JP2007152445A - Self-propelled robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled robot, more surely coping with a user's request by charging the robot in a suitable timing. <P>SOLUTION: This self-propelled robot is driven by the supply of power from a battery. The robot includes: a service priority mode of providing service until the residual quantity of the battery reaches a service stop threshold or less, which is a value for stopping the service and a charging priority mode of charging the robot when the residual quantity of the battery reaches a charging priority threshold or less, which is higher than the service stop threshold as operating modes. The robot includes an operation mode setting part for switching the operation mode to the charging priority mode when the provision of service based upon a user's request is ended, or when the provision of service based upon a previously registered schedule is ended, and switching the operation mode to the service priority mode when a request for service is accepted from the user or when the provision of service based upon a previously registered schedule is started. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled robot driven by power supply from a battery, and more particularly to charge management of a battery.

2. Description of the Related Art Conventionally, a mobile robot that incorporates a battery inside a main body and is driven by power supply by the battery is known (see Patent Document 1).
For example, Patent Document 1 discloses a charge management method for a mobile robot that accurately grasps the remaining capacity of a rechargeable battery and determines whether to perform work or charge according to the value of the remaining capacity. Yes.
Recently, life-supporting robots that provide various services to users by moving in the home are attracting attention (see Patent Document 2, etc.).
Patent Document 2 discloses a pet robot that can provide various services to a user by switching operation modes to be executed according to the number of applause by the user.
JP 11-313401 A JP-A-2002-2331979

  By the way, in the robot disclosed in Patent Document 2 described above, since a request is usually issued from the user at an unexpected timing, when a request from the user is accepted, the remaining battery power sufficient to satisfy the request is received. It is necessary to hold the quantity. However, the conventional charge management method as disclosed in Patent Document 1 cannot be charged in advance in preparation for a future user request, so that the remaining capacity is insufficient when a user request is accepted. There was a problem that the request could not be met.

  The present invention has been made to solve the above problems, and provides a self-propelled robot that can more reliably respond to a user's request by performing charging at an appropriate timing. Objective.

In order to solve the above problems, the present invention employs the following means.
The present invention is a self-propelled robot that is driven by power supply from a battery, and provides a service as an operation mode until the remaining capacity of the battery reaches a value that is equal to or less than a service stop threshold for stopping the service. Provided with a priority mode and a charge priority mode for charging when the remaining capacity of the battery is lower than the charge priority threshold that is higher than the service stop threshold, and the provision of services based on user requests has been completed Or when the provision of a service based on a pre-registered schedule ends, the operation mode is switched to the charge priority mode, and a service request is received from the user, or the pre-registered schedule Switch operation mode to service priority mode when starting to provide services based on To provide a self-propelled robot.

  According to such a configuration, when a service request from a user is received or when provision of a service based on a pre-registered schedule is started, the service is stopped when the remaining battery capacity reaches that value. Since it switches to the service priority mode which provides a service until it becomes below a service stop threshold value, it becomes possible to provide a service more reliably. Further, when the provision of the service based on the user's request or the provision of the service based on the schedule is finished, the charging is performed when the remaining capacity of the battery is equal to or lower than the charge priority threshold that is higher than the service stop threshold. Since switching to the priority mode, it is possible to prioritize charging. This makes it possible to charge the battery in advance in preparation for a user request that occurs at an unexpected timing. As a result, the service can be provided in a state where the value of the remaining capacity of the battery is high, so that it is possible to more reliably respond to the user's request.

The service stop threshold is a level obtained by adding a predetermined margin to the remaining battery capacity required for performing the operation from the current position to the charging stand and starting charging. It is preferable to set it to about 1/4 of the capacity. By setting the service stop threshold in this way, it becomes possible to accept a user request to the very end.
In addition, the charging priority threshold is preferably set to a value (for example, about ½ of the battery capacity) obtained by adding an amount of power sufficient to provide the service once from the service stop threshold. In this way, by setting the charging priority threshold, the remaining capacity of the battery is equal to or lower than the charging priority threshold. Can be provided.
By setting the service stop threshold and the charge priority threshold in this way, it becomes possible to provide a service for a user request in a better charge state.

  In the above self-propelled robot, the charging priority mode includes an inactive mode in which charging is performed regardless of the remaining capacity of the battery, and an active state in which charging is not performed until the remaining capacity of the battery is equal to or lower than the charging priority threshold. Mode, and the inactive mode or the active mode may be selected as the operation mode in accordance with a time period set in advance based on the user's behavior pattern.

  According to such a configuration, whether to set the inactive mode or the active mode as the charge priority mode is determined according to the time zone set based on the user's behavior pattern. It becomes. As a result, for example, when the user is out or when the number of times the user receives a request is small, the charging is fully charged by adopting an inactive mode in which charging is performed regardless of the remaining capacity of the battery. Charging until the remaining battery capacity falls below the charge priority threshold when the user is indoors or when the user is in the room or when the number of times the request is received is relatively high. By not performing the process, it is possible to make the user request acceptable.

  The above self-propelled robot may include an utterance unit, and may utter spontaneously when the active mode is selected.

  As described above, when the active mode is selected as the charge priority mode, it is possible to provide an environment that attracts the user's interest and easily accepts the service by spontaneously speaking. In addition, by spontaneously uttering words, it is possible to blend into the user's living environment in a natural state.

  In the above self-propelled robot, the active mode includes a first active mode that stands by in the vicinity of a designated position registered in advance until the remaining capacity of the battery becomes equal to or lower than the charge priority threshold, and the remaining capacity of the battery. Until the charging priority threshold value is less than or equal to the charging priority threshold, and a second active mode that patrols a plurality of locations registered in advance, and the first active mode according to a time zone set in advance based on a user's behavior pattern The mode or the second active mode may be selected as the operation mode.

According to such a configuration, whether to set the first active mode or the second active mode as the active mode is determined according to the time zone set based on the user's behavior pattern. The Rukoto. Thus, for example, when the user is relatively busy, such as in the morning, the first active mode in which the user stands by in the vicinity of the pre-registered designated position is adopted so as not to disturb the user's action. Can be considered. Further, by registering the designated position near a place where there are many users during the time period, such as a kitchen or a living room, it is possible to provide an environment in which the user can easily make a request.
Also, in the time when the user is relatively relaxed, such as in the evening, by adopting the second active mode that patrols a plurality of pre-registered locations, the user's attention can be obtained. It becomes possible to provide an environment where requests can be easily received.

  According to the present invention, since charging can be performed at an appropriate timing, there is an effect that it is possible to more reliably respond to a user request.

Hereinafter, an embodiment of a self-propelled robot (hereinafter simply referred to as “robot”) according to the present invention will be described with reference to the drawings.
FIG. 1 is a front view of a robot according to an embodiment of the present invention, and FIG. 2 is a left side view of the robot shown in FIG.
As shown in FIGS. 1 and 2, the robot body 1 includes a head 2, a chest 3 that supports the head 2 from below, a right arm 4 a provided on the right side of the chest 3, and a chest 3. A left arm portion 4b provided on the left side, a waist portion 5 connected below the chest portion 3, a skirt portion 6 connected below the waist portion 5, and a leg portion 7 connected below the skirt portion 6; Is provided.

One omnidirectional camera 11 is provided near the top of the head 2. A plurality of infrared LEDs 12 are arranged on the ring at predetermined intervals along the outer periphery of the omnidirectional camera 11.
In the vicinity of the center of the front surface of the head 2, as shown in FIG. 1, the front camera 13 for imaging the front is one on the right side when viewed from the front, and the microphone 14 is one on the left side when viewed from the front. Is provided.

  One monitor 15 is provided near the center of the front surface of the chest 3. One ultrasonic distance sensor 16 for detecting a person is provided above the monitor 15. One power switch 17 is provided below the monitor 15. Above the ultrasonic distance sensor 16, two speakers 18 are provided one on each side. In addition, as shown in FIG. 2, a backpack 33 that can store luggage is provided on the back of the chest 3. The school bag 33 is provided with an opening / closing door 33a that can be rotated around a hinge provided at the top. As shown in FIG. 1, one shoulder switch 19 that functions as a man-machine interface is provided on each of the left and right shoulders of the chest 3. For the shoulder switch 19, for example, a touch sensor is employed.

  A multi-joint structure is adopted for the right arm portion 4a and the left arm portion 4b. In the right arm portion 4a and the left arm portion 4b, side switches 20 are provided in the vicinity of the connection portion with the chest portion 3 to detect the pinching of a body or an object and stop the movement of the arm. As shown in FIG. 1, a handshake switch 21 that functions as a man-machine interface is built in the palm of the right arm 4a. For the side switch 20 and the handshake switch 21, for example, a pressure sensor is employed.

  In the vicinity of the center of the front surface of the waist 5, one ultrasonic distance sensor 22 for detecting a person is provided on each side. Below these ultrasonic distance sensors 22, a sensor region 24 in which a plurality of infrared sensors 23 are arranged is provided. These infrared sensors 22 are for detecting an obstacle or the like in the lower front of the robot body 1. As shown in FIG. 1 and FIG. 2, a total of four microphones 25 are provided below the waist 5 for detecting the sound source direction, one on the left and one on the front and back. As shown in FIG. 2, one handle portion 26 used for lifting the main body is provided on each of the left and right sides of the waist portion 5. The handle 26 is a recess so that the operator's hand can be inserted.

  Below the front surface of the skirt portion 6, a total of three infrared sensors 27 for detecting a step are provided in the center and on the left and right. As shown in FIG. 2, a charging connector 28 is provided on the back surface of the skirt portion 6.

As shown in FIG. 1, one infrared sensor 29 for detecting a lateral distance is provided on the front surface of the leg portion 7 on the left and right sides. These infrared sensors 29 are mainly used for level difference detection.
As shown in FIG. 2, a hook 30 for fixing the position of the robot body 1 to the charging station is provided on the back surface of the leg portion 7. The leg portion 7 is a carriage provided with traveling wheels 31 and four ball casters 32.
In the robot described above, the ultrasonic distance sensor 16 in the chest 3, the ultrasonic distance sensor 22 in the waist 5, and the microphone 25 function as a human detection sensor 34 that detects a person around the robot.

Such a robot has a configuration capable of moving independently in a work space by supplying power from a battery built in the robot body 1, and coexists with a human being as a work space indoors. For example, it is used to provide various services for assisting, supporting, and caring for the lives of users such as robot owners and operators in general households.
Therefore, in addition to a conversation function that realizes a conversation with the user, the robot has a function of watching the user's action, assisting the user's action, and acting with the user. Such a function is realized by, for example, a control device including a microcomputer or the like built in the robot body 1 described later. Various cameras and various sensors shown in FIGS. 1 and 2 are connected to the control device, acquire image information from the cameras and sensor detection information from the sensors, and execute various programs based on these information. By executing this, the various functions described above are realized. The shape of the robot body 1 is not limited to the shape shown in FIGS. 1 and 2, and various shapes such as a model imitating an animal for pets can be adopted.

Hereinafter, the electrical configuration of the robot built in the robot body 1 will be described with reference to FIG. 3, the same components as those in FIGS. 1 and 2 are denoted by the same reference numerals.
As shown in FIG. 3, the robot according to the present embodiment includes a control device 51, an image processing unit 52, an audio processing unit 53, a display control unit 54, a wireless communication unit 55, a drive control unit 56, and a drive inside the main body. A mechanism 57 and a battery 58 are provided.
The image processing unit 52, the sound processing unit 53, the display control unit 54, the wireless communication unit 55, and the drive control unit 56 are connected to the control device 51, and perform various processes based on control signals from the control device 51. In addition to the execution, the processing result, information from various sensors, and the like are provided to the control device 51. The battery 58 functions as a power supply device that supplies power to each component.

The image processing unit 52 processes the images taken by the omnidirectional camera 11 and the front camera 13 shown in FIG. 1 based on the control signal from the control device 51 and outputs the processed images to the control device 51.
The speech processing unit 53 executes speech recognition processing for recognizing the speech signal input from the microphone 14 based on the control signal from the control device 51, and outputs the speech recognition result to the control device 51. Further, the voice processing unit 53 executes voice synthesis processing for generating a voice signal to be emitted from the speaker 18 based on the voice data supplied from the control device 51, and outputs the voice signal to the speaker 18.
The display control unit 54 processes the image data given from the control device 51 and displays it on the monitor 15.

The wireless communication unit 55 performs wireless communication with the outside via the antenna 55a. Specifically, the wireless communication unit 55 downloads information managed by the robot management server to the robot side by connecting to an external robot management server (not shown) via a network. At the same time, user information and management information acquired on the robot side are transmitted to the robot management server.
The drive control unit 56 controls the traveling drive mechanism 57 in accordance with a command from the control device 51 to drive the traveling wheel 31 to execute traveling and steering of the robot body 1. Further, the drive control unit 56 includes a neck joint between the head 2 and the chest 3, a shoulder joint between the chest 3 and the right arm 4a, a shoulder joint between the chest 3 and the left arm 4b, a right arm 4a, and a left arm 4b. By controlling each drive mechanism (not shown) provided to drive the elbow joint, wrist joint and the like, the robot arm and the like are driven to realize various operations. The facial expression of the head 2 is also variable by controlling a driving mechanism such as a motor.
The battery 58 is automatically charged when the charging connector 28 is electrically connected to a charging station (not shown) provided in the home.

  As described above, the control device 51 controls each component of the robot body 1, and includes an operation mode setting unit 61, an operation mode execution unit 62, a service schedule information management unit 70, and a charge schedule information management unit. 71, an operation application storage unit 72, and the like.

  The service schedule information management unit 70 manages service schedule information reserved by the user. This service schedule information is associated with the identification number of the user who registered the reservation, the details of the reserved service (specifically, the type of operation mode described later), the start time and end time of the service. Information. The service schedule information management unit 70 refers to the service schedule information at regular time intervals, and when the reservation start time is reached, the service content, end time, user identification number, etc., at the reservation start time are set as one piece of information. A group is output to the operation mode setting unit 61.

The charging schedule information management unit 71 manages charging schedule information registered by the user. Details of the charging schedule information will be described later.
The operation application storage unit 72 stores various operation applications necessary for realizing various operation modes described later, and additional information necessary for executing the operation application, for example, in the home Map information, voice data for talking to the user, driving data for gestures during conversations with the user or when interacting with the user, user life information (room layout and furniture layout for the user's residence) Personal daily life patterns, user hobbies, keywords such as voice, etc.) are stored.
The map information is map information necessary for the robot body 1 to move autonomously in the home. In the second active mode of the charge priority mode, which will be described later, the position information of the designated position registered in advance by the user. The location information of each traveling point to be visited, the location information of the charging station, and the route information necessary for moving these are included.

The operation mode setting unit 61 causes the operation mode execution unit 62 to execute based on the service request command from the user input from the service schedule information management unit 70, the charge schedule information management unit 71, and the voice processing unit 53. Set the operating mode as the current mode.
The operation mode execution unit 62 reads out an operation application corresponding to the operation mode set as the current mode by the operation mode setting unit 61 from the operation application storage unit 72, and executes the operation application to thereby perform various operation modes. Provide services to users.

  The control device 51 described above is configured by, for example, a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A series of processing procedures for realizing each unit described above is recorded in a ROM or the like in the form of a program, and the CPU reads the program into the RAM or the like and executes information processing / calculation processing. The provision of services by the functions of the field operation mode setting unit 61 and the operation mode execution unit 62 and the execution of each operation mode is realized.

Next, setting of the operation mode, which is a characteristic part of the present invention, will be described.
The operation modes executed by the robot according to the present embodiment are hierarchized as shown in FIG. 4, and a service priority mode and a charge priority mode are provided as the highest hierarchy.

The service priority mode is an operation mode in which a service is provided until the remaining battery capacity becomes equal to or less than a service stop threshold for stopping the service.
Here, the service stop threshold is a level obtained by adding a predetermined margin to the remaining battery capacity necessary for performing the operation from the current position to the charging station and further starting the charging (as an example) Is preferably set to about 1/4 of the battery capacity. By setting the service stop threshold in this way, it becomes possible to accept a user request to the very end.
The service priority mode includes an answering mode, a voice call mode, a quiet mode, a rest mode, an image shooting mode, an information provision mode, and the like as lower operation modes.

The “answer machine mode” is, for example, an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 3 when the keyword “answer machine” is input by voice. If the user does not come home even when the home return time is reached, such as a worry-free email indicating that the user has not come home to the mobile phone carried by the user or the mobile phone carried by the user's relative, etc. This service provides distribution services.
The “calling mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 3 when the keyword “call out” is input by the user. It provides a service to speak to the user at time.

The “quiet mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 3 when the keyword “quietly” is inputted by the user, and the speech and the operation are stopped. And provide a static service. This operation mode is canceled when, for example, the shoulder switch 19 provided in the robot body 1 is pressed by the user.
The “rest mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 3 when the user inputs the keyword “rest”, and moves to the charging station. Then, charging is started and a service is provided to stop. This operation mode is canceled when it is time to wake up the robot registered in advance or when a request for another operation mode is input by the user.

The “image shooting mode” is a mode in which the user operates the robot from a remote location. In this mode, the robot does not perform autonomous control. Specifically, a user moves a robot to a desired location by transmitting a remote command to the robot via a robot management server via a network from a terminal having a communication function such as a PC or a mobile phone. Or a mode in which surrounding images can be taken.
The “information provision mode” includes a “message mode” and an “information provision mode” as lower operation modes.
The “message mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 3 when the keyword “Tell me” is input by the user. When the other user designated by the user is recognized, a service is provided in which the message is reproduced for the other user.
The “information providing mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 when the keywords “let me know” and “check” are input by voice, and the weather / news, Fortune-telling, today is a service that obtains information on xx days (for example, physical education day) from the robot management server via the wireless communication unit 55 and notifies the user of the obtained information by voice or image Is to provide.

  Next, in principle, the charge priority mode is a mode in which charging is performed when the remaining capacity of the battery is equal to or lower than the charge priority threshold that is higher than the service stop threshold. Here, it is preferable to set the charging priority threshold to a value (for example, about ½ of the battery capacity) obtained by adding an amount of power sufficient to provide the service once from the service stop threshold. By setting the charging priority threshold to such a value, the remaining capacity of the battery is equal to or lower than the charging priority threshold. Service can be provided. By setting the service stop threshold and the charge priority threshold in this way, it becomes possible to provide a service for a user request in a better charge state.

The charge priority mode includes an active mode, an inactive mode, and the like as lower operation modes.
The “active mode” includes “first active mode” and “second active mode” as lower operation modes.
The “first active mode” is a mode that stands by in the vicinity of the designated position registered in advance until the remaining capacity of the battery 58 becomes equal to or less than the charge priority threshold.
The “second active mode” is a mode in which a plurality of locations registered in advance are visited until the remaining capacity of the battery 58 becomes equal to or less than the charge priority threshold.
The “inactive mode” is a mode in which charging is performed regardless of the remaining capacity of the battery 58.
In the above-mentioned “first active mode”, “second active mode”, and “inactive mode”, the above-mentioned basic operations are performed, and further, self-speaking, arms and heads are given at predetermined intervals. An operation application is created to move the.

The charging schedule information in which the charging priority mode schedule is described is managed by the charging schedule information management unit 71. FIG. 5 shows an example of charging schedule information. As described above, the charging schedule information is information that registers which operation mode is performed in which time zone during a day. In the charging schedule information shown in FIG. 5, the inactive mode is performed during the time period from 0:00 to 8:00, the first active mode is performed during the time period from 8:00 to 12:00, The inactive mode is implemented in the time zone from 16:00 to 16:00, the second active mode is implemented in the time zone from 16:00 to 20:00, and the inactive mode is implemented in the time zone from 20:00 to 24:00. Scheduling to be implemented.
The charging schedule can be registered by the user, but is preferably created based on the daily behavior pattern of the user. By registering the operation mode according to the user's behavior pattern, charging can be performed at an appropriate timing according to the user's behavior pattern.

  In addition, the charging schedule information can be registered in predetermined time increments (for example, every 30 minutes), and a number of modes can be switched during a day. A detailed schedule can be set up according to the daily behavior pattern.

Next, the operation of the operation mode setting unit 61 that is a characteristic part of the present invention will be described in detail.
When the operation mode setting unit 61 receives a service request from a user, the operation mode setting unit 61 operates in response to the request (for example, answering mode, voice call mode, quiet mode, rest mode, image shooting mode, information provision mode, etc. ) As the current mode. As a result, the operation application corresponding to the operation mode set as the current mode is executed by the operation mode execution unit 62, whereby services corresponding to various operation modes can be provided to the user.

  When a series of information related to the reservation start (hereinafter referred to as “reservation operation mode information”) is received from the service schedule information management unit 70, the reserved operation mode is set to the current mode. As a result, similarly to the above, it is possible to provide the user with a service corresponding to the reserved operation mode.

On the other hand, as described above, the service is provided for the reservation operation mode received from the service schedule information management unit 70 during the period when the service is not provided for the service request from the user that occurs at an unexpected timing. In the absence period, the operation mode setting unit 61 sets the charge priority mode as the current mode. In other words, the operation mode setting unit 61 sets the charging priority mode as the current mode in the period when the service priority mode shown in FIG. 4 is not executed.
At this time, the operation mode setting unit 61 sets the corresponding charging priority mode as the current mode based on the charging schedule information managed by the charging schedule information management unit 71. For example, taking the schedule information of the charge priority mode shown in FIG. 5 as an example, the first active mode is set in the time zone from 8:00 to 12:00, the inactive mode is set from 12:00 to 16:00, 16 The second active mode is set as the current mode from 20:00 until 20:00, and the inactive mode is set as the current mode from 20:00 to 8:00 the next morning.

As a result, for example, the first active mode is adopted as the charge priority mode from 8:00 to 12:00, so that the robot moves from the charging station to the designated position and the remaining capacity of the battery 58 is charged. It stays in the vicinity of the specified position as long as it does not fall below the threshold. Also, in this situation, the robot voluntarily moves the arm or head, or spontaneously utters a voice to create an environment that attracts the user's interest and easily accepts service requests.
In such a state, when a service request is received from the user, for example, if “let me” requesting service provision in the “specified information provision mode” is accepted as a voice, the current mode is changed to the current mode. By switching to the “designated information provision mode” which is an operation mode corresponding to voice, the service according to the user's request is promptly provided. In addition, when the setting mode is switched to the operation mode belonging to the “service priority mode” in this way, the service is provided until the remaining capacity of the battery 58 becomes equal to or less than the service stop threshold. .

  In addition, since the inactive mode is adopted as the charge priority mode between 12:00 and 16:00, the robot stays at the charging station and performs charging. Even in such a case, when the service request is received from the user or when the reservation operation mode information is received from the service schedule information management unit 70, the current mode corresponds to the received information. By switching to the operation mode, a service desired by the user is provided.

In addition, the second active mode is adopted as the charge priority mode between 16:00 and 20:00. In the second active mode, the robot outputs a drive signal based on the map information stored in the motion application storage unit 72 to the drive control unit 56, thereby patroling a plurality of locations registered in advance. It becomes. This provides an environment where the user can be searched for and the user's request can be easily accepted.
In this case, when a service request is received from the user, the operation mode setting unit 61 switches the current mode from the “second active mode” to the operation mode according to the user request, as described above. As a result, a service according to the user's request is provided.

  In addition, the inactive mode is adopted as the charge priority mode from the time 20:00 to the next 8 o'clock. In this inactive mode, the robot moves to the charging station and performs charging. Thereby, it becomes possible to maintain a battery in the state near full charge. Even in such a state, when the service request is received from the user or when the reservation start information is received from the service schedule information management unit 70, the operation mode setting unit 61, as described above, By switching the mode from the “second active mode” to the operation mode according to the user's request or reservation, a service according to the user's request is provided.

  As described above, according to the robot according to the present embodiment, when receiving a service request from a user or starting to provide a service based on schedule information registered in advance, the battery 58 Since the service priority mode for providing the service is switched until the remaining capacity of the service becomes equal to or less than the service stop threshold, the service can be provided more reliably. Furthermore, when the provision of the service based on the user's request or the provision of the service based on the service schedule information is completed, when the remaining capacity of the battery 58 becomes equal to or lower than the charging priority threshold, the charging priority mode for charging is switched. , Charging can be performed with priority. This makes it possible to charge the battery in advance in preparation for a user request that occurs at an unexpected timing. As a result, the service can be provided in a state where the value of the remaining capacity of the battery is high, so that it is possible to more reliably respond to the user's request.

  Further, in the robot according to the present embodiment, whether to set the inactive mode or the active mode as the charge priority mode is determined according to the time zone set based on the user's behavior pattern. Will be. As a result, for example, when the user is out or when the number of times the user receives a request is small, the charging is fully charged by adopting an inactive mode in which charging is performed regardless of the remaining capacity of the battery. Charging until the remaining battery capacity falls below the charge priority threshold when the user is indoors or when the user is in the room or when the number of times the request is received is relatively high. By not performing the process, it is possible to make the user request acceptable.

  Furthermore, since the robot according to the present embodiment has a speech function and speaks spontaneously when the active mode is selected, it is possible to provide an environment that attracts the user's interest and easily accepts services. Become. In addition, by spontaneously uttering words, it is possible to blend into the user's living environment in a natural state.

Furthermore, according to the robot according to the present embodiment, the first active mode is set as the active mode or the second active mode is set as the active mode according to the time zone set based on the user's behavior pattern. Will be decided. Thus, for example, when the user is relatively busy, such as in the morning, the first active mode in which the user stands by in the vicinity of the pre-registered designated position is adopted so as not to disturb the user's action. Can be considered. Further, by registering the designated position near a place where there are many users during the time period, such as a kitchen or a living room, it is possible to provide an environment in which the user can easily make a request.
Also, in the time when the user is relatively relaxed, such as in the evening, by adopting the second active mode that patrols a plurality of pre-registered locations, the user's attention can be obtained. It becomes possible to provide an environment where requests can be easily received.
In the present embodiment, the current mode set by the operation mode setting unit 61 and the display information to be displayed on the monitor 15 are linked so that the current mode is visually presented to the user. good.

  Further, when various types of information are provided in the “designated information provision mode” illustrated in FIG. 4, the utterance interval may be changed according to the content of the information to be provided. For example, when weather forecasts are provided to users, the weather is not a concern when it is clear, so it is possible to save power by making the intervals between utterances relatively long, while raining. In the case of fine weather, it is possible to raise the frequency of notifying the weather by making the interval between utterances relatively short to call attention.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like within a scope not departing from the gist of the present invention.

It is a front view of the robot which concerns on one Embodiment of this invention. It is a left view of the robot shown in FIG. It is a figure which shows the electrical structural example of the robot incorporated in the robot main body shown in FIG. It is the figure which showed an example of the operation mode which concerns on one Embodiment of this invention. It is the figure which showed an example of the schedule information in the charge priority mode of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Omnidirectional camera 13 Front camera 14 Microphone 15 Monitor 18 Speaker 28 Charging connector 31 Traveling wheel 51 Control device 52 Image processing part 53 Voice processing part 54 Display control part 55 Wireless communication part 55a Antenna 56 Drive control part 57 Driving mechanism for driving 58 Battery 61 Operation mode setting unit 62 Operation mode execution unit 70 Service schedule information management unit 71 Charging schedule information management unit 72 Operation application storage unit

Claims (4)

A self-propelled robot driven by power supply from a battery,
As an operation mode, when the remaining capacity of the battery reaches that value, a service priority mode for providing a service until the service stops below the service stop threshold, and the remaining capacity of the battery is higher than the service stop threshold. With a charge priority mode for charging when the charge priority threshold or lower,
When the provision of the service based on the user's request is completed, or the provision of the service based on the pre-registered schedule is terminated, the operation mode is switched to the charge priority mode, and the service request is accepted from the user. A self-propelled robot that switches the operation mode to the service priority mode when starting service provision based on a schedule registered in advance. The charge priority mode is
Inactive mode for charging regardless of the remaining capacity of the battery,
An active mode in which charging is not performed until the remaining capacity of the battery is equal to or lower than the charge priority threshold,
The self-propelled robot according to claim 1, wherein the inactive mode or the active mode is selected as an operation mode in accordance with a time zone set in advance based on a user's behavior pattern.   The self-propelled robot according to claim 2, further comprising speech means, which spontaneously speaks when the active mode is selected. The active mode is:
A first active mode that stands by in the vicinity of a preset designated position until the remaining capacity of the battery is equal to or lower than the charge priority threshold;
Until the remaining capacity of the battery is equal to or lower than the charge priority threshold, and a second active mode for circulating around a plurality of pre-registered locations,
4. The self-propelled type according to claim 2, wherein the first active mode or the second active mode is selected as an operation mode according to a time zone set in advance based on a user behavior pattern. 5. robot.

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