JP2013099800A - Robot, method for controlling robot, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To use a 'call', a 'behavior' and the like for drawing person's attention and interest to a robot to suppress enforcement feeling that a human feels.SOLUTION: The robot includes: a robot body with a torso and a head to which a visual sensor is installed; a first detection unit for detecting a person around the robot body based on information obtained by the visual sensor; a first movement module for making the torso move to first movement; and a second movement module that stops the first movement for a predetermined time and makes the head move to a second movement so that the visual sensor follows the person when the first detection unit detects the person during making the torso move to the first movement.

Description

  The disclosed technology relates to a robot that provides services to humans, a robot control method, and a control program.

  For example, in order to build an affinity relationship between a robot in a biological form and a human, the robot follows a spontaneous behavior that reminds the robot's instinct and the biological feeling that arises from the internal state, or follows a human or an object Attempts have been made to anthropomorphize the robot by performing line-of-sight tracking.

  In services that utilize the affinity between robots and humans, it is important to attract human attention and interest to the robots. For this reason, technologies have been developed that allow robots to execute “calls” and “gestures” to make them aware of their existence.

JP2008-18529

  By the way, “calling” and “behavior” for attracting attention and interest of human beings sometimes give humans a sense of compulsion and sometimes give humans psychology such as inconvenience and distraction.

  The disclosed technology provides a robot apparatus, a robot control method, and a control program that suppress a sense of compulsion felt by a human by “calling” or “gesture” for attracting attention and interest.

  According to one aspect of the disclosed technology, a robot body having a body part and a head on which a visual sensor is mounted, and a person around the robot body is detected based on information acquired by the visual sensor. The first detection unit, the first operation module for causing the body part to execute a first operation, and the body part for executing the first operation. When the person is detected, the first action is stopped for a predetermined time, and the head is caused to execute the second action so that the visual sensor follows the person. And an operation module.

  According to the disclosed technology, it is possible to suppress a sense of compulsion felt by human beings by “calling” or “gesture” for attracting attention and interest to the robot.

1 is a schematic diagram of a robot according to a first embodiment. It is a block diagram of the hardware of the robot concerning 1st Embodiment. It is a functional block diagram of the controller concerning a 1st embodiment. It is the schematic of the priority table concerning 1st Embodiment. It is a flowchart of the process by the controller concerning 1st Embodiment. It is the schematic explaining the operation state of the motor concerning a 1st embodiment. It is the schematic explaining the operation state of the motor concerning the modification of 1st Embodiment. It is a functional block diagram of the controller concerning a 2nd embodiment. It is a flowchart of the process by the controller concerning 2nd Embodiment. It is a flowchart of the process by the controller concerning 3rd Embodiment. It is a functional block diagram of the controller concerning a 4th embodiment. It is a flowchart of the process by the controller concerning 4th Embodiment.

[First Embodiment]
The first embodiment will be described below with reference to FIGS.

  For example, animal-type communication robots that interact with humans, such as nursing robots and educational robots, are desired to express the character of creatures (that is, non-mechanical movements) and the feeling of touch with humans.

  In the present embodiment, in order to realize this, a so-called inclusion architecture is adopted as the robot architecture. The inclusion architecture mediates control commands from a plurality of motion modules, for example, motor commands, and causes a communication robot to express natural motion. However, the present invention is not limited to this, and may be realized by any robot architecture. The following description is only an example for carrying out the present invention, and specific embodiments can take various forms.

(Schematic configuration of the robot 10)
1A and 1B are schematic views of the robot according to the first embodiment, in which FIG. 1A shows the front surface of the robot 10 and FIG. 1B shows the side surface of the robot 10.

  As shown in FIG. 1, a robot 10 according to the present embodiment is a bear-type interaction robot, and includes a head 11, a torso 12, eyes 13, a heel 14, a nose 15, a mouth 16, ears 17, arms 18, and feet. 19 is provided. The head 11, eyes 13, heel 14, nose 15, mouth 16, and ear 17 are collectively referred to as a head, and the trunk 12, arms 18, and legs 19 are collectively referred to as a trunk.

  Head 11, body 12, eyes 13, eyelid 14, nose 15, mouth 16, ear 17, arm 18, leg 19 (hereinafter collectively referred to as each part of robot 10) are motors 23a, 23b, 23c,. Based on the driving force (described later), it is possible to operate individually. Although the operation mode of each part of the robot 10 is not particularly limited, for example, the head 11 is rotated in the left-right direction around the body axis C of the body 12 by the motor 23a.

(Robot 10 hardware)
FIG. 2 is a hardware configuration diagram of the robot 10 according to the first embodiment.

  As shown in FIG. 2, the robot 10 according to the present embodiment includes a controller 21, a memory 22, a plurality of motors 23a, 23b, 23c, an imaging camera (visual sensor) 24, a touch sensor 25, and a flash. And a memory 26.

  The controller 21, the memory 22, the motors 23 a, 23 b, 23 c..., The imaging camera 24, the touch sensor 25, and the flash memory 26 are connected to each other by a bus 27, for example.

  The controller 21 reads out various programs stored in the flash memory 26 and develops them in the memory 22, and implements various functions described later by executing the various programs developed in the memory 22.

  The memory 22 stores various programs read from the flash memory 26 by the controller 21, data used when various functions are executed by the controller 21, image data acquired by the imaging camera 24, and the like.

  The motors 23a, 23b, 23c... Are built in the robot 10 and operate, for example, the head 11, the torso 12, the eyes 13, the eyelids 14, the nose 15, the mouth 16, the ears 17, the arms 18, the legs 19, and the like. Although the kind of motor 23a, 23b, 23c ... is not specifically limited, In this embodiment, the servomotor is used. For this reason, the head 11, the torso 12, the eyes 13, the heel 14, the nose 15, the mouth 16, the ears 17, the arms 18, and the legs 19 respectively take a specified time in a specified direction by a specified angle. Can work.

  In the present embodiment, only three motors 23a, 23b, 23c... Are shown. However, the robot 10 has a head 11, a torso 12, eyes 13, a heel 14, a nose 15, a mouth 16, an ear 17, an arm. 18 and the number of motors necessary for operating the legs 19 and the like are provided.

  The imaging camera 24 is built in the nose 15 of the robot 10 and images the front of the nose 15. For example, a CCD (Charge Coupled Device Image Sensor) may be used as the imaging camera 24. Image data captured by the imaging camera 24 is associated with each imaging time and stored in, for example, the memory 22 or the flash memory 26.

  The touch sensor 25 is disposed, for example, at a position corresponding to the surface of the body 12 of the robot 10, that is, the body surface, and detects that it is touched by, for example, a human. For example, a pressure sensor may be used as the touch sensor 25.

  The flash memory 26 stores various programs for controlling the operation of the robot 10. Although the flash memory 26 is used in the present embodiment, the present invention is not limited to this as long as it is a nonvolatile memory that can store various programs.

(Functional block diagram of controller 21)
FIG. 3 is a functional block diagram of the controller 21 according to the first embodiment.

  As shown in FIG. 3, the controller 21 according to the present embodiment includes a first operation module 211, a second operation module 212, a third operation module 213, a fourth operation module 214, and a motor drive. Unit (motion drive unit) 215, motor command control unit (motion control unit) 216, face detection unit (first detection unit) 217, attention / interest judgment unit (second detection unit) 218, contact A detection unit 219, a time management unit 220, a power management unit 221, and a purpose setting unit 222 are provided.

  First operation module 211, second operation module 212, third operation module 213, fourth operation module 214, motor drive unit 215, motor command control unit 216, face detection unit 217, attention / interest determination unit 218 The contact detection unit 219, the time management unit 220, the power management unit 221, and the purpose setting unit 222 are all realized by the controller 21 based on a control program developed in the memory 22.

  When the power-on information is notified from the power management unit 221, the first motion module 211 generates a first motor command for causing the robot 10 to execute a so-called spontaneous operation.

  Spontaneous movement is performed during the waiting time until a human visits the surroundings of the robot 10, for example, an action for directing the appearance of living creatures or human contact. The mode of spontaneous movement is not particularly limited, but is a mode in which at least one of head 11, body 12, eyes 13, eyelid 14, nose 15, mouth 16, ear 17, arm 18, and foot 19 is operated. It is said.

  The first motor command includes a plurality of motor commands that realize a preset operation sequence of spontaneous operation (hereinafter referred to as a first operation sequence), and the plurality of motor commands are arranged in the order of their start times. By notifying the motors 23a, 23b, 23c,... From the drive unit 215, the robot 10 is caused to perform a spontaneous operation.

  The first operation module 211 determines the type of spontaneous operation based on the internal state of the robot 10 or image data acquired by the imaging camera 24, and generates a first motor command corresponding to the type. May be.

  When the face detection unit 217 detects that there is a human around the robot 10, that is, when the person detection information is notified from the face detection unit 217, the second operation module 212 is a so-called attracting operation. To generate a second motor command.

  The attraction action is an action that attracts human attention and interest to the robot 10, and includes, for example, a stationary action and a follow-up action.

  The stationary operation is an operation for stopping the spontaneous operation of the robot 10 that has been executed. For example, when the arm 18 and the foot 19 are operated as the spontaneous operation, the operation of the arm 18 and the foot 19 is stopped for a predetermined first time (described later).

  The following operation is continuously executed after the end of the stationary operation, for example, an operation of rotating the head 11 about the body axis C of the trunk 12 and following, for example, a human by the left and right eyes 13. At this time, the parts other than the head 11 of the robot 10 remain stationary. Therefore, only the head 11 moves when performing the follow-up operation. In the present embodiment, the head 11 is rotated around the body axis C of the body 12. However, for example, by moving the left and right eyes 13, for example, a human being walking may be followed.

  The second motor command includes a plurality of motor commands for realizing a preset motion sequence of a stationary motion and a follow-up motion (hereinafter referred to as a second motion sequence). By notifying the motors 23a, 23b, 23c,... From the motor driving unit 215 in order of time, the robot 10 is caused to perform a stationary operation and a follow-up operation.

  Specifically, the second operation sequence includes a plurality of motor commands for executing a stationary operation only for a predetermined first time (described later), and a plurality of motors for realizing a tracking operation after the stationary operation is completed. Since these motor commands are notified from the motor drive unit 215 to the motors 23a, 23b, 23c,... In the order of their start times, the robot 10 continuously executes the stationary operation and the following operation. is there.

  In the second operation sequence, the time management unit 220 manages the time for which the stationary operation is continued. That is, the time count is started from the time when the person around the robot 10 is detected by the face detection unit 217, and when the time count value exceeds a predetermined first time (described later). Quiesce operation ends.

  The third motion module 213 provides a so-called provision to the robot 10 when the robot 10 attracts human attention or interest, that is, when attention / interest detection information is notified from the attention / interest determination unit 218 (described later). A third motor command for executing the operation is generated.

  The providing operation is determined for each service to be provided to humans. The mode of the providing operation is not particularly limited. For example, when presenting information on bargain sales at a nearby supermarket or information on a sudden weather change, the mode of moving the arm 18 or the foot 19 may be used. good.

  The third motor command includes a plurality of motor commands for realizing a preset operation sequence of the provided operation (hereinafter referred to as a third operation sequence), and the plurality of motor commands are arranged in the order of their start times. By notifying the motors 23a, 23b, 23c,...

  When the contact detection information generated by the contact detection unit 219 is notified, the fourth operation module 214 generates a fourth motor command for causing the robot 10 to execute a so-called reaction operation. The mode of the reaction operation is not particularly limited. For example, it may be a mode in which the arm 18 or the foot 19 is moved and the user is happy to be touched.

  The fourth motor command includes a plurality of motor commands for realizing a reaction operation sequence set in advance (hereinafter referred to as a fourth operation sequence), and the plurality of motor commands are arranged in the order of their start times. By notifying the motors 23a, 23b, 23c,... From the drive unit 215, the robot 10 is caused to perform a reaction operation.

  The motor drive unit 215 receives motor commands stored in the command storage units 231a, 231b, 231c, and 231d (described later), and drives the motors 23a, 23b, 23c... Corresponding to the respective motor commands. At this time, the motor drive unit 215 preferentially executes a motor command generated by an operation module having a high priority based on a priority table (described later) of the operation arbitration information management unit 232.

  The motor command includes control information such as the motor ID of the motors 23a, 23b, 23c... To be driven, the rotation direction of the motor shaft, the target angle of the motor shaft, and the time to reach the target angle. Therefore, the motor drive unit 215 designates the drive shafts of the motors 23a, 23b, 23c... To be driven in the designated rotation direction based on the motor commands acquired from the motor storage units 231a, 231b, 231c, 231d. Rotate to specified target angle over specified time.

  The motor command control unit 216 includes a command reception unit 230, command storage units 231a, 231b, 231c, and 231d, and an operation arbitration information management unit 232.

  The command receiving unit 230 receives the motor commands generated by the first, second, third, and fourth operation modules 211, 212, 213, and 214, and stores commands corresponding to the operation modules that generated the respective motor commands. It distributes to the part 231a, 231b, 231c, 231d. For example, the motor command generated by the first operation module 211 is distributed to the command storage unit 231 a corresponding to the first operation module 211.

  Command storage units 231a, 231b, 231c, and 231d are prepared for the respective operation modules 211, 212, 213, and 214, respectively. The command storage units 231a, 231b, 231c, and 231d store the motor commands distributed by the command receiving unit 230 in association with the respective start times.

  The motor commands stored in the command storage units 231a, 231b, 231c, and 231d are generated by an operation module having a high priority based on a priority table (described later) managed by the operation arbitration information management unit 232, respectively. Each motor 23a, 23b, 23c... Is notified in order from the motor command. Therefore, when motor commands are stored in all command storage units 231a, 231b, 231c, and 231d, an operation sequence by the operation module having the highest priority is executed.

  The operation arbitration information management unit 232 associates the first, second, third, and fourth operation modules 211, 212, 213, and 214 with respective priorities P4, P3, P2, and P1. Is managing. For this reason, even if the command storage units 231a, 231b, 231c, and 231d store motor commands generated by the first, second, third, and fourth operation modules 211, 212, 213, and 214, respectively. The motor drive unit 215 can specify a motor command to be executed with priority. Furthermore, the operation arbitration information management unit 232 manages the execution status of the first, second, third, and fourth operation modules 211, 212, 213, and 214. However, the execution status of the first, second, third, and fourth operation modules 211, 212, 213, and 214 may be managed by an execution status management unit (not shown) different from the operation arbitration information management unit 232. good.

  FIG. 4 is a conceptual diagram of a priority table according to the first embodiment.

  As shown in FIG. 4, in the priority table according to the present embodiment, the priority P4 (P4: priority 4) is associated with the first operation module 211, and the priority P3 (P3) is associated with the second operation module 212. : Priority 3), the priority P2 (P2: priority 2) is associated with the third operation module 213, and the priority P1 (P1: priority 1) is associated with the fourth operation module 214. .

  Therefore, for example, when the motor command generated by the first operation module 211 is stored in the command storage unit 231a and the motor command generated by the second operation module 212 is stored in the command storage unit 231b, The motor driving unit 215 executes the motor command generated by the second operation module 212 having a high priority. Furthermore, when the motor command generated by the second operation module 212 is stored in the command storage unit 231b while the motor command generated by the first operation module 211 is being executed, the motor drive unit 215 is stored. Stops execution of the first operation sequence by the first operation module 211 based on the priority table managed by the operation arbitration information management unit 232, and instead the second operation module 212 performs the second operation by the second operation module 212. The execution of the operation sequence is started.

  The face detection unit 217 detects a person around the robot 10 based on the image data acquired by the imaging camera 24. Further, when detecting a human face around the robot 10, the face detection unit 217 generates person detection information indicating that a person has been detected, and the person detection information is first, second, and third. , Notify the fourth operation module 211, 212, 213, 214. For example, a known face recognition technique may be used as the face detection method. Note that the face detection unit 217 may detect a person around the robot 10 for each image data sequentially acquired by the imaging camera 24.

  The attention / interest determination unit 218 calculates the line-of-sight coincidence between the robot 10 and the human based on the image data acquired by the imaging camera 24. A known gaze confirmation method may be used as the gaze coincidence calculation method. When the robot 10 and human eye gaze coincidence exceeds the threshold, the attention / interest determination unit 218 generates gaze coincidence information that means that the robot 10 and human gaze coincide with each other, and the gaze coincidence information is generated. The first, second, third, and fourth operation modules 211, 212, 213, and 214 are notified.

  When the touch sensor 25 detects contact with the robot 10, the contact detection unit 219 generates contact detection information that means that the robot 10 has been touched, and the contact detection information is first, second, and second. 3. Notify the fourth operation modules 211, 212, 213, and 214.

  The time management unit 220 manages the time for the first, second, third, and fourth operation modules 211, 212, 213, and 214 to execute the first, second, third, and fourth operation sequences. doing. For example, the time management unit 220 starts a time count triggered by the detection of a person around the robot 10 by the face detection unit 217, and the time count value is set to a predetermined first time or first time. Judge whether the time of 2 has been exceeded. The first time is a threshold value for the duration of the stationary motion by the second motion module 212. The second time is a threshold of elapsed time until the attention / interest determination unit 218 attracts human attention and interest to the robot 10.

  The power management unit 221 manages ON / OFF of a power switch (not shown). For example, when the power switch is turned on, the first, second, third, and fourth operation modules 211, 212, and 213 are used. , 214 is notified of power-on information indicating that power is turned on.

  The purpose setting unit 222 receives, for example, information related to services to be provided to humans (hereinafter referred to as service information) from the server S, and stores the service information in the memory 22. The robot 10 attracts human attention and interest for the purpose of providing the service to humans. Although the service is not particularly limited, for example, it is assumed to provide information that may be useful to the user, such as information on the sale of a nearby supermarket or information on a sudden change in weather. Moreover, you may use the performance of the dance for encouraging a person as a service. The purpose setting unit 222 may periodically access the server S to check whether service information useful for the user has been generated. Alternatively, the service S may be notified from the server S to the purpose setting unit 222 every time service information is generated. Further, for example, when the service information from the server S is stored in the memory 22, the purpose setting unit 222 generates purpose setting information that means that the purpose is set in the robot 10, and the purpose setting information is stored in the first purpose setting information. The second, third, and fourth operation modules 211, 212, 213, and 214 are notified.

(Processing flow by the controller 21)
FIG. 5 is a flowchart of processing by the controller 21 according to the first embodiment. FIG. 6 is a schematic diagram for explaining the operating state of the motor according to the first embodiment. The curves in FIG. 6 correspond to the motors for driving the ear 17, the heel 14, the mouth 15, the head 11, the right arm 18, the left arm 18, the right leg 19, and the left leg 19 shown on the left side in the figure, respectively. doing. In FIG. 6, the horizontal axis represents time, and the vertical axis represents the motor operation amount (current value).

  The processing flow by the controller 21 according to the present embodiment is started when a power switch (not shown) is turned on and power-on information is notified from the power management unit 221 to the first operation module 211.

  When the processing flow according to the present embodiment is started, the purpose setting unit 222 acquires service information from, for example, the server S and stores the service information in the memory 22 as illustrated in FIG. 5 (step S101). However, when the service information does not exist in the server S, the purpose setting unit 222 does not necessarily acquire the service information.

  Next, the first operation module 211 generates a first motor command for causing the robot 10 to execute a spontaneous operation. The command receiving unit 230 receives the first motor command generated by the first operation module 211 and stores it in the command storage unit 231a. Based on the priority table managed by the operation arbitration information management unit 232, the motor drive unit 215 sends the motor command stored in one of the command storage units 231a, 231b, 231c, and 231d to the motor 23a of the robot 10, To 23b, 23c. Here, the command storage unit 231a stores the first motor command generated by the first operation module 211, but none of the command storage units 231b, 231c, and 231d stores the motor command. . Therefore, the motor drive unit 215 sends the first motor command stored in the command storage unit 231a to the motors 23a, 23b, 23c... Of the robot 10 based on the priority table managed by the operation arbitration information management unit 232. Notice. Thereby, the robot 10 starts a spontaneous operation according to the first operation sequence (step S102). As shown in FIG. 6, it can be seen that a plurality of motors that operate each part of the robot 10 are operating during the spontaneous operation of the robot 10 (see “spontaneous operation state” in the figure).

  Next, the face detection unit 217 determines whether a human is present around the robot 10 based on the image data acquired by the imaging camera 24 (step S103). At this time, the face detection unit 217 may detect only a person existing within a predetermined distance from the robot 10 using a known face recognition technique.

  If the face detection unit 217 determines that a human is present around the robot 10 (Yes in step S103), the second motion module 212 generates a second motor command for executing a stationary motion and a follow-up motion. . The command receiving unit 230 receives the second motor command generated by the second operation module 212 and stores it in the command storage unit 231b. Based on the priority table managed by the operation arbitration information management unit 232, the motor drive unit 215 sends the motor command stored in one of the command storage units 231a, 231b, 231c, and 231d to the motor 23a of the robot 10, To 23b, 23c. Here, the command storage unit 231a displays the first motor command generated by the first operation module 211, and the command storage unit 231b stores the second motor command generated by the second operation module 212, respectively. Storing. However, neither of the command storage units 231c and 231d stores a motor command. Accordingly, the motor drive unit 215 sends the second motor command having a higher priority among the first motor command stored in the command storage unit 231a and the second motor command stored in the command storage unit 231b to the robot. 10 motors 23a, 23b, 23c... Thereby, the robot 10 performs the attracting operation according to the second operation sequence (step S104). The attraction operation includes a stationary operation (step S104a) and a follow-up operation (step S104b), and is an operation for attracting human attention and interest to the robot 10.

  That is, by driving the motors 23a, 23b, 23c... By the second motor command, the robot 10 performs a stationary operation that stops the operation of the part of the robot 10 for a predetermined first time. At the same time, starting from the end of the stationary motion, for example, the head 11 is rotated around the body axis C of the body 12, and a follow-up motion that follows the human by the left and right eyes 13 is executed. As shown in FIG. 6, when the robot 10 is attracted, only the motors for operating the ears 17, the heels 14, 15, and the head 11 are operated, and the right arm 18, the left arm 18, the right foot 19, and the left foot 19 are operated. It can be seen that the motor to be stopped is stopped (see “attraction operation state” in the figure).

  If it is determined by the face detection unit 217 that a human is present around the robot 10 (Yes in step S103), the time management unit 220 starts time counting with the detection of a human being as a trigger.

  On the other hand, if it is not determined by the face detection unit 217 that a human is present around the robot 10 (No in step S103), the purpose setting unit 222 obtains service information from the server S again, for example, and obtains the service information. It memorize | stores in the memory 22 (step S101).

  Next, the attention / interest determination unit 218 determines whether or not human attention or interest has been attracted to the robot 10 (step S105). For example, in the determination of whether or not the attention and interest of a person are attracted, for example, when the eye-gaze coincidence of the robot 10 and the person is compared with a predetermined threshold, and the eye-gaze coincidence exceeds the threshold, What is necessary is just to judge that the attention and interest of human beings were attracted to the robot 10. Further, based on the distance between the robot 10 and the human, that is, the degree of human approach to the robot 10, it may be determined whether or not the attention or interest of the human has been attracted.

  If it is determined that human attention or interest has been attracted to the robot 10 (Yes in step S105), the third operation module 213 provides a service to the human based on the service information stored in the memory 22, that is, performs the target operation. Execute (Step S106). When provision of bargain information and weather information of a nearby supermarket is set as a service, the robot 10 may notify such information using, for example, a speaker (not shown). Moreover, when the performance of dancing for encouraging humans is set as a service, each part of the robot 10 may be operated to perform the dancing. As shown in FIG. 6, it can be seen that a plurality of motors that operate each part of the robot 10 are operating during the target operation of the robot 10 (see “target operation state” in the figure). Here, as the “target motion”, the amount of motion of the motor when a dance performance is set is shown.

  Next, the operation arbitration information management unit 232 determines whether or not the motor driving unit 215 has completed the execution of the target operation (step S107). If the operation arbitration information management unit 232 determines that the execution of the target operation has been completed (Yes in step S107), the processing flow ends. On the other hand, if it is not determined by the operation arbitration information management unit 232 that the execution of the target operation has been completed (No in step S107), the purpose setting unit 222 again acquires service information from the server S, for example, Is stored in the memory 22 (step S101).

  On the other hand, if it is not determined that human attention or interest has been attracted to the robot 10 (No in step S105), the time management unit 220 has elapsed since the human being present around the robot 10 was detected by the face detection unit 217. It is determined whether the time has exceeded a predetermined second time (step S108).

  If it is determined that the elapsed time has exceeded the second time (Yes in Step S108), the purpose setting unit 222 again acquires service information from the server S, for example, and stores the service information in the memory 22 (Step S108). S101).

  On the other hand, if it is not determined that the elapsed time has exceeded the second time (No in step S108), the attention / interest determination unit 218 again determines whether or not human attention or interest has been attracted to the robot 10. (Step S105).

  By repeating the above processing flow, it is possible to provide a person who visits the surroundings of the robot 10 with an optimal service at the timing of each visit.

  According to the present embodiment, when a person around the robot 10 is detected by the face detection unit 217, the spontaneous operation that has been executed by the first operation module 211 until then is determined in advance. While stopping for only time, the head 11 is rotated about the body axis C of the body 12 so that the left and right eyes 13 follow the human.

  That is, in the present embodiment, the robot 10 is caused to stop when, for example, a person is found, and to perform an action similar to the action of a cat that follows the person with both eyes. For this reason, the human being followed by the robot 10 naturally notices the existence of the robot 10 as the human being followed by the cat notices the presence of the cat naturally. Thereby, for example, the attention and interest of a human who is not aware of the presence of the robot 10 can be attracted to the robot 10.

  Further, according to the present embodiment, after confirming that the attention and interest of the human being are attracted to the robot 10, the service is provided to the human being. For this reason, it is possible to prevent the human being unpleasant by providing a service suddenly to a person who is not attracting attention or interest to the robot 10, that is, a human who is not aware of the robot 10.

  In this embodiment, the imaging camera 24 is used to acquire information in front of the robot 10, but the present invention is not limited to this. For example, an infrared sensor that detects a moving object may be used. However, when an infrared sensor or the like is used, instead of the face detection unit 217, an object detection unit (not shown) that detects a moving object based on detection information from the infrared sensor or the like is realized by the controller 21 and the control program. good.

  Furthermore, although the robot 10 according to the present embodiment includes the touch sensor 25 for detecting contact with the robot 10, for example, an audio sensor may be included.

  In the present embodiment, the robot 10 includes the first, second, third, and fourth operation modules 211, 212, 213, and 214. However, the present invention is not limited to this, and further An operation module may be added. When an operation module is added, power-on information, person detection information, attention / interest detection information, line-of-sight matching information, contact detection information, and purpose setting information according to the present embodiment are also notified to the operation module.

[Modification]
Hereinafter, a modification of the first embodiment will be described with reference to FIG. However, descriptions of configurations and processes equivalent to those of the first embodiment will be omitted.

  The second operation module 212 according to the present modification generates a second motor command for causing the initial position operation to be executed before the attraction operation as well as the attraction operation (stationary operation and follow-up operation).

  The initial position operation is an operation for moving the drive shafts of the respective motors 23a, 23b, 23c... To a predetermined initial position. Therefore, when the motor driving unit 215 notifies the respective motors 23a, 23b, 23c,... Of the second motor command stored in the command storage unit 231b according to the second operation sequence, the motors 23a, 23b, The positions of the drive shafts 23c... Are initialized, and then a stationary operation is started.

  FIG. 7 is a schematic diagram for explaining an operation state of the motor according to the modification of the first embodiment. The curves in FIG. 7 correspond to the motors for driving the ear 17, the heel 14, the mouth 15, the head 11, the right arm 18, the left arm 18, the right leg 19, and the left leg 19 shown on the left side in the figure, respectively. doing. Further, the horizontal axis in FIG. 7 represents time, and the vertical axis represents the motor operation amount (current value).

  As shown in FIG. 7, the motors for driving the right arm 18, the left arm 18, the right foot 19, and the left foot 19 continue to operate even after the human being is detected by the face detection unit 217, and then the operation amount of each motor. 0, that is, each motor drive shaft is moved to the initial position (see range A in the figure).

  In the first embodiment, the position of the motor drive shaft when a person is detected is maintained, that is, the position (posture) of each part of the robot 10 when a person is detected is maintained. As in this modification, when a person around the robot 10 is detected, the position (posture) of each part of the robot 10 may be moved to the initial position.

[Second Embodiment]
Hereinafter, the second embodiment will be described with reference to FIGS. 8 and 9. However, descriptions of configurations and processes equivalent to those of the first embodiment will be omitted.

  In the second embodiment, when the face detection unit 217 detects a human existing around the robot 10, the robot 10 executes a facial expression operation for expressing that the human is detected. This is different from the embodiment.

(Functional block diagram of controller 21)
FIG. 8 is a functional block diagram of the controller 21 according to the second embodiment.

  As shown in FIG. 8, the controller 21 according to the present embodiment further includes a fifth operation module 240 and a command storage unit 231e.

  The fifth motion module 240 has a higher priority than the first motion module 211, and when the person detection information is notified from the face detection unit 217, the fifth motion module 240 causes the robot 10 to execute a so-called facial expression motion. Generate motor commands.

  The facial expression motion is an operation of presenting a change in facial expression to a person who has visited the robot 10. The manner of facial expression movement is not particularly limited. For example, the facial movement may be opened, the ear 17 is raised, and the mouth 16 is opened and closed.

  The fifth motor command includes a plurality of motor commands for realizing a preset motion sequence of facial expression motion (hereinafter referred to as a fifth motion sequence), and the plurality of motor commands are motorized in the order of their start times. By notifying the motors 23a, 23b, 23c,... From the drive unit 215, the robot 10 is caused to perform facial expression movements.

  The command storage unit 231e stores motor commands generated by the fifth operation module 240 and distributed by the command reception unit 230 in association with the respective start times.

(Processing flow by the controller 21)
FIG. 9 is a flowchart of processing by the controller 21 according to the second embodiment.

  As shown in FIG. 9, in the processing flow according to the present embodiment, if the face detection unit 217 determines that a human is present around the robot 10 (Yes in step S103), before the robot 10 performs an attraction operation. (Step S104), the fifth motion module 240 generates a fifth motor command for executing the facial expression motion. The command receiving unit 230 receives the fifth motor command generated by the fifth operation module 240 and stores it in the command storage unit 231e. Based on the priority table managed by the operation arbitration information management unit 232, the motor drive unit 215 converts the motor command stored in any of the command storage units 231a, 231b, 231c, 231d, and 231e into the motor 23a of the robot 10. , 23b, 23c... At this time, the command storage unit 231a stores the first motor command generated by the first operation module 211, and the command storage unit 231e stores the first motor command generated by the fifth operation module. doing. However, none of the command storage units 231b, 231c, and 231d stores motor commands. Therefore, the motor driving unit 215 notifies the motors 23a, 23b, 23c,... Of the robot 10 of the fifth motor command having the highest priority among the first motor command and the fifth motor command. Thereby, the robot 10 performs a facial expression motion according to the fifth motion sequence (step S201).

  According to the present embodiment, when the human being around the robot 10 is detected by the face detection unit 217, the facial expression operation is executed before the robot 10 performs the attraction operation. For this reason, although not aware of the robot 10, it is possible to attract the attention and interest of a human who is looking at the vicinity of the robot 10 to the robot 10 with a lower stimulus.

[Third Embodiment]
Hereinafter, the third embodiment will be described with reference to FIG. However, descriptions of configurations and processes equivalent to those of the first embodiment will be omitted.

  The third embodiment is different from the first embodiment in that when the human being detected by the face detection unit 217 disappears, the robot 10 stops the attracting operation that has been performed so far.

(Processing flow by the controller 21)
FIG. 10 is a flowchart of processing by the controller 21 according to the third embodiment.

  As illustrated in FIG. 10, if the attention / interest determination unit 218 does not determine that the human attention or interest has been attracted to the robot 10 (No in step S105), the face detection unit 217 is sequentially acquired by the imaging camera 24. Based on the image data, it is determined whether the human being detected so far has disappeared (step S301).

  If it is not determined that the human being detected so far has disappeared (No in step S301), the attention / interest determination unit 218 again determines whether or not the human attention or interest has been attracted to the robot 10 ( Step S105).

  On the other hand, if it is determined that the human being detected so far has disappeared (Yes in step S301), the attracting operation performed by the robot 10 is stopped, and the purpose setting unit 222 again receives service information from the server S, for example. And the service information is stored in the memory 22 (step S101).

  According to the present embodiment, when the human being detected by the face detection unit 217 disappears, the follow-up operation that has been performed by the robot 10 is stopped, and the objective setting is performed again. For this reason, when the person who should provide the service disappears, it is possible to immediately prepare an interaction with the person who visits the robot 10 next.

[Fourth Embodiment]
Hereinafter, the fourth embodiment will be described with reference to FIG. However, descriptions of configurations and processes equivalent to those of the first embodiment will be omitted.

  In the fourth embodiment, for example, a case where a person visits the robot 10 when service information from the server S is not stored in the memory 22 is assumed. For this reason, in the fourth embodiment, after the face detection unit 217 detects a human present around the robot 10 and before the robot 10 performs the attracting operation, the robot 10 performs the spontaneous tracking operation. In addition, the second embodiment is different from the first embodiment in that the purpose setting unit 222 determines whether the service information is stored in the memory 22. Along with this, the purpose setting after the start of the processing flow is omitted.

(Functional block diagram of controller 21)
FIG. 11 is a functional block diagram of the controller 21 according to the fourth embodiment.

  As shown in FIG. 11, the controller 21 according to the present embodiment further includes a sixth operation module 250 and a command storage unit 231f.

  The sixth motion module 250 has a higher priority than the first motion module 211, and when the person detection information is notified from the face detection unit 217 and the purpose setting information is not notified from the purpose setting unit 222, the robot 10 In addition, a sixth motor command for executing a so-called spontaneous tracking operation is generated.

  The spontaneous tracking operation is a preliminary operation that attracts human attention and interest to the robot 10, and includes, for example, a spontaneous operation and a tracking operation.

  Spontaneous movement is performed during the waiting time until a human visits the surroundings of the robot 10, for example, an action for directing the appearance of living creatures or human contact. The mode of spontaneous movement is not particularly limited, but is a mode in which at least one of head 11, body 12, eyes 13, eyelid 14, nose 15, mouth 16, ear 17, arm 18, and foot 19 is operated. It is said.

  The following operation is performed simultaneously with the spontaneous operation, for example, an operation in which the head 11 is rotated about the body axis C of the body 12 and the human eyes 13 are followed by the left and right eyes 13, for example. In the present embodiment, the head 11 is rotated around the body axis C of the body 12. However, for example, by moving the left and right eyes 13, for example, a human being walking may be followed.

  The sixth motor command includes a plurality of motor commands for realizing an operation sequence (hereinafter referred to as a sixth operation sequence) of a spontaneous operation and a follow-up operation set in advance, and each of the plurality of motor commands is started. By notifying the motors 23a, 23b, 23c,... From the motor drive unit 215 in order of time, the robot 10 is caused to perform a spontaneous operation and a follow-up operation.

  The command storage unit 231f stores motor commands generated by the sixth operation module 250 and distributed by the command reception unit 230 in association with respective start times.

(Processing flow by the controller 21)
FIG. 12 is a flowchart of processing by the controller 21 according to the fourth embodiment.

  When the processing flow according to the present embodiment is started, as shown in FIG. 12, the robot 10 starts a spontaneous operation according to the first operation sequence (step S102).

  Next, the face detection unit 217 determines whether a human is present around the robot 10 based on the image data acquired by the imaging camera 24 (step S103). If it is determined by the face detection unit 217 that a human is present around the robot 10 (Yes in step S103), the sixth operation module 250 performs a sixth operation for executing the spontaneous tracking operation, that is, the spontaneous motion and the tracking motion. Generate motor commands. The command receiving unit 230 receives the sixth motor command generated by the sixth operation module 250 and stores it in the command storage unit 231f. Based on the priority table managed by the operation arbitration information management unit 232, the motor drive unit 215 sends the motor command stored in any of the command storage units 231a, 231b, 231c, 231d, and 231f to the motor of the robot 10. To 23a, 23b, 23c. Here, the command storage unit 231a stores the first motor command generated by the first operation module 211. However, none of the command storage units 231b, 231c, and 231d stores motor commands. Therefore, the motor drive unit 215 sends the sixth motor command having a higher priority among the first motor command stored in the command storage unit 231a and the sixth motor command stored in the command storage unit 231f to the robot. 10 motors 23a, 23b, 23c... Thereby, the robot 10 performs a spontaneous tracking operation according to the sixth operation sequence (step S401). The spontaneous tracking operation includes a spontaneous operation (step S401a) and a tracking operation (step S401b), and is a preliminary operation for attracting human attention and interest to the robot 10. On the other hand, if it is not determined by the face detection unit 217 that a human is present around the robot 10 (No in step S103), the robot 10 starts a spontaneous operation again according to the first operation sequence (step S102).

  Next, the purpose setting unit 222 determines whether service information from the server S is stored in the memory 22 (step S402). For example, if it is determined that the service information from the server S is stored in the memory 22 (Yes in Step S402), the robot 10 performs an attracting operation according to the second operation sequence (Step S104). The attraction operation includes a stationary operation (step S104a) and a follow-up operation (step S104b), and is an operation for attracting human attention and interest to the robot 10. On the other hand, for example, if it is determined that the service information from the server S is stored in the memory 22 (No in step S402), the robot 10 executes the following operation again according to the sixth operation sequence (step S401). ). For example, if it is determined that service information from the server S is stored in the memory 22 (Yes in step S402), the time management unit 220 determines that the service information is stored in the memory 22. Time counting is started as a trigger.

  Next, the attention / interest determination unit 218 determines whether or not human attention or interest has been attracted to the robot 10 (step S105). If it is determined that human attention or interest has been attracted to the robot 10 (Yes in step S105), the third operation module 213 provides a service to the human based on the service information stored in the memory 22, that is, performs the target operation. Execute (Step S106).

  Next, the operation arbitration information management unit 232 determines whether or not the motor driving unit 215 has completed the execution of the target operation (step S107). If the operation arbitration information management unit 232 determines that the execution of the target operation has been completed (Yes in step S107), the processing flow ends. On the other hand, if it is not determined by the operation arbitration information management unit 232 that the execution of the target operation has been completed (No in step S107), the robot 10 again starts a spontaneous operation according to the first operation sequence (step S102). .

  On the other hand, if it is not determined that human attention or interest has been attracted to the robot 10 (No in step S105), the time management unit 220 has elapsed since the human being present around the robot 10 was detected by the face detection unit 217. It is determined whether the time has exceeded a predetermined third time (step S108). The third time is an elapsed time from when the purpose setting unit 222 stores service information from the server S in the memory 22 until the attention / interest determination unit 218 attracts human attention and interest to the robot 10. Is the threshold value.

  If it is determined that the elapsed time has exceeded the third time (Yes in step S108), the robot 10 performs the attracting operation again according to the second operation sequence (step S104). On the other hand, if it is not determined that the elapsed time has exceeded the third time (No in step S108), the robot 10 performs the attracting operation again according to the second operation sequence (step S104).

  According to the present embodiment, for example, when service information from the server S is not stored in the memory 22, even if a person visits the robot 10, service information from the server S is subsequently stored in the memory 22. At the time of storage, it is possible to attract the attention and interest of human beings to the robot 10, and provide a person who visits the surroundings of the robot 10 with the optimum service for each visit timing.

10: Robot 11: Head 12: Body 18: Arm 19: Foot 24: Imaging camera 211: First operation module 212: Second operation module 213: Third operation module 214: Fourth operation module 215: Motor Drive unit 216: Motor command control unit 217: Face detection unit 218: Attention / interest determination unit 219: Contact detection unit 222: Purpose setting unit 231a: Command storage unit 231b: Command storage unit 231c: Command storage unit 231d: Command storage unit 231e: Command storage unit 231f: Command storage unit 240: Fifth operation module 250: Sixth operation module

Claims (6)

A robot body having a body part and a head on which a visual sensor is mounted;
A first detection unit for detecting a person around the robot body based on information acquired by the visual sensor;
A first motion module that causes the body portion to perform a first motion;
When the first detection unit detects the person when the body unit performs the first operation, the first operation is stopped for a predetermined time, and the A second motion module that causes the head to perform a second motion so that a visual sensor follows the person;
Robot equipped with. The robot according to claim 1, wherein
The torso part includes a torso and an upper limb or a lower limb,
The first motion module is a robot that causes at least one of the body and the upper limb or the lower limb to execute the first motion. The robot according to claim 1, further comprising:
A second detection unit for detecting that the person's interest has been attracted;
When the second detection unit detects that the person's interest has been attracted, a third operation for causing the at least one of the body part and the head to provide a service to the person is performed. An operation module;
Robot equipped with. In the robot according to any one of claims 1 to 3,
The first detection unit performs a first detection for detecting the person at a first time and a second detection for detecting the person at a second time later than the first time. And
A fourth operation module for stopping the second operation and executing the first operation when the person detected by the first detection is not detected by the second detection; Robot with In a control method of a robot having a body part and a head on which a visual sensor is mounted,
Detecting a person around the robot body based on information acquired by the visual sensor;
Causing the body portion to perform a first operation;
If the person is detected while the body part is performing the first action, the processor stops the first action for a predetermined time by the processor, and the visual sensor Causing the head to perform a second action to follow the person;
A method for controlling a robot comprising: In a control program for controlling a robot having a body part and a head on which a visual sensor is mounted, the program is stored in a computer.
Detecting a person around the robot body based on information acquired by the visual sensor;
Causing the body portion to perform a first operation;
If the person is detected while the body part is performing the first action, the first action is stopped for a predetermined time, and the visual sensor Causing the head to perform a second action to follow,
Control program to execute

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