JP2017104532A - Interaction assistance system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an interaction assistance system that assists a plurality of persons in sharing experience and emotion and interacting through the experience and emotion.SOLUTION: An interaction assistance system comprises: a sound collecting microphone; a speaker that outputs sound; a robot; a driving mechanism that drives the robot; and a control device that controls the driving mechanism.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an exchange support system that supports a plurality of people to share experiences and impressions and to exchange with each other through the experiences and impressions.

  In recent years, using a robot, it has been proposed and attracted attention that a plurality of people share experiences and impressions, and people exchange with each other through the experiences and impressions. For example, recently, a program in which a celebrity travels in a rural area and interacts with local people is broadcast on TV and the like, and has gained a high audience rating. On the Internet, it can be seen that the number of views of moving pictures taken during a trip and the like has increased, making it popular.

  As described above, in recent years, many people desire to experience (virtual experience) other people's actual experiences (real experiences). In addition, as the aging society progresses, more and more elderly people are living alone or living alone. In such a facility, recreation is performed using a robot. Specifically, a plurality of elderly people share experiences by singing, dancing, and doing gymnastics in accordance with the movement of the robot, and exchange with others through sharing the experiences.

  For example, Patent Document 1 below discloses a system in which a robot becomes a talking partner of an elderly person and performs mental care for the elderly person who feels lonely. This robot is equipped with a voice interaction function, and in order to capture the meaning of utterances of the elderly, the robot recognizes the speech of the elderly and converts it into text data. Analyze meaning. Next, text data corresponding to the response content is generated, and voice synthesized by voice based on the text or voice edited in accordance with the text is output from the speaker.

JP 2002-261966 A

As described above, there is a strong demand for an exchange support system that supports a plurality of people to share experiences and impressions and to exchange with each other through the experiences and impressions.
The present invention has been made to solve the above-described problems, and an object thereof is to provide an AC support system in which a plurality of people share experiences and impressions and can exchange with each other through the experiences and impressions. .

  In order to solve the above problems, an AC support system according to the present invention includes a microphone for collecting sound, a speaker that outputs sound, a robot, a drive mechanism that drives the robot, and a control that controls the drive mechanism. Device. In the present invention, sound collected through a microphone can be shared, and sound can be output from a speaker, so bidirectional communication can be performed. For this reason, an experience can be shared effectively and exchange can be aimed at through this experience and impression. In addition, since the robot can be operated, it is possible to obtain an effect as if it were communicating with a living doll and activation of exchange can be expected.

  The AC support system according to the present invention includes an imaging camera. In the present invention, it is possible to share the experience more effectively by sharing the video or image captured by the camera, and to exchange effectively.

  The control device of the AC support system according to the present invention is connected to a data server via a network, and the data server uses at least one of audio data collected by the microphone and operation data of the robot as identification information. Accumulate in association. In the present invention, at least one of the audio data and the robot motion data is stored in association with the identification information, so that the identification information can be designated and used easily.

  The control device of the AC support system according to the present invention acquires at least one of the audio data and the motion data stored in the data server for each identification information, and stores the acquired audio data and motion data. Based on at least one, at least one of the sound output from the speaker and the operation of the robot is reproduced (reproduced). In the present invention, at least one of audio data and motion data stored in the data server can be acquired and at least one of sound and robot motion can be reproduced (reproduced), so that more people can share experiences and emotions. Can do. For this reason, it is possible to easily share experiences and exchanges.

  The AC support system according to the present invention includes an input device for operating the robot, and the control device controls the drive mechanism based on an operation instruction from the input device. A detection device that detects a change in posture of the input device is provided, and the control device controls the drive mechanism based on an output from the detection device. In this way, the operator of the input device can easily operate the robot. For example, the detection device may be a three-axis acceleration sensor or a gyro provided in the input device.

  In the AC support system according to the present invention, the robot may be connected to a holder that is held by the shoulder of the wearer. In this way, it is possible to give the wearer the feeling of being with the operator who is operating the robot using the robot or the input device.

  The AC support system according to the present invention includes a base portion, first to sixth drive mechanisms fixed to the base portion, and one end connected to the first to sixth drive mechanisms, respectively. First to sixth arms driven by the rotational movement of the sixth driving mechanism, one end is connected to the other end of the first to sixth arms by a universal joint, and the other end is connected to the pedestal by a universal joint. Connected to the first to sixth link mechanisms, the control device independently controls the first to sixth drive mechanisms, and the first to sixth arms and the first to sixth links. The pedestal is operated via a sixth link mechanism. In the present invention, since the pedestal can perform a complicated operation, it is possible to perform a realistic operation as if the doll placed on the pedestal is alive. For this reason, it is possible to share the experiences more effectively and exchange with each other.

  The AC support system according to the present invention includes an input device for operating the robot, and the control device controls the first to sixth drive mechanisms based on an operation instruction from the input device. In the present invention, the operation of the pedestal can be controlled from the input device. For this reason, it is possible to change the operation of the pedestal while confirming the situation of the other party, and it is possible to effectively share experiences and exchanges.

  The AC support system according to the present invention includes a detection device that detects an inclination of the input device, and the control device controls the first to sixth drive mechanisms based on an output from the detection device. In the present invention, the first to sixth drive mechanisms are controlled based on the output from the detection device that detects the state of the pedestal. Specifically, the inclination of the pedestal is controlled according to the inclination of the input device. For this reason, the robot can be controlled by a simple operation of tilting the input device.

  The detection device of the AC support system according to the present invention is a gyro or a triaxial acceleration sensor. In the present invention, since a gyroscope or a triaxial acceleration sensor is used as the detection device, the state of the pedestal in three dimensions can be detected.

  The control device of the AC support system according to the present invention acquires a unique ID assigned to each type of the doll from the doll placed on the pedestal, and the first to sixth for each acquired ID. The parameter group used when controlling the drive mechanism is changed. In the present invention, since the parameter group used when controlling the first to sixth drive mechanisms is automatically changed according to the unique ID assigned to each doll type, each doll placed on the pedestal is changed. There is no need to manually set parameter groups necessary for operation, and the robot can be operated easily.

  The control device of the AC support system according to the present invention changes a parameter group used when controlling the first to sixth drive mechanisms based on image data of a doll placed on the pedestal. In the present invention, the parameter group used when controlling the first to sixth drive mechanisms is automatically changed based on the image data of the doll placed on the pedestal, so the doll placed on the pedestal It is not necessary to manually set a parameter group necessary for each operation, and the robot can be operated easily.

  The control apparatus for an AC support system according to the present invention converts a basic parameter group, which is normalized data for controlling the first to sixth drive mechanisms, for each type of the doll to convert the first to the first. The parameter group used when controlling the drive mechanism 6 is generated. In the present invention, since it is not necessary to prepare a parameter group for each doll placed on the pedestal, it is possible to reduce an operation load such as arithmetic processing of the control device.

  As described above, according to the present invention, it is possible to provide an exchange support system that supports a plurality of people to share experiences and impressions and to exchange with each other through the experiences and impressions.

It is a schematic diagram of an exchange support system concerning a 1st embodiment. It is a lineblock diagram of the trip robot with which the exchange support system concerning a 1st embodiment is provided. It is a lineblock diagram of the shoulder riding robot with which the exchange support system concerning a 1st embodiment is provided. (A) is a side view of the state where the shoulder riding robot is placed on the traveler's shoulder, and (b) is a front view of the state where the shoulder riding robot is placed on the shoulder of the traveler. It is a figure which shows the doll with which the exchange assistance system which concerns on 1st Embodiment is provided. It is a functional lineblock diagram of a shoulder robot provided with an exchange support system concerning a 1st embodiment. It is a figure which shows the usage example of the travel robot with which the exchange assistance system which concerns on 1st Embodiment is provided. It is a figure which shows an example of an operation interface. It is a flowchart which shows operation | movement of the alternating current assistance system which concerns on 1st Embodiment. It is the schematic of the alternating current assistance system which concerns on 2nd Embodiment. It is a block diagram of the base robot with which the alternating current assistance system which concerns on 2nd Embodiment is provided. It is a block diagram of the base robot with which the alternating current assistance system which concerns on 2nd Embodiment is provided. It is a figure which shows operation | movement of the revolver with which the alternating current support system which concerns on 2nd Embodiment is provided. It is a figure which shows operation | movement of the revolver with which the alternating current support system which concerns on 2nd Embodiment is provided. It is a flowchart which shows operation | movement of the alternating current assistance system which concerns on 2nd Embodiment. It is a flowchart which shows operation | movement of the alternating current assistance system which concerns on 2nd Embodiment.

(First embodiment)
FIG. 1 is a schematic diagram of an AC support system according to the first embodiment. As shown in FIG. 1, the exchange support system according to the first embodiment includes a travel robot 1 used by a traveler on the shoulder, and a control device 2 for the travel robot 1 (for example, a notebook PC carried by the traveler). A tablet terminal or a smartphone) and a server 3 (data server) connected to the control device 2 via a network. A user accesses (logs in) the server 3 via a network using a plurality of terminals 4 (for example, a desktop PC, a notebook PC, a tablet terminal, a smartphone, or the like, which are described later).

  Here, the traveling robot 1 travels with the traveler and travels to the server, uploads videos and conversations (actual experiences) seen by the traveler to the server, and allows the user to view or actually talk to the user. It is used for the purpose of sharing actual experiences and excitement by participating, and having people interact with each other through the experience and excitement.

  FIG. 2 is a configuration diagram of the travel robot 1 included in the AC support system according to the first embodiment. As shown in FIG. 2, the travel robot 1 includes a shoulder-carrying robot 10 that is placed on a traveler's shoulder, and a doll (character) 20 that is used by covering the shoulder-carrying robot 10.

  FIG. 3 is a configuration diagram of the shoulder robot 10. As shown in FIG. 3, the shoulder robot 10 includes a microphone 110 for sound collection, a camera 120 for imaging, a speaker 130 for audio output, a main body 140, a drive unit 150 (drive mechanism), And a hook 160. The main body 140 controls the operation of the shoulder robot 10.

  The microphone 110, the camera 120, the speaker 130, and the main body 140 are placed on a drive unit 150 via a pedestal (not shown), and the drive unit 150 moves the pedestal (not shown) in three axial directions (up and down). (Tilt), left and right (pan), rotation) motors and the like are provided. By driving the pedestal, the direction of the shoulder robot 10 and the doll 20 can be changed, and the visual field direction of the camera 120 can be changed.

  The driving unit 150 includes a motor that drives the eyeball of a doll (character), which will be described later, in two axial directions (up and down (tilt) and left and right (pan)). In addition, a motor for opening and closing a puppet (character) to be described later is provided. By driving the eyeballs and eyelids, the doll 20 can have various expressions, and the emotions of the user can be conveyed to the traveler and the people around them in non-language, so that the traveler can travel with the user. Can give you a sense of being. The driving of the eyeball and eyelid may be configured independently of the driving of the pedestal. In this way, the facial expression of the doll 20 can be changed without affecting the viewing direction of the camera 120. The mouth, limbs, and the like may be driven instead of or in addition to the eyeball and eyelid. In this way, the expression can express the user's emotions more abundantly.

  FIG. 4A is a side view of the shoulder riding robot placed on the traveler's shoulder, and FIG. 4B is a front view of the shoulder riding robot placed on the traveler's shoulder. The shoulder riding robot 10 may be held on the traveler's shoulder at a position where the traveler can see the edge of the field of view when looking forward. In this way, it is possible to give the traveler the feeling of traveling with the user. For example, as shown in FIG. 4A, the shoulder robot 10 (and the doll 20) may be positioned slightly ahead of the traveler's shoulder. In order to hold the shoulder robot 10 in such an appropriate position, the shoulder robot 10 may be held by a holder having a shape that hangs on the shoulder. For example, a hook 160 made of a flexible material that can be bent may be used as the holder. A pedestal is attached to one end of the hook 160 via the drive unit 150. As shown in FIG. 4 (b), the hook 160 is placed on the back of the traveler (behind the neck) and on the shoulder not carrying the shoulder riding robot 10 through the armpit on the shoulder side where the shoulder riding robot 10 is not placed. It is preferable that the hook 160 is bent so that the ends are hooked, and both ends of the hook 160 are hooked on both shoulders of the traveler. As shown in FIG. 4 (b), the shoulder-mounted robot 10 can be stably supported by using a holder that is hooked on both shoulders, and even if the shoulder-mounted robot 10 changes its posture, the shoulder It is possible to avoid situations such as falling or breaking posture. In addition, even if the traveler takes a posture that does not stand up, such as when the traveler bends or lies down by passing a part of the holder under his arm like the hook 160 shown in FIG. A situation where the shoulder robot 10 falls can be avoided.

  The holder is not limited to a hook made of a flexible material that can be bent. For example, the same shape as the hook 160 shown in FIG. 4B may be formed by a pipe or the like that is difficult to bend freely, and the holder having such a shape can be applied to travelers of various physiques. A plurality of sizes may be prepared. Further, the holding tool may be supported on the back like a rucksack, and the shoulder-riding robot 10 may be attached to a belt that hangs on the shoulder via a pedestal.

  FIG. 5 is a diagram illustrating the doll 20 included in the AC support system according to the first embodiment. A doll (character) 20 shown in FIG. 5 is used while covering the shoulder robot 10 shown in FIG. By making the doll (character) 20 separate from the shoulder robot 10, it is possible to change the doll (character) to a favorite doll (character) and use the travel robot 1.

  FIG. 6 is a functional configuration diagram of the shoulder robot 10 included in the AC support system according to the first embodiment. As shown in FIG. 6, the shoulder robot 10 includes a wireless communication unit 141 for communicating with the control device 2 (mobile terminal or the like) carried by the traveler U, a microphone 110, a camera 120, a speaker 130, and a drive unit 150. And a storage unit 143 in which data such as a program is stored. The functions shown in FIG. 6 are realized by a CPU, MPU, memory, communication antenna, and the like built in the main body 140.

  FIG. 7 is a diagram illustrating a usage example of the travel robot 1 included in the AC support system according to the first embodiment. As shown in FIG. 7, the traveler U puts the travel robot 1 on his shoulder and acts (travels) together. The conversation and actual experience of the traveler U are acquired by the microphone 110 and the camera 120 provided in the travel robot 1 and uploaded to the server 3 in real time as audio data and video data through the control device 2 carried by the traveler U. . The uploaded audio data and video data are stored in the server 3 with identification information.

  In the exchange support system according to the first embodiment, the data uploaded to the server 3 can be viewed from a plurality of terminals 4 connected to the server 3 via the network, and the trip possessing the travel robot 1 The actual experience of the person U can be simulated. Further, the user having the terminal 4 can operate the travel robot 1 by operating the terminal 4.

  For example, the user having the terminal 4 can talk with the traveler U who has the travel robot 1 and the people around the traveler U through the microphone 110 and the speaker 130 of the travel robot 1. For this reason, the user who has the terminal 4 can feel the connection with the traveler U more strongly by having a conversation with the traveler U and the people around the traveler U. Note that the conversation exchanged through the microphone 110 and the speaker 130 of the travel robot 1 is also uploaded to the server 3 via the network, added with identification information, and stored in the server 3.

  In addition, the driving unit 150 of the travel robot 1 can be controlled to change the imaging direction of the camera 120 included in the travel robot 1, and an image captured by the camera 120 included in the travel robot 1 can be viewed. Since the travel robot 1 is used on the shoulder of the traveler U, the viewpoint of the camera 120 provided in the travel robot 1 is close to that of the traveler U, and it feels as if traveling together. As a result, the actual experience and excitement of the traveler U can be shared more strongly.

  Note that the audio data and video data uploaded to the server 3 are stored with the identification information added to the server 3, so that they can be viewed at any time.

  FIG. 8 shows an example of an operation interface for operating the travel robot 1 by the terminal 4. Here, it is assumed that the terminal 4 is a tablet terminal including a touch panel display and a detection device (for example, a gyroscope or a three-axis acceleration sensor) that detects a change in posture of the terminal 4. As shown in FIG. 8, the operation interface includes a main operation area R1 and a preset button area R2.

  The main operation area R1 is a substantially rectangular area provided in the upper part of the touch panel display. As operation modes related to the main operation region R1, a slide operation mode and a posture operation mode are provided, and these modes can be switched and used. In the initial state of the operation interface, the slide operation mode is set. In the slide operation mode, a so-called swipe operation in which the user slides with the finger touching the main operation region R1 is detected by the touch panel. The terminal 4 transmits investigation information corresponding to the detected direction and amount of the slide to the shoulder robot 10, and the driving unit 150 moves the pedestal of the shoulder robot 10 up and down (tilt) according to the direction and amount of the slide. Drives on the left and right (pan) axes.

  When the main operation area R1 is tapped while the slide operation mode is selected, the operation mode is switched to the posture operation mode. In the posture operation mode, the detection device included in the terminal 4 detects the posture change of the terminal 4, and the drive unit 150 changes the posture of the shoulder robot 10 in the same manner as the posture change of the terminal 4. And the heel is driven appropriately. When the main operation area R1 is tapped again in the state in which the posture operation mode is selected, the operation mode is switched to the slide operation mode. With such a posture operation mode, it is possible to easily perform a three-axis motion operation including rotation in addition to up / down / left / right. Also, the shoulder robot 10 can be operated intuitively.

  As shown in FIG. 8, the preset button area R2 is an area provided below the main operation area R1, and a plurality of preset buttons (one of which is illustrated by reference numeral B in FIG. 8) are arranged. The Each preset button is assigned a predetermined action of the shoulder robot 10 (for example, “nodding”, “looking right”, “closing eyes”, “shaking left”, etc.). When one preset button is touched, the driving unit 150 appropriately drives the pedestal, the eyeball, and the eyelid so as to perform a corresponding operation. By providing a preset button for the movement of the predetermined pattern as described above, the user can easily move the shoulder robot 10. Further, it is possible to facilitate an operation for performing a motion that expresses emotion.

  In the preset button area R2, in addition to a plurality of preset buttons, a check box CB1 for selecting whether or not to activate the auto blink function is provided. Auto-blink is a function that causes the shoulder robot 10 to blink automatically. When this function is enabled, for example, when an operation input by the user is not performed for a certain period (for example, 30 seconds), a predetermined value is set. The drive unit 150 is caused to drive the eyelids so as to automatically blink with an interval of (for example, once every 10 seconds). By enabling the auto-blink function, the shoulder robot 10 blinks even if the user does not perform an operation. Therefore, it is possible to give the traveler a feeling as if the shoulder robot 10 is alive. Also, the traveler can confirm that the shoulder robot 10 is operating. On the other hand, power consumption can be suppressed by disabling the auto blink function.

  The preset button area R2 is provided with a check box CB2 for selecting whether or not to activate the loop control function. The loop control is to sequentially perform several predetermined operations (for example, “glow”, “blink”, and “neck the neck”) at predetermined intervals (for example, at intervals of 20 seconds). The pedestal, eyeball, and eyelid are driven as appropriate. By enabling the loop control, the shoulder robot 10 sometimes performs a predetermined operation without any operation by the user, so that it is possible to give the traveler a feeling as if the shoulder robot 10 is alive. . The predetermined operation may include an operation accompanied by a movement of the pedestal. In this way, it is possible to make it easier for a traveler or a person in the vicinity to notice the movement of the shoulder robot 10. Also, the traveler can confirm that the shoulder robot 10 is operating. On the other hand, power consumption can be suppressed by disabling loop control.

  FIG. 9 is a flowchart showing the operation of the AC support system according to the first embodiment. The operation of the AC support system according to the first embodiment will be described below with reference to FIGS.

  First, the user logs in to the server 3 of the exchange support system via the terminal 4 with the ID and password acquired in advance (S101). When logged in, the audio data and video data acquired by the microphone 110 and the camera 120 included in the travel robot 1 uploaded in real time from the terminal 4 to the server 3 can be viewed (S102).

  Next, as necessary, the user has a conversation with the traveler U who owns the travel robot 1 and the people around the traveler U through the microphone 110 and the speaker 130 of the travel robot 1 (S103). In addition, the user controls the drive unit 150 of the travel robot 1 as necessary to change the imaging direction of the camera 120 included in the travel robot 1 and view the desired direction (S104).

  In S103 and S104, when the number of logged-in users is too large, users who can operate the conversation and / or the direction of the camera 120 at random intervals may be selected at random. Further, only the charged user may be able to operate the conversation and / or the direction of the camera 120. In addition, a user who has won a game such as a Janken game may be able to operate the conversation and / or the direction of the camera 120. Further, the orientation of the camera 120 may be operated by the majority of users.

  The above operation ends when the user logs out (Yes in S105).

  As described above, the AC support system according to the first embodiment includes the microphone 110 for collecting sound and the speaker 130 that outputs sound. For this reason, the sound collected through the microphone 110 can be shared, and since sound can be output from the speaker 130, bidirectional communication can be performed. As a result, it is possible to effectively share the experience and to exchange with the experience and excitement.

  Further, since the travel robot 1, the drive unit 150 (drive mechanism) that drives the travel robot 1, and the control device 2 that controls the drive unit 150 (drive mechanism) are provided, the travel robot 1 can be operated. . For this reason, the effect as if it is communicating with the living doll 20 can be obtained, and activation of alternating current can be expected.

  Further, the travel robot 1 of the AC support system according to the first embodiment includes an imaging camera 120. For this reason, by sharing the video or image captured by the camera 120, it is possible to share the experience more effectively and to exchange effectively.

  In addition, the driving unit 150 of the travel robot 1 can be controlled to change the imaging direction of the camera 120 included in the travel robot 1, and an image captured by the camera 120 included in the travel robot 1 can be viewed. Since the travel robot 1 is used on the shoulder of the traveler U, the viewpoint of the camera 120 provided in the travel robot 1 is close to that of the traveler U, and it feels as if traveling together. As a result, the actual experience and excitement of the traveler U can be shared more strongly.

  Furthermore, the travel robot 1 can be used by changing the doll (character) 20 of the travel robot 1 to a favorite doll (character) by making it separate from the shoulder robot 10.

  Note that the AC support system according to the first embodiment may be provided with a function that allows a plurality of users to talk by chat. By providing a function that allows a plurality of users to talk in a chat, it is possible to further exchange between users. In addition, the chat content may be stored in the server 3. Further, the location information of the travel robot 1 may also be uploaded to the server 3 so that the route traveled by the travel robot 1 can be confirmed on a map.

(Second Embodiment)
FIG. 10 is a schematic diagram of an AC support system according to the second embodiment. Hereinafter, although the AC support system according to the second embodiment will be described, the same components as those of the AC support system according to the first embodiment described with reference to FIGS. Therefore, a duplicate description is omitted.

  As illustrated in FIG. 10, the AC support system according to the second embodiment includes a recrobo 5, a control device 2 (for example, a notebook PC, a tablet terminal, and a smartphone) of the recrobo 5, and the control device 2 via a network. And a server 3 (data server), a microphone 6, and an operation terminal 7 (for example, a smartphone).

  Here, the revolver 5 is mainly used in facilities such as a care facility, a hospital, and a day service. For example, the revolver 5 is used for the purpose of recreation and rehabilitation in the facility. Specifically, the recrobo 5 is operated to share the experience by causing the recrobo 5 to dance along with the song or to exercise, and to exchange with the other through sharing the experience.

  The operation terminal 7 is an input device for operating the pedestal robot 30. The user can use a mobile terminal such as a smartphone owned by the user as the operation terminal 7 of the base robot 30 by installing the downloaded application software. Specifically, the inclination (inclination angle and inclination direction) of the operation terminal 7 is detected using an acceleration sensor built in the operation terminal 7, and the base robot 30 is detected based on the detected inclination. The inclination (inclination angle and inclination direction) of the base 250 is controlled. That is, the inclination of the pedestal 250 of the pedestal robot 30 is controlled in synchronization with the inclination of the operation terminal 7. Note that by installing application software in the operation terminal 7, the above-described tilt synchronization between the operation terminal 7 and the pedestal robot 30 is realized. The microphone 6 is used for communication such as calling or talking to a resident or the like of the facility when the user operates the revolver 5.

  As shown in FIG. 10, the revolver 5 includes a pedestal robot 30 and a doll (character) 20 placed on the pedestal robot 30.

  FIG. 11 is a perspective view of the pedestal robot 30. FIG. 12 is a front view of the pedestal robot 30. As shown in FIGS. 11 and 12, the pedestal robot 30 includes a base portion 210, first to sixth drive mechanisms 221 to 226 fixed to the base portion 210, and one end to first to sixth drive mechanisms. The first to sixth arms 231 to 236 connected to the respective 221 to 226 and driven by the rotational movements of the first to sixth drive mechanisms 221 to 226, and one ends of the first to sixth arms 231 to 236, respectively. The first to sixth link mechanisms 241 to 246 are connected to the other end by universal joints J1 to J6 (universal joints) and the other end is connected to the base 250 by universal joints J7 to J12 (universal joints). . The pedestal robot 30 is equipped with a speaker (not shown) and outputs sound including sound input to the microphone 6.

  The control device 2 controls the movement of the base 250 of the base robot 30. Specifically, the control device 2 determines the first to sixth drive mechanisms 221 to 226 based on the inclination (inclination angle and inclination direction) of the operation terminal 7 detected by the acceleration sensor of the operation terminal 7. Are controlled independently, and the inclination (inclination angle and inclination direction) of the pedestal 250 is controlled via the first to sixth arms 231 to 236 and the first to sixth link mechanisms 241 to 246. Synchronize with the tilt.

  13 and 14 are diagrams illustrating the operation of the pedestal robot included in the AC support system according to the second embodiment. 13 and 14 are explanatory diagrams of the operation when the doll (character) 20 placed on the pedestal robot 30 moves.

  The control device 2 controls the first to sixth drive mechanisms 221 to 226 of the pedestal robot 30 so as to rotate the doll (character) 20 placed on the pedestal 250. For example, as shown in FIGS. 13 and 14, the doll (character) 20 is rotated in the front-rear direction (left-right direction toward the paper surface of FIGS. 13 and 14) with the head of the doll (character) 20 as the central axis C <b> 1. When the first to sixth drive mechanisms 221 to 226 of the pedestal robot 30 are controlled as described above, the doll (character) 20 moves in the front-rear direction (in the plane of FIG. 13 and FIG. 14) around the head of the doll (character) 20. The doll (character) 20 seems to be crawling.

  Further, the first to second of the pedestal robot 30 so as to rotate the doll (character) 20 in the left-right direction (perpendicular to the paper surface of FIGS. 13 and 14) with the head of the doll (character) 20 as the central axis C1. 6, when the driving mechanism 221 to 226 is controlled, the doll (character) 20 rotates in the left-right direction (perpendicular to the plane of FIG. 13 and FIG. 14) around the head of the doll (character) 20. It looks as if the doll (character) 20 shook his head.

  Further, the first to thirty-first robots 30 of the pedestal robot 30 are rotated so as to rotate the doll (character) 20 in the front-rear direction (left-right direction toward the plane of FIG. 13 and FIG. 14) about the central axis C2 shown in FIGS. When the sixth driving mechanisms 221 to 226 are controlled, the doll (character) 20 rotates in the front-rear direction (left and right direction toward the paper surface of FIGS. 13 and 14) around the waist of the doll (character) 20, It looks as if the doll (character) 20 bowed.

  Further, the first to thirty-first robots 30 of the pedestal robot 30 are rotated so as to rotate the doll (character) 20 in the left-right direction (perpendicular to the plane of FIG. 13 and FIG. 14) around the central axis C2 shown in FIGS. When the sixth drive mechanisms 221 to 226 are controlled, the doll (character) 20 rotates in the left-right direction (perpendicular to the paper surface of FIGS. 13 and 14) around the waist of the doll (character) 20, It looks as if the doll (character) 20 is dancing with the waist swinging left and right.

  As described above, by changing the rotation axis and the rotation direction of the doll (character) 20 placed on the pedestal 250, the doll (character) 20 can be operated in various ways. As described above, the user operates the recrobo 5 by tilting the operation terminal 7 and performs recreation and rehabilitation in facilities such as a care facility, a hospital, and a day service. Specifically, the experience is shared by allowing the recrobo 5 to dance along with the song or to exercise, and exchanges with others through the sharing of the experience.

  Here, the control device 2 controls a parameter group necessary for causing the revolver 5 to perform the operation described with reference to FIGS. 13 and 14, that is, the first to sixth drive mechanisms 221 to 226. A program for generating a parameter group to be used at the time is stored. The control device 2 downloads a basic parameter group that is normalized data for controlling the movement of the pedestal robot 30 from the server 3, and uses the downloaded normalized parameter group for each type of doll placed on the pedestal 250. To generate a parameter group used when controlling the first to sixth drive mechanisms 221 to 226.

  Various methods can be applied to the acquisition of the type of doll placed on the pedestal 250. For example, a unique ID is assigned to each type of doll (character) 20, the control device 2 acquires a unique ID assigned from the doll (character) 20 placed on the pedestal 250, and the acquired ID You may comprise so that the parameter group used when controlling the 1st thru | or 6th drive mechanisms 221-226 for every may be changed (generated).

  Further, an image of the doll (character) 20 placed on the pedestal 250 is taken, the image is recognized to determine the type of the doll (character) 20, and the first to sixth drive mechanisms 221 to 226 are connected. You may make it change (generate) the parameter group used when controlling. Moreover, you may comprise so that it can designate on the image which imaged the rotating shaft demonstrated in FIG.13 and FIG.14.

  Here, the type of the doll (character) 20 is given in advance based on the type of doll (for example, a character such as a bear, a frog, or a pig) and the size.

  It should be noted that the operation of the revolver 5 and the conversation (audio data) performed by the user by operating the operation terminal 7 are uploaded to the server 3 via the network and given identification information (tag) to the server. 3 is accumulated. The operation of the revolver 5 and the conversation with the microphone 6 stored in the server 3 can be downloaded, and the user designates the assigned identification information, whereby the operation of the recrobo 5 and the microphone associated with the identification information are specified. 6 conversation can be reproduced (reproduced).

  FIG. 15 is a flowchart showing the operation of the AC support system according to the second embodiment. First, the user logs in to the server 3 of the AC support system via the terminal 4 with the ID and password acquired in advance (S201). Next, the user operates the revolver 5 using the operation terminal 7 (S202), and exchanges with residents such as facilities.

  The control device 2 operates the pedestal robot 30 based on the operation instruction of the operation terminal 7, and the operation of the recrobo 5 performed by the user operating the operation terminal 7 and the conversation with the microphone 6 are performed over the network. Via the server 3 (S203). The uploaded data is stored in the server 3 in association with the identification information (tag) (S204). The above operation ends when the user logs out (Yes in S205).

  FIG. 16 is a flowchart showing the operation of the AC support system according to the second embodiment. Hereinafter, with reference to FIGS. 10 to 14 and FIG. 16, the reproduction (reproduction) operation of the revolver 5 provided in the AC support system will be described.

  First, the user logs in to the server 3 of the AC support system via the terminal 4 with the ID and password acquired in advance (S301). When logged in, it is possible to select the operation of the revolver 5 and the conversation data with the microphone 6 uploaded to the server 3 by specifying the identification information (tag). The user designates identification information given to data to be reproduced (reproduced) (S302).

  When the user designates the identification information, the operation of the revolver 5 and the conversation data on the microphone 6 associated with the designated identification information are downloaded to the control device 2 (S303). The control device 2 reproduces (reproduces) the operation of the revolver 5 and the conversation on the microphone 6 based on the downloaded data on the operation of the revolver 5 and the conversation data on the microphone 6 (S304). When the reproduction (reproduction) operation ends, the control device 2 ends the operation (S305).

  As described above, the AC support system according to the present embodiment includes the microphone 6 for collecting sound, the smartphone 7 attached to the operation terminal 7 or the pedestal robot 30 including a speaker that outputs sound, the pedestal robot 30, and the pedestal. Drive mechanisms 221 to 226 that drive the robot 30 and a control device 2 that controls the drive mechanisms 221 to 226 are provided.

  The control device 2 is connected to a server 3 via a network, and the server 3 stores at least one of audio data collected by the microphone 6 and robot operation data in association with identification information (tag). By storing the information in the server 3 in association with the identification information (tag), the data can be easily called and used simply by specifying the identification information.

  Further, the control device 2 of the AC support system according to the present embodiment acquires at least one of the audio data and the operation data stored in the server 3 for each identification information, and uses the acquired audio data and operation data as at least one of the acquired audio data and operation data. Based on this, the sound output from the speaker and the operation of the revolver 5 are reproduced (reproduced). For this reason, since at least one of the audio data and operation data stored in the server 3 can be acquired and at least one of the sound and the operation of the revolver 5 can be reproduced (reproduced), more people can share experiences and impressions. Can do. For this reason, it is possible to easily share experiences and exchanges. Moreover, since the user does not need to repeat the same operation, labor can be omitted.

  The pedestal robot 30 of the AC support system according to the present embodiment includes a base unit 210, first to sixth drive mechanisms 221 to 226 fixed to the base unit 210, and first to sixth drives at one end. First to sixth arms 231 to 236 connected to the mechanisms 221 to 226 and driven by the rotational movement of the first to sixth drive mechanisms 221 to 226, respectively, and one end to the first to sixth arms 231 to 231. First to sixth link mechanisms 241 to 246 connected to the other end of 236 by universal joints J1 to J6 (universal joints) and the other end connected to pedestal 250 by universal joints J7 to J12 (universal joints). Prepare.

  And the control apparatus 2 controls the 1st thru | or 6th drive mechanisms 221-226 independently, respectively, via the 1st thru | or 6th arms 231-236 and the 1st thru | or 6th link mechanisms 241-246. The pedestal 250 is operated. Therefore, it is possible to cause the pedestal 250 to perform a complicated operation, and it is possible to cause the doll (character) 20 placed on the pedestal 250 to perform a realistic operation as if it were alive. For this reason, it is possible to share experiences more effectively and to interact with each other, and to enjoy the operation.

  Further, the AC support system according to the present embodiment includes an operation terminal 7 (input device) for operating the revolver 5, and the control device 2 is based on an operation instruction from the operation terminal 7 (input device). The first to sixth drive mechanisms 221 to 226 are controlled. For this reason, it is possible to change the operation of the recrobo 5 while confirming the status of the resident of the facility, etc., and it is possible to effectively share experiences and exchanges.

  In addition, the AC support system according to the present embodiment includes a detection device (for example, a gyroscope or a three-axis acceleration sensor) that detects the inclination of the operation terminal 7, and the control device 2 is based on an output from the detection device. The first to sixth drive mechanisms 221 to 226 are controlled. For this reason, the robot can be controlled by a simple operation of tilting the input device. In addition, you may comprise so that operation items (for example, greeting, dancing, whispering, etc.) required for operation | movement of the recrobo 5 may be prepared in the application software installed in the operation terminal 7 beforehand. For example, an operation interface similar to the operation interface shown in FIG. 8 described with respect to the travel robot may be adopted as the operation interface mounted on the operation terminal 7 for operating the revolver 5.

  In addition, the control device 2 of the AC support system according to the present embodiment acquires a unique ID assigned to each type of the doll (character) 20 from the doll (character) 20 placed on the pedestal 250, and A parameter group used when controlling the first to sixth drive mechanisms 221 to 226 is changed for each acquired ID. Therefore, it is not necessary to manually set a parameter group necessary for the operation for each doll (character) 20 placed on the pedestal 250, and the revolver 5 can be easily operated. Note that the voice color output from the speaker of the base robot 30 may be changed according to the type of the doll (character) 20. For example, when the doll (character) 20 is an image of a male such as a bear or pig, the voice is output with a male voice, and when the doll (character) 20 is an image of a female such as a frog, the voice is output with a female voice When output, the operation of the revolver 5 can be enjoyed more, and the effects of recreation and rehabilitation are improved.

  The control device 2 of the AC support system according to the present embodiment controls the first to sixth drive mechanisms 221 to 226 based on the image data of the doll (character) 20 placed on the pedestal 250. Change the parameter group to be used. Therefore, it is not necessary to manually set a parameter group necessary for the operation for each doll (character) 20 placed on the pedestal 250, and the revolver 5 can be easily operated.

  In addition, the control device 2 of the AC support system according to the present embodiment sets a basic parameter group that is normalized data for controlling the first to sixth drive mechanisms 221 to 226 for each type of the doll (character) 20. To generate a parameter group used when controlling the first to sixth drive mechanisms 221 to 226. For this reason, since it is not necessary to prepare a parameter group for each doll (character) 20 placed on the pedestal 250, it is possible to reduce an operation load such as arithmetic processing of the control device 2.

DESCRIPTION OF SYMBOLS 1 ... Travel robot 2 ... Control apparatus 3 ... Server 4 ... Terminal 5 ... Recrobo 6 ... Microphone 7 ... Operation terminal 10 ... Shoulder ride robot 20 ... Doll (character)
30 ... Pedestal robot 110 ... Microphone 120 ... Camera 130 ... Speaker 140 ... Main unit 141 ... Wireless communication unit 142 ... Control unit 143 ... Storage unit 150 ... Drive unit (drive mechanism)
160 ... hook 210 ... base parts 221 to 226 ... first to sixth drive mechanisms 231 to 236 ... first to sixth arms 241 to 246 ... link mechanism 250 ... pedestal

Claims (14)

A microphone for collecting sound,
A speaker that outputs sound;
With robots,
A drive mechanism for driving the robot;
An AC support system comprising: a control device that controls the drive mechanism.   The AC support system according to claim 1, comprising an imaging camera. The controller is
Connected to the data server via the network,
The data server is
The AC support system according to claim 1 or 2, wherein at least one of audio data collected by the microphone and operation data of the robot is stored in association with identification information. The controller is
Acquire at least one of the audio data and the operation data stored in the data server for each identification information, and sound output from the speaker based on the acquired at least one of the audio data and the operation data 4. The AC support system according to claim 3, wherein the operation of the robot is reproduced. An input device for operating the robot;
The controller is
The AC support system according to claim 1, wherein the drive mechanism is controlled based on an operation instruction from the input device. A detection device for detecting a change in posture of the input device;
The AC support system according to claim 5, wherein the control device controls the drive mechanism based on an output from the detection device.   The exchange support system according to any one of claims 1 to 6, wherein the robot is connected to a holder that is held by a shoulder of a wearer. The robot is
A base part;
First to sixth driving mechanisms fixed to the base portion;
First to sixth arms each having one end connected to each of the first to sixth drive mechanisms and driven by the rotational movement of the first to sixth drive mechanisms;
First to sixth link mechanisms having one end connected to the other end of the first to sixth arms by a universal joint and the other end connected to the base by a universal joint,
The controller is
5. The first to sixth drive mechanisms are independently controlled, and the pedestal is operated via the first to sixth arms and the first to sixth link mechanisms. An exchange support system according to any of the above. An input device for operating the pedestal;
The controller is
The AC support system according to claim 8, wherein the first to sixth drive mechanisms are controlled based on an operation instruction from the input device. A detection device for detecting the inclination of the input device;
The AC support system according to claim 8 or 9, wherein the control device controls the first to sixth drive mechanisms based on an output from the detection device. The detection device includes:
The AC support system according to claim 10, which is a gyro or a three-axis acceleration sensor. The controller is
A parameter group used when acquiring a unique ID assigned to each type of the doll from the doll placed on the pedestal and controlling the first to sixth drive mechanisms for each acquired ID The exchange support system according to claim 8, wherein the exchange support system is changed. The controller is
The parameter group used when controlling the first to sixth driving mechanisms is changed based on image data of a doll placed on the pedestal. Exchange support system. The controller is
Parameters used when controlling the first to sixth driving mechanisms by converting a basic parameter group, which is normalized data for controlling the first to sixth driving mechanisms, for each type of the doll The exchange support system according to claim 12 or 13, which generates a group.