore, if the subject comes into contact with the tidying up attraction system 1, the subject tends to be aware that the tidying up must be performed. Therefore, in the tidying up attraction system 1, the subject can be made to attract more voluntary tidying up.

Further, the tidying-up attraction system 1 according to the present embodiment includes information indicating the degree of interest calculated by the control device 40, information indicating the manifestation of intention output from the manifestation device 30 according to the calculated degree of interest, and information. A storage device 60 for storing information indicating a detection result of whether or not the subject has cleared up by the output manifestation of intention is provided. Then, the control device 40 outputs a manifestation of intention to the intention expression device 30 based on the information indicating the degree of interest of the target person stored in the storage device 60, the information indicating the manifestation of intention, and the information indicating the detection result. decide.

According to this, the control device 40 expresses from the past history of the target person stored in the storage device 60 what kind of manifestation of intention should be given to the target person to clean up the article. It is possible to decide the manifestation of intention. In other words, since the characteristics that attract interest differ depending on the target person, it is necessary to recognize which type of manifestation of intention, such as motion, sound, video, and light, should be performed to make the target person interested in cleaning up. Can be done. In addition, when there are a plurality of motions, sounds, images, lights, and the like, it is possible to recognize which manifestation of intention is effective among the types that are likely to be of interest. Therefore, the manifestation device 30 can output a manifestation of intention suitable for the target person. As a result, the tidying up attraction system 1 can induce the subject to more voluntarily tidying up.

Further, in the cleanup attraction system 1 according to the present embodiment, the manifestation device 30 further indicates the intention by using at least one of sound, video, and light.

According to this, the manifestation device 30 can express various intentions to the target person.

Further, the tidying up attraction furniture 1A according to the present embodiment includes a tidying up attraction system 1 and a storage box 3 for storing articles. Further, the intention expression device 30 is mounted on the storage box 3. Then, the second sensor 20 detects that the article is stored in the storage box 3.

According to this, since the intention expression device 30 is installed, the subject is interested in the tidying up attraction furniture 1A. For this reason, the subject is likely to be attracted to store the goods in the storage box 3 mounted on the tidying up attraction furniture 1A. Therefore, in the tidying up attracting furniture 1A, it is possible to induce the subject to more voluntarily tidying up.

(Other modifications, etc.)
Although the present disclosure has been described above based on the embodiments, the present disclosure is not limited to the above embodiments.

For example, in the tidying up attraction system, tidying up attracting furniture, and tidying up attracting method according to each of the above embodiments, the control device causes the tidying up attraction system to approach the target person when the degree of interest of the target person becomes less than the specified value. , The operation of the mobile device may be controlled. The processing in this case will be described with reference to FIG. FIG. 7 is a flow chart illustrating the process of expressing the intention to the target person by means of a video or the like in the cleanup attraction system according to the other modified example. In FIG. 7, the same reference numerals are given to the same processes as in FIG. 5, and the description of the processes will be omitted.

As shown in FIG. 7, after performing the processes of steps S21 to S25, the control device determines whether or not the interest level of the target person is equal to or higher than the threshold value (S25A). If the degree of interest of the subject is not less than or equal to the threshold value (NO in S25A), the control device controls the manifestation device so as to make a first manifestation of sadness (S25B). If the degree of interest of the subject is below the threshold value (YES in S25A), the control device proceeds to step S26. Since the degree of interest of the target person is low, by proceeding to the process shown in FIG. 6, the way of dealing with the target person, that is, the manifestation of intention output by the manifestation device is changed. The first manifestation of intention expressed in step S25B may express sadness more strongly than the first manifestation of intention expressed in step S26. In FIG. 7, the processes from S21 to S25A may be repeated until the degree of interest of the subject becomes equal to or less than the specified value.

Further, the components of the tidying up attraction system and the tidying up attracting furniture according to each of the above embodiments are not limited to the integrated device, and may be separate devices.

Further, in the tidying up attraction system, tidying up attracting furniture, and tidying up attraction method according to each of the above embodiments, the second sensor may be an image sensor or the like. In this case, the second sensor or the control device may determine whether or not the cleaning has been performed by recognizing the degree of scattering of the articles reflected in the indoor image obtained by the second sensor. Specifically, the second sensor or the control device uses image data obtained by preliminarily capturing an image of the room (specified space) in a state where all the toys are cleared, and after the infant plays with the toys. It may be compared with the data of the image of the room taken by the second sensor taken at the time when the toy is expected to be cleaned up. As a result, the control device may recognize the degree of scattering of the articles. When the second sensor is an image sensor or the like, it does not have to be mounted on the tidying up attraction furniture. It may be arranged indoors. In this case, the second sensor may transmit the second information to the tidying up attraction system by wired or wireless communication.

Further, in the tidying up attraction system, tidying up attracting furniture, and tidying up attracting method according to each of the above embodiments, the process of FIG. 4 or FIG. 6 may be executed after executing FIG. That is, the process of FIG. 5 may be performed after the process of FIG. 3 is completed, and the process of FIG. 4 or 6 may be executed later.

Further, in the tidying up attraction system, tidying up attracting furniture, and tidying up attraction method according to each of the above embodiments, the intention expression device may be a terminal device detachable from the storage unit. The terminal device is a smartphone, a tablet terminal, or the like. In this case, the intention expression device may be capable of wired or wireless communication with the control device. In the case of wireless communication, the tidy-up attraction system may have a communication module capable of wireless communication with the terminal device.

Further, the storage box 3 of the tidying up attraction system 1B according to each of the above embodiments may further have a movable portion 90 as shown in FIG. FIG. 8 is a schematic view illustrating a tidy-up attraction furniture 1A equipped with a tidy-up attraction system 1B according to another modification. The movable portion 90 may have a shape that imitates, for example, the tail and whiskers of an animal. In this case, by controlling the movable portion 90, the control device 40 may shake the movable portion 90 when expressing joy, or may attach the movable portion 90 to the floor when expressing sadness. The movable portion 90 is made of a flexible member, and is a fibrous member, a resinous member, or the like.

Further, in the method of attracting tidying up according to each of the above embodiments, it may be realized by a program using a computer. Such a program is stored in a storage device.

Further, the program for realizing the tidying up attraction system, the tidying up attracting furniture, and the tidying up attracting method according to each of the above embodiments is typically realized as an LSI which is an integrated circuit. These may be individually integrated into one chip, or may be integrated into one chip so as to include a part or all of them.

Further, the integrated circuit is not limited to the LSI, and may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connection and settings of the circuit cells inside the LSI may be used.

Note that, in each of the above embodiments, each component may be configured by dedicated hardware or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

Further, all the numbers used above are exemplified for the purpose of specifically explaining the present disclosure, and the embodiments of the present disclosure are not limited to the illustrated numbers.

Further, the division of the functional block in the block diagram is an example, and a plurality of functional blocks can be realized as one functional block, one functional block can be divided into a plurality of functional blocks, and some functions can be transferred to other functional blocks. You may. Further, the functions of a plurality of functional blocks having similar functions may be processed by a single hardware or software in parallel or in a time division manner.

Further, the order in which each step in the flowchart is executed is for the purpose of exemplifying the present disclosure in detail, and may be an order other than the above. Further, a part of the above steps may be executed at the same time (parallel) as other steps.

In addition, a form obtained by applying various modifications to the embodiment that a person skilled in the art can think of, and a form realized by arbitrarily combining the components and functions in the embodiment within the scope of the purpose of the present disclosure are also present. Included in the disclosure.

1, 1B Cleanup attraction system 1A Cleanup attraction furniture 3 Storage box 10 1st sensor 20 2nd sensor 30 Intention expression device (operating device)
40 Control device 50 Mobile device (operating device)
60 storage device

Claims (11)

1. The first sensor that detects the target person in the vicinity and
   A second sensor that detects the cleanup performed by the subject, and
   An operating device that expresses intention by operation according to the detection result of the second sensor, and
   From the detection result of the first sensor and the detection result of the second sensor, the degree of interest regarding the tidying up of the target person is calculated, and the manifestation of intention output by the operating device is changed according to the calculated degree of interest. A tidying up attraction system equipped with a control device.
2. The control device
   When the second sensor does not detect the tidying up by the subject for the first specified period or more, the degree of interest in tidying up the subject is lowered.
   The cleanup attraction system according to claim 1, wherein when the second sensor detects cleanup by the target person within the first specified period, the degree of interest in the cleanup of the target person is increased.
3. Further, a moving device for moving the tidying up attraction system is provided.
   The control device
   Control the operation of the mobile device
   The tidying-up attraction system according to claim 2, wherein when the subject's degree of interest decreases, the subject approaches the subject.
4. Further, a moving device for moving the tidying up attraction system is provided.
   The control device is
   Control the operation of the mobile device
   The cleanup attraction system according to claim 2, wherein when the degree of interest of the target person is equal to or less than a specified value, the target person approaches the target person.
5. If the second sensor does not detect the tidying up by the subject for a second specified period or more after approaching the subject, the control device causes the operating device to make a first manifestation of sadness. Item 3. The tidying up attraction system according to item 3 or 4.
6. When the second sensor further detects the tidying up by the subject within the second defined period after approaching the subject, the control device makes a second manifestation of joy to the operating device. The cleanup attraction system according to claim 5.
7. If, after approaching the subject, the second sensor does not detect tidying up by the subject for a further third period or longer, the control device brings the tidying up attraction system into contact with the subject, or said. The tidying up attraction system according to any one of claims 3 to 6, wherein the tidying up attraction system is brought into contact with an article.
8. The target person cleans up the information indicating the degree of interest calculated by the control device, the information indicating the manifestation of intention output from the operating device according to the calculated degree of interest, and the output manifestation of intention. Equipped with a storage device that stores information indicating the detection result of whether or not it has been detected.
   The control device outputs a manifestation of intention to be output to the operating device based on the information indicating the degree of interest of the subject, the information indicating the manifestation of intention, and the information indicating the detection result stored in the storage device. The tidying up attraction system according to any one of claims 1 to 7 to be determined.
9. The tidying-up attraction system according to any one of claims 1 to 8, wherein the operating device further expresses an intention using at least one of sound, video, and light.
10. The tidying up attraction system according to any one of claims 1 to 9,
    Equipped with a storage box for storing goods,
    The operating device is mounted on the storage box.
    The second sensor is a tidy-up attracting furniture that detects that the article is stored in the storage box.
11. Detecting the target person in the vicinity and
    To detect the tidying up done by the subject and
    Indication of intention by action according to the detection result of detecting the existence of the target person,
    From the detection result of detecting the presence of the target person and the detection result of detecting the cleanup, the degree of interest regarding the cleanup of the target person is calculated, and the manifestation of intention to be output is changed according to the calculated degree of interest. How to attract cleanup including.

Images