JP2016055361A - Control device, robot, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device or the like capable of photographing at various scenes and facilitating operations by a user at the time of starting an imaging function.SOLUTION: A control device (1) comprises an imaging start part (51) for starting an imaging part (72), in the case where it is decided by a gripping determination part (22) that the detection content to be decided to be a predetermined trigger by a trigger judgment part (21) is a trigger indicating an imaging start, and that the user grips a robot (10).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device that controls functions of a photographing unit, a robot including the control device, and a control program that controls functions of the photographing unit.

  Conventionally, a technique related to a robot equipped with a camera is known. For example, Patent Document 1 discloses a technique in which a camera provided in a robot starts imaging an imaging target by inputting a trigger signal.

JP 2012-166314 A (published September 6, 2012)

  However, the trigger signal in Patent Document 1 is for detecting the position of the photographing target. For this reason, the technique of Patent Document 1 has a problem that it is unsuitable because it is not versatile when shooting in various scenes.

  In addition, in the currently popular portable cameras, the power switch is normally turned off, and when used, the power switch is turned on by some user operation. For this reason, when shooting using a conventional portable camera, the user moves the portable camera to a position where shooting is possible, and manually turns on the power switch of the portable camera. There is a need to do. That is, there is a problem that the operation of the photographing function by the user becomes complicated.

  The present invention has been made in view of the above-described problems, and a purpose of the present invention is to provide a control device that can shoot in various scenes and that can be easily operated by a user when starting a shooting function. Is to provide.

  In order to solve the above-described problem, a control device according to one aspect of the present invention is a control device for controlling activation of a photographing unit provided in a robot, and the detected content detected by the robot is a predetermined value. Trigger determination means comprising: trigger determination means for determining whether or not it is a trigger; gripping determination means for determining whether or not the user is holding the robot; and activation means for activating the photographing unit. When the detection content determined to be a predetermined trigger by the means is a trigger indicating the start of shooting, and the grip determination means determines that the user is gripping the robot, The starting means starts the photographing unit.

  According to one aspect of the present invention, the control device can activate the photographing function of the photographing unit when the user holds the robot in response to a trigger for starting photographing. Therefore, the user can perform a wide variety of shooting in various scenes, and the operation by the user when starting the shooting function is simplified.

It is a block diagram which shows an example of the principal part structure of the robot which concerns on one Embodiment of this invention. It is a figure which shows the outline | summary of this invention. It is a flowchart which shows an example of the determination process of the holding | grip determination part with which the said robot is provided. 3 is a flowchart illustrating an example of processing of the control device according to the first embodiment. 5 is a flowchart illustrating an example of processing of a control device according to a second embodiment. 10 is a flowchart illustrating an example of processing of a control device according to a third embodiment.

Embodiment 1
Hereinafter, an embodiment of the present invention will be described with reference to FIGS. The robot according to the present invention includes a camera and performs camera photographing when being held by a user. Further, the robot may be a robot capable of walking on two legs, or may be a robot having a shape such as an animation character or an animal. Note that the size of the robot is a portable size.

(Outline of the present invention)
FIG. 2 is a diagram showing an outline of the present invention. The robot shown in FIG. 2A is in a normal state (V = 0). The normal state (V = 0) is a state in which the photographing function is not activated. For example, as shown in FIG. 2A, the robot has a posture (shape) inappropriate for photographing. Also good.

  The robot shown in FIG. 2B is in a camera use ready state (V = 1). The camera use ready state (V = 1) is a state in which the user is easy to hold (shape). More specifically, when an instruction to start shooting by the user (for example, voice “take a picture”) is detected, the robot uses the camera from the normal state (V = 0) shown in FIG. The state changes to the ready state (V = 1). For example, when the robot has a neck region, as shown in FIG. 2B, the robot straightens the robot's neck so that the direction of the robot's body and the shooting direction of the robot are the same direction. And the posture is changed so that the user can easily recognize the shooting direction (the posture in which shooting is easy). After the robot posture changes to a shape that is easy for the user to grasp (V = 1), the robot speaks “Yes. Lift it up” to indicate that the robot is ready to use the camera. You may inform the user.

  The robot shown on the left side of FIG. 2C is in a camera available state (V = 2). The camera available state (V = 2) is a state in which the photographing function of the camera is activated. For example, when the robot is gripped by the user in the camera use ready state shown in FIG. 2B and lifted to a height suitable for photographing, the robot activates the photographing function of the camera, and the camera usable state (V = 2). It becomes. Note that the robot may display a through image from the camera on a display screen provided in the robot when the imaging function of the camera is activated.

  The robot shown on the left side of FIG. 2 (c), for example, detects the user's voice such as “Yes, cheese”, and then performs camera shooting, and speaks “kasha” after shooting. Tell the user. Note that when the robot detects an instruction to start shooting (for example, voice “Take a picture”) from the normal state (V = 0) while being already held by the user, the robot can use the camera (V = 2). ) And camera shooting may be performed.

  The robot shown on the right side of FIG. 2 (c) is lowered to a place where the robot can be placed without taking a shooting stop instruction after the camera shooting. As shown in FIG. 2C, the robot that is not gripped by the user stops the shooting function of the camera and the display of the through image on the display screen. That is, the robot changes from the camera available state (V = 2) to the camera use ready state (V = 1) or the normal state (V = 0).

  The robot shown on the left side of FIG. 2D is in the normal state (V = 0), and after the camera shooting is finished, the robot is changed from the camera available state (V = 2) by the user's voice. More specifically, when an instruction to stop shooting (for example, the voice “End. Lower”) is detected by the user, the robot stops the shooting function of the camera and the display of the through image on the display screen. Change your posture into a shape that is easy to stand on your own. When an instruction to stop shooting is detected, the robot may inform the user that the robot is no longer in a camera usable state by saying “Yes”.

  The robot shown on the right side of FIG. 2 (d) is a robot shown on the left side of FIG. 2 (d) that has been lowered to a place where the robot can be placed. The robot shown on the right side of FIG. 2D is in a normal state (V = 0). Note that the posture of the robot shown on the right side of FIG. 2D is not limited to be the same as the posture of the robot shown in FIG.

(Robot main part configuration)
FIG. 1 is a block diagram illustrating an example of a main configuration of a robot 10 according to an embodiment of the present invention. As shown in FIG. 1, the robot 10 includes a control device 1, a detection unit 60, a drive unit 71, a camera (imaging unit) 72, a display screen 73, an audio output unit 74, and a storage unit 80. The control device 1 acquires data detected by the detection unit 60 and controls the functions of the drive unit 71, the camera 72, the display screen 73, and the audio output unit 74 based on the acquired data. Details of the control device 1 will be described later.

  The detection unit 60 includes a voice input unit 61, an object detection unit 62, a GPS reception unit 63, a temperature sensor 64, an acceleration sensor 65, and a grip sensor 66. The voice input unit 61 collects a user's voice, and is composed of, for example, a microphone. The object detection unit 62 detects the shape of an object around the robot, and is composed of, for example, an infrared sensor or a camera. An infrared sensor detects the shape of an object in black and white, and operates with lower power consumption than a camera that detects the color and shape of an object. The camera as the object detection unit 62 preferably has a relatively low resolution. The GPS receiver 63 receives radio waves from a GPS (global positioning system). The temperature sensor 64 detects the temperature around the robot. The acceleration sensor 65 detects the acceleration of the robot caused by the movement of the robot. The grip sensor 66 detects whether or not the user is holding the robot. For example, the grip sensor 66 is a capacitance type sensor or a pressure sensitive sensor.

  The drive unit 71 drives the robot in accordance with the notification from the control device 1, and is configured by a servo motor, for example.

  The camera 72 performs shooting according to the notification from the control device 1. In addition, the camera 72 is relatively. Those with high resolution are preferred. Further, the camera 72 may be the same as or different from the camera as the object detection unit 62. When the camera 72 is the same as the camera as the object detection unit 62, the resolution of the camera that operates as the object detection unit 62 is low, and the resolution of the camera that operates according to the notification from the control device 1 is high.

  The display screen 73 displays an image (including a through image) captured by the camera 72 in accordance with a notification from the control device 1. For example, the display screen 73 is an LCD (Liquid crystal display) provided with a touch panel.

  The sound output unit 74 outputs sound according to the notification from the control device 1. The audio output unit 74 is, for example, a speaker.

  The storage unit 80 stores a control program executed by the control device 1 and various data used by the robot 10. For example, the storage unit 80 is configured by a nonvolatile storage device such as a hard disk or a flash memory.

(Configuration of control device)
As shown in FIG. 1, the control device 1 includes a determination unit 2, a posture control unit (posture control unit) 3, a time measurement unit 4, a photographing control unit 5, a display unit (display unit) 6, and a voice synthesis unit 7. Prepare. The determination unit 2 determines the detection content output from the detection unit 60 and notifies the posture control unit 3 and the imaging control unit 5 of the determination result.

  The determination unit 2 includes a trigger determination unit (trigger determination unit) 21 and a grip determination unit (grip determination unit) 22. The trigger determination unit 21 determines whether or not the detection content detected by the detection unit 60 is a predetermined trigger. The predetermined trigger is an instruction indicating start of shooting, an instruction indicating stop of shooting, and an instruction indicating that the shooting direction follows the movement destination of the shooting target. A determination example of the trigger determination unit 21 will be described later.

  The grip determination unit 22 determines whether the user is gripping the robot based on the detection content of the acceleration sensor 65 or the grip sensor 66. In addition, the grip determination unit 22 determines whether the user has moved (lifted) the robot from an arbitrary place (place where it is placed) to a height suitable for shooting based on the detection content of the acceleration sensor 65. And whether or not the robot is placed (lowered) in an arbitrary place. A determination example of the grip determination unit 22 will be described later with reference to FIG.

  The posture control unit 3 controls the drive unit 71 based on the determination results of the trigger determination unit 21 and the grip determination unit 22. For example, when the detection content detected by the detection unit 60 is determined to be a trigger indicating the start of shooting by the trigger determination unit 21 and the grip determination unit 22 determines that the user is not gripping the robot, The posture control unit 3 changes the robot to a posture in a camera use preparation state (V = 1). In addition, for example, when the detection content detected by the detection unit 60 is determined by the trigger determination unit 21 to be a trigger indicating that shooting is stopped, and the user is determined to be holding the robot by the grip determination unit 22 The posture control unit 3 changes the robot to a posture in which it can stand on its own.

  In response to the notification from the posture control unit 3, the time measurement unit 4 measures the time from the time when the posture control unit 3 changes the posture of the robot to the camera use state (V = 1). When the measured time exceeds a predetermined time, the posture control unit 3 is notified. The predetermined time is a preset time, which is longer than the time required for the robot state to change from the camera use ready state (V = 1) to the camera available state (V = 2). Yes (eg 3 minutes).

  The shooting control unit 5 controls the shooting function of the camera 72 according to the determination result notified from the determination unit 2. The shooting control unit 5 includes a shooting start unit (starting unit) 51, a shooting stop unit (stop unit) 52, and a shooting direction changing unit (shooting direction changing unit) 53.

  The imaging activation unit 51 activates the imaging function of the camera 72 based on the determination results of the trigger determination unit 21 and the grip determination unit 22. For example, the trigger determination unit 21 determines that the detection content detected by the detection unit 60 is a trigger indicating the start of shooting, and the grip determination unit 22 determines that the user is holding (raising) the robot. If the camera 72 is activated, the shooting function of the camera 72 is activated. When the camera 72 is the same as the camera as the object detection unit 62, the shooting activation unit 51 sets the resolution of the camera 72 high and activates the shooting function of the camera 72.

  The imaging stop unit 52 stops the imaging function of the camera 72 activated by the imaging activation unit 51 based on the determination results of the trigger determination unit 21 and the grip determination unit 22. For example, when it is determined by the trigger determination unit 21 that the detection content detected by the detection unit 60 is a trigger indicating that shooting is stopped, or the user does not hold (put) the robot by the grip determination unit 22. When it is determined that the shooting function of the camera 72 is stopped.

  The shooting direction changing unit 53 controls the drive unit 71 based on the determination results of the trigger determination unit 21 and the gripping determination unit 22, thereby causing the shooting direction of the camera 72 to follow the moving destination of the shooting target (tracking function). ) To control. Then, moving image shooting by the camera is controlled. As a method for specifying the position of the shooting target, a sound detected by the sound input unit 61 may be used, or image recognition based on the detection content detected by the object detection unit 62 may be used.

  For example, when the trigger detection unit 21 determines that the detection content detected by the detection unit 60 is a trigger indicating the start of tracking, and the grip determination unit 22 determines that the user is not gripping the robot. The shooting direction changing unit 53 causes the shooting direction of the camera to follow the movement destination of the shooting target, and starts moving image shooting. When the grip determining unit 22 determines that the user is holding the robot 10, the shooting direction changing unit 53 stops following the shooting direction of the camera and stops moving image shooting.

  The display unit 6 displays an image (including a through image) captured by the camera 72 on the display screen 73 in response to a notification from the imaging control unit 5.

  The voice synthesizer 7 synthesizes the voice in response to the notification from the shooting control unit 5 and causes the voice output unit 74 to output the synthesized voice.

(Example of determination by the trigger determination unit)
The determination as to whether or not the detection content by the detection unit 60 is a trigger indicating the start of shooting is based on the detection content by the voice input unit 61, the object detection unit 62, the GPS reception unit 63, the temperature sensor 64, or the acceleration sensor 65. Done.

  For example, when the voice input unit 61 detects the user's voice, the trigger determination unit 21 determines whether the voice detected by the voice input unit 61 is a trigger indicating the start of shooting. The voice detected by the voice input unit 61 may be a direct instruction (such as the user's voice “camera activated”) indicating the start of shooting or an indirect instruction indicating the start of shooting. (For example, an answer of the user's voice “That's right” in response to the voice of the robot 10 “Take me a picture?”).

  In addition, for example, when the object detection unit 62 detects the presence of an object, the trigger determination unit 21 analyzes the object detected by the object detection unit 62, and the analyzed object is a gesture (goo, choki, Par or the like), whether it is a human face or landmark. When the object detected by the object detection unit 62 is a preset gesture, human face, or landmark, the trigger determination unit 21 determines that the detection content of the object detection unit 62 is a trigger indicating the start of shooting. To do. A landmark is a tourist attraction or the like, and is a facility where a user is highly likely to take a commemorative photo. Moreover, the gesture and landmark used for determination of the trigger determination part 21 may be preset by the user.

  For example, when the GPS receiving unit 63 receives a GPS signal, the trigger determination unit 21 specifies the current position of the robot 10 from the GPS signal received by the GPS receiving unit 63. Then, when the position specified based on the GPS signal is within a predetermined area, the trigger determination unit 21 determines that the content detected by the GPS reception unit 63 is a trigger indicating the start of imaging. The predetermined area is a place where the user is likely to take a commemorative photo, such as a sightseeing spot, and may be set in advance by the user.

  For example, when the temperature detected by the temperature sensor 64 is outside the predetermined temperature range, the trigger determination unit 21 determines that the detection content by the temperature sensor 64 is a trigger indicating the start of imaging. The predetermined temperature is a temperature (for example, 5 ° C. to 35 ° C.) in the land where the robot 10 is usually located, and may be set by the user or calculated based on the temperature detected by the temperature sensor 64. May be.

  Further, for example, the trigger determination unit 21 calculates the acceleration from the content detected by the acceleration sensor 65, and when the calculated acceleration is larger than a predetermined value, the content detected by the acceleration sensor 65 is a trigger indicating the start of shooting. It is determined that The predetermined value is set to a value larger than T1, which will be described later, and is lower than the value of acceleration caused by an accident due to an accident or the like. For example, the predetermined value is set according to the material and weight of the robot 10.

  Further, whether or not the detection content by the detection unit 60 is a trigger indicating that the shooting is stopped or a trigger that indicates that the shooting direction follows the movement destination of the shooting target is determined based on the detection content by the voice input unit 61. Done. As a voice recognition technique, a known technique is used.

(Control example of gripping judgment unit)
FIG. 3 is a flowchart illustrating an example of determination processing of the grip determination unit 22 provided in the robot 10. As shown in FIG. 3, the robot 10 is in a state where it is placed at an arbitrary place (state initialization S = 1) (S <b> 41), and the grip determination unit 22 detects the detected content detected by the acceleration sensor 65. To get. Then, the grip determination unit 22 calculates an acceleration value A (A = X ² + Y ² + Z ² ) of the robot 10 based on the detection content detected by the acceleration sensor 65 (S42). After S42, the grip determination unit 22 compares the value A calculated in S42 with the first threshold value T1 (S43).

  The acceleration sensor 65 outputs values (X, Y, and Z) in three axial directions orthogonal to each other. The ranges of acceleration values output by the acceleration sensor 65 in the X-axis direction, the Y-axis direction, and the Z-axis direction are −1 or more and +1 or less, respectively. The first threshold value T1 is a value that can be determined when the user has moved (lifted) the robot 10 from an arbitrary place (place where it is placed) to a height suitable for shooting. For example, the first threshold T1 is set according to the material and weight of the robot 10.

  When the value A calculated in S42 is larger than the first threshold value T1 (YES in S43), the grip determination unit 22 is moved to a height suitable for photographing from the arbitrary position of the robot 10 (lifted). (S44). Then, the grip determination unit 22 sets the robot 10 as being gripped by the user (lifted state, S = 2) (S45). On the other hand, if NO at S43, the processing after S42 is repeated.

  Next, the case where the robot 10 is held by the user (S = 2) will be described based on S61 to S64 shown in FIG. As in S42, the grip determination unit 22 acquires the detection content detected by the acceleration sensor 65, and calculates the acceleration value A of the robot 10 based on the detection content detected by the acceleration sensor 65 (S61). . After S61, the grip determination unit 22 compares the value A calculated in S61 with the second threshold T2 (S62). Note that the second threshold value T2 is a value smaller than the first threshold value T1, and is a value that can be determined when the user places the robot 10 in an arbitrary place (lowered). For example, the second threshold T2 is set according to the material and weight of the robot 10.

  When the value A calculated in S61 is smaller than the second threshold value T2 (YES in S62), the gripping determination unit 22 determines that the robot 10 has been placed (lowered) in an arbitrary location ( S63). Then, the grip determination unit 22 sets the robot 10 to be in a state where it is not gripped by the user (placed state, S = 1) (S64). On the other hand, if NO at S62, the processing after S61 is repeated.

(Camera function control example)
FIG. 4 is a flowchart illustrating an example of processing of the control device 1 according to the present embodiment. The robot 10 when the process shown in FIG. 4 is started will be described as being in a normal state (V = 0). First, the trigger determination unit 21 determines whether or not the detection content detected by the detection unit 60 is a trigger indicating the start of imaging (S1). When the detection content detected by the detection unit 60 is a trigger indicating the start of shooting (YES in S1), the grip determination unit 22 is in a state where the robot 10 is gripped by the user (S = 2). It is determined whether or not (S2). When the grip determination unit 22 determines that S = 2 (YES in S2), the shooting start unit 51 starts the shooting function of the camera, and the display unit 6 displays an image shot by the camera on the display screen 73. The state of the robot 10 becomes the camera available state V = 2 (S5).

  On the other hand, when the grip determination unit 22 determines that S = 2 is not satisfied, that is, when it is determined that the robot 10 is not gripped by the user (S = 1) (NO in S2), the posture control unit 3 Changes the posture of the robot 10 to the camera use ready state (V = 1) (S3). After S3, the grip determination unit 22 determines whether or not the robot 10 is moved (lifted) from any place to a height suitable for shooting (S = 2) (S4). When the grip determination unit 22 determines that S = 2 (YES in S4), the process proceeds to S5. If NO in S4, the process in S4 is repeated.

  Next, a process for stopping the photographing function of the camera will be described based on S6 to S10 shown in FIG. The robot 10 is in the camera available state V = 2, and the gripping determination unit 22 determines whether or not the robot 10 is in a state where it is placed (lowered) at an arbitrary place (S = 1) (S6). ). When the grip determination unit 22 determines that S = 1 (YES in S6), the shooting stop unit 52 stops the shooting function of the camera, and the display unit 6 stops display on the display screen 73, The state of the robot 10 is the normal state V = 0 (S7).

  On the other hand, when the grip determination unit 22 determines that S = 1 is not true, that is, when it is determined that the robot 10 is being gripped by the user (S = 2) (NO in S6), the trigger determination unit 21 Determines whether or not the detection content detected by the detection unit 60 is a trigger indicating a stop of photographing (S8). When the detection content detected by the detection unit 60 is a trigger indicating the stop of shooting (YES in S8), the shooting stop unit 52 stops the shooting function of the camera and displays the same as in the process of S7. 6 stops displaying on the display screen 73, and the state of the robot 10 becomes the normal state V = 0 (S9). After S9, the posture control unit 3 changes the robot 10 to a posture in which it can stand on its own (S10). If NO in S8, the processes after S6 are repeated.

(effect)
According to the above configuration, when the trigger indicating the start of shooting is detected and the user is holding the robot 10, the shooting function of the camera is activated. In addition, when a trigger indicating that shooting is stopped is detected or the user does not hold the robot 10, the shooting function of the camera is stopped. For this reason, the user can perform a variety of shootings in various scenes, and the user's operations for starting and stopping the shooting function are simplified. For example, when the shooting function is activated, operations up to still image shooting, moving image shooting, and barcode recognition are simplified.

  Further, according to the above configuration, when a trigger indicating the start of shooting is detected and the user does not hold the robot 10, the posture of the robot 10 changes to a shape that the user can easily hold. For this reason, the user can stably hold the robot 10 when photographing. Therefore, it becomes easy to focus the camera, and a relatively clear image can be taken.

  Further, according to the above configuration, when a trigger indicating stop of photographing is detected and the user is holding the robot 10, the posture of the robot 10 changes to a posture in which it can stand on its own. For this reason, the user can place the robot 10 in an arbitrary place without worrying about the robot 10 falling.

  Moreover, according to said structure, the image display on the display screen 73 is controlled according to starting and a stop of the imaging | photography function of a camera. For this reason, the operation for starting or stopping the display of the image on the display screen 73 is not necessary, and the operation by the user can be prevented from becoming complicated.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In the present embodiment, a process will be described in which the state of the robot 10 returns from the camera use preparation state V = 1 to the normal state V = 0 by a voice instruction or time-out by the user. FIG. 5 is a flowchart illustrating an example of processing of the control device 1 according to the present embodiment. The process shown in FIG. 5 is obtained by adding S21 to S23 to the process shown in FIG. 4, and S11 to S20 shown in FIG. 5 respectively correspond to S1 to S10 shown in FIG.

  As described above, the processing of S11 to 13 is the same as the processing of S1 to S3. Then, as shown in FIG. 5, after the posture control unit 3 changes the posture of the robot 10 to the camera use ready state (V = 1) (S <b> 13), the posture control unit 3 notifies the time measurement unit 4. The time measuring unit 4 measures the time from the time when the posture control unit 3 changes the posture of the robot 10 to the camera usage state (V = 1) (S21). After S21, the grip determination unit 22 determines whether or not the robot 10 is moved (lifted) from an arbitrary place to a height suitable for photographing (S = 2) (S14). When the grip determination unit 22 determines that S = 2 (YES in S14), the imaging activation unit 51 activates the imaging function of the camera, and the display unit 6 displays an image captured by the camera on the display screen 73. The state of the robot 10 is the camera available state V = 2 (S15).

  On the other hand, when the gripping determination unit 22 determines that S = 2 is not satisfied, that is, when it is determined that the robot 10 is in an arbitrary place (S = 1) (NO in S14), trigger determination The unit 21 determines whether or not the detection content detected by the detection unit 60 is a trigger indicating a photographing stop (S22). When the detection content detected by the detection unit 60 is a trigger indicating a stop of photographing (YES in S22), the posture control unit 3 changes the robot 10 to a posture in which it is easy to stand up (S20).

  Further, when the detection content detected by the detection unit 60 is not a trigger indicating a shooting stop (NO in S22), the time measurement unit 4 determines whether or not the measurement start time exceeds a predetermined time in S21. Determine (S23). If the measurement start time in S21 exceeds the predetermined time (YES in S23), the process proceeds to S20. If NO in S23, the processes after S14 are repeated.

(effect)
According to said structure, when the time from the time when the attitude | position of the robot 10 was changed to the attitude | position in which a user is easy to hold | grip exceeds predetermined time, the attitude | position of the robot 10 will change to the attitude | position which can become independent. For this reason, when shooting is no longer necessary, the posture of the robot 10 can be automatically changed to a posture capable of self-sustaining without any user operation.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In the present embodiment, processing in which the shooting direction of the camera follows the moving direction of the shooting target will be described. FIG. 6 is a flowchart illustrating an example of processing of the control device 1 according to the present embodiment. The robot 10 when the process shown in FIG. 6 is started will be described as being in a normal state (V = 0).

  As illustrated in FIG. 6, the trigger determination unit 21 determines whether or not the detection content detected by the detection unit 60 is a trigger indicating that the shooting direction follows the moving direction of the shooting target (S31). . When the detection content detected by the detection unit 60 is a trigger indicating that the shooting direction follows the moving direction of the shooting target (YES in S31), the grip determination unit 22 indicates that the robot 10 is gripped by the user. It is determined whether it is in a state (S = 2) (S32).

  When the grip determination unit 22 determines that S = 2 is not satisfied (NO in S32), the shooting direction changing unit 53 activates the tracking function (camera tracking state V = 3, S33). At the time of S33, the shooting direction changing unit 53 may start moving image shooting by the camera and display the shot moving image on the display screen 73. In S33, the shooting direction changing unit 53 may display a through image on the display screen 73 when the tracking function is activated. If grip determination unit 22 determines that S = 2 (YES in S32), the determination process of S32 is repeated.

  After S33, the grip determination unit 22 determines whether or not the robot 10 is moved (lifted) from any place to a height suitable for shooting (S = 2) (S34). When the grip determination unit 22 determines that S = 2 (YES in S34), the shooting start unit 51 temporarily stops the moving image shooting function, and the shooting direction change unit 53 temporarily sets the tracking function. (Follow-up pause state V = 4, S35). In S35, the shooting activation unit 51 may activate a function of shooting a still image. If grip determination unit 22 determines that S = 2 is not satisfied (NO in S34), the process proceeds to S36.

  After S35, the trigger determination unit 21 determines whether or not the detection content detected by the detection unit 60 is a trigger indicating follow-up stop (S36). If the detection content detected by detection unit 60 is a trigger indicating follow-up stop (YES in S36), shooting direction changing unit 53 stops the follow-up function and stops moving image shooting by the camera (S37). On the other hand, in the case of NO in S36, the grip determination unit 22 determines whether or not the robot 10 is in a state where it is placed (lowered) in an arbitrary place (S = 1) (S38).

  If grip determination unit 22 determines that S = 1 (YES in S38), the processing from S33 onward is repeated. If grip determination unit 22 determines that S = 2 is not satisfied (NO in S38), the processing from S36 is repeated.

(effect)
According to the configuration described above, when the trigger indicating the start of tracking is detected and the user does not hold the robot 10, the shooting direction of the camera is changed so as to follow the moving destination of the shooting target. For this reason, it is possible to take a picture while automatically capturing a moving subject.

  Moreover, according to said structure, when the trigger which shows a follow-up stop is detected and the user is holding the robot 10, the change of the imaging direction of a camera is stopped. For this reason, it is possible to prevent the camera from being out of focus when shooting with the camera held by the user.

[Example of software implementation]
A control block (in particular, a determination unit 2, an attitude control unit 3, a time measurement unit 4, an imaging control unit 5, and a display unit 6) of the control device 1 is a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. Hardware), or software using a CPU (Central Processing Unit).

  In the latter case, the control device 1 includes a CPU that executes instructions of a program that is software that implements each function, a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU), or A storage device (these are referred to as “recording media”), a RAM (Random Access Memory) that expands the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[Summary]
The control device (1) according to the first aspect of the present invention is a control device for controlling the activation of the photographing unit (camera 72) provided in the robot (10), and the detected content detected by the robot is predetermined. A trigger determination unit (trigger determination unit 21) for determining whether or not the user is a trigger, a grip determination unit (grip determination unit 22) for determining whether or not the user is holding the robot, and the photographing unit. Activation means (photographing activation unit 51) to be activated, and the detected content determined to be a predetermined trigger by the trigger determining means is a trigger indicating the start of imaging, and the grip determining means When it is determined that the user is holding the robot, the activation unit activates the imaging unit.

  According to the above configuration, the detection content determined as the predetermined trigger by the trigger determination unit is a trigger indicating the start of photographing, and it is determined by the grip determination unit that the user is holding the robot. In the case where the camera is activated, the activation means activates the photographing unit. The trigger indicating the start of shooting is, for example, a voice instruction from the user. For this reason, the control apparatus can start the imaging | photography function of an imaging | photography part, when a user holds a robot according to the trigger of imaging | photography start. Therefore, the user can perform a wide variety of shooting in various scenes, and the operation by the user when starting the shooting function is simplified.

  In the control device according to aspect 2 of the present invention, in the aspect 1, the control unit (posture control unit 3) that changes the posture of the robot by driving the drive unit (71) provided in the robot. In addition, it is determined that the detection content determined to be a predetermined trigger by the trigger determination unit is a trigger indicating the start of photographing, and the grip determination unit determines that the user is not gripping the robot. In this case, the posture control means may change the posture of the robot to a posture that the user can easily hold.

  According to the above configuration, in the control device, the detection content determined to be the predetermined trigger by the trigger determination unit is a trigger indicating the start of photographing, and the user does not hold the robot by the grip determination unit If it is determined, the posture of the robot is changed to a posture that the user can easily hold. For this reason, the user can stably hold the robot when photographing. Therefore, it is easy to focus the photographing unit, and it is possible to photograph a relatively clear image.

  In the control device according to aspect 3 of the present invention, in the aspect 2, the detection content that is determined to be a predetermined trigger by the trigger determination unit is a trigger that indicates photographing stop, and the grip determination unit performs the above operation. When it is determined that the user is holding the robot, the posture control means may change the posture of the robot to a posture capable of being independent.

  According to the above configuration, in the control device, the detection content determined to be the predetermined trigger by the trigger determination unit is a trigger indicating that the photographing is stopped, and the user is holding the robot by the grip determination unit If it is determined, the posture of the robot is changed to a posture capable of being independent. For this reason, the user can place the robot in an arbitrary place without worrying about the robot falling over when the photographing is finished.

  In the control device according to aspect 4 of the present invention, in the above aspect 2, when the time from the time when the posture control unit changes the posture in which the user can easily grip the posture of the robot exceeds a predetermined time, The posture control means may change the posture of the robot to a posture in which it can stand on its own.

  According to said structure, the said control apparatus can be independent of the robot's attitude | position when the time from the time when the attitude | position control means changed the attitude | position which a user is easy to hold | grip the attitude of a robot exceeds predetermined time. Change to posture. For this reason, when shooting is not necessary, the posture of the robot can be changed to a posture capable of being self-supported automatically without any user operation.

  The control device according to aspect 5 of the present invention provides the control screen according to any one of the aspects 1 to 4 on the display screen (73) provided in the robot when the activation unit activates the imaging unit. You may further provide the display means (display part 6) which displays the picked-up image image | photographed by the said imaging | photography part.

  According to said structure, the said control apparatus displays the picked-up image image | photographed by the recording part on the display screen provided in the robot, when the imaging | photography part is started by the starting means. For this reason, when starting an imaging | photography function, the display on a display screen can be started automatically. Therefore, an operation for starting display on the display screen becomes unnecessary.

  The control device according to aspect 6 of the present invention is the control apparatus according to any one of the aspects 1 to 5, further including a stopping unit (shooting stop unit 52) for stopping the function of the shooting unit, wherein the user is determined by the grip determination unit. When it is determined that the robot is not gripping the robot, the stop unit may stop the function of the photographing unit started by the start unit.

  According to said structure, the said control apparatus stops the function of the imaging | photography part started by the starting means, when it is determined by the holding | grip determination means that the user is not holding the robot. For this reason, when the user releases the robot, the photographing function of the photographing unit can be automatically stopped. Therefore, it is possible to prevent complication of the operation by the user when ending the photographing function.

  In the control device according to aspect 7 of the present invention, in the above aspect 6, when the activation unit activates the imaging unit, a captured image captured by the imaging unit is displayed on a display screen provided in the robot. Display means for displaying, and when the stopping means stops the function of the photographing section activated by the starting means, the display means is displayed on the display screen provided in the robot by the photographing section. You may stop displaying the picked-up image image | photographed.

  According to the above configuration, when the stop unit stops the function of the imaging unit activated by the activation unit, the control device captures an image captured by the imaging unit on the display screen provided in the robot. Stop displaying the image. For this reason, when the photographing function is stopped, the display on the display screen can be automatically stopped. Therefore, an operation for stopping the display on the display screen becomes unnecessary.

  A control device according to an eighth aspect of the present invention is the control device according to any one of the first to seventh aspects, wherein the photographing direction changing unit changes the photographing direction of the photographing unit by driving a driving unit provided in the robot. (The shooting direction changing unit 53), the detection content determined to be a predetermined trigger by the trigger determination unit is a trigger indicating start of tracking, and the user determines the robot by the grip determination unit. When it is determined that the camera is not gripped, the shooting direction changing means may cause the shooting direction of the shooting unit to follow the movement destination of the shooting target shot by the shooting unit.

  According to the above configuration, in the control device, the detection content determined to be the predetermined trigger by the trigger determination unit is a trigger indicating start of tracking, and the user is holding the robot by the grip determination unit. When it is determined that there is no image, the shooting direction of the shooting unit is made to follow the movement destination of the shooting target shot by the shooting unit. For this reason, it is possible to take a picture while automatically capturing a moving subject.

  In the control device according to aspect 9 of the present invention, in the aspect 8, the imaging direction changing unit is configured to control the imaging unit when the grip determining unit determines that the user is holding the robot. The tracking of the shooting direction may be stopped.

  According to said structure, the said control apparatus stops the tracking of the imaging | photography direction of an imaging | photography part, when it determines with the user determining the holding | grip by the holding | grip determination means. For this reason, in the state where the user holds the robot, the shooting direction of the shooting unit is not changed to the moving destination of the shooting target. Therefore, it is possible to prevent the image from being out of focus when shooting.

  A robot according to a tenth aspect of the present invention includes the control device according to any one of the first to ninth aspects.

  According to said structure, there exists an effect similar to any one aspect of the said aspects 1-9.

  The control device according to each aspect of the present invention may be realized by a computer. In this case, the control device is realized by the computer by causing the computer to operate as each unit included in the control device. A control program and a computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

  The present invention can be used for a robot having a photographing function.

DESCRIPTION OF SYMBOLS 1 Control apparatus 10 Robot 21 Trigger determination part (trigger determination means)
22 Grasping determination unit (gripping determination means)
3 Attitude control unit (Attitude control means)
4 Time measurement part 51 Shooting start part (starting means)
52 Shooting stop (stopping means)
53 Shooting direction changing section (shooting direction changing means)
6 Display section (display means)
60 Detection Unit 71 Drive Unit 72 Camera (Photographing Unit)
73 Display screen

Claims (11)

A control device for controlling activation of an imaging unit provided in a robot,
Trigger determination means for determining whether or not the detected content detected by the robot is a predetermined trigger;
Grip determination means for determining whether or not the user is gripping the robot;
An activation means for activating the imaging unit,
When the detection content determined to be a predetermined trigger by the trigger determination means is a trigger indicating the start of shooting, and the grip determination means determines that the user is holding the robot In addition, the activation unit activates the photographing unit. Further comprising posture control means for changing the posture of the robot by driving a drive unit provided in the robot;
When the detection content determined to be a predetermined trigger by the trigger determination means is a trigger indicating the start of shooting, and the grip determination means determines that the user is not gripping the robot The control apparatus according to claim 1, wherein the posture control means changes the posture of the robot to a posture that is easy for a user to hold.   When the detection content determined to be a predetermined trigger by the trigger determination unit is a trigger indicating a stop of photographing, and the grip determination unit determines that the user is holding the robot The control apparatus according to claim 2, wherein the posture control means changes the posture of the robot to a posture in which it can stand on its own.   When the time from the time when the posture control unit changes the posture in which the user can easily grip the posture of the robot exceeds a predetermined time, the posture control unit changes the posture of the robot to a posture capable of being independent. The control device according to claim 2, wherein:   2. The display device according to claim 1, further comprising a display unit configured to display a photographed image photographed by the photographing unit on a display screen provided in the robot when the starting unit activates the photographing unit. 5. The control device according to any one of 4. A stopping means for stopping the function of the photographing unit;
The said stopping means stops the function of the said imaging | photography part started by the said starting means, when the said grip determination means determines with the said user not holding the said robot. The control device according to any one of 1 to 5. When the activation unit activates the imaging unit, the robot further includes a display unit that displays a captured image captured by the imaging unit on a display screen provided in the robot,
When the stopping unit stops the function of the photographing unit activated by the starting unit, the display unit displays a photographed image photographed by the photographing unit on a display screen provided in the robot. The control device according to claim 6, wherein the control is stopped. A driving direction change unit that changes a shooting direction of the shooting unit by driving a driving unit provided in the robot;
When the detection content determined to be a predetermined trigger by the trigger determination means is a trigger indicating start of follow-up, and the grip determination means determines that the user is not gripping the robot Furthermore, the said imaging | photography direction change means makes the imaging | photography direction of the said imaging | photography part track the moving destination of the imaging | photography object image | photographed by the said imaging | photography part, The one of Claim 1 to 7 characterized by the above-mentioned. Control device.   The imaging direction changing unit stops tracking of the imaging direction of the imaging unit when the grip determining unit determines that the user is holding the robot. The control device described.   A robot provided with the control device according to claim 1.   A control program for causing a computer to function as the control device according to any one of claims 1 to 9, wherein the control program causes the computer to function as each of the means.

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