JP2016067834A - Notification control device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely allow a user to recognize an occurrence of a notification event.SOLUTION: A notification control device (1) comprises: a notification posture shift determination section (14) for determining whether or not a posture of a robot (100) can be shifted to a notification posture suitable for a user to recognize an occurrence of a notification event; and notification method determination section (15) for determining a notification method to notify the notification event on the basis of the determination result by the notification posture shift determination section (14).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a notification control device and a program for controlling notification of occurrence of a notification event.

  2. Description of the Related Art Conventionally, a technique for notifying incoming calls and mails received at a mobile terminal by changing the external shape of the terminal body or accessories has been disclosed. For example, in Patent Document 1, the drive pattern generation unit generates a drive pattern signal in real time, and transmits the drive pattern signal to the actuator, whereby the shape of the communication terminal accessory or the member constituting the communication terminal itself is defined. There is disclosed an event notification mechanism that changes and notifies a user of an event that has occurred (for example, an incoming call, an incoming mail, or reception of a digital television broadcast).

JP 2007-214908 A (released on August 23, 2007)

  However, the event notification disclosed in Patent Document 1 is appropriate to change the external shape of the terminal body or accessories such as an object in contact with the mobile terminal or a low battery level. However, the notification method according to the situation is not determined. Therefore, by changing the outer shape in spite of the situation as described above, the user can generate an event such as the mobile terminal being damaged by a collision with an object or the change in the outer shape being interrupted. There was a problem that an unrecognizable situation occurred.

  In order to solve the above-described problem, the notification control apparatus according to one aspect of the present invention allows the user to recognize the occurrence of a notification event that is an event that requires a user's response to notification from the robot. A notification posture transition determining unit that determines whether or not the posture of the robot can be transferred to a suitable notification posture and a notification method for notifying the notification event are determined based on a determination result by the notification posture transition determination unit. Notification method determining means.

  According to one aspect of the present invention, a user can reliably recognize the occurrence of a notification event.

It is a block diagram which shows schematic structure of the robot which concerns on Embodiment 1 of this invention. (A) is a front view which shows the outline of the said robot. (B) is a rear view showing an outline of the robot. (C) is a side view showing an outline of the robot. It is an example of the alerting | reporting attitude | position table stored in the memory | storage part of the said robot. It is an example of the alerting | reporting event generation | occurrence | production table stored in the memory | storage part of the said robot. It is the schematic which shows the determination method of the propriety of transfer to the alerting | reporting attitude | position using the camera part of the said robot. It is a flowchart which shows the control method of the alerting | reporting event generation | occurrence | production by the alerting control apparatus which concerns on Embodiment 1 of this invention (when generation | occurrence | production of a notification event is an external factor). It is a flowchart which shows the control method (in the case of a selection alerting event) of the alerting | reporting event generation | occurrence | production by the alerting control apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the control method of the alerting | reporting of alerting | reporting event generation | occurrence | production by the alerting control apparatus which concerns on Embodiment 1 of this invention (when notifying by a screen display, a vibration, or sound output as an alerting | reporting method not based on an alerting | reporting attitude | position). It is an example of the alerting | reporting event priority table stored in the memory | storage part of the robot which concerns on Embodiment 2 of this invention. It is a flowchart which shows the control method of the alerting | reporting of alerting | reporting event generation | occurrence | production by the alerting | reporting control apparatus which concerns on Embodiment 2 of this invention. It is an example of the alerting | reporting attitude | position table stored in the memory | storage part of the robot which concerns on Embodiment 3 of this invention. It is a flowchart which shows the control method of the alerting | reporting of alerting | reporting event generation | occurrence | production by the alerting | reporting control apparatus which concerns on Embodiment 3 of this invention.

Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. In each of the following embodiments, a description will be given assuming that the notification control device is provided in a biped walking humanoid robot with a mobile phone function. Note that a notification control device may be provided for all robots including anime character battle robots.

  (Outline of Robot) First, an outline of the robot 100 will be described with reference to FIG. FIG. 2A is a front view showing an outline of the robot 100 according to the present embodiment. FIG. 2B is a rear view illustrating the outline of the robot 100. Further, FIG. 2C is a side view showing an outline of the robot 100.

  As shown in FIG. 2A, the robot 100 includes a head portion 100a, a torso portion 100b, arm portions 100c, leg portions 100d, and foot portions 100e. The head 100a is movably connected to the body 100b via the neck 100g, the arm 100c via the shoulder joint 100h, and the leg 100d via the leg joint 100i. Further, the foot part 100e is movably connected to the leg part 100d via the foot joint part 100j. A servo motor 23a, which will be described later, is built in the neck portion 100g and each joint portion. When the servo motor 23a is driven, the head portion 100a, the arm portion 100c, the leg portion 100d, and the foot portion 100e are movable. . Further, the mouth portion 100l and the eye portion 100n constituting part of the head portion 100a incorporate a speaker portion 21 and a camera portion 20 described later, and the foot sole portion 100f constituting a part of the foot portion 100e will be described later. A microphone unit 25 is incorporated.

  Next, as shown in FIGS. 2B and 2C, a display unit 22 to be described later is provided on the back part 100k constituting a part of the body part 100b.

  (Specific Configuration of Robot) Next, a specific configuration of the robot 100 will be described with reference to FIGS. FIG. 1 is a block diagram showing a specific configuration of the robot 100. As shown in FIG. 1, the robot 100 includes a control unit 10, a camera unit 20, a speaker unit 21, a display unit 22, a drive unit 23, an operation input unit 24, a microphone unit 25, a transmission / reception unit 26, an antenna unit 27, and a battery unit. 28, a storage unit 29, and a state detection unit 30.

  The control unit 10 comprehensively controls the robot 100 and includes a notification control device 1. The notification control apparatus 1 supervises various processes for controlling notification of occurrence of a notification event, which will be described later, and details thereof will be described later.

  The camera unit 20 is an imaging unit that captures an image of a subject, and transmits the captured image data to a notification posture transition determination unit 14 described later. The speaker unit 21 is a reproducing unit that includes a function of reproducing information including audio data and a speaker that outputs audio so that it can be heard by non-users. The display unit 22 displays various images such as images resulting from the execution of various functions (application software) installed in the robot 100. The operation input unit 24 acquires an input user operation. The microphone unit 25 is, for example, a sound collector that collects sound during a call. The transmission / reception unit 26 transmits / receives various data such as audio data via the antenna unit 27. The battery unit 28 supplies power to each unit constituting the robot 100. The drive unit 23 drives each movable part such as the head 100a in the robot 100, and includes a number of servomotors 23a corresponding to the neck 100g and each joint.

  The state detection unit 30 detects the positional relationship between the robot 100 and the obstacle, and transmits the detection result to the notification posture transition determination unit 14 described later, and includes a contact sensor 30a and a proximity sensor 30b. The contact sensor 30a detects whether or not the robot 100 is in contact with an obstacle, and a capacitance type sensor, a pressure sensitive sensor, or the like is used. The proximity sensor 30b determines whether the robot 100 and the obstacle are close to each other, that is, whether the obstacle is in contact with the movable part if the specific movable part of the robot 100 moves even slightly. Is detected. As the proximity sensor 30b, a high-frequency oscillation sensor, a magnetic sensor, or the like is used in addition to a capacitance sensor. The state detection unit 30 only needs to include at least one of the contact sensor 30a and the proximity sensor 30b. In addition, the state detection unit 30 is provided at each movable part of the robot 100 (not shown).

  Next, a specific configuration of the storage unit 29 will be described. The storage unit 29 stores a notification event generation table 29a, a notification posture table 29b, various control programs executed by the control unit 10, and the like. The storage unit 29 is configured by a nonvolatile storage device such as a hard disk or a flash memory. The notification attitude table 29c and the notification event priority table 29d will be described later.

  FIG. 3 is an example of the notification posture table 29 b stored in the storage unit 29. The notification event is an event that requires the user to respond to notification from the robot 100 such as an incoming voice call. The notification event includes not only events that occur outside the robot 100, such as incoming voice calls, incoming mails, but also events that occur inside the robot 100, such as selected notification events, that is, alarms. The notification posture is a posture of the robot 100 suitable for the user to recognize the occurrence of the notification event. Further, the notification attitude information is rotational position data of each servo motor 23a corresponding to the notification attitude.

  Specifically, as shown in No. 1 in FIG. 3, a voice incoming call as a notification event is associated with a notification posture (A1). In the notification posture (A1), the leg portion 100d is placed on the abdomen so that the microphone portion 25 provided on the sole portion 100f is located at the user's mouth and the speaker portion 21 provided on the mouth portion 100l is located at the user's ear. It is the posture of the robot 100 inclined to the 100 m side, and it is easy for the user to hold the robot 100 and make a call, and it is easy for the user to associate a voice call. Further, the incoming voice call and notification posture (A1) is associated with the rotational position data α = a1 to δ = n1 (notification posture information) of the first to n-th servo motors corresponding to the notification posture (A1). Yes. The rotational position data α to δ may include all values within a certain range such as a11 <α <a12 to n11 <δ <n12 (see No. 2 in FIG. 3).

  The association is the same when the notification event is an alarm, TV playback, and low battery level. As shown in No. 3 and No. 4 in FIG. 3, the posture of the robot 100 with one of the arms 100c raised, which is easily associated with the user's need for urgent action, is associated with the alarm. It becomes a notification posture (A2). Next, as shown in Nos. 5 and 6 in FIG. 3, the posture of the robot 100 with the body portion 100b inclined is TV, in which the user can easily recognize the display unit 22 and the TV playback is easy to associate. The notification posture (A4) associated with the reproduction is set. Next, as shown in No. 7 and No. 8 in FIG. 3, the angle between the trunk portion 100b and the leg portion 100d is a posture suitable for charging the robot 100 and the user can easily associate that the remaining battery level is low. A sitting posture that is approximately 90 degrees is a notification posture (A5) associated with a decrease in the remaining battery level. The notification posture may be a state where a specific movable part of the robot 100 is operating. For example, as shown in No. 3 and No. 4 in FIG. 3, a posture (A3) in which one of the arm portions 100c is operated and the robot 100 is waving as the notification posture associated with the alarm is adopted. May be.

  Next, FIG. 4 is an example of the notification event occurrence table 29 a stored in the storage unit 29. The selection notification event is a notification event selected by the user and refers to an event that is generated inside the robot 100. The selection notification event generation condition is a condition necessary for the generation of the selection notification event, and can be arbitrarily set by the user. Specifically, when the user selects “first alarm (alarm alarm)” as the selection notification event and sets “7:00 every day” as the selection notification event occurrence condition, these data are associated with each other. It is recorded in the notification event occurrence table 29a. As a result, a process of “the first alarm sounds at 7:00 every day” occurs (No. 1 in FIG. 4). The same is true for the selection notification events in No. 2 to No. 4 in FIG.

  Next, a specific configuration of the notification control device 1 will be described. The notification control device 1 includes a generation condition determination unit 11, a notification event generation unit 12, a notification event detection unit 13, a notification posture transition determination unit 14, a notification method determination unit 15, a notification posture transition unit 16, and a notification method change unit 17. I have.

  The generation condition determination unit 11 determines whether or not the selection notification event generation condition is satisfied. The notification event generation unit 12 generates a selection notification event when receiving a determination result that the selection notification event generation condition is satisfied from the generation condition determination unit 11. The notification event detection unit 13 detects the occurrence of a notification event (including a selection notification vent).

  When the notification posture transition determination unit 14 receives a detection result indicating that the generation of a notification event (including a selection notification vent) has been detected from the notification event detection unit 13, the notification posture transition determination unit 14 associates the notification posture transition determination unit 14 with the notification event that generated the posture of the robot 100. It is determined whether or not it is possible to shift to the notified posture.

  The notification method determination unit 15 determines a notification method of the generated notification event according to the determination result received from the notification posture transition determination unit 14. Specifically, when the determination result indicating that the notification posture transition determination unit 14 can shift to the notification posture is received, the notification method determination unit 15 notifies the generated notification event by the notification posture associated with the notification event. Decide what to do. On the other hand, when the determination result indicating that the transition to the notification posture cannot be performed is received from the notification posture transition determination unit 14, the notification method determination unit 15 determines to notify the generated notification event by a method that does not involve the posture transition of the robot 100. To do. Then, each member of the robot 100 necessary for notification by the above method is operated. In the present embodiment, as a notification method that does not accompany the posture change of the robot 100, a method of displaying the occurrence of a notification event on the display screen of the display unit 22, and a different sound depending on the type of the notification event generated from the speaker unit 21. An example is a method of outputting (a specific sound may be output regardless of the type of notification event) and a method of vibrating the robot 100 main body by a vibration unit (not shown). However, it may be notified by a method other than these, or a combination of these methods may be notified.

  When the notification posture transition unit 16 receives the determination result indicating that the notification method is notified from the notification method determination unit 15, the notification posture transition unit 16 controls the driving of each servo motor 23 a so that the posture of the robot 100 is shifted to the notification posture. The notification posture transition unit 16 stops the transition to the notification posture when detecting the occurrence of the transition interference event in the transition process to the notification posture, and stops when the cancellation of the transition interference event is detected. The transition to the notification posture is resumed. Here, the transition obstruction event refers to an event that occurs during the transition process to the notification posture and prevents the transition to the notification posture. For example, during the transition to the notification posture, contact with an obstacle or the remaining battery level falls below a threshold corresponds to the transition obstruction event. These events are detected by the notification posture transition unit 16 via the image captured by the camera unit 20 and the state detection unit 30 or directly.

  When detecting the stop of the transition to the notification posture, the notification method changing unit 17 changes the notification method of the generated notification event to a method that does not involve the posture change of the robot 100. On the other hand, when the restart of the transition to the notification posture is detected, the notification method change unit 17 ends the notification by the notification method that does not involve the posture shift of the robot 100. Here, as a notification method that does not accompany the posture change of the robot 100, any one of a screen display method, a sound output notification method, or a vibration notification method may be used. You may make it selectable. Moreover, you may make it change to the alerting | reporting method which combined the some method of these. Further, for example, the state of the robot 100 is selected so that a vibration method is selected when the manner mode is selected, and a method (for example, sound output) with low power consumption is selected when the remaining battery level is low. An appropriate notification method may be automatically selected according to the situation.

  (Method for Determining Whether to Change to Notification Position) Next, a method for determining whether to change to the notification posture by the notification posture transition determination unit 14 will be described. First, the notification posture transition determination unit 14 detects whether or not the remaining battery level is equal to or greater than a specific threshold by detecting the remaining battery level of the battery unit 28. Note that the amount of power required to drive each servo motor 23a may be simply used as the threshold value, or the amount of power required to shift from the posture of the robot 100 to the notification posture at the time of determination may be used as the threshold value. . Here, the amount of power required for the posture transition is, for example, the measurement of the rotation angle of each servo motor 23a when the posture transition is performed, and the power consumption per unit rotation angle (for example, 1 °) for each rotation angle. You may calculate by summing what multiplied the quantity. The threshold value may be set in advance when the robot 100 is produced, or may be arbitrarily set by the user. When it is determined that the remaining battery level is less than the specific threshold, the notification posture transition determination unit 14 determines that the notification posture cannot be transferred.

  Next, when the notification posture transition determination unit 14 determines that the remaining battery level is equal to or greater than a specific threshold value, the notification posture transition determination unit 14 drives the servo motors 23a provided in each movable part of the robot 100 corresponding to the transition to the notification posture. Thus, it is determined whether or not at least one of the movable parts collides with an obstacle. First, the presence or absence of the collision is determined based on the detection result of the contact sensor 30a. Next, when a detection result indicating that none of the movable parts is in contact with an obstacle is received from the contact sensor 30a, the notification posture transition determination unit 14 performs the above based on the detection result by the proximity sensor 30b. Determine if there is a collision.

  Next, when the detection result indicating that none of the movable parts is close to the obstacle is received from the proximity sensor 30b, the notification posture transition determination unit 14 is based on the image data received from the camera unit 20. To determine the presence or absence of the collision. Specifically, referring to the notification posture table 29b, the operation paths of the respective movable parts from the posture of the robot 100 to the notification posture at the time of determining whether or not there is a collision based on the image data are simulated. Then, by calculating the region of the motion path in the image data and determining whether or not all or part of the obstacles recorded in the image data exist in this region, the presence or absence of the collision Determine. When the robot 100 is stored in a bag or the like, there is a high possibility that the determination using the camera unit 20 cannot be performed because the surroundings of the robot 100 are dark. In such a case, if the notification posture transition determination unit 14 determines that the surrounding of the robot 100 is dark based on the image data or the detection result of an illuminance sensor (not shown) separately provided in the robot 100, It may be determined that at least one of the movable parts collides with an obstacle.

  For example, as shown in FIG. 5A, if the posture of the robot 100 at the time of the determination when the alarm is sounded is an upright posture, the notification posture transition determination unit 14 associates the alarm from the upright posture with the alarm. A path along which the right arm 100c operates until the transition to the notified posture (A2; posture with the right arm 100c raised) is simulated. As shown in FIG. 5B, when there is an obstacle in the left arm 100c side area, the obstacle does not exist in the movement path area of the right arm 100c. The notification posture transition determination unit 14 determines that the right arm 100c does not collide with the obstacle. On the other hand, as shown in FIG. 5C, when the obstacle exists in the movement path region of the right arm 100c, the notification posture transition determination unit 14 determines that the right arm 100c Judge that it collides with an object.

  If it is determined by the determination using the camera unit 20 that none of the movable parts collides with an obstacle, the notification posture transition determination unit 14 determines that the notification posture can be shifted. On the other hand, when at least one of the movable parts is in contact with an obstacle, when at least one of the movable parts is close to the obstacle, or when the movable parts corresponding to the transition to the notification posture are When all or part of the obstacle exists in the motion path area, the notification posture transition determination unit 14 determines that the transition to the notification posture cannot be made.

  In addition, the determination order of each determination using the contact sensor 30a, the proximity sensor 30b, and the camera part 20 is not limited to the said order, A user may set arbitrarily. Moreover, it is not necessary to use all the three members for the determination of the transition to the notification posture, and another member may be used.

  (Control method of notification of occurrence of notification event by notification control device) Next, a control method of notification of occurrence of a notification event by the notification control device 1 when the occurrence of the notification event is an external factor will be described using FIG. . FIG. 6 is a flowchart showing the control method.

  As shown in FIG. 6, first, when the notification event detection unit 13 detects the occurrence of a notification event (YES in step 100; hereinafter abbreviated as Y in S100), the detection result is notified to the notification posture transition determination unit 14. Send to. On the other hand, when the occurrence of the notification event is not detected (NO in S100; hereinafter abbreviated as N), the notification event detection unit 13 detects again whether or not the notification event has occurred. Next, when the notification posture transition determination unit 14 determines Y in S100, the notification posture transition determination unit 14 determines the notification posture associated with the generated notification event by referring to the notification posture table 29b (S101). Next, the notification posture transition determination unit 14 determines whether or not there is a remaining battery level necessary to drive the drive unit 23 (S102), and the movable part that is activated when the drive unit 23 is driven is an obstacle. It is determined whether or not a collision occurs (S103). When it is determined that there is a remaining battery level (Y in S102) and it is determined that the battery does not collide with an obstacle (Y in S103), the notification posture transition determination unit 14 can shift to the determined notification posture. Determine (S104). On the other hand, when it determines with N by S102 or S103, the notification attitude transition determination part 14 determines with it not being able to transfer to the determined notification attitude (S115).

  Next, when the notification method determination unit 15 receives the determination result indicating that the notification posture transition determination unit 14 can shift to the notification posture, the notification method determination unit 15 determines to notify the occurrence of the notification event by the notification posture, and the determination result is It transmits to the notification posture transition part 16 (S105). The notification posture transition unit 16 that has received the determination result starts the transition to the notification posture (S106), and then detects the presence or absence of a transition disturbance event (S107). If the occurrence of the transition obstruction event is not detected (N in S107), the notification posture transition unit 16 continues the transition to the notification posture (S113), and after the transition to the notification posture is completed, The occurrence is notified (S114). On the other hand, when the occurrence of the transition disturbance event is detected (Y in S107), the notification posture transition unit 16 stops the transition to the notification posture (S108), and the notification method change unit 17 that detects the stop detects the notification method. A process of changing to a method that does not involve posture change of the robot 100 is executed (S109). If the cancellation of the transition interference event is detected (Y in S110), the notification posture transition unit 16 resumes the transition to the notification posture (S111), and the notification method change unit 17 that has detected the restart determines that the robot 100 The notification of the notification event occurrence by the notification method not accompanied by the posture transition is terminated (S112). Thereafter, the process of S114 is executed. When the cancellation of the transition interference event is not detected (N in S110), the notification posture transition unit 16 detects again whether or not the transition interference event has been resolved.

  When the determination result that the transition to the notification posture cannot be performed is received from the notification posture transition determination unit 14 (the process of S115 is executed), the notification method determination unit 15 determines whether or not the robot 100 is in the manner mode setting (S116). ). If it is determined that the manner mode is being set (Y in S116), the notification method determining unit 15 determines to notify the occurrence of the notification event on the screen display (S117), and the display screen of the display unit 22 is displayed. The fact that the notification event has occurred is displayed (S118). On the other hand, when it determines with N by S116, the alerting | reporting method determination part 15 determines whether the sound is being output in the speaker part 21 (S119). If it is determined that sound is not being output (N in S119), the notification method determination unit 15 determines to notify the occurrence of a notification event by sound output (S120), and causes the speaker unit 21 to output sound (S121). ). When it determines with Y by S119, the process after S117 is performed.

  Next, with reference to FIG. 7, a method for controlling the notification of the occurrence of the selection notification event by the notification control device 1 when the selection notification event occurs will be described. FIG. 7 is a flowchart showing the control method. Note that the processing after the processing of S203 in FIG. 7 is the same as the processing after S102 in FIG.

  As illustrated in FIG. 7, first, the generation condition determination unit 11 refers to the notification event generation table 29a to determine whether or not the selection notification event generation condition is satisfied (S200). When it determines with Y by S200, the generation | occurrence | production condition determination part 11 transmits the determination result to the effect that the said conditions are satisfied to the alerting | reporting event generation part 12. FIG. On the other hand, when it determines with N by S200, the generation condition determination part 11 determines again whether the said conditions are satisfied. Then, when receiving the determination result from the generation condition determination unit 11, the notification event generation unit 12 generates a selection notification event associated with the selection notification event generation condition determined to be satisfied (S201). . Next, when the notification event detection unit 13 detects the occurrence of a selection notification event (Y in S202), the notification event detection unit 13 transmits the detection result to the notification posture determination unit 14. On the other hand, when the occurrence of the selection notification event is not detected (N in S202), the notification event detection unit 13 detects again whether or not the notification event has occurred. Next, when it is determined Y in S202, the notification posture determination unit 14 determines the notification posture associated with the selected notification event that has occurred by referring to the notification posture table 29b (S203).

  As for notification of occurrence of a notification event by a notification method that does not involve posture change of the robot 100, it may be determined whether or not the manner mode is in effect after first determining whether or not sound is being output. Furthermore, as shown in FIG. 8, a notification method by vibration may be newly added. Specifically, after performing the process of S113, the notification method determination unit 15 determines whether or not the remaining battery level of the battery unit 28 is equal to or greater than a threshold value (S300). If it is determined that the remaining battery level is greater than or equal to the threshold (Y in S300), the notification method determination unit 15 performs the same processing as S117 and S118 (S301 and S302). On the other hand, when it is determined that the remaining battery level is less than the threshold value (N in S300), the notification method determination unit 15 executes the same process as S116 (S303). If it is determined as Y in S303, the notification method determination unit 15 determines the notification of the occurrence of a notification event due to vibration (S304), and vibrates the robot 100 main body (S305). When it determines with N by S303, the alerting | reporting method determination part 15 performs the process similar to S119 to S121 (S306 to S308).

  (Effects) As described above, according to the present embodiment, the notification control device 1 is accompanied by a robot posture transition such as voice output even when the notification event occurrence cannot be notified by the notification posture. There is no notification method. Therefore, it is possible to make the user surely recognize the occurrence of the notification event. Further, even when a transition obstruction event occurs, the user can be surely made aware of the occurrence of the notification event.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIGS. 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 notification control device 2 according to the present embodiment, when the notification posture transition determination unit 14 generates the second notification event after the first notification event occurs (the degree that the user needs to respond to each notification event). If the priority of the second notification event is higher than the priority of the first notification event, the second notification posture associated with the second notification event is set. The notification control apparatus 1 according to the first embodiment is different from the notification control apparatus 1 according to the first embodiment in that posture determination is performed. The first notification event is a notification event that occurs first, and the second notification event is a notification event that occurs after the occurrence of the first notification event. The first notification posture is a notification posture associated with the first notification event, and the second notification posture is a notification posture associated with the second notification event. In addition, the notification control device 2 according to the present embodiment changes the notification method of the first notification event occurrence when the notification method changing unit 17 shifts the posture of the robot 200 to the second notification posture. It differs from the information control apparatus 1 which concerns on Embodiment 1 also in the point which changes into the method which does not accompany. Furthermore, the robot 200 according to the present embodiment differs from the robot 100 according to the first embodiment in that a notification event priority table 29d is stored in the storage unit 29.

  (Transition to Notification Position when Multiple Notification Events Occur) Transition to the notification posture when multiple notification events occur will be described with reference to FIG. FIG. 9 is an example of the notification event priority table 29 d stored in the storage unit 29.

  The notification event priority table 29d is obtained by adding a priority column to the notification attitude table 29b of FIG. 3, and shows the correspondence between each data and priority recorded in the table 29b. The priority is set to “1” as the lowest value (lowest priority), and the numerical value increases as the necessity of handling by the user increases, and “10” as the highest value (highest priority). Here, the priority of the notification event shown in FIG. 9 is merely an example, and the user can arbitrarily set and change it. In FIG. 9, for simplification of description, the “rotation position of servo motor” and “notification posture” fields are omitted.

  As shown in FIG. 9, for example, after a voice call (priority “8”; second highest priority) occurs as a first notification event, an alarm (priority “6”; priority) is generated as a second notification event. If the determination is not made whether or not the posture of the robot 200 can be shifted to the first notification posture (A1) associated with the incoming voice call, the notification posture is determined. The transition determination unit 14 performs the determination. Further, if the transition to the first notification posture (A1) is in progress, the notification posture transition unit 16 completes the transition. Furthermore, if the transition to the first notification posture (A1) has already been completed, the notification posture transition unit 16 maintains the posture.

  Next, for example, after TV playback (priority “4”; the lowest priority) occurs as the first notification event, the remaining battery level decreases (priority “10”; the priority is the second notification event). When the first highest) occurs, the notification posture transition determination unit 14 regardless of whether or not the posture of the robot 200 has shifted to the first notification posture (A4) associated with TV playback. It is determined whether or not the posture can be shifted to the second notification posture (A5) associated with the low battery level.

  Although not shown in FIG. 9, when two types of notification events having the same priority occur, a notification event that is notified with priority may be set in advance when the robot 200 is produced. , The user may arbitrarily set.

  (Notification Control Method by Notification Control Device When Multiple Notification Events Occur) Next, a notification control method by notification control device 2 when a plurality of notification events occur will be described using FIG. . FIG. 10 is a flowchart showing the control method. Note that the processing after S408, S409, or S412 in FIG. 10 is the same as the processing after S107 or S116 in FIG.

  As illustrated in FIG. 10, when the notification event detection unit 13 detects the occurrence of the second notification event (Y in S400), the notification event detection unit 13 transmits a detection result to that effect to the notification posture transition determination unit 14. On the other hand, when the occurrence of the second notification event is not detected (N in S400), the notification event detection unit 13 detects again whether or not the second notification event has occurred. When the notification posture transition determination unit 14 becomes Y in S400, the notification posture transition determination unit 14 determines the second notification posture by referring to the notification event priority table 29d (S401).

  Next, the notification posture transition determination unit 14 determines whether the detection result of the first notification event occurrence has already been received from the notification event detection unit 13 before receiving the detection result of the second notification event occurrence. (S402). When it is determined that the answer is N in S402, the notification posture transition determination unit 14 determines whether or not there is a remaining battery level necessary for shifting to the second notification posture (S403), and the transition to the second notification posture. It is determined whether or not the movable part that has been operated on collides with an obstacle (S404). When it is determined that there is a remaining battery level (Y in S403) and it is determined that the battery does not collide with an obstacle (Y in S404), the notification posture transition determination unit 14 determines that the second notification posture can be transferred. (S405). When it is determined as N in S403 or S404, the notification posture transition determination unit 14 determines that the transition to the second notification posture cannot be performed (S411).

  Next, when it determines with Y by S402, the alerting | reporting attitude | position transfer determination part 14 compares the priority of both alerting | reporting events (S410). When the notification posture transition determination unit 14 determines that the priority of the first notification event is lower (N in S410), the notification posture transition determination unit 14 executes the processing from S403 to S405, and the priority of the first notification event is higher. If it is determined that the value is high (Y in S410), the process of S411 is executed. After the process of S411 ends, the notification method determination unit 15 determines to notify the occurrence of the second notification event by a notification method that does not involve the posture change of the robot 200 (S412). And the process similar to the process after S116 is performed.

  Next, the notification method determination unit 15 that has received the determination result indicating that it is possible to shift to the second notification posture from the notification posture transition determination unit 14 determines to notify in the second notification posture, and the determination result is notified to the notification posture transition unit. 16 (S406). The notification posture transition unit 16 that has received the determination result starts the transition to the second notification posture (S407). Next, the notification method changing unit 17 determines whether or not the posture of the robot 200 has already shifted to the first notification posture (S408). And when it determines with N by S408, the process similar to the process after S107 is performed. On the other hand, when it determines with Y by S408, the alerting | reporting method change part 17 changes the alerting | reporting method of 1st alerting | reporting event generation | occurrence | production to the method which does not accompany the attitude | position transition of the robot 200 (S409). Then, after the process of S409 is completed, the same process as the process after S116 is executed.

  (Effects) As described above, according to the present embodiment, a user can respond to a notification event having a higher degree of need for the user regardless of the order of occurrence of the first notification event and the second notification event. Can respond reliably. Furthermore, it is possible to prevent the user from forgetting the occurrence of the first notification event by shifting the posture of the robot to the second notification posture, and to ensure that the user also recognizes the occurrence of the first notification event. it can.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the above embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the notification control device 3 according to the present embodiment, when a plurality of notification postures are associated with a specific notification event, the notification posture transition determination unit 14 changes the posture transition of the robot 300 from the plurality of notification postures. Is different from the notification control apparatuses 1 and 2 according to the first and second embodiments in that it is determined whether or not there is a posture capable of being. The robot 300 according to the present embodiment is different from the robots 100 and 200 according to the first and second embodiments in that a notification posture table 29c is stored in the storage unit 29.

  (Method for Determining Whether to Change to Notification Position) Next, referring to FIG. 11, when a plurality of notification postures are associated with a specific notification event, transition to the notification posture by the notification posture transition determination unit 14 is performed. A method for determining availability is described. FIG. 11 is an example of the notification posture table 29 c stored in the storage unit 29.

  The notification posture table 29c is a data table indicating a correspondence relationship between the notification event, the notification posture information, and the notification posture, and the notification event is associated with a plurality of notification posture information and a plurality of notification postures. It is. For example, as shown in FIG. 11, in response to an alarm as a notification event, a notification posture in the case of pattern 1 (A2; a posture in which the right arm 100c is raised) and a notification posture corresponding to the notification posture (A2). Information (rotational position data of the first to n-th servo motors is associated with α = a2 to δ = n2 or a21 <α <a22 to n21 <δ <n22). In addition, in the case of Pattern 2, the notification posture (A2 ′; the posture in which the left arm 100c is raised) and the notification posture information (rotational position data of the first to nth servo motors) corresponding to the notification posture (A2 ′). However, α = a2 ′ to δ = n2 ′ or a21 ′ <α <a22 ′ to n21 ′ <δ <n22 ′) are also associated.

  Specifically, when an alarm is generated, the notification posture transition determination unit 14 first determines the notification posture (A2) of the pattern 1 as a target posture for posture transition determination. Then, the notification posture transition determination unit 14 determines whether or not the transition to the notification posture (A2) is possible by the same method as the determination of whether or not the transition to the notification posture in the first embodiment is possible. Next, when it is determined that the transition to the notification posture (A2) is impossible due to an obstacle in the operation path region of the right arm portion 100c, the notification posture transition determination unit 14 determines the notification posture of the pattern 2 (A2 ′) is determined as the target posture, and the same determination as above is performed. Next, when it is determined that the posture transition is not possible for both the notification postures (A2) and (A2 ′), the notification posture transition determination unit 14 confirms the presence or absence of another notification posture that is not the target posture. . In the example of FIG. 11, since the posture change permission / inhibition determination is performed for all the notification postures, the notification posture shift determination unit 14 finally determines that it is not possible to shift to the notification posture associated with the alarm. To do.

  Note that the order of determining whether or not to change the posture for a plurality of notification postures is arbitrary, and may be set in advance when the robot 300 is produced, or may be set arbitrarily by the user. Moreover, the pattern (combination of notification attitude information and notification attitude) associated with a specific notification event is not limited to two types as shown in FIG. 11, and more patterns may be associated.

  (Control Method for Notification of Notification Event Occurrence by Notification Control Device) Next, using FIG. 12, the notification event occurrence by the notification control device 3 when a plurality of notification postures are associated with a specific notification event. A notification control method will be described. FIG. 12 is a flowchart showing the control method. Note that the processes from S500 to S514 and S516 to S522 in FIG. 12 are the same as the processes from S100 to S114 and S115 to S121 in FIG.

  As shown in FIG. 12, when it is determined that there is not enough remaining battery power to drive the drive unit 23 (N in S502), or when it is determined that the drive unit 23 will collide with an obstacle when driven (N in S503), the notification posture transition determination unit 14 confirms whether or not the posture transition is determined for all of the plurality of notification postures associated with the generated notification event (S515). Then, when it is confirmed that the posture change permission determination has been performed for all of the plurality of notification postures (Y in S515), the processing of S516 is executed. On the other hand, when there is another notification posture that has not been determined whether or not posture change is possible (N in S515), the notification posture change determination unit 14 executes the processing from S501 to S503 again.

  (Effect) As described above, according to the present embodiment, the possibility that the generated notification event can be notified to the user by the notification posture is increased as compared with the case where the notification posture associated with the notification event is single. . Therefore, it is possible to more surely make the user visually recognize the occurrence of the notification event.

[Example of software implementation]
The control blocks (in particular, the control unit 10 and the notification posture transition determination unit 14) of the notification control devices 1 to 3 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or a CPU It may be realized by software using (Central Processing Unit). In the latter case, the notification control devices 1 to 3 are a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only) in which the program and various data are recorded so as to be readable by a computer (or CPU). Memory) or a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like. 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 notification control device (1, 2, 3) according to the first aspect of the present invention generates the notification event, which is an event that requires a user's response to the notification from the robot (100, 200, 300). Based on the determination result by the notification posture transition determination means (notification posture transition determination unit 14) for determining whether the posture of the robot can be shifted to the notification posture suitable for recognition by the notification posture transition determination means, A notification method determination unit (notification method determination unit 15) that determines a notification method for reporting the notification event. According to the above configuration, even when the posture of the robot cannot be transferred to the notification posture, the generated notification event can be recognized by the user by some method. Therefore, even when the robot cannot move to the notification posture, the user can be surely recognized that the notification event has occurred.

  The notification control apparatus (1, 2, 3) according to aspect 2 of the present invention is the above-described aspect 1, wherein the notification method determination means (notification method determination unit 15) is the notification posture transition determination unit (notification posture transition determination unit). 14) When determining that the posture of the robot (100, 200, 300) cannot be transferred to the notification posture, a method that does not involve the posture change of the robot may be determined as the notification method. According to the above configuration, the notification method determining means determines a notification method that does not involve the movement of the posture of the robot, such as voice output, even when the notification event generation method cannot be notified by the notification method based on the notification posture. . Therefore, even when the robot cannot move to the notification posture, the user can be surely recognized that the notification event has occurred.

  In the notification control apparatus (3) according to the third aspect of the present invention, in the first or second aspect, the notification event is associated with a plurality of notification postures, and the notification posture transition determination unit (notification posture transition determination). The unit 14) may determine the presence / absence of a posture capable of changing the posture of the robot (300) from the plurality of notification postures. According to the above configuration, the possibility that the generated notification event can be notified to the user by the notification posture is increased as compared with the case where the notification posture associated with the notification event is single. Therefore, it is possible to more surely make the user visually recognize the occurrence of the notification event.

  In the notification control device (2) according to the fourth aspect of the present invention, in the first or second aspect, the notification event includes a first notification event and a second notification event, and the first notification event and the second notification event. Is set with a priority order determined according to the degree to which the user needs to respond, and when the second notification event occurs after the occurrence of the first notification event, the notification posture is set. If the priority of the second notification event is higher than the priority of the first notification event, the transition determination unit (notification posture transition determination unit 14) performs the second notification associated with the second notification event. It may be determined whether or not the posture can be changed to the posture. According to the above configuration, when the priority order of the second notification event is high, the second notification event can be surely recognized by the user. In addition, the user can reliably respond to a notification event having a higher degree of need for the user regardless of the order of occurrence of the first notification event and the second notification event.

  The notification control apparatus (2) according to the aspect 4 further includes notification method changing means for changing the notification method determined by the notification method determination means (notification method determination unit 15) to another notification method. The notification method change means determines that the notification posture transition determination means can shift the posture of the robot to the second notification posture when the second notification event occurs after the occurrence of the first notification event. For example, the notification method of the occurrence of the first notification event may be changed to a method that does not involve the posture change of the robot. According to the above configuration, it is possible to prevent the user from forgetting the occurrence of the first notification event due to the posture of the robot shifting to the second notification posture, and the user can be surely recognized that the first notification event has occurred. Can be made.

  Further, in the notification control device (1, 2, 3) according to any one of the first to fourth aspects, when the notification method determining means (the notification method determining unit 15) determines the notification method based on the notification posture, The robot further includes a notification posture transition means for shifting the posture of the robot to the notification posture, and the notification posture transition means is configured to generate a transition disturbance event that prevents the transition to the notification posture in the process of transitioning to the notification posture. If detected, the transition to the notification posture is stopped, and the notification method changing means changes the notification method of occurrence of the notification event to the robot (100) when the notification posture transition means stops shifting to the notification posture. , 200, 300) may be changed to a method that does not involve posture change. According to the above configuration, even when a transition obstruction event occurs, the user can be surely made aware of the occurrence of the notification event. Further, it is possible to prevent the robot from being damaged due to the continuous transition to the notification posture despite the occurrence of the transition obstruction event.

  Further, in the notification control device (1, 2, 3) according to any one of the first to fourth aspects, the notification posture transition means detects the cancellation of the transition interference event in a state where the transition to the notification posture is stopped. In this case, the transition to the notification posture is resumed, and the notification method changing means changes the posture of the robot (100, 200, 300) when the notification posture transition means resumes the transition to the notification posture. The notification of the occurrence of the notification event by a method not accompanied may be terminated. According to the above configuration, it is possible to reliably make the user visually recognize the occurrence of the notification event when the transition interruption event is resolved. In addition, it is possible to prevent waste of notifying the occurrence of a notification event by an unnecessary type of notification method, and it is possible to suppress waste of power consumption.

  The robot (100, 200, 300) according to the fifth aspect of the present invention may include the notification control device (1, 2, 3) according to any one of the first to fourth aspects. According to the said structure, the robot which can make a user recognize reliably generation | occurrence | production of a notification event is realizable.

  The notification control device (1, 2, 3) according to each aspect of the present invention may be realized by a computer, and in this case, the notification control is performed by operating the computer as each unit included in the notification control device. A notification control program of a notification control device for realizing the device by a computer and a computer-readable recording medium on which the notification 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 all techniques for making a user recognize a notification event.

1, 2, 3 Notification control device 14 Notification posture transition determination unit (notification posture transition determination means)
15 Notification method determination unit (notification method determination means)

Claims (5)

Notification posture transition determination for determining whether the posture of the robot can be shifted to a notification posture suitable for the user to recognize the occurrence of a notification event, which is an event that requires a user's response to notification from the robot Means,
A notification control apparatus comprising: notification method determination means for determining a notification method for notifying the notification event based on a determination result by the notification posture transition determination means.   The notification method determining unit determines, as the notification method, a method that does not involve the posture change of the robot when the notification posture shift determination unit determines that the posture of the robot cannot be transferred to the notification posture. The notification control device according to claim 1. A plurality of the notification postures are associated with the notification event,
The notification control apparatus according to claim 1, wherein the notification posture transition determination unit determines presence / absence of a posture capable of changing the posture of the robot from the plurality of notification postures. The notification event includes a first notification event and a second notification event,
Each of the first notification event and the second notification event has a priority order determined according to the degree to which the user needs to be handled,
When the second notification event occurs after the occurrence of the first notification event,
If the priority of the second notification event is higher than the priority of the first notification event, the notification posture transition determination means shifts the posture to the second notification posture associated with the second notification event. The notification control apparatus according to claim 1, wherein the determination is performed.   The program for functioning a computer as each means in the alerting | reporting control apparatus of any one of Claim 1 to 4.

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