WO2022091696A1

WO2022091696A1 - Robot control system, character information management server, and robot

Info

Publication number: WO2022091696A1
Application number: PCT/JP2021/036496
Authority: WO
Inventors: 直樹小山
Original assignee: 有限会社小山直樹一級建築士事務所
Priority date: 2020-10-27
Filing date: 2021-10-01
Publication date: 2022-05-05
Also published as: JP6904621B1; JP2022070654A

Abstract

To provide a robot for controlling emotional expressions or emotion-expressing behaviors on the basis of character information about a child of a first living organism and a second living organism, the character information being generated on the basis of genetic information about the first living organism and the second living organism.　A pet robot 1 acquires character information about a child of a man and a woman from a character information management server 100 through a communications device 40 and controls emotion-expressing behaviors on the basis of the acquired character information. The character information about the child is generated on the basis of character information about the man and character information about the woman. The character information about the man is generated on the basis of genetic information obtained from a biological specimen of the man corresponding to the first living organism, and the character information about the woman is generated on the basis of genetic information obtained from a biological specimen of the woman corresponding to the second living organism.

Description

Robot control system, personality information management server and robot

The present invention relates to a robot that acts autonomously based on personality information and a personality information providing system that provides personality information used by this robot.

Conventionally, for example, the robot described in Patent Document 1 is disclosed as a robot that acts autonomously based on personality information that specifies the personality of the robot.
Such a robot includes, as one or more attribute values, for example, personality information for specifying a personality, growth degree information for indicating a growth degree, gender information for specifying a pseudo-gender, and physiological information for indicating a pseudo-physiological state. It controls behavior based on it.

Japanese Unexamined Patent Publication No. 2020-69006

By the way, there is a need for couples who are not blessed with children even if they get married want a robot with the character of a child that may be born between them. This also applies to premarital couples. In other words, we want to experience life with a child in a simulated manner, for example, by using a pet-type robot that has the character of a child who may be born. It is also known that the gene of a child is inherited from the parents in half, and the personality of the child is influenced by the inheritance from the parents.

However, in the above-mentioned Patent Document 1, there is a definition that the personality information, which is one of the attribute values of the robot, is the information for specifying the personality of the robot. There is no description as to whether it is generated in this way. Therefore, it is extremely difficult to obtain personality information that meets the above needs.

Therefore, the present invention has been made focusing on the unsolved problems of such conventional techniques, and is based on the personality information of a child generated based on the genetic information of the first organism and the second organism. It is an object of the present invention to provide a robot that controls emotional expression or behavior that expresses emotions based on the above, and a personality information providing system that provides personality information of a child used by this robot.

[Invention 1] In order to achieve the above object, the robot of the invention 1 is a robot that expresses emotions based on personality information, and includes the first gene information of the first organism and the second gene information of the second organism. An emotion is expressed based on a personality information acquisition means for acquiring personality information indicating the personality of a child of the first organism and the second organism, and a personality information acquired by the personality information acquisition means. It is provided with a control means for controlling the expression of an action or emotion to be performed.

With such a configuration, the personality information acquisition means acquires the personality information of the child of the first organism and the second organism, and the control means acts to express the emotion of the robot based on the acquired personality information. The expression of emotions is controlled.
Here, the first organism and the second organism include males and females of humans, and males and females of organisms having genetic information other than humans (for example, dogs, cats, plants, etc.). The same applies to the personality information providing system of claim 3 below.

The combination of the first organism and the second organism includes humans of the opposite sex, humans of the same sex, humans and non-human organisms of the opposite sex or of the same sex, and non-human organisms of the opposite sex or of the same sex. The same applies to the personality information providing system of claim 3 below.
In addition, the offspring of the first and second organisms include individuals in the case where the inheritance of personality at the genetic level is tentatively performed. That is, it also includes children of combinations of organisms that cannot occur biologically and children of the same sex. The same applies to the personality information providing system of claim 3 below.

[Invention 2] Further, in the robot of the invention 2, the first organism and the second organism are humans, and the personality information of the child is five factors for classifying the human character. , Openness to experience, integrity, extroversion, coordination, or neuroticism are quantified based on the information of the gene region related to the five factors of the first gene information and the second gene information. The control means includes information and controls the expression or behavior based on the numerical information of each factor.

With such a configuration, by means of control means, openness to experience, integrity, extroversion, coordination, or neuroticism can be determined by information on the gene region related to these factors in the first gene information and the second gene information. The expression of emotions or the behavior of the robot is controlled based on the numerical information quantified based on.

[Invention 3] On the other hand, in order to achieve the above object, the personality information providing system of the invention 3 is a personality information providing system that provides the personality information used for the robot according to the

invention

1 or 2, and is the first. A personality information generation means for generating personality information indicating the personality of a child of the first organism and the second organism based on the first gene information of the organism and the second gene information of the second organism, and the said from a terminal. It is provided with a personality information transmitting means for transmitting the personality information generated by the personality information generating means to the terminal of the requesting source in response to a request for acquiring personality information.

With such a configuration, the personality information generation means generates the personality information of the child of the first organism and the second organism, and the personality information transmission means responds to the acquisition request from the terminal. The personality information generated by is sent to the requesting terminal.
Here, this system may be realized as a single device, a terminal or other device, or may be realized as a network system in which a plurality of devices, terminals or other devices are communicably connected. .. In the latter case, each component may belong to any of a plurality of devices and the like as long as they are connected to each other so as to be communicable.

Further, the terminal includes a robot and a terminal other than the robot such as a personal computer, a smartphone, and a tablet owned by the robot user.
[Invention 4] Further, the personality information providing system of the invention 4 is the personality information providing system of the invention 3, in which the personality information generating means indicates the personality of the first organism generated based on the first genetic information. The first personality information and the second personality information indicating the personality of the second organism generated based on the second gene information are combined to generate the personality information of the child.

With such a configuration, the first personality information indicating the personality of the first organism generated based on the first gene information and the second organism generated based on the second gene information by the personality information generating means. The personality information of the child is generated by synthesizing the second personality information indicating the personality of.
[Invention 5] Further, in the personality information providing system of the invention 5, the personality information generating means is generated based on the first gene information and the second gene information. The personality information of the child is generated based on the third gene information which is the genetic information of the child.

With such a configuration, the personality information generation means generates the personality information of this child based on the third gene information, which is the genetic information of the child generated based on the first gene information and the second gene information. Will be done.

As described above, according to the robot of the invention 1, emotions are based on the personality of the child who inherits the personality of the first and second organisms generated based on the genetic information of the first and second organisms. It is possible to provide a robot that expresses an action or an emotion that expresses.
Further, according to the robot of the invention 2, an action or an expression of emotions expressing emotions based on personality information expressed by any one of five factors of Big Five known as factors for classifying human character. Can provide a robot to do.

Further, according to the personality information providing system of the invention 3, it is possible to generate personality information of the offspring of the first organism and the second organism based on the genetic information of the first organism and the second organism. In addition, the generated child personality information can be provided to the requesting terminal in response to the request from the terminal used by the requester. Thereby, the client can obtain the personality information of the child of the first organism and the second organism via the terminal.

Further, according to the personality information providing system of the invention 4, the personality information of both children reflecting the personality of the first organism and the personality of the second organism obtained from the genetic information of the first organism and the second organism is generated. can do.
Further, according to the personality information providing system of the invention 5, the personality information of the child can be generated based on the genetic information of the child inheriting the genetic information of the first organism and the second organism, so that the personality information of the first organism can be generated. And it is possible to generate personality information that genetically reflects the personality of the second organism.

It is a block diagram which shows the structure of the network system which concerns on 1st Embodiment. It is a figure which shows the appearance composition example of a pet type robot 1. It is a block diagram which shows the electric structure example of a pet type robot 1. It is a block diagram which shows the functional configuration example of a controller 20. It is a figure for demonstrating the data processing by a personality / emotion / instinct model part 202. It is a figure which shows an example of the hardware composition of the personality information management server 100. (A) and (b) are diagrams showing the data structures of the hash code management table 400 and the personality information management table 420. It is a flowchart which shows the personality information generation processing which concerns on 1st Embodiment. It is a flowchart which shows the personality information setting process. It is a flowchart which shows the personality information provision process. It is a flowchart which shows the personality information generation processing which concerns on 2nd Embodiment.

[First Embodiment]
〔Constitution〕
Hereinafter, the first embodiment of the present invention will be described. 1 to 10 are views showing the first embodiment.
FIG. 1 is a block diagram showing a configuration of a network system according to the first embodiment.
As shown in FIG. 1, the Internet 199 is connected to a personality information management server 100 under the control of a company that provides a service that provides personality information that determines the personality of a robot, and a wireless communication relay station 320. ing. In addition, the pet-type robot 1 is connected to the personality information management server 100 via the relay station 320 so as to be capable of wireless communication.

[Configuration of pet-type robot 1]
FIG. 2 is a diagram showing an external configuration example of the pet-type robot 1, FIG. 3 is a block diagram showing an electrical configuration example of the pet-type robot 1, and FIG. 4 is a functional configuration example of the controller 20. It is a block diagram which shows.
The pet-type robot 1 (hereinafter, may be abbreviated as "robot 1") is a dog-shaped robot, and as shown in FIG. 1, the body unit 2 and the left and right front sides of the body unit 2 are left and right. The left front leg unit 3FL and the right front leg unit 3FR connected to the side portions, and the left rear leg unit 3RL and the right rear leg unit 3RR connected to the left and right sides below the rear side of the fuselage unit 2, respectively. And prepare. In addition, a head unit 4 connected to the front upper part of the body unit 2 and a tail unit 5 connected to the rear upper part of the body unit 2 are provided.

Hereinafter, the left front leg unit 3FL, the right front leg unit 3FR, the left rear leg unit 3RL, and the right rear leg unit 3RR are abbreviated as "leg unit 3FR to 3RR" when they are handled together.
As shown in FIG. 3, the body unit 2 includes a controller 20 that controls the entire robot 1, a battery that is a power source for the robot 1, a battery unit 21 that includes a battery controller that controls the battery, a touch sensor 22, and the like. Is stored. In addition, an input device 23 is arranged on the chest of the body unit 2.

The touch sensor 22 plays the role of the tactile sensation of the body portion of the robot 1, and is arranged at a plurality of locations such as the back portion and the abdomen portion of the body unit 2. The touch sensor 22 detects the pressure when the user strokes or hits the body portion, and inputs the detected pressure signal to the controller 20.

The input device 23 is a device for inputting a hash code when setting the personality information of the robot 1. For example, it is composed of a keyboard and a touch panel. In addition, it can be hidden by a cover or the like.
As shown in FIG. 2, each of the leg units 3FL to 3RR is configured by connecting three link portions.

As shown in FIG. 4, the joint portion between the link portions and the connection portion of the link portion with the fuselage unit 2 are formed as a group of actuators for the left front leg, the right front leg, the left rear leg, and the right rear leg. Actuators 3FLA1 to 3FLA4, 3FRA1 to 3FRA4, 3RLA1 to 3RRA4 and 3RRA1 to 3RRA4 are arranged, respectively. That is, each leg unit is configured to rotate with four degrees of freedom. The degree of freedom is not limited to 4 and may be configured to have 3 or less degrees of freedom or 5 or more degrees of freedom.

As shown in FIG. 2, the head unit 4 includes a head portion 4a, a neck portion 4b connected to the lower end portion of the head portion 4a, and left and right ears connected to the rear end side of the left and right side portions of the head portion 4a. It is provided with a portion 4c.
As shown in FIG. 3, the head unit 4 includes a communication device 40 for wireless communication with an external terminal such as a personality information management server 100, a microphone 41, a camera 42, a touch sensor 43, and a speaker. 44 and 44 are arranged at predetermined positions, respectively.

The communication device 40 includes a radio device main body and an antenna for wireless communication.
The microphone 41 plays the role of the ear of the robot 1, and is arranged, for example, in the vicinity of the left and right ear portions 4c. The microphone 41 collects voices such as a user's voice and surrounding environmental sounds, and inputs the obtained voice signal to the controller 20.

Further, the camera 42 is a wide-angle camera, which plays the role of the eyes of the robot 1, and is arranged at the position of the eyes of the robot. The camera 42 takes an image of the surrounding situation and inputs the obtained image pickup signal to the controller 20.
Further, the touch sensor 43 plays a role of tactile sensation of the head of the robot 1, and is arranged near the upper part of the head 4a. The touch sensor 43 detects the pressure when the user strokes or hits the head 4a, and inputs the detected pressure signal to the controller 20.

Further, the speaker 44 plays the role of a vocal organ of the robot 1 and is arranged in the vicinity of the mouth portion of the head unit 4. The speaker 44 outputs a voice such as a bark or a sweet voice according to the acoustic signal from the controller 20.
Further, the connecting portion between the head portion 4a and the neck portion 4b of the head unit 4, the connecting portion between the neck portion 4b and the body portion unit 2, and the connecting portion between the left and right ear portions 4c and the head portion 4a are shown in FIG. As described above, the actuators 4A1 to 4A4 are arranged as the head actuator group. That is, the head unit 4 is configured such that the head 4a rotates with two degrees of freedom and the left and right ear portions 4c rotate independently. The head 4a is not limited to two degrees of freedom, and may be configured to have three or more degrees of freedom.

As shown in FIG. 2, the tail unit 5 is configured by connecting two link portions.
As shown in FIG. 4, actuators 5A1 to 5A3 are arranged as a tail actuator group in the joint portion between the two link portions of the tail unit 5 and the connecting portion with the body unit 2. Specifically, an actuator that rotates the link portion on the tip side with one degree of freedom and an actuator that rotates the link portion on the root side with two degrees of freedom (vertically and horizontally) are arranged. That is, by providing a degree of freedom in the link portion of the tail portion unit 5, the dog realizes the behavior of swinging the tail.

Here, FIG. 5 is a diagram for explaining data processing by the personality / emotion / instinct model unit 202.
The controller 20 has a built-in CPU (Central Processing Unit), a memory, various buses, and the like, and the CPU performs various processes by executing a control program stored in the memory.

That is, the controller 20 receives a voice command or call from the user, a surrounding situation, stroking, tapping, etc., based on the voice signal, the image signal, and the pressure detection signal given from the microphone 41, the camera 42, and the

touch sensors

22 and 43. Recognize the contact status of the user.
The controller 20 controls the drive of various actuators in order to control the behavior of the robot 1 based on these recognition results. At this time, the action content of the robot 1 is determined based on the personality, emotion, and instinct given to the robot 1.

Specifically, as shown in FIG. 4, the controller 20 includes a sensor input processing unit 201, a personality / emotion / instinct model unit 202, an action determination unit 203, an action control unit 204, and an acoustic processing unit 205. I have.
The sensor input processing unit 201 recognizes the state of the robot 1 based on the inputs from the

various sensors

22, 41 to 43, and provides information indicating the recognition result to the personality / emotion / instinct model unit 202 and the action determination unit 203. input.

As shown in FIG. 5, the personality / emotion / instinct model unit 202 includes a personality model 220, an emotion model 222, and an instinct model 224.
The personality model 220 determines the personality of the robot 1, and is a model called the Big Five, which is formed by scoring five factors (elements) that classify a person's personality. Here, the five factors are "openness to experience (hereinafter simply referred to as" openness ")", "integrity", "extroversion", "cooperativeness (or harmony)" and "neurosis". Tendency (or emotional stability) ". In the first embodiment, this model is configured based on the personality information received from the personality information management server 100 via the communication device 40. Further, the personality model 220 has coefficient information for changing each state quantity of the emotion model 222 and the instinct model 224 based on the set personality, and this coefficient information is input to the emotion model 222 and the instinct model 224, respectively. do. Further, the personality model 220 inputs numerical information corresponding to each factor (hereinafter, referred to as “personality state information”) into the action determination unit 203.

The emotion model 222 determines the emotion of the robot 1, and is configured to include, for example, a plurality of emotion units such as "joy", "sadness", "anger", and "enjoyment". The state amount (degree) of each emotion is set in each emotion unit. The emotional state quantity is represented by, for example, a numerical value from 1 to 100, and the value is changed based on the state recognition information from the sensor input processing unit 201, the coefficient information from the personality model 220, the passage of time, and the like. The amount of change in each emotional state is controlled based on the coefficient information. Then, the information on the state amount of each emotion after the change (hereinafter referred to as "emotion state information") is input to the action determination unit 203.

For example, when the score of "neuroticism" is equal to or higher than a predetermined value, the coefficient correction is applied so that the state amount of "joy" or "fun" is difficult to increase, and the state amount of "sadness" tends to increase. Coefficient correction is applied. In addition, for example, when the score of "openness" or "extroversion" is equal to or higher than a predetermined value, a coefficient correction is applied so that the state amount of "joy" or "enjoyment" tends to increase, and "sadness" is applied. Coefficient correction is applied so that the amount of state of is difficult to increase.

The instinct model 224 determines the instinct of the robot 1, and is configured to include, for example, a plurality of instinct units such as "appetite", "sleep desire", and "exercise desire". The state quantity (degree) of each instinct is set in each instinct unit. The state quantity of the instinct is represented by a numerical value of 1 to 100, for example, and the value is changed based on the state recognition information from the sensor input processing unit 201, the coefficient information from the character model 220, the passage of time, and the like. The amount of change in the state quantity of each instinct is controlled based on the coefficient information. Then, the information on the state amount of each instinct after the change (hereinafter referred to as "instinct state information") is input to the action determination unit 203.

For example, when the score of neuroticism is above a predetermined value, a coefficient correction is applied so that the amount of state of "appetite" and "exercise desire" is difficult to increase. Further, for example, when the scores of "openness" and "extroversion" are equal to or higher than a predetermined value, a coefficient correction is applied so that the state amount of "exercise desire" tends to increase.

In the personality model 220, for example, when the score of "extroversion" which is one of the five factors is high, "extroversion" is a personality factor related to "brightness" and the like. Therefore, for example, " Coefficient information such as "joy" and "enjoyment" that facilitates an increase in emotional state is input to the emotion model 222. In addition, for example, when the score of "neurotic tendency" which is one of the five factors is high, "neurotic tendency" is a personality related to "anxiety" and the like, so for example, "appetite" and the like. The coefficient information that makes it difficult for the state amount of the instinct to rise is input to the instinct model 224.

Returning to FIG. 4, the action determination unit 203 is based on the state recognition information from the sensor input processing unit 201, the personality state information from the personality / emotion / instinct model unit 202, the emotional state information, the instinct state information, the passage of time, and the like. Then, the next action of the robot 1 is determined. Then, the content of the determined action is input to the action control unit 204 and the sound processing unit 205 as action command information, respectively.

For example, a "new object" is recognized from the state recognition information, and the state amount of "fun" is equal to or more than a predetermined threshold value and the state amount of "exercise desire" is predetermined from the emotional state information, the instinct state information, and the personality state information. When the score of "openness" is equal to or higher than the threshold value and the score of "openness" is equal to or higher than the predetermined threshold value, "openness" is related to the character of "curious", so an action such as "running toward a new object" is determined.

Further, for example, a "new object" is recognized from the state recognition information, and the state amount of "fun" is equal to or more than a predetermined threshold value from the emotional state information, the instinct state information, and the personality state information, and the state amount of "exercise desire". When is above a predetermined threshold and the score of "integrity" is above a predetermined threshold, "integrity" is related to a "cautious" personality, so an action such as "walking slowly toward a new object" is determined. .. Further, for example, when the state amount of "anger" is equal to or more than a predetermined threshold value, an action such as barking at a new object on the spot without approaching is determined.

The action control unit 204 controls various actuator groups based on the action command information input from the action decision unit 203, and causes the robot 1 to perform an action according to the personality, emotion, and instinct determined by the action decision unit 203. Let me.
The sound processing unit 205 acquires voice data according to personality, emotion, and instinct from a voice database (not shown) based on the action command information input from the action determination unit 203, and based on the acquired voice data. , A voice (for example, barking) is output from the speaker 44.

As for this voice, the voice according to the character, emotion and instinct of the current robot 1 is output. For example, if the state amount of "fun" is equal to or higher than the predetermined threshold value, the state amount of "exercise desire" is equal to or higher than the predetermined threshold value, and the score of "extroversion" is equal to or higher than the predetermined threshold value, "can! Can!" When the state amount of "sadness" is equal to or more than the predetermined threshold value, the state amount of "exercise desire" is less than the predetermined threshold value, and the score of "neuropathy tendency" is equal to or higher than the predetermined threshold value. Outputs a voice expressing sadness such as "Koon".

[Configuration of personality information management server 100]
Next, the hardware configuration of the personality information management server 100 will be described.
FIG. 6 is a diagram showing an example of the hardware configuration of the personality information management server 100.
As shown in FIG. 6, the personality information management server 100 includes a CPU (Central Processing Unit) 30 that controls operations and the entire system based on a control program, and a ROM that stores a control program of the CPU 30 in a predetermined area in advance. (Read Only Memory) 32, RAM (Random Access Memory) 34 for storing data read from ROM 32 and the like and calculation results required in the calculation process of the CPU 30, and data input / output to an external device are mediated. It is composed of I / F (interface) 38, and these are connected to each other and data can be exchanged by a bus 39 which is a signal line for transferring data. The I / F 38 also includes a network adapter function.

As an external device, the I / F 38 includes an input device 50 including a keyboard and a mouse capable of inputting data as a human interface, a storage device 52 for storing data and tables as a file, and a screen based on an image signal. A display device 54 for displaying the above and a signal line (not shown) for connecting to the Internet 199 are connected.

Next, various management tables stored in the storage device 52 will be described.
7 (a) and 7 (b) are diagrams showing the data structures of the hash code management table 400 and the personality information management table 420.
The storage device 52 stores the hash code management table 400 and the personality information management table 420 shown in FIGS. 7A and 7B.

As shown in FIG. 7A, one record is registered in the hash code management table 400 for each requester ID. Each record is configured to include a field 402 for registering a requester ID for identifying a requester and a field 404 for registering a hash code. In the example of FIG. 7A, "0001" is registered as the requester ID and "abcde01" is registered as the hash code in the record of the first row.

As shown in FIG. 7B, one record is registered in the personality information management table 420 for each hash code. Each record is configured to include a field 422 for registering a hash code and a field 424 for registering personality information. In the example of FIG. 7 (b), in the record of the first line, "abcde01" is used as the hash code, and "openness (10), integrity (20), extroversion (10), and cooperation" are used as personality information. (20), neuroticism (50) ”is registered. The numbers in parentheses indicate the scores of each factor.

Here, in the first embodiment, personality information of male and female children generated based on the first gene information of a human male and the second gene information of a human female is registered. This personality information is generated based on the personality information of men and women who scored each of the above five factors based on the genetic information. Then, the robot 1 according to the first embodiment is controlled to perform an action expressing personality, emotion, and instinct based on the personality information of the child provided from the personality information management server 100.

Of the above five factors, "openness" tends to be open to new experiences intellectually, aesthetically, and culturally, and has characteristic elements such as curiosity, aesthetics, and ideas. There is. In addition, "integrity" tends to be responsible, diligent and serious, and has characteristic elements such as self-discipline, conscience, and prudence. In addition, "extroversion" indicates a tendency for interest to be directed to the outside world, and has characteristic elements such as positiveness, sociability, and brightness. In addition, "cooperativeness" shows a tendency to take balanced and cooperative behavior, and has characteristic elements such as compassion, kindness, and devotion. In addition, the "neurotic tendency" shows an emotionally and emotionally unstable tendency such as being easily depressed, and has characteristic elements such as stress, anxiety, and impulsivity.

In addition, it is becoming clear that not only acquired personality but also genes have an effect. It is said that genes can affect personality because they affect the secretion, transmission, and acceptance of neurotransmitters related to personality. For example, dopamine, a neurotransmitter in the brain, controls the motivation for various things, including curiosity.

According to the University of California in the United States, the more the genotype of "A" is in the SNP (single nucleotide polymorphism) called "rs6754640", the weaker the curiosity about the factor of "openness". Has been elucidated. The SNP "rs6754640" has AA, AG, and GG genotypes ([Searched on October 19, 2nd year of Reiwa], Internet, <URL: https://mycode.jp/fumfum/novelty-seeking. >).

In addition, according to a research report published by researchers in the United States and Israel in 1996, individual differences in the "D4DR gene" that makes dopamine-receiving receptors are involved in personality, and the sequence of this gene is repeated for a long time. It is said to be so curious. For this, refer to [Search on October 19, 2nd year of Reiwa], the Internet, <URL: https://news.yahoo.co.jp/byline/ishidamasahiko/20150509-00045532/>, or "Introduction to Illustrations". Understand the basics and mechanism of the latest blood type Author: Yuka Matsuo ”see pages 150-151.

In addition, a research report has been published that a similar tendency was found in Shiba Inu by a similar study in Japan (a study at Gifu University). For this, refer to [Search on October 19, 2nd year of Reiwa], Internet, <URL: https://news.nissyoku.co.jp/hyakusai/hgs-83-0008>.

Also, as a result of research by a research group at Boston University in the United States, it was found that if the SNP "rs2701448" is "A", "cooperation" tends to be high. Furthermore, when looking at the genotype of this SNP, it was found that the number of "A" s was two rather than one, which tended to be more cooperative. The SNP "rs2701448" has genotypes of AA, AG, and GG. For this, refer to [Search on October 19, 2nd year of Reiwa], Internet, <https://mycode.jp/fumfum/agreeableness?int=fum_set>.

In addition, as a result of GWAS (Genome-Wide Association Study) research using large-scale genetic information, Moore et al., Associate Professor of Free University of Amsterdam in the Netherlands, found "integrity" and the gene region "KATNAL2" expressed in the brain. It was revealed that the SNP "rs2576037" is related. Specifically, it was clarified that the SNP "rs2576037" has TT, TC, and CC genotypes, and that the larger the number of "T", the lower the integrity. For this, refer to [Search on October 19, 2nd year of Reiwa], Internet, <URL: https://mycode.jp/fumfum/conscientiousness>.

In addition, as a result of research by the research group of the National Institutes of Health, the more "T" is in the SNP "rs12912233" located in the RORA gene, the more "depression" related to the factor of "neuroticism". I found that my mood tended to be relatively depressed. In addition, "rs12912233" has genotypes of TT, TC, and CC. For this, refer to [Search on October 19, 2nd year of Reiwa], Internet, <URL: https://mycode.jp/fumfum/trait-depression?int=fum_set>.

That is, in the first embodiment, the personality information of men and women is generated by scoring each factor in a numerical range of, for example, 1 to 50, based on the information of the gene region related to each factor. To.
〔motion〕
Next, the operation of the first embodiment will be described.
FIG. 8 is a flowchart showing a personality information generation process according to the first embodiment.

The CPU 30 is composed of an MPU (Micro-Processing Unit) or the like, activates a predetermined program stored in a predetermined area of the ROM 32, and executes the personality information generation process shown in the flowchart of FIG. 8 according to the program.
When the personality information generation process is executed in the CPU 30 of the personality information management server 100, first, as shown in FIG. 8, the process proceeds to step S100. The personality information generation process is a process executed after the necessary advance preparations are completed after receiving the personality information generation request.

In step S100, the genetic information of the male is analyzed, and the process proceeds to step S102.
Here, before performing the analysis process of genetic information, a male biological sample (including hair, nails, body fluid (blood, saliva, urine, etc.), tissue, cell sample, organ, biopsy, etc.) is prepared in advance. Get it. In addition, male genetic information is extracted from the obtained sample. Further, the analysis process includes a process of extracting information on a gene region related to each of the above five factors.

In step S102, male personality information is generated based on the analysis result of step S100. After that, the process proceeds to step S104. Here, the personality information is generated by setting a score according to the strength and height of each factor based on the number of specific genotypes of the gene region related to the strength and height of each factor. The data structure of the personality information has the same structure as the personality information of the child registered in the personality information management table 400.

In step S104, the genetic information of the woman is analyzed, and the process proceeds to step S106.
Here, in carrying out the genetic information analysis process, a female biological sample is acquired in advance and the female genetic information is extracted from the acquired sample, as in the case of males.

In step S106, the personality information of a woman is generated based on the analysis result of step S104, as in the case of a man. After that, the process proceeds to step S108.
In step S108, the personality information of both children is generated based on the personality information of the male and the personality information of the female. After that, the process proceeds to step S110.

Here, the personality information of the child can be composed of the average value of the scores for each factor of the personality information of the male and the personality information of the female. The child's personality information is not limited to being generated from the average value of the scores for each factor of men and women, but is generated by using another calculation method such as a weighted average (weighted average in which weights are set for each man and woman). May be. In addition, since the genes of the parents are inherited in half, for example, the scores of two or three random factors among the scores of each factor constituting the personality information of males and the scores of each factor constituting the personality information of females. Other generation methods may be used, such as a combination of the scores of the other three or two factors.

In step S110, a hash code is generated based on the personality information generated in step S108, and the generated hash code is registered in the hash code management table 400 in association with the requester ID. After that, the process proceeds to step S112. Here, the hash code is a code generated to confirm the consistency of the data of the personality information of the child requested by the requester. As the hash code generation algorithm, for example, a hash algorithm such as SHA512, SHA384, SHA256, SHA224, SHA1, MD5 can be used.

In step S112, the personality information of the child generated in step S108 is registered in the personality information management table 420 in association with the hash code generated in step S110. After that, the process proceeds to step S114.
In step S114, the hash code generated in step S110 is transmitted to the requester who requested the generation of the personality information of the child. For example, send a hash code to the email address of the requesting man or woman.

FIG. 9 is a flowchart showing the personality information setting process, and FIG. 10 is a flowchart showing the personality information providing process.
When the personality information setting process is executed in the CPU of the controller 20 of the robot 1, as shown in FIG. 9, first, the process proceeds to step S300.
In step S300, when the hash code is input via the input device 23, the process proceeds to step S302.

In step S302, the hash code input together with the personality information provision request is transmitted to the personality information management server 100. After that, the process proceeds to step S304.
On the other hand, when the personality information providing process is executed by the CPU 30 of the personality information management server 100, first, as shown in FIG. 10, the process proceeds to step S200.

In step S200, it is determined whether or not the provision request including the hash code from the robot 1 has been received, and if it is determined that the request has been received (YES), the process proceeds to step S202, and if it is determined that the request is not received (NO). Repeats the determination process. Here, it is assumed that the provision request from the robot 1 is received.

When the process proceeds to step S202, the hash code included in the received provision request is acquired, and the process proceeds to step S204.
In step S204, it is determined whether or not the acquired hash code is registered in the hash code management table 400, and if it is determined that it is registered (YES), the process proceeds to step S206, and it is determined that it is not. If (NO), the series of processes is terminated and the process returns to the original process. Here, it is assumed that the acquired hash code is registered.

When moving to step S206, the personality information corresponding to the hash code acquired in step S202 is searched from the personality information management table 420. After that, the process proceeds to step S208. Here, assuming that the personality information corresponding to the acquired hash code has been searched for, a hash code is generated from this personality information, and it is determined whether or not this hash code and the acquired hash code match. Here, it is assumed that the hash code generated from the personality information matches the acquired hash code.

In step S208, the personality information retrieved in step S206 is transmitted to the requesting robot 1, and a series of processes is completed.
Further, as shown in FIG. 9, the CPU of the robot 1 receives the personality information from the personality information management server 100 in step S304, and proceeds to step S306.

In step S306, the personality information received in step S304 is set in the personality model 220, and a series of processes is completed.
As a result, the personality model 220 of the robot 1 is set with the personality information of the male and female children who are the clients, and the robot 1 acts to express emotions reflecting the personality based on the set personality information. Is controlled.

For example, it is assumed that the personality information set in the personality model 220 is openness (50), honesty (10), extroversion (40), coordination (30), and neuroticism (10). It is assumed that 50 is the maximum value of these scores, and the scores are divided into three stages of low, normal, and high by comparison with the threshold values 20, 30, and 40, for example. Further, it is assumed that the state amount of "joy" is equal to or more than a predetermined threshold value and the state amount of "exercise desire" is equal to or more than a predetermined threshold value. When the robot 1 is made to act to express the emotions of the future, the score of "extroversion" is 40, which is relatively high, so that it is judged that the brightness and the positiveness are high. It is controlled to perform actions such as barking "Can! Can!"

On the other hand, for example, the personality information set in the personality model 220 is openness (10), integrity (20), extroversion (10), coordination (20), and neuroticism (50). do. Further, it is assumed that the state amount of "sadness" is equal to or more than a predetermined threshold value and the state amount of "exercise desire" is less than a predetermined threshold value. When the robot 1 is made to act to express the emotions of the future, the score of "neuroticism" is 50, which is the maximum value. It is controlled to perform actions such as bowing its head in a sitting position and screaming "Koon". In addition, the tail unit 5 may be sandwiched between the inseam and controlled to perform an action such as "trembling" in response to a user's call.

[Effect of the first embodiment]
Next, the effect of the first embodiment will be described.
In the first embodiment, the robot 1 has a first genetic information obtained from a human male biological sample and a second obtained from a human female biological sample from the personality information management server 100. The personality information indicating the personality of a child between a male and a female, which was generated based on the genetic information, was acquired, and the acquired personality information was set in the personality model 220. Then, based on the set personality information, the behavior of expressing emotions is controlled.

With such a configuration, it is possible to provide a robot having a child character that inherits the character of a man and a woman.
Further, in the first embodiment, the robot 1 sets the personality model 220 to the personality information including the information obtained by scoring the above five factors called the big five.

With such a configuration, it is possible to provide a robot that performs an action of expressing emotions based on personality information expressed by five factors.
Further, in the first embodiment, in the personality information management server 100, the male personality information and the female personality information are based on the genetic information obtained from the male and female biological samples provided by the client. And generated personality information for male and female children based on the generated personality information. Further, a hash code is generated based on the generated personality information of the child, the generated hash code is associated with the requester ID and registered in the hash code management table 400, and the personality information of the child is associated with this hash code. Was registered in the personality information management table 420. Furthermore, in response to the provision request including the hash code from the robot 1, the personality information corresponding to the received hash code is searched from the personality information management table 420, and the found personality information is confirmed to be consistent by the hash code. After that, it is sent to the requesting robot 1.

With such a configuration, it is possible to generate personality information of a child who inherits the personality of a man and a woman in response to a request from the client. In addition, in response to the provision request including the hash code from the robot 1 used by the client, it is possible to provide the requesting robot 1 with the personality information of the child consistent with the hash code.

[Correspondence]
In the first embodiment, a human male corresponds to the first organism of the inventions 1 to 4, a human female corresponds to the second organism of the inventions 1 to 4, and the pet-type robot 1 corresponds to the invention 1. Steps S302 to S304 correspond to the personality information acquisition means of the invention 1, and the behavior control unit 204 corresponds to the control means of the

inventions

1 and 2.

Further, in the first embodiment, steps S100 to S108 correspond to the personality information generating means of the inventions 3 and 4, and steps S200 to S208 correspond to the personality information transmitting means of the invention 3.
Further, in the first embodiment, the genetic information of the male and the female corresponds to the first gene information and the second gene information of the inventions 1 to 4, and the personality information of the male and the female corresponds to the first personality of the invention 4. It corresponds to information and second personality information.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. FIG. 11 is a diagram showing a second embodiment. Hereinafter, only the parts different from the first embodiment will be described, and the overlapping parts will be omitted.
In the second embodiment, the content of the personality information generation process in the personality information management server 100 is different from that of the first embodiment. Other configurations, including the configuration of the pet-type robot 1, are the same as those in the first embodiment.

〔motion〕
FIG. 11 is a flowchart showing the personality information generation process according to the second embodiment.
When the personality information generation process according to the second embodiment is executed by the CPU 30 of the personality information management server 100, as shown in FIG. 11, first, the process proceeds to step S400. The personality information generation process is a process executed after the necessary advance preparations are completed after receiving the personality information generation request.

In step S400, the genetic information of the male is analyzed, and the process proceeds to step S402.
Here, the analysis process includes a process of extracting gene information including a gene region related to each of the five Big Five factors from male gene information. That is, it includes a process of extracting information on a gene region to be inherited by a child (hereinafter referred to as "genetic region information") from male genetic information.

In step S402, the genetic information of the woman is analyzed, and the process proceeds to step S404. Here, in the case of females as well, the same analysis processing as in the case of males is performed to extract genetic region information to be inherited by children.
In step S404, genetic information of male and female children is generated based on the genetic region information of male and the genetic region information of female. After that, the process proceeds to step S406.

Here, since the genetic information of the child is inherited from the parents in half, for example, the genetic information of the child can be generated by simply randomly combining the genetic region information of male and female in half. In addition, when it is generated more strictly, the genetic information of the child may be generated from the genetic region information of male and female according to the actual inheritance law including the inheritance law of sex and blood type.

In step S406, the personality information of the child is generated based on the genetic information of the child generated in step S404. After that, the process proceeds to step S408.
Here, the personality information of the child is generated by extracting the genetic region information related to the five factors of Big Five from the genetic information of the child and scoring each factor based on the extracted genetic region information. ..

In step S408, a hash code is generated based on the personality information generated in step S406, and the generated hash code is registered in the hash code management table 400 in association with the requester ID. After that, the process proceeds to step S410.
In step S410, the personality information of the child generated in step S406 is registered in the personality information management table 420 in association with the hash code generated in step S408. After that, the process proceeds to step S412.

In step S412, the hash code generated in step S408 is transmitted to the requester who requested the generation of the child's personality information, and a series of processes is completed. For example, send a hash code to the email address of the requesting man or woman.
[Effect of the second embodiment]
Next, the effect of the second embodiment will be described.

In the second embodiment, in the personality information management server 100, male and female genetic information obtained from male and female biological samples provided by the client and female genetic information are used. The genetic information of the child was generated, and the personality information of this child was generated based on the generated genetic information of the child. Further, a hash code is generated, the generated hash code is associated with the requester ID and registered in the hash code management table 400, and the child's personality information is registered in the personality information management table 420 in association with the hash code. I made it. Furthermore, in response to the provision request including the hash code from the robot 1, the personality information corresponding to the hash code is searched from the personality information management table 420, and the searched personality information is confirmed to be consistent by the hash code. It is sent to the requesting robot 1.

With such a configuration, at least one of the personalities of the parents can be generated based on the genetic information of the child who inherited the genetic information of the male and female in response to the request from the client. It is possible to generate personality information in which the part is genetically reflected. In addition, in response to the provision request including the hash code from the robot 1 used by the client, it is possible to provide the requesting robot 1 with the personality information of the child whose consistency has been confirmed by the hash code.

[Correspondence]
In the second embodiment, steps S400 to S406 correspond to the personality information generation means of the invention 5, and the genetic information of the child corresponds to the third gene information of the invention 5.
[Modification example]
In the above embodiment, an example of applying the present invention to a dog pet-type robot has been described, but the present invention is not limited to this configuration, and the present invention is applied to other animal pet-type robots such as cats and bears. May be good. Further, the present invention may be applied not only to a pet-type robot but also to other types of robots such as a human-type robot.

Further, in the above-described embodiment and its modified example, a configuration in which the personality information set in the pet-type robot does not change has been described as an example, but the configuration is not limited to this configuration. For example, the robot may be equipped with a learning function to perform learning based on the living environment with the user, and the personality information may be changed by this learning.

Further, in the above-described embodiment and its modified example, a configuration in which a robot performs an action accompanied by movement such as walking has been described as an example, but the configuration is not limited to this configuration. The present invention is, for example, a robot that expresses emotions by voice or blinking of a lamp without taking action, or a voice, blinking of a lamp, ear, mouth, tail, etc. without taking an action that involves movement such as walking. It may be applied to a robot having another configuration such as a robot having a configuration that expresses emotions by the movement of a part of the above. Alternatively, it may be applied to a robot having a configuration in which the faces of a pet or a child composed of computer graphics or the like are displayed on a display device and emotions are expressed by changes in facial expressions due to computer graphics or voice output from a speaker. good. At that time, the display device may be configured with a touch panel, and the facial expression may be changed or the voice may be changed in response to the touch input of the user. The emotional expression is performed by, for example, a control means configured by a program executed by the CPU controlling the emotional expression based on the personality information (for example, the personality model 220).

Further, in the above-described embodiment and its modification, the personality information management server 100 is configured to directly transmit personality information to the pet-type robot 1 via the Internet 199 and the relay station 320. Not limited to. For example, the personality information may be transmitted to the pet-type robot 1 via another terminal such as a smartphone, or the pet-type robot 1 may be provided with an interface capable of inserting and removing a memory so that the personality information received by the other terminal can be received. For example, it may be configured to input to the pet type robot 1 via a memory such as a USB memory.

Further, in the above-described embodiment and its modification, personality information of children of these two robots may be generated based on the personality information of the two robots, and a robot having the generated personality information may be configured. .. For example, the robots A and B for which the personality information is set and the robot C for which the personality information is not set perform wireless communication, and the robot C acquires the respective personality information from the robots A and B. Then, the robot C generates the personality information of these children from the personality information of the robots A and B, and sets the generated personality information to itself. The configuration is not limited to the configuration in which the personality information is acquired by wireless communication, and other configurations such as the configuration in which the personality information is acquired via a storage medium such as a USB memory or the configuration via a smartphone may be used.

Further, in the above-described embodiment and its modification, it is realized as a network system, but the present invention is not limited to this, and it can also be realized as a single device or application.
Further, in the above-described embodiment and its modification, the case where it is applied to a network system including the Internet 199 has been described, but the present invention is not limited to this, and for example, it is applied to a so-called intranet that communicates by the same method as the Internet 199. May be good. Of course, it is not limited to the network that communicates by the same method as the Internet 199, and can be applied to the network of any communication method.

1 ... Pet type robot, 2 ... Body unit, 3FL ... Left front leg unit, 3FR ... Right front leg unit, 3RL ... Left rear leg unit, 3RR ... Right rear leg unit, 3FLA1 to 3FLA4 ... Left front leg actuator Group, 3FRA1-3FRA4 ... right front leg actuator group, 3RLA1-3RRA4 ... left rear leg actuator group, 3RRA1-3RRA4 ... right rear leg actuator group, 4 ... head unit, 4A1-4A4 ... head actuator group, 5 ... Tail unit, 5A1-5A3 ... Tail actuator group, 20 ... Controller, 21 ... Battery unit, 22,43 ... Touch sensor, 23,50 ... Input device, 30 ... CPU, 32 ... ROM, 34 ... RAM, 38 ... I / F, 39 ... bus, 40 ... communication device, 41 ... microphone, 42 ... camera, 44 ... speaker, 52 ... storage device, 54 ... display device, 100 ... personality information management server, 199 ... Internet, 201 ... sensor Input processing unit, 202 ... personality / emotion / instinct model unit, 203 ... action determination unit, 204 ... behavior control unit, 205 ... acoustic processing unit, 220 ... personality model, 222 ... emotion model, 224 ... instinct model, 320 ... relay Station, 400 ... Hash code management table, 420 ... Personality information management table

Claims

Connect the robot and the personality information management server that provides the personality information used by the robot so that they can communicate with each other.
The personality information management server is
Analytical means for analyzing the first gene information obtained from the biological sample of the first organism and the second gene information obtained from the biological sample of the second organism different from the first organism.
A personality information generating means that generates personality information indicating the personality of a child of the first organism and the second organism based on the analysis result of the analysis means.
It is provided with a personality information providing means for providing the personality information generated by the personality information generating means.
The robot
A personality information acquisition means for acquiring the personality information provided by the personality information management server, and
A robot control system including a control means for controlling an action expressing emotions or an expression of emotions based on the personality information acquired by the personality information acquisition means.
In claim 1,
The personality information generation means generates first personality information indicating the character of the first organism based on the analysis result of the first gene information, and based on the analysis result of the second gene information, the second organism. A robot control system characterized in that a second personality information indicating a personality is generated, and the generated first personality information and the second personality information are combined to generate the personality information of the child.
In claim 1,
The personality information generation means generates third gene information, which is the gene information of the child, based on the analysis result of the first gene information and the analysis result of the second gene information, and is based on the third gene information. A robot control system characterized by generating personality information of the child.
A personality information management server that is communicably connected to the robot in the robot control system according to claim 1.
Analytical means for analyzing the first gene information obtained from the biological sample of the first organism and the second gene information obtained from the biological sample of the second organism different from the first organism.
A personality information generating means that generates personality information indicating the personality of a child of the first organism and the second organism based on the analysis result of the analysis means.
A personality information management server including a personality information providing means for providing the personality information generated by the personality information generating means.
A robot that is communicably connected to the personality information management server in the robot control system according to claim 1.
A personality information acquisition means for acquiring the personality information provided by the personality information management server, and
It is provided with an action that expresses emotions based on the personality information acquired by the personality information acquisition means or a control means that controls the expression of emotions.
The child's personality information describes the openness to experience, honesty, extroversion, coordination, or neuroticism, which are the five factors that classify personality, in the first gene information and the second gene information. Includes numerical information quantified based on information on gene regions related to the five factors
The control means includes a personality model composed of the personality information, an emotional model composed of state quantities of a plurality of elements that determine the emotional state of the robot, and a plurality of instinct states of the robot. It includes an instinct model composed of state quantities of elements, and based on the numerical information of the five factors constituting the personality model, the state quantities of a plurality of elements and the states of the instinct that determine the emotional state are determined. A behavior or emotion that controls the state quantities of a plurality of elements to be determined and expresses emotions based on the controlled state quantities of each element of the emotion model and the instinct model and the numerical information of each factor of the personality model. A robot characterized by controlling emotions.