JP2003071777A - Contact detecting device and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a contact with an exterior without mounting a switch on the exterior. SOLUTION: A head switch 41 comprises a support member 111 with contact type switches: a first switch 110a and a second switch 110b, and a switch pressing member 112 consisting of a nearly board-shaped switch presser part 113 that moves integrally with the exterior and a presser part 114, wherein the parts 113, 114 are integrated with each other. The presser part 114 consists of first and second projections 114a and 114b, projecting from the rear surface 113a of the switch presser part 113, which are located above the first switch 110 and the second switch 110b, respectively. The head switch 41 also has elastic members 115a and 115b for keeping the first and second projections 114a and 114b of the presser part 114 and the first and second switches 110a and 110b in the non-contact state by the elastic force.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a contact detecting device for detecting a contact and a robot device equipped with the contact detecting device.

[0002]

2. Description of the Related Art A mechanical device that makes a movement similar to that of a human being (organism) using electric or magnetic action is called a "robot". Robots began to spread in Japan from the end of the 1960s, but most of them are industrial robots (Industri) such as manipulators and transfer robots for the purpose of automating and unmanning production work in factories.
al Robot).

Recently, practical robots have been developed to support life as a human partner, that is, to support human activities in various situations in daily life such as living environment. Unlike industrial robots, such practical robots have the ability to learn by themselves how to adapt to humans with different personalities or various environments in various aspects of human living environments. For example, a dog,
A "pet-type" robot that imitates the body mechanism and movement of a four-legged animal like a cat, or a "human-type" robot modeled on the body mechanism and movement of an animal that walks upright on two legs or "Humanoid" robot (Humano
Leg type mobile robots such as id Robot) are already in practical use.

These legged mobile robots are capable of performing various operations with an emphasis on entertainment, as compared with industrial robots, and are therefore sometimes referred to as entertainment robots.

The legged mobile robot has an external shape that is as close as possible to the appearance of an animal or human, and is designed to perform a motion as close as possible to the motion of an animal or human. For example, in the case of the four-legged “pet type” robot described above, it has an appearance similar to a dog or cat raised in a general household, and is “struck” or “stroked” by the user (owner).
And act autonomously according to the surrounding environment. For example, as an autonomous behavior, the behavior such as "barking" and "sleeping" is performed as in the case of an actual animal.

[0006]

By the way, the above-mentioned legged mobile robot is "struck" or "stroked" by the user.
In order to detect such an action, a contact sensor or a contact switch is provided on the head or the tip of the leg, and the detection result of each contact sensor or contact switch is reflected in the operation. FIG. 18 shows a conceptual configuration for detecting contact with such a contact sensor and contact switch. As shown in FIG. 18, an input unit 301 is prominently provided at a predetermined location on the exterior of the housing 300. Also, in the housing,
A contact switch 302 that senses the pushing direction is stored. Then, the input switch 301 is hit, for example, to press the contact switch 302, which detects contact.

However, in the conventional structure as described above,
Although the force in the vertical direction on the input unit 301 can be detected, it is difficult to detect the force in the horizontal direction. Therefore, in the case of being stroked, there is a problem that it cannot be known from which direction the stroke is made.

Further, the input portion 301 is conspicuously provided at a predetermined portion which is a part of the exterior, but this makes it possible for the user to hit the input portion 301 without fail. However, there is a problem that the user needs to be aware of the input unit 301, which hinders a natural interaction between the user and the legged mobile robot.

Further, since the input section 301 is provided on the exterior of the housing 300, there is a problem that the design is restricted.

The present invention has been proposed in view of such a conventional situation, and provides a contact detection device and a robot device equipped with the contact detection device which can be made unnoticeable to the user. With the goal.

[0011]

In order to achieve the above-mentioned object, a contact detecting device according to the present invention is a contact detecting device for detecting contact of one or more component parts connected to a main body with an exterior. A switch pressing member that is arranged inside the component and moves integrally with the exterior of the component is provided, and the switch in the component is pressed by the switch pressing member.

Here, the contact detection device includes a support portion that is connected to the main body and supports the switch, the switch pressing member is connected to the support portion through a support shaft, and the switch pressing member is connected. When the switch slightly rotates about the support shaft, the switch is pressed by the pressing portion of the switch pressing member.

Further, in the contact detecting device, the supporting portion is provided with two switches for respectively detecting different rotation directions of the minute rotation about the support shaft.

In such a contact detecting device, the switch is pressed and driven by contact with an arbitrary portion of the exterior of one or more component parts connected to the main body, and the contact can be detected. Further, by providing two switches at predetermined positions, it is possible to detect different rotation directions of the minute rotation about the support shaft.

Further, in order to achieve the above-mentioned object, the robot apparatus according to the present invention is provided with a contact detecting means for detecting a contact of a component connected to a main body, which is a body of the robot apparatus, with an exterior. The contact detection means has a switch pressing member that is disposed inside the component and moves integrally with the exterior of the component, and the switch pressing member drives the switch in the component by pressing. It has a feature.

Here, the robot apparatus has an external shape imitating an animal, and the constituent parts include at least the head of the robot apparatus.

Further, the contact detecting means has a supporting portion that is connected to the main body and supports the switch, and the switch pressing member is connected to the supporting portion via a support shaft, and the switch pressing member is connected. When the switch slightly rotates about the support shaft, the switch is pressed by the pressing portion of the switch pressing member.

Further, the support portion is provided with two switches for respectively detecting different rotation directions of minute rotations about the support shaft.

In such a robot device, the switch is pressed and driven by contact with an arbitrary position on the exterior of the component connected to the body of the robot device, and the contact can be detected. Further, by providing two switches at predetermined positions, it is possible to detect different rotation directions of the minute rotation about the support shaft.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments to which the present invention is applied will be described below in detail with reference to the drawings.

A robot device shown as an example of the configuration of the present invention is a robot device which operates autonomously according to an internal state. This robot apparatus is a legged mobile robot that includes at least an upper limb, a trunk and a lower limb, and uses only the upper limb and the lower limb or only the lower limb as a moving means. For legged mobile robots,
There is a pet robot that imitates the body mechanism and movement of a quadruped animal, and a robot device that imitates the body mechanism and movement of a biped animal that uses only its lower limbs as a means of movement. The robot device shown as a form is a four-legged walking type legged mobile robot.

This robot apparatus is a practical robot that supports human activities in various situations in daily life such as living environment, and can act according to internal conditions (anger, sadness, joy, enjoyment, etc.). It is an entertainment robot that can express the basic movements of a quadruped animal.

This robot apparatus has, in particular, a head portion, a body portion, an upper limb portion, a lower limb portion and the like. The number of actuators and potentiometers corresponding to the degrees of freedom of movement are provided at the connecting portions of the respective portions and the portions corresponding to the joints, and the target movement can be expressed by the control of the control portion.

Further, the robot apparatus is provided with an image pickup section for acquiring the surrounding condition as image data, various sensors for detecting an externally applied action, and a physical effect or the like received from the outside. Equipped with various switches. As an imaging unit, a small CCD (Charge-C
oupled Device) Use a camera. Further, various sensors include an acceleration sensor that detects acceleration, a distance sensor that measures a distance to a subject captured by a CCD camera, and the like. The various switches include a contact-type push switch that detects a touch by a user, an operation switch that detects a touch by a user, and the like. These are installed at appropriate locations outside or inside the robot apparatus. In particular, the switch that detects the touch by the user is not installed on the exterior of the robot device, and as will be described later, contact with the exterior such as “stroking” or “tapping” is indirectly performed inside the robot device. Is configured to be transmitted to the switch.

In the present embodiment, first, the configuration of the robot apparatus will be described, and then the application portion of the present invention in the robot apparatus will be described in detail.

As shown in FIG. 1, the robot apparatus 1 includes the leg units 3A, 3B, and the front, rear, left, and right sides of the body unit 2.
3C and 3D are connected, and the head unit 4 is connected to the front end of the body unit 2.

As shown in FIG. 2, the body unit 2 includes a CPU (Central Processing Unit) 10 and a DRA.
M (Dynamic Random Access Memory) 11, Flash ROM (Read Only Memory) 12, PC (Personal Com)
puter) A card interface circuit 13 and a signal processing circuit 14 are connected to each other via an internal bus 15, and a control unit 16 and a battery 17 as a power source of the robot apparatus 1 are housed. . Further, the body unit 2 accommodates an acceleration sensor 19 for detecting the acceleration of the direction and movement of the robot apparatus 1. Further, the body unit 2 is provided with a speaker 20 for outputting a voice such as a cry or a melody.
Are arranged at predetermined positions as shown in FIG. Further, the tail portion 5 of the body unit 2 is provided with an operation switch 21 as a detection mechanism for detecting an operation input from the user. The operation switch 21 is a switch that can detect the type of operation by the user, and the robot apparatus 1 is, for example, “praised” or “scolded” depending on the type of operation detected by the operation switch 21. Recognize

The head unit 4 is provided with a CCD (Charge Cou) for picking up an image of the external condition, color, shape, movement of the object.
pled device) camera 22, a distance sensor 23 for measuring a distance to an object located in front, a microphone 24 for collecting an external sound, an LED (Light Em), for example.
Light emitting parts 25 and the like provided with itting diodes are arranged at predetermined positions as shown in FIG. However, in the description of the configuration, the light emitting unit 25 may be LE
It shows as D25. Although not shown in FIG. 1, a head switch 26 is provided inside the head unit 4 as a detection mechanism for indirectly detecting a contact of the user with the head unit 4. The head switch 26 is, for example,
A switch that can detect the tilt direction of the head when the head is moved by the contact of the user.
Recognizes "praised" or "scold" according to the tilt direction of the head detected by the head switch 26.

Joint portions of the leg units 3A to 3D,
Connection between the leg units 3A to 3D and the body unit 2
Minutes, in the connecting portion between the head unit 4 and the body unit 2
Is the actuator 28 for the number of degrees of freedom₁~ 28_nAnd po
Tension meter 29₁~ 29 _nAre installed respectively
It Actuator 28₁~ 28_nIs, for example, a servo
Equipped with a motor. By driving the servo motor, the legs
The units 3A to 3D are controlled to control the target posture or movement.
Transition to work. The "meat" at the tip of each leg unit 3A-3D
At the position corresponding to the sphere, contact from the user is mainly
Pad ball switches 27A to 27D as a detection mechanism for detecting
Is provided so that user contact can be detected.
ing.

In addition to the above, the robot apparatus 1 is not shown here, but also includes a light emitting section for indicating an operation state (operation mode) different from the internal state of the robot apparatus 1, charging, starting, A status lamp indicating the status of the internal power supply such as start-up / shutdown may be appropriately provided at an appropriate location.

Then, in the robot apparatus 1, the operation switch
Switch 21, head switch 26, paddle switch 27, etc.
Various switches, acceleration sensor 19, distance sensor 23
Etc., various sensors, speaker 20, microphone 24, light emitting unit
25, each actuator 28 ₁~ 28_n, Each pot
Meter 29₁~ 29_nAre respectively corresponding hubs 30 ₁
~ 30_nSignal processing circuit 1 of control unit 16 via
It is connected with 4. On the other hand, the CCD camera 22 and the back
The territories 17 are each directly connected to the signal processing circuit 14.
ing.

The signal processing circuit 14 sequentially takes in the switch data supplied from the various switches described above, the sensor data supplied from the various sensors, the image data and the audio data, and the DRA via the internal bus 15 respectively.
The data is sequentially stored at a predetermined position in M11. In addition, the signal processing circuit 14 sequentially takes in the battery remaining amount data representing the battery remaining amount supplied from the battery 17, and D
It is stored in a predetermined position in the RAM 11.

The switch data, the sensor data, the image data, the voice data and the battery remaining amount data thus stored in the DRAM 11 are used when the CPU 10 controls the operation of the robot apparatus 1.

The CPU 10 reads the control program stored in the flash ROM 12 and stores it in the DRAM 11 at the initial stage when the power of the robot apparatus 1 is turned on. Alternatively, the CPU 10 reads a control program stored in a semiconductor memory device, for example, a memory card 31 mounted in a PC card slot of the body unit 2 (not shown in FIG. 1) through the PC card interface circuit 13 and stores it in the DRAM 11. Store.

The CPU 10, based on the sensor data, the image data, the audio data, and the battery remaining amount data, which are sequentially stored in the DRAM 11 from the signal processing circuit 14 as described above, is based on the self and surrounding conditions and the user. Judging whether or not there is any instruction or work.

Further, the CPU 10 and this determination result and D
The action based on the control program stored in the RAM 11 is determined. The CPU 10 drives, for example, a necessary actuator from the actuators 28 _{1 to} 28 _n based on the determination result, and thus, for example, the head unit 4
Can be swung up and down, left and right, and each leg unit 3A to 3D
Drive and walk. The CPU 10 also generates audio data as needed and supplies it to the speaker 20 via the signal processing circuit 14. Further, the CPU 10 generates a signal for instructing turning on and off of the LED in the light emitting unit 25, and turns on or off the light emitting unit 25.

As described above, the robot apparatus 1 behaves autonomously according to its own and surrounding conditions, and instructions and actions from the user.

By the way, the robot apparatus 1 shown as the present embodiment is a robot apparatus capable of autonomously acting according to the internal state. An example of the software configuration of the control program for controlling the robot apparatus 1 is as shown in FIG. As described above, this control program is stored in the flash ROM 12 in advance and is read out at the initial stage of power-on of the robot apparatus 1.

In FIG. 3, the device driver layer 200 is located at the lowest layer of the control program and is composed of a device driver set 201 composed of a plurality of device drivers. In this case, each device driver is an object that is allowed to directly access the hardware used in a normal computer such as the CCD camera 22 (FIG. 2) and the timer, and receives an interrupt from the corresponding hardware. Perform processing.

The robotic server object 202 is located in the lowest layer of the device driver layer 200, and is an interface for accessing hardware such as the above-mentioned various sensors and actuators 28 _{1 to} 28 _n. A virtual robot 203 that is a software group that provides a power supply, and a power manager 204 that is a software group that manages switching of power supplies,
The device driver manager 205 is a software group that manages various other device drivers, and the designed robot 206 is a software group that manages the mechanism of the robot apparatus 1.

The manager object 207 is composed of an object manager 208 and a service manager 209. The object manager 208 uses the robotic server object 20
2, the middleware layer 210, and the software group that manages the activation and termination of each software group included in the application layer 211. The service manager 209 is a connection group stored in the memory card 31 (FIG. 2). It is a software group that manages the connection of each object based on the connection information between each object described in the file.

The middleware layer 210 is located in the upper layer of the robotic server object 202 and is composed of a software group that provides basic functions of the robot apparatus 1 such as image processing and voice processing. There is. Further, the application layer 211 is located in an upper layer of the middle wear layer 210, and determines the action of the robot apparatus 1 based on the processing result processed by each software group forming the middle wear layer 210. It is composed of a software group for doing.

The specific software configurations of the middleware layer 210 and the application layer 211 are shown in FIGS. 4 and 5, respectively.

The middle wear layer 210, as shown in FIG. 4, is for noise detection, temperature detection, brightness detection,
A recognition system 250 having each of the signal processing modules 220 to 229 for the scale recognition, the distance detection, the posture detection, the contact detection, the operation input detection, the motion detection and the color recognition, the input semantics converter module 230, and the like,
The output system 251 includes an output semantics converter module 247 and signal processing modules 240 to 246 for posture management, tracking, motion reproduction, walking, fall recovery, LED lighting, and sound reproduction. There is.

Each signal processing module 22 of the recognition system 250
0 to 229 are robotic server objects 2
02 by the virtual robot 203
The corresponding data of each switch data, each sensor data, audio data or image data read from (FIG. 2) is taken in, predetermined processing is performed based on the data, and the processing result is input to the input semantics converter module 230. give. Here, for example, the virtual robot 203 is configured as a portion that exchanges or converts a signal according to a predetermined communication protocol.

The input semantics converter module 230 includes the signal processing modules 220 to 228.
"Noisy" based on the processing result given by
"Hot", "bright", "I heard Domiso scale",
Situation of self and surroundings such as "detected obstacle", "detected fall", "scolded", "praised", "detected moving object" or "detected ball", The command and the action from the user are recognized, and the recognition result is output to the application layer 211.

The application layer 211 is shown in FIG.
As shown in FIG. 5, the behavior model library 260, the behavior switching module 261, the learning module 262, the emotion model 263, and the instinct model 264 are composed of five modules.

In the behavior model library 260, as shown in FIG. 6, "when the battery level is low",
"When returning from a fall", "When avoiding obstacles",
Independent behavior models are provided corresponding to some preselected condition items such as “when expressing emotions” and “when detecting a ball”.

Each of these behavior models will be described later as necessary when a recognition result is given from the input semantics converter module 230, or when a fixed time has elapsed since the last recognition result was given. As described above, the subsequent action is determined with reference to the corresponding emotional parameter value held in the emotion model 263 and the corresponding desire parameter value held in the instinct model 264, and the decision result is determined by the action switching module 26.
Output to 1.

The robot device 1 shown as the present specific example.
In the case of, each behavior model is a method to determine the next behavior.
One node (state) NODE as shown in FIG.₀
~ NODE_nFrom any other node NODE₀~ NODE
_nIs called an finite-probability automaton.
The next action is determined by using the gorism. Finite probability
-What is Tomaton? NODE NODE₀~ NODE_nOut of
Whether to transition from one node of
Node NODE₀~ NODE_nArc connecting between
ARC₁~ ARC_n-1The transition set for each
Transfer probability P₁~ P _nAn algorithm that determines probabilistically based on
It is a rhythm.

Specifically, each behavior model is
NODE that forms the behavior model of the child₀~ NODE_n
To correspond to each of these nodes NODE₀~ NO
DE _nEach has a state transition table 270 as shown in FIG.
There is.

In this state transition table 270, the node N
Input events (recognition results) that are transition conditions in ODE _{0 to} NODE _n are listed in the order of priority in the row of “input event name”, and further conditions regarding the transition conditions are displayed in the rows of “data name” and “data range”. Described in the corresponding column.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 270 of FIG.
"ALL)", the "size (SI) of the ball given together with the recognition result is given.
ZE) ”is in the range of“ 0 to 1000 ”,
When the recognition result of “obstacle detection (OBSTACE)” is given, the “distance (DISTANCE)” to the obstacle given together with the recognition result is “0”.
The condition for transitioning to another node is that it is in the range of 100 to 100 ”.

Further, in this node NODE ₁₀₀ , among the parameter values of each emotion and each desire held in the emotion model 263 and the instinct model 264, which the behavior model periodically refers to, even if the recognition result is not input. ,
When the parameter value of any of "Joy", "Surprise" or "Sadness" held in the emotion model 263 is in the range of "50 to 100", transition to another node is made. Is able to.

Further, in the state transition table 270, the names of nodes that can transit from the nodes NODE _{0 to} NODE _n are listed in the column of “transition destination node” in the column of “transition probability to another node”. Input event name ",
Other nodes that can transition when all the conditions described in the "Data name" and "Data range" rows are met
The transition probabilities from DE _{0 to} NODE _n are respectively described in the corresponding places in the column of “probability of transition to other node”, and the action to be output when transitioning to the nodes NODE _{0 to} NODE _n is “other It is described in the row of “output action” in the column of “transition probability to node”. In addition, the sum of the probabilities of each row in the column of "probability of transition to other node" is 100.
It is [%].

Therefore, in the node NODE ₁₀₀ represented by the state transition table 270 of FIG. 8, for example, "ball is detected (BALL)" and the "SIZE" of the ball is in the range of "0 to 1000". When the recognition result that is "1" is given, the transition to "node NODE ₁₂₀ (node 120)" is possible with a probability of "30 [%]", and the action of "ACTION 1" is output at that time.

Each behavior model has nodes NODE ₀ to N described as such a state transition table 270.
The ODE _n is configured to be connected to each other, and when a recognition result is given from the input semantics converter module 230, the corresponding node NODE _n is input.
_The next action is stochastically determined using the state transition table of _{0 to} NODE _n , and the determination result is output to the action switching module 261.

The action switching module 261 shown in FIG.
Among the actions output from each action model of the action model library 260, the action output from the action model having a predetermined high priority is selected, and a command to execute the action (hereinafter, Action command)) to the output semantics converter module 247 of the middleware layer 210. In addition, in this embodiment, the lower the action model shown in FIG. 7, the higher the priority is set.

Further, the action switching module 261 outputs the output semantics converter module 24 after the action is completed.
Based on the action completion information given from 7, the learning module 262 and the emotion model 26 indicate that the action is completed.
3 and instinct model 264.

The learning module 262 inputs the recognition result of the teaching received as an action from the user, such as "scold" or "praised" among the recognition results given from the input semantics converter module 230.
Then, based on the recognition result and the notification from the action switching module 261, the learning module 262 decreases the expression probability of the action when “scolded” and increases the expression probability of the action when “praised”. Thus, the corresponding transition probability of the corresponding behavior model in the behavior model library 260 is changed.

The emotion model 263 is "joy (Jo
y) ”,“ Sadness ”,“ Anger ”,
With respect to a total of 6 emotions of “Surprise”, “Disgust”, and “Fear”, a parameter indicating the strength of the emotion is held for each emotion. Then, the emotion model 263 “scolds” and “praises” the parameter values of each of these emotions, which are given from the input semantics converter module 230, respectively.
It is periodically updated based on a specific recognition result such as, the elapsed time, and the notification from the action switching module 261.

Specifically, the emotion model 263 is predetermined based on the recognition result given from the input semantics converter module 230, the action of the robot apparatus 1 at that time, the elapsed time from the last update, and the like. The amount of change in emotion at that time calculated by the arithmetic expression is ΔE
[T], E [t] of the current parameter value of the emotion, the coefficient representing the sensitivity of the emotion as k _e, (1) the parameter value of the emotion in a next period by equation E [t +
1] is calculated, and this is used as the current parameter value E of the emotion.
The parameter value of the emotion is updated by replacing it with [t]. Further, the emotion model 263 updates the parameter values of all emotions in the same manner.

[0063]

[Equation 1]

The degree of influence of each recognition result and the notification from the output semantics converter module 247 on the fluctuation amount ΔE [t] of the parameter value of each emotion is predetermined, and for example, “Scary is scolded”. The recognition result such as “ta” is the variation amount ΔE of the parameter value of the emotion of “anger”
[T] has a great influence, and the recognition result such as "praised" is the variation amount of the parameter value of the emotion of "joy" ΔE.
It has a great influence on [t].

Here, the notification from the output semantics converter module 247 is so-called action feedback information (action completion information), which is information about the appearance result of the action, and the emotion model 263 is also based on such information. Change emotions. This is, for example, that the behavior level of anger is lowered by the action of "barking". The notification from the output semantics converter module 247 is also input to the learning module 262 described above.
62 changes the corresponding transition probability of the behavior model based on the notification.

The action result feedback is output from the action switching module 261 (behavior with emotion added).
May be made by

Further, the instinct model 264 has a
"ercise", "affection", "charge desire (hereinafter referred to as appetite)" and "curi"
“Osity)”, each of the four independent desires holds a parameter indicating the strength of the desire. Then, the instinct model 264 periodically updates the parameter values of these desires based on the recognition result given from the input semantics converter module 230, the elapsed time, the notification from the action switching module 261, and the like.

Specifically, the instinct model 264 determines the “motility”, “love”, and “curiosity” based on the recognition result, the elapsed time, the notification from the output semantics converter module 247, and the like. The fluctuation amount of the desire at that time calculated by the arithmetic expression is ΔI
[K], the current parameter value of the desire is I [k], and a coefficient k _i representing the sensitivity of the desire is set in a predetermined cycle (2).
Using the formula, the parameter value I of the desire in the next cycle
[K + 1] is calculated, and the calculation result is replaced with the current parameter value I [k] of the desire to update the parameter value of the desire. Also, the instinct model 264
Updates the parameter values of each desire except "appetite" in the same manner.

[0069]

[Equation 2]

The degree of influence of the recognition result and the notification from the output semantics converter module 247 on the variation amount ΔI [k] of the parameter value of each desire is predetermined, and for example, the output semantics converter is used. The notification from the module 247 has a great influence on the variation amount ΔI [k] of the “tiredness” parameter value.

In this embodiment, each affect
And each desire (instinct) parameter value is 0 to 10
It is regulated to fluctuate within the range of 0, and
A few k _e, K_iThe value of is also set individually for each emotion and each desire.
Has been.

The output semantics converter module 247 of the middleware layer 210 uses the application layer 2 as described above, as shown in FIG.
An abstract action command such as “forward”, “pleasing”, “squealing” or “tracking (chasing the ball)” given from the action switching module 261 of 11 corresponds to the signal processing modules 240 to 246 of the output system 251.
Give to.

Then, these signal processing modules 240-
246, when an action command is given, the servo command value to be given to the corresponding actuators 28 _{1 to} 28 _n (FIG. 2) to take the action based on the action command, and the output from the speaker 20 (FIG. 2). Sound data of the sound to be played and / or drive data to be given to the LED of the light emitting unit 25 (FIG. 2) is generated, and these data are generated by the virtual robot 203 of the robotic server object 202.
And corresponding actuators 28 _{1 to} 28 _n , the speaker 20 or the light emitting unit 25 via the signal processing circuit 14 (FIG. 2).
It is sequentially sent to.

In this way, the robot apparatus 1 can perform autonomous actions according to its own (internal) and surrounding (external) conditions, and instructions and actions from the user based on the control program.

By the way, as described above, for example, in the emotion model, emotions such as "anger" and "joy" are changed by detecting the action of "scold" or "praised" by the user. ing. Then, as described above, the robot apparatus 1 recognizes whether the player is "scold" or "praised" according to the tilt direction of the head detected by the head switch 26.

The head switch 26 is a switch provided in the head unit 4 as described above. The head switch 26 is a switch that can indirectly detect a user's contact with the head unit 4.

First, the conceptual structure of the peripheral portion including the head switch 26 will be described with reference to FIG. Figure 9
As shown in FIG. 3, a movable member 102 corresponding to the “neck” of the robot apparatus 1 described above is connected to the internal housing 101 arranged inside the body unit 2 described above. , Support member 103 for supporting the switch
Are connected. A switch pressing member 104 having a pressing portion that presses the switch is connected to the support member 103 via a support shaft 107. This switch pressing member 10
4 is fixed to the exterior 105 of the head unit 4, and the exterior 1
It is configured to move integrally with 05.

The movable member 102 is movable with respect to the inner casing 101 by a motor (not shown), and the movable member 102 is supported by a motor (not shown).
It is driven to rotate around.

For example, the user may use the exterior 10 of the head unit 4.
When stroking 5, the frictional force applied from the user's hand to the exterior 105 of the head unit 4 when stroking is converted into a rotational force about the support shaft 107. Due to this turning force, the exterior 105 of the head unit 4 and the switch pressing member 104 are integrally rotated and the pressing portion of the switch pressing member 104 presses and drives the switch of the support member 103.

The support member 103 can rotate about the support shaft 106, but the support member 103 does not rotate due to the normal stroking operation due to the drag force of the motor.

Next, the principle of detecting the contact of the head unit 4 with the exterior by the head switch 26 will be described. As shown in FIG. 10, the head switch 26
Is a support member 111 having two first and second switches 110a and 110b, which are contact type switches, a substantially plate-shaped switch pressing portion 113, and a switch pressing portion 11
3 is composed of two first and second protrusions 114a and 114b protruding from the back surface 113a, and the first and second protrusions 114a and 114b are on the first and second switches 110a and 110b. Pressing part 11 located at
Switch pressing member 11 which is configured integrally with 4
2 and.

Here, the switch pressing portion 113 operates integrally with the head unit 4, and is finely rotatable with respect to the support member 111 in the direction of arrow a in the figure. Also,
As described above, the support member 111 can be rotated in the direction of arrow b in the figure by a motor (not shown).

The first and second protruding portions 11 of the pressing portion 114
4a and 114b are projected from the back surface 113a of the switch pressing part 113, for example.

Head switch 26 shown in FIGS. 9 and 10.
The state is when the switch pressing portion 113 or the switch pressing member 112 is not pressed.
14 first and second protrusions 114a, 114b and the first
And the second switches 110a and 110b are in a non-contact state, or are in a non-pressed state in which they are not pressed even if they are in contact with each other.

In order to maintain such a state, the head switch 26 causes the first and second projecting portions 114a and 114b of the pressing portion 114 and the first and second switches 110a and 110b by the elastic force. Is provided with elastic members 115a and 115b for maintaining the non-contact state or the non-pressed state. The elastic member may be, for example, a spring. The elastic members 115a and 115b may be leaf springs, as will be described later.

In such a head switch 26, as shown in FIG. 11 (A), the head pressing unit 113 is stroked so that the switch pressing portion 113 is located at the position where the first switch 110a is arranged. from when the second switch 110b is rotated in the direction of the arrow in the drawing _{a 1} toward the position is located, the second switch 110b by the end 114d of the second protrusion 114b of the pressing portion 114 is pressed To be done. At this time, the end 114c of the first protrusion 114a of the pressing portion 114 is separated from the first switch 110a, and the end 114c of the first protrusion 114a and the first switch 110a are in a non-contact state. It is said that

Further, as shown in FIG. 11B, the switch pressing portion 113 moves from the position where the second switch 110b is arranged toward the position where the first switch 110a is arranged to the arrow in the drawing. When rotated in the direction of a ₂ , the second protrusion 110 a of the pressing portion 114 presses the second switch 110 a.

Thus, in the head switch 26,
By rotating the switch pressing portion 113, it is possible to detect that the head unit 4 of the robot apparatus 1 has been “stroked”.

The head switch 26 can detect the stroked direction. Specifically, the stroked direction is the first switch 110 of the head switch 26.
It is detected based on the output of a and the output of the second switch 110b. Specifically, the pressed direction is detected by the following configuration.

As shown in FIG. 12, the robot apparatus 1 has
The pushing direction detecting means 120 is provided to which the output signals of the first and second switches 110a and 110b are input.

The pushing direction detecting means 120 includes the first and second
The pressing direction is detected based on the output signals of the switches 110a and 110b. Specifically, the pushing direction detecting means 120 detects the pushing direction as follows. For example, in the pushing direction detecting means 120, the first
When the output signal is detected only from the switch 110a of the second switch 110a, it is detected that the “stroking” is performed from the position where the second switch 110b is arranged toward the position where the first switch 110a is arranged. It will be. If the output signal is detected only from the second switch 110b in the pushing direction detecting means 120, the first
That is, it is detected that the "stroking" is performed from the position where the switch 110a is arranged to the position where the second switch 110b is arranged.

The conceptual configuration of the peripheral portion including the head switch 26 and the principle of detecting contact by the head switch 41 have been described above. Next, a specific structure of the head switch 26 provided in the head unit 4 of the robot apparatus 1 will be described.

When the head switch 26 is applied to the head unit 4 of the robot apparatus 1, as shown in FIG.
It is roughly classified into a switch pressing member 130 corresponding to the switch pressing member 112 described above, an elastic member 140 such as a leaf spring, and a support member 150 corresponding to the support member 111 described above.

As shown in FIGS. 13 and 14, the switch pressing member 130 has a substantially L-shaped and substantially plate shape,
A tongue piece 131a bent vertically downward from around the center,
131b is provided. Also, this tongue piece 131a,
Support shafts 132a and 132b are provided on the 131b so as to be capable of finely rotating with respect to the support member 150, respectively. In addition, the switch pressing member 13
On the upper surface of 0, cut and raised pieces 133a,
133b is provided, and its tip is bent so as to be substantially parallel to the upper surface. The cut-and-raised pieces 133a and 133b are used when the head switch 26 is configured, and each of the cut-and-raised pieces 133a and 133b will be described later.
3a and the second switch 153b are provided at positions facing each other with a slight gap.

The elastic member 140 has a substantially V shape, and an intermediate portion thereof is a plane portion 141. Also,
Cut-and-raised pieces 133 are provided on both ends of the flat portion 141.
a, 133b through openings 142a, 1 respectively
42b is provided. In addition, the end portions 143a and 143b of the elastic member 140 have the convex portions 1 of the support member 150 described later.
It is configured to be in contact with 53a and 153b. In the vicinity of the center of the support member 150, tongues 151a and 151b that are vertically bent are provided. The tongue pieces 151a and 151b are provided with the support shafts 132a,
Insertion holes 152a and 152b for inserting 132b are provided. In addition, at both ends of the upper surface, the protrusions 153
a, 153b are provided, and the protrusions 153a, 1
The ends 143a and 143b of the elastic member 140 described above are in contact with the upper surface of 53b. Further, the support member 150
On the upper surface of the first switch 154 for detecting the pushing direction.
a and the second switch 154b are provided.

With the switch pressing member 130, the elastic member 140 and the supporting member 150, the head switch 26
Are configured as shown in FIG. The head switch 26 configured as shown in FIG. 14 is stored inside the head unit 4 virtually shown by a two-dotted broken line. The head unit 26 is connected to a movable part 160 corresponding to the “neck” of the robot apparatus 1, and the movable part 160 is the movable part 1.
It is supported by a support 170 having a drive motor that drives 60. The support portion 170 is used for the body unit 2
It is stored in the internal housing 180 inside the.

More specifically, as shown in the perspective view of FIG. 15, head casings 190A, 190B and 190C are provided inside the outer casings 4A and 4B of the head unit 4, and the head casings 190A and 190B are provided. , 190C inside the switch pressing member 130, the elastic member 140, the first and second members.
The switches 154a and 154b and the support member 150 are stored. The drive motor 161 shown in FIG.
4 is housed inside the movable part 160 shown in FIG.
This is for driving the support member 150 with respect to zero.

When the head unit 4 of the robot apparatus 1 is "stroked" by the user, the head units 190A and 190 are integrated with the outer casings 4A and 4B of the head unit 4.
B, 190C and switch pressing member 1 connected thereto
30 moves. As a result, the opening 142 of the elastic member 140
the first switch 1 by the cut-and-raised pieces 133a, 133b of the switch pressing member 130 through a.
54a and the second switch 154b are pressed and driven.

Hereinafter, further details will be described with reference to FIG. Note that in FIG. 16, components other than those necessary for the description are omitted. The head switch 41 shown in FIG. 16 (A) is in a state where the exterior of the head unit 4 is not pressed. In this state, the elastic force of the elastic member 140 applies a preload to the switch pressing member 130 in a direction in which the switch pressing member 130 is separated from the support member 150. Therefore, the cut-and-raised pieces 133a and 133b of the switch pressing member 130 and the first switch 154a and The second switch 154b is maintained in a non-contact state.

The exterior of the head unit 4 is the first switch 1
The second switch 154 from the position where 54a is arranged.
When the "b" is stroked toward the position where b is arranged, as shown in FIG. 16B, the cut-and-raised piece 133b of the switch pressing member 130 causes the second switch 1 to move.
54b is pressed. At this time, the switch pressing member 13
The cut-and-raised piece 133a of 0 is the first switch 154a.
Are separated from each other, the cut-and-raised piece 133a of the switch pressing member 130 and the first switch 154a are brought into a non-contact state.

Although not shown, on the contrary, the exterior of the head unit 4 is "stroked" from the position where the second switch 154b is arranged toward the position where the first switch 154a is arranged. Sometimes, the cut-and-raised piece 133a of the switch pressing member 130 causes the first switch 1 to move.
54a is pressed.

As described above, the stimulus to the exterior of the head unit 4 is transmitted through the switch pressing member 130 to the first switch 1
54a and the second switch 154b,
The contact can be detected without providing a switch on the exterior of the head unit 4. Further, since it is not necessary to provide a switch on the exterior of the robot device, the exterior can be freely designed, and the degree of freedom in design is improved. Further, since the two switches for detecting the different rotation directions of the minute rotation about the support shaft are provided, it is possible to detect from which direction the contact is made. As a result, it is possible to recognize whether the person has been scolded or praised, depending on the detected tilt direction of the head.

Further, when the exterior of the head unit 4 is not pressed, the elastic force of the elastic member 140 causes the cut and raised pieces 133a and 133b of the switch pressing member 130, the first switch 154a and the second switch 154b. And are kept in a non-contact state, and the cut and raised piece 133 is
Since a and 133b do not always contact the first switch 154a and the second switch 154b, the durability of the switch is improved.

The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention. For example, although the present embodiment has been described with respect to a quadrupedal legged mobile robot, the robot device is applicable as long as it operates according to the internal state, and the moving means is a quadrupedal locomotion device, Further, it is not limited to the leg type moving method.

Further, in the present embodiment, only the case where the head of the robot apparatus 1 is “stroked” by the user has been described, but the case where the head of the robot apparatus 1 is “struck” can be detected. Can be configured to.
That is, for example, as shown in FIG.
When the head of the user is strongly pushed in the substantially vertical direction, the spindle connecting the switch pressing member 130 and the supporting member 150 is displaced as shown in FIGS. 17 (A) to 17 (B). With the configuration, it is possible to detect that the first switch 154a and the second switch 154b are pressed at the same time, and thereby "struck".

[0106]

As described in detail above, the contact detecting device according to the present invention is a contact detecting device for detecting the contact of one or more component parts connected to the main body with the exterior, and the inside of the component parts. And a switch pressing member that moves integrally with the exterior of the component, and the switch in the component is pressed by the switch pressing member.

Here, the contact detection device is provided with a support portion that is connected to the main body and supports the switch, and the switch pressing member is connected to the support portion through a support shaft, and the switch pressing member is connected. When the switch slightly rotates about the support shaft, the switch is pressed by the pressing portion of the switch pressing member.

Further, in the contact detecting device, the supporting portion is provided with two switches for respectively detecting different rotating directions of minute rotations about the supporting shaft.

In such a contact detecting device, the switch is pressed and driven by contact with any part of the exterior of one or more component parts connected to the main body, and the contact can be detected. Further, by providing two switches at predetermined positions, it is possible to detect different rotation directions of the minute rotation about the support shaft.

Further, the robot apparatus according to the present invention is provided with a contact detecting means for detecting a contact of a component connected to a main body, which is a body of the robot apparatus, with the exterior, and the contact detecting means is the component. Is characterized in that it has a switch pressing member that is disposed inside the housing and moves integrally with the exterior of the above-mentioned component, and that the switch inside the above-mentioned component is pressed by the switch pressing member.

Here, the robot apparatus has an external shape imitating an animal, and the constituent parts include at least the head of the robot apparatus.

Further, the contact detecting means has a supporting portion which is connected to the main body and supports the switch, and the switch pressing member is connected to the supporting portion through a support shaft, and the switch pressing member is connected. When the switch slightly rotates about the support shaft, the switch is pressed by the pressing portion of the switch pressing member.

Further, the support portion is provided with two switches for respectively detecting different rotation directions of minute rotation about the support shaft.

In such a robot apparatus, a switch is pressed and driven by contact with an arbitrary position on the exterior of a component connected to the body of the robot apparatus, and the contact can be detected. In this way, because there is no switch on the exterior of the robot device,
The exterior of the robot device can be freely designed, and the degree of freedom in design is improved. Further, by providing two switches at predetermined positions, it is possible to detect different rotation directions of the minute rotation about the support shaft.

[Brief description of drawings]

FIG. 1 is an external view showing the external appearance of a robot apparatus shown as a configuration example of the present invention.

FIG. 2 is a configuration diagram showing a configuration of a robot apparatus shown as a configuration example of the present invention.

FIG. 3 is a configuration diagram showing a software configuration of a control program of a robot apparatus shown as a configuration example of the present invention.

FIG. 4 is a configuration diagram showing a configuration of a middle wear layer in the control program of the robot apparatus shown as a configuration example of the present invention.

FIG. 5 is a configuration diagram showing a configuration of an application layer in the control program of the robot apparatus shown as a configuration example of the present invention.

FIG. 6 is a configuration diagram showing a configuration of a behavior model library in the control program of the robot apparatus shown as a configuration example of the present invention.

FIG. 7 is a schematic diagram illustrating a finite-probability automaton that is an algorithm for determining the behavior of the robot device shown as a configuration example of the present invention.

FIG. 8 is a diagram showing a state transition condition for determining an action of the robot apparatus shown as one configuration example of the present invention.

FIG. 9 is a cross-sectional view illustrating a conceptual configuration of a head switch and its peripheral portion in the present embodiment.

FIG. 10 is a sectional view illustrating a conceptual configuration of a head switch according to the present embodiment.

FIG. 11 is a diagram for explaining in principle an example in which the head switch detects that a stroke has been made; in FIG. 11A, the second switch is arranged from the position where the first switch is arranged. FIG. 6B shows an example of being stroked toward the position where the second switch is arranged, and an example where the second switch is arranged toward the position where the first switch is arranged. Show.

FIG. 12 is a block diagram showing a pushing direction detecting means for detecting a pushing direction.

FIG. 13 is a configuration diagram illustrating a detailed configuration of a switch pressing member, an elastic member, and a supporting member in the head switch.

FIG. 14 is a diagram illustrating a configuration of a head switch including a switch pressing member, an elastic member, and a supporting member that are integrally formed, and a peripheral portion thereof.

FIG. 15 is a perspective view showing the internal structure of the head unit in detail.

FIG. 16 is a diagram for explaining an example in which the head switch detects that the stroke has been stroked; FIG. 16A shows a state in which the stroke has not been stroked, and FIG. The state of being stroked from the position where it is arranged to the position where the second switch is arranged is shown.

FIG. 17 shows an example of detecting the case of being hit by the movement of the support shaft. FIG. 17A shows a state in which the person is not hitting, and FIG. The state of being hit is shown.

FIG. 18 is a diagram illustrating an example of a conventional contact detection device.

[Explanation of symbols]

1 robot device, 2 body unit, 3A, 3B,
3C, 3D leg unit, 4 head unit, 5 tail unit, 101 internal housing, 102 movable member 1
02, 103 support member 103, 104 switch pressing member, 105 exterior, 106, 107 support shaft, 130 switch pressing member, 132a, 132b support shaft 133a,
133b Cut and raised piece, 140 Elastic member, 142
a, 142b opening, 150 support member, 152a,
152b insertion hole, 154a first switch, 154b
Second switch

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 2C150 CA02 CA04 DA05 DA24 DA26                       DA27 DA28 DF03 DF04 DF06                       DF33 ED42 ED47 ED52 EF07                       EF16 EF23 EF29 EF33 EF36                       FA42                 3C007 AS36 CS08 HS09 HS27 KS11                       KS31 KW01 KX02 WA04 WA14

Claims (15)

[Claims] 1. A contact detection device for detecting a contact of one or more component parts connected to a main body with respect to an exterior, the switch pressing device being disposed inside the component and moving integrally with the exterior of the component. A contact detection device comprising a member, wherein the switch in the component is pressed by the switch pressing member. 2. A support portion, which is connected to the main body and supports the switch, is provided, the switch pressing member is connected to the support portion via a support shaft, and the switch pressing member is centered on the support shaft. The contact detection device according to claim 1, wherein the switch is pressed by the pressing portion of the switch pressing member by being slightly rotated. 3. The support portion detects two different rotation directions of minute rotations about the support shaft.
The contact detection device according to claim 2, wherein one switch is provided. 4. An elastic member for maintaining the pressing portion and the switch in a non-contact state or a non-pressing state by an elastic force when there is no contact with the exterior of the component. The contact detection device according to claim 2. 5. The support section is movable with respect to the main body, and the switch pressing member is capable of fine rotation with respect to the support section. Contact detection device. 6. The contact detection device according to claim 1, wherein the switch is a switch having a movable shaft that appears and disappears when pressed. 7. The contact detection device according to claim 1, wherein the contact detection device is provided in a robot device. 8. The contact detection device according to claim 7, wherein the robot device has an appearance shape imitating an animal, and the constituent parts include at least the head of the robot device. 9. A contact detecting means for detecting a contact of a component connected to a main body, which is a body of the robot apparatus, with an exterior, the contact detecting means being disposed inside the component,
A robot apparatus comprising a switch pressing member that moves integrally with the exterior of the above-mentioned component, and a switch inside the above-mentioned component is pressed by the switch pressing member. 10. The robot apparatus according to claim 9, wherein the robot apparatus has an appearance shape imitating an animal, and the constituent parts include at least a head of the robot apparatus. 11. The contact detection means has a support portion that is connected to the main body and supports the switch, the switch pressing member is connected to the support portion via a support shaft, and the switch pressing member is provided. 10. The robot apparatus according to claim 9, wherein the switch is pressed by the pressing portion of the switch pressing member when the switch slightly rotates about the support shaft. 12. The support section is provided with two switches for respectively detecting different rotation directions of minute rotations about the support shaft. Robot device. 13. An elastic member for maintaining the pressing portion and the switch in a non-contact state or a non-pressing state by an elastic force when there is no contact with the exterior of the component part. The robot apparatus according to claim 11. 14. The support section is movable with respect to the main body, and the switch pressing member is capable of fine rotation with respect to the support section. Robotic device. 15. The robot apparatus according to claim 9, wherein the switch is a switch having a movable shaft that appears and disappears when pressed.