WO2018207908A1

WO2018207908A1 - Autonomous behavior-type robot, accessory, and robot control program

Info

Publication number: WO2018207908A1
Application number: PCT/JP2018/018287
Authority: WO
Inventors: 正昭田原; 要林
Original assignee: ＧｒｏｏｖｅＸ株式会社
Priority date: 2017-05-11
Filing date: 2018-05-11
Publication date: 2018-11-15
Also published as: JPWO2018207908A1; JP6734607B2

Abstract

A robot 100P selects and executes its own motion. A robot 100Q receives a robot ID from the robot 100P and identifies the robot 100P, which is the transmission source, by the robot ID. The robot 100Q also receives an operation command from the robot 100P and executes a motion associated with the motion command. As a result, behavioral characteristics of the robot 100Q are influenced by the motion command of the robot 100P. The robot 100Q transmits said motion command to a separate robot 100R. A communication device that transmits and receives the robot ID or the like is built into a horn 112 of robots 100.

Description

[Title of the invention determined by ISA based on rule 37.2] Autonomous action robot, jewelry and robot control program

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

Humans keep pets for healing. On the other hand, many people give up their pets for various reasons such as lack of time to take care of their pets, lack of living environment for pets, allergies, and bereavement difficulties. If there is a robot that plays the role of a pet, it may be possible to give healing that a pet gives to a person who can not keep the pet (see Patent Document 1).

JP 2000-323219 A

One of the funs of keeping pets is to see them interact. Even in the case of robots, if there is a mechanism for promoting interaction between robots, it is considered that attachment to robots can be further deepened. The premise of the interaction between the robots is the function of the robots identifying other robots.

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

The autonomous action type robot according to an aspect of the present invention includes a motion control unit for selecting a motion of the robot, a drive mechanism for executing the motion selected by the motion control unit, and a predetermined short distance wireless communication method from another robot. A receiver for receiving the ID of the other robot transmitted in accordance with the above, and a recognition unit for determining the other robot based on the received ID.

The autonomous action type robot according to another aspect of the present invention includes a motion control unit for selecting a motion, a drive mechanism for executing the motion selected by the motion control unit, and an ID for identifying the robot in a predetermined short distance wireless communication A transmitter for transmitting according to a scheme.

The autonomous action type robot according to another aspect of the present invention includes a motion control unit for selecting a motion of the robot, a drive mechanism for executing the motion selected by the motion control unit, and a predetermined short distance wireless communication system from the charger. And a charge monitoring unit that monitors the remaining battery level of the secondary battery.
The operation control unit selects, as the movement target point, a charger that transmits an ID associated with the robot among the plurality of chargers when the battery remaining amount becomes equal to or less than a predetermined threshold.

An autonomous action type robot according to another aspect of the present invention includes a communication connection unit connected to the server by a first wireless communication method based on access information to the server, an operation control unit for determining a motion of the robot, and an operation A drive mechanism for executing the motion selected by the control unit, and a receiver for receiving an ID of another robot from another robot by a second wireless communication method having a communication distance shorter than that of the first wireless communication method. And a transmitter for transmitting access information to another robot when the ID is received.

The autonomous action type robot according to another aspect of the present invention includes a transmitter that transmits an ID for identifying the self robot in accordance with a predetermined short distance wireless communication scheme. A plurality of transmitters are annularly arranged in a projection formed on the head or top of the robot.

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

An accessory according to an aspect of the present invention includes a transmitter that transmits an operation command to an autonomous behavior robot in accordance with a predetermined short distance wireless communication scheme.

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

FIG. 1A is a front external view of a robot. FIG. 1 (b) is a side view of the robot. FIG. 2 is a cross-sectional view schematically illustrating the structure of a robot. It is a block diagram of a robot system. It is a conceptual diagram of an emotion map. It is a hardware block diagram of a robot. It is a functional block diagram of a robot system. It is the external appearance enlarged view of a horn. It is a top view of a communication machine arrangement side. It is a schematic diagram which shows a mode that several robots form a formation. It is a schematic diagram which shows the action instruction | indication to the robot by a accessory. It is a schematic diagram for demonstrating the authentication process of the guest robot by a host robot. It is an external view of a charge station.

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

In principle, the robot 100 takes an indoor range of an owner's home as an action range. Hereinafter, a human being related to the robot 100 is referred to as a "user", and a user who is a member of a home to which the robot 100 belongs is referred to as an "owner".

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

The robot 100 has a total weight of 15 kilograms or less, preferably 10 kilograms or less, and more preferably 5 kilograms or less. By 13 months of age, the majority of babies will start walking alone. The average weight of a 13-month-old baby is just over 9 kilograms for boys and less than 9 kilograms for girls. Therefore, if the total weight of the robot 100 is 10 kilograms or less, the user can hold the robot 100 with almost the same effort as holding a baby that can not walk alone. The average weight of babies less than 2 months old is less than 5 kilograms for both men and women. Therefore, if the total weight of the robot 100 is 5 kg or less, the user can hold the robot 100 with the same effort as holding an infant.

The various attributes such as appropriate weight, roundness, softness, and good touch realize an effect that the user can easily hold the robot 100 and can not hold it. For the same reason, it is desirable that the height of the robot 100 is 1.2 meters or less, preferably 0.7 meters or less. For the robot 100 in the present embodiment, being able to hold it is an important concept.

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

The front wheel 102 and the rear wheel 103 can be completely housed in the body 104 by a drive mechanism (a rotation mechanism, a link mechanism). Even when traveling, most of the wheels are hidden by the body 104, but when the wheels are completely housed in the body 104, the robot 100 can not move. That is, the body 104 descends and is seated on the floor surface F along with the storing operation of the wheels. In this sitting state, the flat seating surface 108 (grounding bottom surface) formed on the bottom of the body 104 abuts on the floor surface F.

The robot 100 has two hands 106. The hand 106 does not have the function of gripping an object. The hand 106 can perform simple operations such as raising, shaking and vibrating. The two hands 106 are also individually controllable.

The eye 110 can display an image with a liquid crystal element or an organic EL element. The robot 100 mounts various sensors such as a microphone array and an ultrasonic sensor that can identify the sound source direction. In addition, it has a built-in speaker and can emit a simple voice.

A horn 112 is attached to the head of the robot 100. As described above, since the robot 100 is lightweight, the user can lift the robot 100 by grasping the tongue 112. An omnidirectional camera is attached to the horn 112 so that the entire upper portion of the robot 100 can be imaged at one time. The horn 112 incorporates a transmitter and a receiver, the details of which will be described later with reference to FIGS. 7 and 8.

FIG. 2 is a cross-sectional view schematically showing the structure of the robot 100. As shown in FIG.
As shown in FIG. 2, the body 104 of the robot 100 includes a base frame 308, a body frame 310, a pair of resin wheel covers 312 and a shell 314. The base frame 308 is made of metal and constitutes an axial center of the body 104 and supports an internal mechanism. The base frame 308 is configured by connecting an upper plate 332 and a lower plate 334 by a plurality of side plates 336 up and down. The plurality of side plates 336 is sufficiently spaced to allow air flow. Inside the base frame 308, a battery 118, a control circuit 342 and various actuators are accommodated.

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

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

A plate 325 supporting the yaw axis 320 is fixed to the top of the head frame 316. The plate 325 is formed with a plurality of vents 327 for ensuring ventilation between the top and bottom.

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

Torso frame 318 houses base frame 308 and wheel drive mechanism 370. The wheel drive mechanism 370 includes a pivot shaft 378 and an actuator 379. The lower half of the body frame 318 is narrow to form a storage space S of the front wheel 102 with the wheel cover 312.

The outer cover 314 is made of urethane rubber and covers the body frame 310 and the wheel cover 312 from the outside. The hand 106 is integrally molded with the skin 314. At the upper end of the shell 314, an opening 390 for introducing external air is provided.

FIG. 3 is a block diagram of the robot system 300. As shown in FIG.
The robot system 300 includes a robot 100, a server 200 and a plurality of external sensors 114. A plurality of external sensors 114 (

external sensors

114a, 114b, ..., 114n) are installed in advance in the house. The external sensor 114 may be fixed to the wall of the house or may be mounted on the floor. In the server 200, position coordinates of the external sensor 114 are registered. The position coordinates are defined as x, y coordinates in a house assumed as the action range of the robot 100.

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

The external sensor 114 periodically transmits a wireless signal (hereinafter referred to as a “robot search signal”) including the ID of the external sensor 114 (hereinafter referred to as “beacon ID”). When the robot 100 receives the robot search signal, the robot 100 sends back a radio signal (hereinafter referred to as a “robot reply signal”) including a beacon ID. The server 200 measures the time from when the external sensor 114 transmits the robot search signal to when the robot reply signal is received, and measures the distance from the external sensor 114 to the robot 100. By measuring the distances between the plurality of external sensors 114 and the robot 100, the position coordinates of the robot 100 are specified.
Of course, the robot 100 may periodically transmit its position coordinates to the server 200.

FIG. 4 is a conceptual view of the emotion map 116. As shown in FIG.
The emotion map 116 is a data table stored in the server 200. The robot 100 selects an action according to the emotion map 116. An emotion map 116 shown in FIG. 4 indicates the size of a bad feeling for the location of the robot 100. The x-axis and y-axis of emotion map 116 indicate two-dimensional space coordinates. The z-axis indicates the size of the bad feeling. When the z value is positive, the preference for the location is high, and when the z value is negative, it indicates that the location is disliked.

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

A coordinate P2 is a point at which a bad feeling is high (hereinafter, referred to as a “disgust point”). Aversion points are places with loud noise such as near a television, places that are easy to get wet like baths and washrooms, closed spaces or dark places, places that lead to unpleasant memories that have been roughly treated by users, etc. It may be.
Although the definition of what place the robot 100 hates is also arbitrary, it is generally desirable to set a place where small animals such as small children, dogs and cats are scared as a hatred point.

The coordinate Q indicates the current position of the robot 100. The server 200 specifies position coordinates of the robot 100 based on a robot search signal periodically transmitted by the plurality of external sensors 114 and a robot reply signal corresponding thereto. For example, when the external sensor 114 with beacon ID = 1 and the external sensor 114 with beacon ID = 2 respectively detect the robot 100, the distance between the robot 100 is determined from the two external sensors 114, and the position coordinate of the robot 100 is determined therefrom. .

Alternatively, the external sensor 114 with beacon ID = 1 transmits a robot search signal in a plurality of directions, and when the robot 100 receives the robot search signal, it returns a robot reply signal. Thus, the server 200 may grasp how far the robot 100 is from which external sensor 114 and in which direction. In another embodiment, the movement distance of the robot 100 may be calculated from the number of revolutions of the front wheel 102 or the rear wheel 103 to specify the current position, or the current position may be determined based on an image obtained from a camera. It may be specified.
When the emotion map 116 shown in FIG. 4 is given, the robot 100 moves in the direction in which it is drawn to the favor point (coordinate P1) and in the direction away from the aversion point (coordinate P2).

The emotion map 116 changes dynamically. When the robot 100 reaches the coordinate P1, the z-value (favorable feeling) at the coordinate P1 decreases with time. As a result, the robot 100 can reach the favor point (coordinate P1), and emulate the biological behavior of "feeling of emotion" being satisfied and eventually "being bored" at the place. Similarly, bad feelings at coordinate P2 are also alleviated with time. As time passes, new favor points and aversion points are created, whereby the robot 100 makes a new action selection. The robot 100 has an "interest" at a new favor point and continuously selects an action.

The emotion map 116 expresses the ups and downs of emotion as the internal state of the robot 100. The robot 100 aims at the favor point, avoids the disgust point, stays at the favor point for a while, and then takes the next action again. Such control can make the behavior selection of the robot 100 human and biological.

The map that affects the behavior of the robot 100 (hereinafter collectively referred to as “action map”) is not limited to the emotion map 116 of the type shown in FIG. 4. For example, it is possible to define various action maps such as curiosity, fear of fear, feeling of relief, feeling of calmness and dimness, feeling of physical comfort such as coolness and warmth, and so on. Then, the destination point of the robot 100 may be determined by weighted averaging the z values of each of the plurality of action maps.

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

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

The internal sensor 128 is an assembly of various sensors incorporated in the robot 100. Specifically, it is a camera (all-sky camera), a microphone array, a distance measurement sensor (infrared sensor), a thermo sensor, a touch sensor, an acceleration sensor, an odor sensor, a touch sensor, and the like. The touch sensor is disposed between the outer skin 314 and the body frame 310 to detect a touch of the user. The odor sensor is a known sensor to which the principle that the electric resistance is changed by the adsorption of the molecule that is the source of the odor is applied.

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

The storage device 124 is configured by a non-volatile memory and a volatile memory, and stores a computer program and various setting information. The processor 122 is an execution means of a computer program. The drive mechanism 120 is an actuator that controls an internal mechanism. In addition to this, indicators and speakers will also be installed.

The processor 122 performs action selection of the robot 100 while communicating with the server 200 and the external sensor 114 via the communication device 126. Various external information obtained by the internal sensor 128 also affects behavior selection. The drive mechanism 120 mainly controls the wheel (front wheel 102) and the head (head frame 316). The drive mechanism 120 changes the rotational direction and the rotational direction of the two front wheels 102 to change the moving direction and the moving speed of the robot 100. The drive mechanism 120 can also raise and lower the wheels (the front wheel 102 and the rear wheel 103). When the wheel ascends, the wheel is completely housed in the body 104, and the robot 100 abuts on the floor surface F at the seating surface 108 to be in the seating state. Also, the drive mechanism 120 controls the hand 106 via the wire 135.

FIG. 6 is a functional block diagram of the robot system 300. As shown in FIG.
As described above, the robot system 300 includes the robot 100, the server 200, the jewelry 140, and the plurality of external sensors 114. The accessory 140 has a function of transmitting an operation command to the robot 100. The components of the robot 100, the server 200 and the accessory 140 are arithmetic units such as central processing units (CPUs) and various co-processors, storage devices such as memories and storages, and hardware including wired or wireless communication lines connecting them. And software that is stored in the storage device and supplies processing instructions to the computing unit. The computer program may be configured by a device driver, an operating system, various application programs located in the upper layer of them, and a library that provides common functions to these programs. Each block described below indicates not a hardware unit configuration but a function unit block.
Some of the functions of the robot 100 may be realized by the server 200, and some or all of the functions of the server 200 may be realized by the robot 100.

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

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

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

Many of the motions of the robot 100 are configured as complex motions including a plurality of unit motions. For example, when the robot 100 approaches the owner, it may be expressed as a combination of a unit motion that turns toward the owner, a unit motion that approaches while raising the hand, a unit motion that approaches while shaking the body, and a unit motion that sits while raising both hands. . The combination of such four motions realizes a motion of “close to the owner, raise your hand halfway, and finally sit down with your body shaking”. In the motion file, the rotation angle and angular velocity of an actuator provided in the robot 100 are defined in association with the time axis. Various motions are represented by controlling each actuator with the passage of time according to a motion file (actuator control information).

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

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

The map storage unit 216 stores, in addition to a plurality of action maps, a map indicating the arrangement of obstacles such as chairs and tables. The personal data storage unit 218 stores information of the user, in particular, the owner. Specifically, master information indicating the closeness to the user and the physical and behavioral characteristics of the user is stored. Other attribute information such as age and gender may be stored. The personal data storage unit 218 also registers familiarity with not only the user but also other robots 100.

The robot 100 has an internal parameter called familiarity for each user. When the robot 100 recognizes an action indicating favor with itself, such as raising itself or giving a voice, familiarity with the user is increased. The closeness to the user who is not involved in the robot 100, the user who is violent, and the user who is infrequently encountered is low. The closeness of the robot 100 to the robot 100 will be described later.

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

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

For example, when the emotion parameter indicating loneliness is high, the emotion management unit 234 sets the weighting coefficient of the behavior map for evaluating a safe place large. When the robot 100 reaches a point where loneliness can be eliminated in the action map, the emotion management unit 234 reduces the emotion parameter indicating the loneliness. In addition, various emotional parameters are also changed by the response action described later. For example, the emotion parameter indicating loneliness declines when being "held" from the owner, and the emotion parameter indicating loneliness gradually increases when the owner is not viewed for a long time.

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

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

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

The recognition unit 212 of the server 200 further includes a person recognition unit 214 and a response recognition unit 228.
The human recognition unit 214 compares the feature vector extracted from the image captured by the built-in camera of the robot 100 with the feature vector of the user (cluster) registered in advance in the personal data storage unit 218, thereby capturing the user It is determined which person corresponds to (user identification processing). The person recognition unit 214 includes an expression recognition unit 230. The facial expression recognition unit 230 estimates the user's emotion by performing image recognition on the user's facial expression.
The person recognition unit 214 also performs user identification processing on moving objects other than a person, for example, cats and dogs that are pets.

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

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

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

The closeness management unit 220 manages closeness for each user. As described above, the intimacy degree is registered in the personal data storage unit 218 as part of the personal data. When a pleasant act is detected, the closeness management unit 220 increases the closeness to the owner. The intimacy is down when an offensive act is detected. In addition, the closeness of the owner who has not viewed for a long time gradually decreases.

The closeness management unit 220 of the present embodiment manages closeness not only for the owner but also for each robot 100. Familiarity with other robots 100 is also registered in the personal data storage unit 218 as part of personal data. The closeness to another robot 100 increases or decreases depending on how it is associated with the robot 100, which will be described in detail later.

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

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

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

The data storage unit 148 includes a motion storage unit 160 that defines various motions of the robot 100.
Various motion files are downloaded from the motion storage unit 232 of the server 200 to the motion storage unit 160 of the robot 100. Motion is identified by motion ID. A state in which the front wheel 102 is accommodated, which causes the robot 100 to rotate by having only the front wheel 102 housed and seated, lifting the hand 106, rotating the two front wheels 102 in reverse, or rotating only one front wheel 102 In order to express various motions such as shaking by rotating the front wheel 102 at a time, stopping and turning back once when leaving the user, operation timing, operation time, operation direction, etc. of various actuators (drive mechanism 120) Temporarily defined in motion file.

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

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

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

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

The motion control unit 150 can also execute a motion to lift both hands 106 as a gesture that encourages "hug" when a user with high intimacy is nearby, and when the "hug" gets tired, the left and right front wheels 102 By alternately repeating reverse rotation and stop while being accommodated, it is also possible to express a motion that annoys you. The drive mechanism 120 causes the robot 100 to express various motions by driving the front wheel 102, the hand 106, and the neck (head frame 316) according to the instruction of the operation control unit 150.

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

When the reception unit 164 detects robot information, the robot detection unit 152 specifies the presence of another robot and the direction or position thereof. The details of the robot information will be described later. The charge monitoring unit 154 monitors the remaining battery level of the battery 118.

The recognition unit 156 of the robot 100 interprets external information obtained from the internal sensor 128. The recognition unit 156 is capable of visual recognition (visual unit), odor recognition (olfactory unit), sound recognition (hearing unit), and tactile recognition (tactile unit).

The recognition unit 156 periodically images the outside world with the built-in omnidirectional camera, and detects a moving object such as a person or a pet. The recognition unit 156 includes a feature extraction unit 146. The feature extraction unit 146 extracts a feature vector from the captured image of the moving object. As described above, the feature vector is a set of parameters (features) indicating physical features and behavioral features of the moving object. When a moving object is detected, physical features and behavioral features are also extracted from an odor sensor, a built-in sound collection microphone, a temperature sensor, and the like. For example, when moving objects appear in the image, bearded, working in the early morning, wearing red clothes, smelling of perfume, loud voice, wearing glasses, wearing skirts A variety of features are extracted, such as white-haired, tall, fat, tan, and being on a couch. These features are also quantified and become feature vector components.

The robot system 300 clusters users who frequently appear as “owners” based on physical features and behavioral features obtained from a large amount of image information and other sensing information.
For example, if a moving object (user) with a beard is active (early rising) in the early morning and is less likely to wear a red dress, a cluster (with a beard growing early and not wearing much red dress) User), the first profile. On the other hand, moving objects wearing glasses often wear skirts, but if these moving objects have no beards, clusters wearing glasses wearing skirts but no absolute beards The second profile (user) can be created.
The above is a simple example, but according to the above-mentioned method, a first profile corresponding to a father and a second profile corresponding to a mother are formed, and there are at least two users (owners) in this house The robot 100 recognizes that.

However, the robot 100 does not have to recognize that the first profile is "father". It is only necessary to be able to recognize the figure of "a cluster with a beard and often getting up early, and a cluster that rarely wears red clothes". For each profile, a feature vector characterizing the profile is defined.

It is assumed that the robot 100 newly recognizes a moving object (user) while such cluster analysis is completed.
At this time, the person recognition unit 214 of the server 200 executes the user identification process based on the feature vector of the new moving object, and determines which profile (cluster) the moving object corresponds to. For example, when a moving object with a beard is detected, the moving object is likely to be a father. If this moving object is acting in the early morning, it is more certain that it corresponds to the father. On the other hand, when detecting a moving object wearing glasses, the moving object may be a mother. If the moving object has a beard, it is not a mother but a father, so it is determined to be a new person not subjected to cluster analysis.

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

Among the series of recognition processes including detection, analysis, and determination, the recognition unit 156 of the robot 100 selects and extracts information necessary for recognition, and interpretation processes such as determination are executed by the recognition unit 212 of the server 200. . The recognition processing may be performed only by the recognition unit 212 of the server 200, or may be performed only by the recognition unit 156 of the robot 100, or both perform the above-mentioned recognition processing while sharing roles. It is also good.

When a strong impact is given to the robot 100, the recognition unit 156 recognizes this by the built-in acceleration sensor, and the response recognition unit 228 of the server 200 recognizes that the "abuse act" is performed by the user in the vicinity. Even when the user holds the tongue 112 and lifts the robot 100, it may be recognized as a violent act. When the user directly facing the robot 100 utters in a specific sound volume region and a specific frequency band, the response recognition unit 228 of the server 200 may recognize that the “voice call action” has been performed on itself. In addition, when the temperature around the body temperature is detected, it is recognized that the user has made "contact action", and when the upward acceleration is detected in the state where the contact is recognized, it is recognized that "handing" is made. The physical contact when the user lifts the body 104 may be sensed, or the holding on the front wheel 102 may be recognized by lowering the load.
In summary, the robot 100 acquires the user's action as physical information by the internal sensor 128, the response recognition unit 228 of the server 200 determines comfort / discomfort, and the recognition unit 212 of the server 200 performs user identification processing based on the feature vector Run.

The response recognition unit 228 of the server 200 recognizes various responses of the user to the robot 100. Of the various types of response actions, some typical response actions correspond to pleasure or discomfort, affirmation or denial. In general, most pleasurable actions are positive responses, and most offensive actions are negative. Pleasure and discomfort are related to intimacy, and affirmative and negative responses affect the action selection of the robot 100.

In accordance with the response action recognized by the recognition unit 156, the closeness management unit 220 of the server 200 changes the closeness to the user. In principle, the intimacy with the user who has performed pleasure is increased, and the intimacy with the user who has performed offensive activity decreases.

The closeness to the user changes depending on what action is taken from the moving object (user).

The robot 100 sets a high degree of intimacy for people who frequently meet, people who frequently touch, and people who frequently speak. On the other hand, the intimacy with the people who rarely see, those who do not touch very much, the violent people, the people who speak loudly becomes low. The robot 100 changes the intimacy degree of each user based on various external information detected by sensors (vision, touch, hearing).

The actual robot 100 autonomously performs complex action selection in accordance with the action map. The robot 100 acts while being influenced by a plurality of action maps based on various parameters such as loneliness, boredom and curiosity. The robot 100 tries to approach people with high intimacy and leaves people with low intimacy, in principle, when the influence of the action map is excluded or in an internal state where the influence of the behavior map is small. I assume.

The behavior of the robot 100 is categorized as follows according to closeness.
(1) The user robot 100 with a very high degree of intimacy approaches the user (hereinafter referred to as “proximity action”), and performs the affection of love by predefining a gesture of love for people. Express strongly.
(2) The user robot 100 with relatively high intimacy performs only the proximity action.
(3) The user robot 100 with relatively low intimacy does not perform any particular action.
(4) The user robot 100 with a particularly low intimacy performs a leaving action.

According to the above control method, when the robot 100 finds a user with high intimacy, it approaches that user, and conversely, when finding a user with low intimacy, it leaves the user. By such a control method, it is possible to express so-called "human sight" behavior. In addition, when a visitor (user A with low intimacy) appears, the robot 100 may move away from the visitor and head toward the family (user B with high intimacy). In this case, the user B can feel that the robot 100 is aware of strangers and feels uneasy, and relies on himself. Such a behavioral expression evokes the user B the joy of being selected and relied upon, and the accompanying attachment.

On the other hand, when the user A who is a visitor frequently visits, calls and makes a touch, the intimacy with the user A of the robot 100 gradually increases, and the robot 100 does not act as an acquaintance with the user A (disengagement behavior) . The user A can also have an attachment to the robot 100 by feeling that the robot 100 has become familiar with himself.

Note that the above action selection is not always performed. For example, when the internal parameter indicating the curiosity of the robot 100 is high, the robot 100 may not select the behavior influenced by the intimacy because the action map for finding a place satisfying the curiosity is emphasized. . In addition, when the external sensor 114 installed at the entrance detects that the user has returned home, the user may be asked to give priority to the user's meeting action.

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

FIG. 7 is an enlarged view of the horn 112.
A communication device disposition surface G is formed on the horn 112. On the communication device arrangement plane G, IrDA (registered trademark) transmitters and receivers are installed. IrDA (registered trademark) is highly directional and has a short communication range of about 0.3 to 1.0 meter. The communication range of IrDA (registered trademark) is limited to a short distance as compared to general wireless communication. In addition, IrDA (registered trademark) is not only in a short distance, but also in a visible state, because it can not communicate even if there is only a simple non-transmissive shield such as paper between the transmitter and the receiver. It can only communicate with the other party. In other words, since it is possible to transmit and receive only when the other party can visually recognize, it is possible to perform extremely natural and secure communication in which a person speaks secretly.

FIG. 8 is a top view of the communication device disposition surface G.
Eight second communication devices 304 (second communication devices 304a to 304h) are annularly arranged on the circular communication device arrangement surface G. In FIG. 8, the upper side of the drawing corresponds to the front of the robot 100 (front side), and the lower side of the drawing corresponds to the rear of the robot 100 (back side). The second communicator 304 includes one transmitter 158 and one receiver 168. Therefore, eight transmitters 158 and eight receivers 168 are alternately arranged on the communication device arrangement plane G. Position codes (IDs) are set to the eight second communication devices 304 (the transmitters 158 and the receivers 168) as follows.
Position code of second communication device 304a (front): F
Position code of second communication device 304 b (front left): FL
Position code of second communication device 304 c (left): L
Position code of second communication device 304 d (left rear): BL
Position code of second communication device 304e (rear): B
Position code of second communication device 304f (right rear): BR
Position code of second communication device 304g (right): R
Position code of second communication device 304h (front right): FR
Eight transmitters 158 (transmitters 158a to 158h) correspond to the transmitting unit 162 in FIG. 6, and eight receivers (receivers 168a to 168h) correspond to the receiving unit 164.

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

The receiver 168 receives robot information and operation instructions from another robot 100. The receiver 168 also receives motion commands from the jewellery 140.

When robot information is transmitted from the first robot 100 to the second robot 100, the second robot 100 can specify the type, position, direction, and distance of the transmission source based on the robot information. The second robot 100 first specifies the first robot 100 as a transmission source based on the robot ID. Here, it is assumed that the left receiver 168 c (position code: L) of the second robot 100 receives robot information including “position code: F” from the first robot 100. At this time, in the robot detection unit 152 of the second robot 100, the first robot 100 is positioned to the left of the second robot 100, and the first robot 100 faces the second robot 100. It is determined that This is because the left receiver 168 c (position code: L) of the second robot 100 receives robot information from the transmitter 158 a (position code: F) in front of the first robot 100.

More strictly, the robot detection unit 152 of the second robot 100 specifies the presence direction of the first robot 100 based on the reception intensity of the robot information in each of the plurality of receivers 168. For example, if the reception strength of the receiver 168 c (left) is greater than the reception strength of any of the other receivers 168, it can be identified that the first robot 100 is on the left of the second robot 100. Furthermore, the robot detection unit 152 also specifies the distance to the external robot 100 based on the reception intensity. In addition, when the reception intensity of the signal from the transmitter 158a of the first robot 100 is larger than the reception intensity of the signals from the other transmitters, it is assumed that the first robot 100 faces the second robot 100. It can be determined.

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

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

When the robot ID of the external robot 100 is detected, the motion control unit 150 selects any one of a plurality of types of motion associated with an event E1 of “new detection of robot ID”. Specifically, various motions such as turning around, approaching, leaving, etc. can be considered. The motion control unit 150 expresses action recognition that the external robot 100 is recognized by stopping the motion in progress, changing the interval of motion, changing the execution speed of motion, or the like corresponding to the event E1. It is also good.

In particular, when an unregistered robot ID is detected, the operation control unit 150 selects any one of a plurality of types of motion associated with an event E2 of “detection of unregistered robot ID”. Specifically, various motions can be considered, such as turning around, approaching, and turning the neck. The motion control unit 150 may express curiosity or alertness due to finding the unknown robot 100, such as stopping the motion in progress or reducing the execution speed of the motion in response to the event E2.

The operation control unit 150 changes the behavior characteristic of the robot 100 according to the direction in which the external robot 100 exists. For example, when there is an external robot 100 behind, motion away from the external robot 100 may be executed. In other words, when an event E3 "detecting the robot ID by the receiver 168e (position code: B) located behind" occurs, the operation control unit 150 sets the movement target point of the robot 100 ahead. , The action of being surprised and fleeing to the robot 100 appearing behind is expressed. The motion control unit 150 may execute a motion looking backward by rotating the robot 100. Similarly, when the external robot 100 exists in front of the self robot 100, the motion control unit 150 may execute a motion approaching the external robot 100.

The transmitting unit 162 of the robot 100 transmits an operation command to the external robot 100. The motion command includes the motion ID of the motion to be executed. The robot 100 may transmit any operation command at any timing, for example, random timing, or may transmit an operation command when an event occurs such as when the external robot 100 is detected. For example, when the robot 100P transmits an operation command X1 instructing the robot 100Q to follow the movement, the operation control unit 150 of the robot 100Q moves behind the robot 100P that is the transmission source, and thereafter moves following the robot 100P. You may The following operation will be described in more detail with reference to FIG.

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

When the motion control unit 150 selects a motion of the robot 100, the command selection unit 166 may select a motion command associated with the selected motion. For example, it is assumed that the motion command X2 "I will raise the hand 106" and the operation command X3 "stop" are associated with the motion M1 "I raise the hand 106". When the robot 100P selects the motion M1, the command selection unit 166 of the robot 100P randomly selects one of the operation commands X2 and X3. Suppose that the operation instruction X2 is selected. The transmitters 162 (transmitters 158a to 158h) of the robot 100P transmit the operation command X2 to the robot 100Q (external robot 100). According to such a control method, when the robot 100P raises the hand 106 (motion M1), another robot 100Q realizes an action chain of raising the hand 106 accordingly. As another example, when an operation command X1 instructing a "following operation" to the motion M2 "move" is selected, an action chain is realized in which another robot 100Q starts to move together when the robot 100P moves. Ru.

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

Further, when an operation command is transmitted from the robot 100 to the external robot 100, it is determined whether or not the external robot 100 executes the operation command. When the external robot 100 executes the operation command X, in other words, when the operation command X is accepted, the transmitting unit 162 of the external robot 100 returns an “acceptance signal” to the self-robot 100 of the transmission source. When the robot 100 receives the acceptance signal, it adds the closeness to the external robot 100. The external robot 100 performs motion selection in accordance with the operation command X.

When the external robot 100 rejects the operation command X, the external robot 100 returns a "rejection signal" to the self robot 100 of the transmission source. When the robot 100 receives the rejection signal, it subtracts the closeness to the external robot 100. According to such a control method, the closeness (or preference) to the external robot 100 according to the operation command is enhanced, and the closeness (or preference) to the external robot 100 not conforming to the operation command is lowered. In other words, it is possible to give the robot 100 the biological property that it likes the robot 100 that listens to instructions and dislikes the robot 100 that does not listen to instructions.

Self-robot 100 may subtract familiarity with external robot 100 with time. According to such a control method, it is possible to express the biological characteristic that the sense of closeness (closeness) gradually decreases for the external robot 100 whose relationship has become thin.

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

According to such a control method, although it is easy to follow the operation command of the robot 100 with high intimacy, it is possible to realize an action characteristic that it is difficult to follow the operation instruction from the robot 100 with low intimacy. When the closeness between the robot 100P and the robot 100Q increases with each other, when one robot 100 transmits the operation command X, the other robot 100 responds to the operation command X to change the motion, so the plurality of robots 100 become friendly In other words, it becomes possible to express behavior as if they are friends. In particular, in the case of robots 100 having high closeness, one robot 100 selects a motion and transmits an operation command, while the other robot 100 selects a motion according to the operation command and newly transmits an operation command. The action chain to send continues for a long time.

The robot 100 may change the behavior characteristic according to the intimacy degree. When the robot 100 receives the robot ID of the external robot 100, the robot 100 confirms the closeness of the external robot 100. For example, the motion control unit 150 of the robot 100 approaches the external robot 100 if the intimacy degree of the external robot 100 is 70 or more, and faces toward the external robot 100 when the intimacy degree is 30 or more and less than 70. . In addition, when the closeness degree of the external robot 100 is less than 30, the operation control unit 150 may instruct the drive mechanism 120 to separate from the external robot 100. According to such a control method, it is possible to express an action characteristic in which the close robot 100 approaches and the unfriendly robot 100 separates.

FIG. 9 is a schematic view showing how a plurality of robots 100 form a formation.
In FIG. 9, the first robot 100P transmits an operation command X1 instructing a "following operation". The plurality of transmitters 158 mounted on the robot 100P transmit the operation command X1 in all directions. The robot 100Q receives the operation command X1 from the robot 100P. The robot 100Q identifies, among the plurality of transmitters 158 mounted on the robot 100P, the transmitter 158e at the rear of the robot 100P with the position code (B) included in the robot information. The motion control unit 150 of the robot 100Q moves to the rear of the robot 100P and follows the robot 100P. Specifically, the robot 100Q is a position where the receiver 168a (forward) of the robot 100Q can receive robot information from the transmitter 158e (backward) of the robot 100P with a larger reception intensity than the other receivers 168. Move to In this manner, the robot 100Q moves to a position where it can receive robot information from the transmitter 158e at the rear of the robot 100P, and thereafter follows the robot 100P, whereby the robot 100Q follows the robot 100P. It becomes possible to express.

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

The robot 100Q further transmits (relays) an operation command X1. The robot 100P that has transmitted the operation command X1 is set by the operation control unit 150 in the “command mode”. The robot 100 set in the instruction mode does not receive an operation instruction from another robot 100. Therefore, in FIG. 9, the robot 100P does not respond to the operation command X1 of the robot 100Q. On the other hand, the robot 100R which has not entered the command mode receives the operation command X1 from the robot 100Q and follows the robot 100Q. According to such a control method, it is possible to cause the plurality of robots 100 to take row action in response to the transmission of the operation command X1 from the robot 100P. Operation control unit 150 cancels the instruction mode after a predetermined time has elapsed.

The following operation can be performed not only from the rear but also from the side. For example, the robot 100P can move to the left and right following the robot 100Q and the robot 100R. In this case, the robot 100Q receives the operation command X1 from the transmitter 158g (position code: R) on the right side of the robot 100P, and the robot 100R receives the operation command X1 from the transmitter 158c (position code: L) on the left side of the robot 100P. It may move to a position where the operation command X1 is received. According to such a control method, when a large number of robots 100 gather at a large event hall such as a gymnasium, it is possible to make these robots 100 take simultaneous action. Not only the follow-up operation, various action chains such as raising the hand 106 all at once, or raising the neck all at once are possible. The action chain can provide the fun for the owner to bring the robot 100 and interact.

FIG. 10 is a schematic view showing an action instruction to the robot 100 by the accessory 140.
The accessory 140 (wristband) includes a plurality of transmitters 158 and a plurality of receivers 168 in the same manner as the communication device arrangement plane G shown in FIG. A set of transmitters 158 corresponds to the transmitting unit 144, and a set of receivers 168 corresponds to the receiving unit 170. The transmitter 158 and receiver 168 of the jewellery 140 are also identified by the position code. The transmission unit 144 of the accessory 140 periodically transmits the operation command X. The transmission reach area 190 indicates the range in which the movement command X of the accessory 140 can reach.

The user wearing the accessory 140 (wristband) can switch the operation instruction to be transmitted via the instruction selection unit 172. It is assumed that the accessory 140 transmits an operation command X5 of "prohibit entry into the entry prohibited area 180". The entry prohibited area 180 may be set as a range in which the robot 100 can visually recognize the accessory 140, or may be set as a range closer to the accessory 140 so that the reception intensity of the operation command X5 is equal to or more than a predetermined threshold. In FIG. 10, since the robot 100S receives the operation command X5, it is separated from the accessory 140 without entering the entry prohibited area 180 while approaching the accessory 140. By the operation command X5, an operation instruction to keep the robot 100 away from the accessory 100 can be performed.

When the user does not want to be associated with the robot 100 for study or work, wearing the accessory 140 (wristband) and transmitting the operation command X5 allows the user to concentrate on the work without being disturbed by the robot 100. . The non-entry area 180 may not be circular. The non-entry area 180 may have another shape such as an elliptical shape, or may change the size and the shape periodically. When the robot 100 receives an operation command, the robot 100 probability determines acceptance or rejection, and sends back an acceptance signal or rejection signal indicating the determination result to the accessory 140. However, some “strong operation instructions” such as the operation instruction X5 may not be rejected.

In addition, it is assumed that the accessory 140 transmits an operation command X4 "seat". When receiving the operation command X4, the robot 100T located in the transmission reach area 190 receives the front wheel 102 and sits down. The instruction selection unit 166 of the robot 100T selects the operation instruction X4 and transmits (relays) the operation instruction X4. When the robot 100U receives the operation command X4 from the robot 100T, the robot 100T is also seated.

Since the robot 100U is out of the transmission reach area 190, the robot 100U does not receive the operation command X4 of the accessory 140, but is seated by relay of the operation command X4 by the robot 100T. According to such a control method, the movement command X of the accessory 140 can be relayed to many robots 100 without being restricted by the transmission reach area 190 of the accessory 140. For example, when there are a large number of robots 100, if an operation command X4 is transmitted from the accessory 140, the robots 100 near the accessory 140 will be seated one after another like a so-called "tombstone". be able to.

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

The accessory 140 can simultaneously transmit the operation command X to the plurality of robots 100 present in the transmission reach area 190. Therefore, the user of the accessory 140 can enjoy the feeling of giving instructions to a plurality of robots 100 at the same time. For example, by transmitting an operation command X6 meaning "close up", the plurality of robots 100 are gathered around oneself, and next, an operation command X4 meaning "seating" is transmitted, and the gathered robots 100 are You can sit at the same time. In addition to this, it is possible to define various operation instructions such as shaking the hand 106, and the like. Since a monitor is installed on the eye 110 of the robot 100, the expression of the eye 110 may be controlled by an operation command. For example, an operation command that causes the eyes 110 of the robot 100 to light up simultaneously may be considered.

FIG. 11 is a schematic view for explaining an authentication process of the guest robot 100W by the host robot 100V.
The robot system 300 including the server 200 and the host robot 100V can accept a new guest robot 100W. The host robot 100V is a robot 100 that receives action support from the server 200. Here, “accept” means that the guest robot 100W, who is a foreigner, connects to the server 200 and accesses the resources (hardware, software, and data) managed by the server 200 to support the behavior from the server 200. To be able to receive After that, the server 200 supports the actions of the two robots 100 of the host robot 100V and the guest robot 100W.

The following description is based on the premise that the guest robot 100W is brought to a house serving as a base of the robot system 300 (server 200 and host robot 100V). The guest robot 100W can connect to the server 200 by receiving access information from the host robot 100V. The "access information" mentioned here is an access key of a wireless local area network (LAN) to which the server 200 is connected, an IP address of the server 200, a port number, a password, and the like.

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

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

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

As described above, when the host robot 100V detects the unregistered robot 100, the host robot 100V transfers the access information and the like to the unregistered robot 100 (guest robot 100W) to support the connection of the guest robot 100W to the server 200. In the case of transmitting the access information in an omnidirectional communication method with a wide communication range, there is a risk that the access information may be intercepted. Since IrDA (registered trademark) has strong directivity and limited communication range as described above, the risk of interception is low. The access information may be transmitted when the external robot 100 is detected as well as the unregistered robot 100. By providing the access information in this manner, the guest robot 100W can access the network without human intervention.

FIG. 12 is an external view of the charging station 250. As shown in FIG.
The charging station 250 (charging station 250 a and charging station 250 b) is a charger of the robot 100 and has an internal space for accommodating the robot 100. When the robot 100 enters the charging station 250 (charger) and assumes a predetermined posture, charging is started. The charging station 250 and the robot 100 are associated on a one-to-one basis. The charging station 250 incorporates the communication device 252. The communication device 252 periodically transmits the robot ID of the corresponding robot 100 using IrDA (registered trademark).

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

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

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

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

According to such a control method, even when a plurality of charging stations 250 are installed, the robot 100 can identify and charge the “charging station 250 for oneself”. For this reason, biological characteristics similar to homing instinct can be behaviorally expressed in the robot 100.

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

In the case of image recognition, there is a possibility that the robot 100 reflected in the mirror may be misunderstood as the external robot 100, but such an erroneous method is used in the identification method by the robot ID (hereinafter referred to as "ID identification method") There is no recognition. For example, when the robot 100 with the robot ID = 01 receives the robot ID = 01 reflected by the mirror, it can be recognized that the robot 100 reflected in the mirror is the own robot 100 and not the external robot 100. The ID identification method also has the advantage that the processing load is lighter than image recognition.

The robot detection unit 152 can easily specify the direction in which the robot 100 is present based on which of the plurality of receivers 168 receives the signal from the external robot 100 at the maximum reception intensity. The robot detection unit 152 can also specify the orientation of the external robot 100 relative to the robot 100 based on the “position code of the transmitter 158” transmitted from the external robot 100.

The distance at which the robot 100 can receive the robot ID of the external robot 100 is a distance at which the robot 100 can recognize the external robot 100. When the reception capability of the robot 100 is low, only the external robot 100 located nearby can be recognized. In other words, the reception capability of the robot 100 can express the “eyesight (recognition possible range)” of the robot 100.

When the robot ID of the external robot 100 is detected, the self robot 100 changes the behavior characteristic. According to such a control method, it becomes possible to express an action as if the action of the own robot 100 has been changed with awareness of the presence of the external robot 100 (the other person). In particular, when an unregistered robot is detected, a motion approaching the external robot 100 may be selected to express "curiosity", or "wariness" may be displayed by turning away from the head or leaving the external robot 100. You may express an action.

By managing the closeness of the robot 100 to the robot 100, it is possible to express liking or dislike between the robots 100. For example, although the robot 100P likes the robot 100Q but the robot 100Q does not like the robot 100P very much, it is possible to express a relationship similar to “human relationship” between the robots 100. In other words, the “sociality” of the robots 100 can be expressed.

According to the present embodiment, the robot 100P transmits the operation command X to the robot 100Q, and the robot 100Q transmits the operation command X to another robot 100R, whereby the action chain of many robots can be realized. The same applies to the case where the accessory 140 transmits the operation command X. According to such a control method, various expressions can be made not only on the action characteristic as the single robot 100 but also on the action characteristic as a group.

The present invention is not limited to the above-described embodiment and modification, and the components can be modified and embodied without departing from the scope of the invention. Various inventions may be formed by appropriately combining a plurality of components disclosed in the above-described embodiment and modifications. Moreover, some components may be deleted from all the components shown in the above-mentioned embodiment and modification.

Although the robot system 300 is described as being configured of one robot 100, one server 200, and a plurality of external sensors 114, part of the functions of the robot 100 may be realized by the server 200, or the functions of the server 200 A part or all of may be assigned to the robot 100. One server 200 may control a plurality of robots 100, or a plurality of servers 200 may cooperate to control one or more robots 100.

A third device other than the robot 100 or the server 200 may have a part of the function. An aggregate of the functions of the robot 100 and the functions of the server 200 described with reference to FIG. 6 can also be generally understood as one “robot”. How to allocate a plurality of functions necessary to realize the present invention to one or more hardwares will be considered in view of the processing capability of each hardware, the specifications required of the robot system 300, etc. It should be decided.

As described above, the “robot in a narrow sense” refers to the robot 100 not including the server 200, while the “robot in a broad sense” refers to the robot system 300. Many of the functions of the server 200 may be integrated into the robot 100 in the future.

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

The motion command X may be a motion command for executing a game played by a plurality of robots 100. As an example, it is assumed that "playing a tag" by a plurality of robots 100. First, the robot 100P transmits an action command X7 "I want to play a tag game" to gather friends. The robot 100 that has accepted the motion command X7 participates in the tag game. Suppose that three robots 100P to 100R participate in a tag game. First, the state management unit 244 of the server 200 registers the robot 100P as a "oni". The communication unit 204 of the server 200 notifies the robots 100 P to 100 R that the robot 100 P is “oni”.

The demonic robot 100P chases the robot 100Q and the robot 100R, and the robot 100Q and the robot 100R escape from the robot 100P (Oki). When the robot 100P (or demon) contacts the robot 100Q, the robot 100Q recognizes that "Oki" is touched by the reception of the robot information and the detection signal of the touch sensor, and notifies the server 200 of the touch. The server 200 sets the robot 100Q as the "oni". By such a control method, it is possible to express an action that a plurality of robots 100 gather and play with only the robot 100 to play.

The motion command X not only designates a motion directly, but may be a start command of various behavior control programs (application programs) mounted on the external robot 100. For example, by instructing the external robot 100 equipped with an action control program (hereinafter referred to as an “ongo application”) for executing the “ongo game”, the onion game by a plurality of robots 100 is instructed. May be performed. Various action control programs such as the “following operation” described with reference to FIG. 9 and “hand play” in which the two robots 100 touch the hand 106 can be considered. These behavior control programs are identified by application ID. The first robot 100 may instruct the second robot 100 to perform an action control program to be activated by transmitting an operation command X specifying the application ID to the second robot 100. Then, when the second robot 100 returns an acceptance signal, the first robot 100 may also activate the same action control program. As described above, the robot 100 carries not only the basic motion but also the action selection program (application program) that defines the action selection method under a specific rule, and the start instruction from one to the other ( You may transmit the operation command as invitation of play.

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

The robot 100 may execute near field communication with the external robot 100 only when the external robot 100 can be visually recognized. Specifically, the robot detection unit 152 of the robot 100 captures an image of the external robot 100 with a camera, and when image recognition of the external robot 100 is performed, only when robot information or the like is received from the external robot 100 The position and orientation of the robot 100 may be identified. Also, the operation control unit 150 may accept the operation command X from the external robot 100 only when the image recognition of the external robot 100 can be performed. The motion control unit 150 ignores the motion command X from the external robot 100 if the direction in which the external robot 100 recognized by the camera is present does not coincide with the direction in which the external robot 100 recognized by the second communication unit 134 is present. It may be According to such a control method, since the self-robot 100 performs short-distance wireless communication only with the external robot 100 that has been visually recognized, unnecessary and unnatural reactions to short-distance wireless communication from other than the external robot 100 Stop doing action. The robot 100 may also receive an operation command X from the accessory 140 on condition that the accessory 140 is viewed. The motion command functions like a so-called "telepathy" between the robots 100. According to the above control method, it is possible to express a more consistent behavior characteristic that only the operation command (telepathy) from the external robot 100 in front of the user is accepted.

When the image recognition of the external robot 100 is performed, the operation control unit 150 may approach the external robot 100 and confirm the robot ID by near field communication. The robot 100 can usually view the external robot 100 from outside the communication range of IrDA (registered trademark). According to such a control method, it is possible to express an action characteristic in which the external robot 100 is confirmed from a distance and approached to confirm its identity.

In the present embodiment, it has been described that robot information and operation commands are transmitted and received by IrDA (registered trademark). As a modification, the second communication unit 134 may communicate with the external robot 100 or the accessory 140 by another short distance wireless communication method such as ultrasonic communication, near field communication (NFC), or Bluetooth (registered trademark).

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

The accessory 140 may be any item (portable item) that can be carried by the user. For example, the jewelry 140 may be a piercing, a mobile phone, a smartphone, a strap, a key ring, a ring, a charm, or the like. The accessory 140 may transmit a plurality of operation instructions at the same time. For example, the entry prohibition command and the seating command may be transmitted simultaneously. The accessory 140 may transmit the operation command simultaneously in a plurality of directions, or may transmit the operation command using a nondirectional radio wave.

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

(First modified example of accessory 140)
The accessory 140 may be formed as, for example, a magic wand or a rod imitating a baton as a guidance device having a communication function with the robot 100. Specifically, the accessory 140 includes a grip portion which is a portion gripped and operated by the user, and a stick (stretching member) connected to the grip portion. A light emitting unit is attached to the tip of the stick.

The grip comprises a switch. In addition, a battery is built in the grip portion. The user operates the switch to select one of a plurality of modes. For example, in the multiple modes, a mode in which a robot at a distant place is called (hereinafter referred to as “calling mode”), a mode in which the robot is played by using a stick to play (hereinafter referred to as “induction mode”) It is a mode (hereinafter referred to as a “walk mode”) in which a walk is taken as connecting a lead (string). The instruction selection unit 172 selects an operation instruction according to the mode and the method of moving the stick at that time according to the operation of the switch.

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

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

The link formation unit communicates with the robot 100 using near field communication such as NFC. For example, the link 140 may be established by bringing the accessory 140 into contact with the robot 100 using near-field wireless communication means. In addition, after the link is established, when the accessory 140 is brought into contact with the robot 100 again, the robot 100 may delete the registered identification number of the accessory 140 to be linked, thereby canceling the link state. Further, when the robot 100 already in the linked state is touched by another accessory 140 not to be linked, the identification number of the new accessory 140 is overwritten and registered. At this time, the existing link state is cancelled, and the link with the newly touched accessory 140 is established. The robot 100 may automatically cancel the link state after a predetermined period has elapsed. The robot 100 may automatically cancel the link state after a predetermined period has elapsed since the last reception of the operation command from the accessory 140.

An acceleration sensor incorporated in the light emitting unit (tip portion) detects movement (speed, acceleration, and moving direction) of the tip portion. In the guidance mode, the user moves the stick to select an operation command according to the trajectory of the tip. For example, if the stick is moved in a circle around the robot, an operation command instructing to follow the movement is selected. In addition, when the stick is swung from the near side in a target direction, an operation command to move in the swung direction is selected.

In the case of the call-up mode, the accessory 140 instructs the robot 100 with which the link is established to “search” using communication means capable of performing wireless communication far beyond the communicable range of the transmission unit 144. For example, the accessory 140 transmits a search instruction by broadcasting by Bluetooth (registered trademark), and further transmits an operation command instructing the robot 100 to approach the accessory 140 using infrared communication from the light emitting unit. When the robot 100 reaches near the accessory 140, the robot 100 transmits a signal (referred to as “arrival notification”) to the receiver 170 of the accessory 140, which means arrival. After receiving the arrival notification, the accessory 140 stops the transmission of the search instruction as the call is complete.

The accessory 140 is a wireless communication unit in a very near range such as NFC (hereinafter referred to as “first wireless communication unit”), and a short range wireless communication unit (hereinafter referred to as “first wireless communication unit”) having a wider communication range than the first wireless communication unit. 2) wireless communication means and wireless communication means (hereinafter referred to as "third wireless communication means") having a wider communication range than the second wireless communication means. The accessory 140 switches the appropriate communication means according to the mode to communicate with the robot 100.

In the case of the walk mode, the accessory 140 transmits, to the robot 100, an operation command for instructing "following" from the light emitting unit. Since the distance between the accessory 140 and the robot 100 is relatively short, the second wireless communication means is used. When receiving an operation command instructing tracking, the robot 100 moves following the user (the accessory 140) while keeping the distance to the accessory 140 substantially constant. The grip portion of the accessory 140 includes a tactile sense realization unit (vibrator or the like) for realizing a sense of touch that is connected to the accessory 140 with a lead that can not be seen by the robot 100.

The haptic realization unit stimulates the sense of touch of the user's hand by a technique called haptic technology or haptics. The tactile sense realization unit realizes the sense of being pulled by the robot 100 and the sense of sense that the robot 100 is moving to the left and right in conjunction with the tracking state of the robot 100. For example, when the robot 100 moves to the right, in conjunction with it, the tactile sense realization unit realizes the sense of being pulled to the right. The communication unit of the robot 100 transmits information specifying the content of the change (hereinafter, referred to as “motion information”) to the accessory 140 at the timing of changing the following state. The haptic realization unit realizes haptics according to the motion information. If the motion information means "move to the right", the tactile sense effect unit stimulates the user's hand through the grasping unit so that the user feels as if it is pulled to the right.

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

(2nd modification regarding the accessory 140)
When the switch of the grip unit is pressed, the transmission unit 144 incorporated in the light emitting unit (tip end) may transmit a directional link signal. When the user directs the light emitting part (tip part) of the accessory 140 to the robot 100 to be operated and transmits a link signal, and the robot 100 receives the link signal, the robot is in the “link state”. The robot 100 in the linked state follows the operation command transmitted from the accessory 140 thereafter. After linking the robot 100, the user can control the robot 100 as if it were hypnotized by moving the light emitting portion (tip portion) of the accessory 140.

For example, when the light emitting unit (tip end) of accessory 140 is circulated in the air with the switch pressed, instruction selection unit 172 detects the orbiting motion and speed by the acceleration sensor built in the light emitting unit (tip end), An operation command instructing circular motion is sent to the robot 100. When the robot 100 in the link state receives an operation command, it orbits the ground. The orbiting radius and the moving speed of the robot 100 are linked to the orbiting radius and the orbiting speed of the accessory 140. The motion command includes information specifying the orbiting radius and the orbiting speed.

In addition, when the user moves the accessory 140 while holding the switch, the robot 100 in the linked state chases the accessory 140 (user). When the switch is not pressed, the transmission unit 144 periodically transmits an operation signal instructing “following” to the robot 100 as a link target.

The light emitting unit (tip portion) may incorporate a transmitting unit 144 that transmits a link signal in the axial direction of the stick, and a plurality of transmitting units 144 that transmit an operation signal in the radial direction. During the follow-up operation, the robot 100 chases the user (accessory 140) while keeping a constant distance. At this time, the robot 100 may express that it is in the state of being taken by the lead by emitting light from the built-in infrared LED. The light emitting unit may emit light when linked with the robot or when the switch is pressed.

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

Claims

A motion control unit that selects the motion of the robot;
A drive mechanism for executing the motion selected by the operation control unit;
A receiver for receiving the ID of the other robot transmitted from the other robot according to a predetermined short distance wireless communication system;
And a recognition unit that determines the other robot based on the received ID.
The autonomous behavior robot according to claim 1, wherein the motion control unit changes behavior characteristics of the robot when the ID is received.
The motion control unit according to claim 2, wherein the motion control unit selects a predetermined motion associated with a detection event of the unregistered ID, on the condition that the received ID is an unregistered ID. Autonomous action robot.
And a robot detection unit that specifies a direction in which the other robot is present based on detection signals from a plurality of the receivers.
The autonomous behavior type robot according to claim 2, wherein the motion control unit changes behavior characteristics of the robot according to the specified direction when an ID of the other robot is detected.
The receiver receives an operation command together with the ID from the other robot,
The autonomous behavior robot according to claim 1, wherein the operation control unit activates a predetermined application program associated with the operation command when the operation command is received.
Further comprising an intimacy management unit for managing intimacy with other robots;
The autonomous behavior robot according to claim 1, wherein the closeness management unit updates closeness of the other robot when the ID is received.
The motion control unit instructs the drive mechanism to move in a direction away from the other robot when an ID is received from the other robot whose intimacy degree is less than a predetermined threshold. The autonomous behavior robot according to 6.
The receiver receives an operation command transmitted from a user's portable item according to a predetermined short distance wireless communication scheme,
The autonomous behavior robot according to claim 1, wherein the motion control unit selects a motion corresponding to the motion command when the motion command is received.
The robot according to claim 8, further comprising: a transmitter that transmits the operation command to another robot when the operation command is received.
The autonomous behavior robot according to claim 1, further comprising: a transmitter that transmits an ID of the self-robot according to the short distance wireless communication system.
A motion control unit that selects a motion;
A drive mechanism for executing the motion selected by the operation control unit;
A transmitter for transmitting an ID for identifying a self-robot according to a predetermined short distance wireless communication method.
Further comprising an instruction selection unit for selecting an operation instruction;
The robot according to claim 11, wherein the transmitter transmits the selected motion command to another robot.
An accessory comprising: a transmitter for transmitting an operation command to the autonomous behavior robot according to claim 8 according to a predetermined short distance wireless communication system.
A receiver for receiving an ID of the autonomous behavior robot from the autonomous behavior robot according to claim 8, further comprising:
The accessory according to claim 13, wherein the transmitter transmits the operation command on the condition that the ID of the autonomous behavior robot is received.
The accessory according to claim 13, wherein the transmitter transmits the operation command in a plurality of directions within a predetermined range according to the short distance wireless communication scheme.
A motion control unit that selects the motion of the robot;
A drive mechanism for executing the motion selected by the operation control unit;
A receiver for receiving an ID transmitted from the charger according to a predetermined near field communication system;
A charge monitoring unit that monitors the remaining battery capacity of the secondary battery;
The operation control unit is characterized in that, when the remaining battery amount becomes equal to or less than a predetermined threshold value, a charger that transmits an ID associated with the robot among the plurality of chargers is selected as the movement target point. Behavioral robot.
A communication connection unit configured to connect to the server by the first wireless communication method based on access information to the server;
A motion control unit that determines the motion of the robot;
A drive mechanism for executing the motion selected by the operation control unit;
A receiver that receives the ID of the other robot from the other robot by a second wireless communication method whose communication distance is shorter than that of the first wireless communication method;
A transmitter that transmits the access information to the other robot when the ID is received.
The autonomous behavior robot according to claim 17, wherein the transmitter transmits the access information on condition that the received ID is an unregistered ID.
A transmitter for transmitting an ID for identifying the robot in accordance with a predetermined short distance wireless communication system;
A plurality of the transmitters are annularly arranged in a projection formed on a head or a top of a robot.
20. The autonomous behavior robot according to claim 19, wherein the transmitter transmits a position code specifying the mounting position of the transmitter in addition to the ID of the robot.
A motion control unit that selects the motion of the robot;
A drive mechanism for executing the motion selected by the operation control unit;
A receiver for receiving an ID of the autonomous behavior robot from the autonomous behavior robot according to claim 20,
The autonomous action type characterized in that the operation control unit instructs the drive mechanism to move to a position where it can receive a position code transmitted from a transmitter installed at a predetermined position of the autonomous action type robot. robot.
A function to select the motion of an autonomous behavior robot,
A function of receiving an ID of the other robot transmitted from the other robot according to a predetermined short distance wireless communication system;
A robot control program that causes a computer to exhibit the function of determining the other robot based on the received ID.
A function to select the motion of an autonomous behavior robot,
A function of receiving an ID transmitted from the charger according to a predetermined near field communication method;
With a function to monitor the battery level of the secondary battery,
Among the plurality of chargers, a function of selecting a charger that transmits an ID associated with the robot is selected as a movement target point when the battery remaining amount falls below a predetermined threshold. Robot control program.