JP2019055463A - Movable body - Google Patents

Abstract

To provide a movable body that can clearly notify someone of a person's intention to want someone to get out of someone's way and that can efficiently move by making someone get out of someone's way.SOLUTION: A movable body includes: a head; a head forward-tilting part that tilts the head forward; a position detection detector 104 that detects a position of a detection object; a condition determination part 107a that determines surrounding conditions by using the result of detection by the position detection detector 104; and an influence control part 107b that performs influence control, including at least control for tilting the head forward, in accordance with the surrounding conditions.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a moving body.

  Conventionally, an autonomous robot (an example of a moving body) moves while determining a route so as not to contact a person. However, when a robot moves in a crowd, there is a high possibility of contact with a person. For this reason, there is a possibility that the robot cannot efficiently execute its own task.

  Therefore, Non-Patent Document 1 describes a method for enabling a robot to perform tasks efficiently even in a crowded environment by actively engaging with people and encouraging them to leave the way. Yes.

  In the technique disclosed in Non-Patent Document 1, when the robot has a two-degree-of-freedom robot arm and there is no path that can move without contacting the person, the robot itself touches the person with one arm. In order to get a way out. In this way, the robot can be moved by increasing the number of routes through which the robot comes into contact with the person, and the task can be efficiently executed by passing through the route.

Moondeep C. Shretha et al., “Using contact-based inducement for efficient navigation in a congested environment”, Robot and Human Interactive Communication, Aug31 -Sep4. 2015

  However, since the robot disclosed in Non-Patent Document 1 only touches a person with an arm as an action to get a way out, the person who touched the arm may not always get the intention of the action of the robot. Absent. For this reason, a person touching the robot may not be able to leave the road, and in this case, the robot may not move and the task may not be executed efficiently.

  The present invention solves such a problem, and can clearly convey the intention of wanting a way to a person, and can move efficiently by having the way left. The purpose is to provide.

  In order to achieve the above object, a moving body according to the present invention includes a head, a head tilting unit that tilts the head forward, a position detection device that detects a position of a detection target, and the position detection device. A situation determination unit that determines a surrounding situation using a detection result, and an action control unit that performs an action control including at least control for tilting the head forward according to the surrounding situation. .

  According to the moving body of the present invention, it is possible to clearly convey to the person the intention that the person wants to leave the road by tilting the head forward as if the person lowered his / her head and made a request. Therefore, the moving body can move efficiently by having a person leave the road.

The typical perspective view which shows the structure of the mobile body in each embodiment of this invention The top view which shows typically the connection structure of the A section of FIG. Typical sectional drawing by side view for demonstrating the tilt structure of the position detection apparatus and face detection apparatus which concern on Embodiment 1 of this invention Schematic control block diagram showing a configuration of a moving body controller in each embodiment of the present invention The flowchart regarding the situation judgment of the moving body in Embodiment 1 of this invention Flowchart relating to the behavior of the moving object in the first embodiment Typical sectional drawing by side view for demonstrating the modification of the tilt structure of the position detection apparatus and face detection apparatus which concern on Embodiment 1 of this invention Flowchart relating to the behavior of the moving object in the second embodiment Flowchart relating to the behavior of the moving object in the third embodiment

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same component. Each drawing is schematically shown for easy understanding.
Further, in each of the following embodiments, the side where the face 112 of the head 102 is present will be described as the front, the opposite side as the rear, and the horizontal direction orthogonal to the front-rear direction will be described as the width direction. Also, the left and right sides are defined based on the front.

(Embodiment 1)
(Configuration of mobile body)
FIG. 1 is a schematic perspective view showing a configuration of a moving body 100 in each embodiment of the present invention.
FIG. 2 is a plan view schematically showing the connection structure of the part A in FIG.
FIG. 3 is a schematic cross-sectional view in side view for explaining a tilting structure of the head 102, the position detection device 104, and the face detection device 105 according to the first embodiment of the present invention.

  As shown in FIGS. 1 and 2, the moving body 100 includes a body 101, a head 102, a head forward tilting portion 103 that tilts the head 102 forward, and detection targets that exist around the moving body 100. In particular, a position detection device 104 that detects the position of a person, a face detection device 105 that detects a human face existing around the moving body 100, and a contact detection device 106 that detects that the moving body 100 is in contact with a person. A controller 107 that controls the operation of the moving body 100, a sound generating section 108 that can generate sound, a curved arm section 109 that extends substantially forward from both ends in the width direction of the moving body 100, and each arm The hand part 110 provided at the front end (front end) of the part 109 and the shoulder part 111 (the right shoulder part 111R, the left shoulder part) which can be moved up and down by rotating the base end of the arm part 109 up and down 111L) and the face 11 Composed of a.

  In addition, the moving body 100 can perform autonomous movement, and can perform an action (working control) for increasing a movement route by acting on a person during autonomous movement, as will be described later.

  In FIG. 1, for convenience, the controller 107 is shown floating in the air, but is fixed to an appropriate portion of the body 101, for example.

  The body 101 is a main body of the moving body 100 and has a mechanism capable of moving on the ground. Specifically, the fuselage is obtained by rotating two wheels (not shown) provided on the bottom of the fuselage 101 around an axial line extending in the horizontal direction or changing the direction in the horizontal direction. 101 can move while performing straight ahead or turning.

  The head 102 is disposed on the body 101 (here, the upper part of the body 101), and can be tilted forward by the head forward tilting portion 103 as described above. Specifically, the head forward tilting portion 103 below the head portion 102 is connected to the body 101 via a rotation axis parallel to the width direction. This rotating shaft is connected to the output shaft of an electric motor M1 (not shown in FIG. 1) built in the body 101. The head 102 is driven by the electric motor M1 and tilts about its rotation axis. That is, the head 102 can be tilted forward at the head forward tilting portion 103 so that the person lowers his / her head.

  The position detection device 104 detects the position of a person existing around the moving body 100, and is specifically a distance image sensor, for example. When a distance image sensor is used for the position detection device 104, the distance image data from the distance image sensor is used to distinguish a person from detection targets around the moving body 100, and the distance in the depth direction with the person is determined. The position of a person can be detected by measuring.

  The face detection device 105 detects a human face existing around the moving body 100. Specifically, for example, the face detecting device 105 analyzes the image data captured by the camera and the camera and moves around the moving body 100. And an image analysis device (not shown) for detecting an existing face. According to this configuration, the position of the face (face detection position) on the projection plane of the camera can also be detected.

  The position detection device 104 and the face detection device 105 are each attached to a tilting member 120 that is long in the width direction. The tilting member 120 is attached to the upper part of the head 102 so as to be tiltable up and down. Further, the tilting member 120, and thus the position detection device 104 and the face detection device 105, are tilted backward (inclined in the direction opposite to the head 102) at the same angle in conjunction with the head 102 tilting forward. It is configured. That is, even if the head 102 is tilted forward, the detection directions of the position detection device 104 and the face detection device 105 are tilted so as to cancel the forward tilt of the head 102. As a result, the position detection device 104 and the face detection device 105 are always directed in a constant direction so that each detection by the position detection device 104 and the face detection device 105 can be performed stably.

Specifically, as shown in FIG. 3, a pulley 121 (fixed pulley) is fixed to the body 101 on the same axis as the rotation axis of the head forward tilting portion 103 (see FIG. 1). A pulley 122 (rotary pulley) having the same diameter and the same number of teeth as that of the fixed pulley 121 is pivotally attached to the head 102 via a bearing (not shown) so that it can rotate freely. A chain belt 123 is wound around the fixed pulley 121 and the rotary pulley 122, and the rotary pulley 122 is attached to the tilting member 120.
With such a configuration, when the head 102 is tilted forward as indicated by the arrow a1, the fixed pulley 121 does not rotate. Therefore, the rotation pulley 122 is indicated by the arrow a2 by the chain belt 123 that tilts forward integrally with the head 102. It is driven to rotate. As a result, the tilting member 120 tilts backward by the same angle as the forward tilt angle of the head 102.
Note that a timing belt may be used instead of the chain belt 123. When a timing belt is used, the strength of the belt is reduced, but the quietness during operation is improved.

  As shown in FIG. 1, the position detection device 104 and the face detection device 105 are connected to the controller 107 by a cable C1. The detection results of the position detection device 104 and the face detection device 105 are output to the controller 107 via the cable C1.

  The contact detection device 106 detects contact between the moving body 100 and a person, and is specifically a force sensor, for example. When a force sensor is used for the contact detection device 106, the contact between the moving body 100 and the person can be detected by calculating the contact force with the person from the force data detected by the force sensor.

  The contact detection device 106 is connected to the controller 107 by a cable C2. The detection result of the contact detection device 106 is output to the controller 107 via the cable C2.

  The sound generation unit 108 generates sound for calling the person from the moving body 100, and specifically, for example, a speaker.

  Each arm portion 109 has a curved shape extending in the forward direction from both end portions (shoulder portion 111) in the width direction of the body 101, and the tip (front end) thereof is configured as a hand portion 110, respectively. These hand portions 110 are coupled at the center in the width direction. Specifically, each arm portion 109 has a substantially arc shape, the base end portion on the outer side in the width direction is fixed to the shoulder portion 111, and the hand portion 110 at the center in the width direction contacts as shown in FIG. It is coupled via the detection device 106.

  Each hand 110 can be lifted or lowered using a shoulder 111 at the base of the arm 109. The shoulder 111 includes a right shoulder 111R and a left shoulder 111L.

  The right shoulder 111R and the left shoulder 111L are connected to the width direction end of the body 101 via a rotation axis parallel to the width direction, respectively. Each of these rotation shafts is coupled to an output shaft of an electric motor M2 (not shown in FIG. 1) built in the body 101. Driven by this electric motor M2, the right shoulder 111R and the left shoulder 111L tilt around their rotation axes. Thereby, the hand part 110 of the front-end | tip part of the arm part 109 by which the base was fixed to the right shoulder part 111R and the left shoulder part 111L can be raised / lowered.

  The face 112 includes a display 112a disposed on the front surface of the head 102, and a display 112b simulating eyes (hereinafter referred to as “eye 112b”) is displayed on the display 112a. The display position of the eyes 112b can be changed sequentially. Note that the eyes 112b may be configured by an article that can change the position and imitate the eyes instead of displaying.

(Control configuration)
FIG. 4 is a schematic control block diagram showing the configuration of the moving body controller in the first embodiment of the present invention.
As shown in FIG. 4, the controller 107 includes, as functional elements, a situation determination unit 107 a that determines the situation of people around the mobile body 100 (hereinafter referred to as “surrounding situation”), And a work control unit 107b that performs control (work control) for working with people.
The situation determination unit 107 a determines the surrounding situation of the moving body 100 based on the detection results of the position detection device 104, the face detection device 105, and the contact detection device 106.

  The action control unit 107b performs action control when it is determined based on the detection result of the position detection device 104 that there is no route that can be moved without contacting the surrounding person. Specifically, the action control unit 107b controls the head forward tilting unit 103 via the electric motor M1 so that the moving body 100 performs an operation simulating an operation when a human asks another person. The shoulder 111 is controlled via the electric motor M2, and further the operation of the sound generator 108 and the body 101 is controlled.

(flowchart)
FIG. 5 is a flowchart relating to the situation determination of the moving object in the first embodiment of the present invention.
FIG. 6 is a flowchart related to the behavior of the moving body in the first embodiment, and mainly relates to the action control.
Hereinafter, with reference to FIG. 5 and FIG. 6, functions of the situation determination unit 107 a and the action control unit 107 b will be further described while explaining an example of the situation determination and the action control.

  First, a specific situation determination method by the situation determination unit 107a will be described with reference to FIG.

  The situation judgment unit 107a sets situation variable A, situation variable B, and situation variable C to 0 (zero) at the start of situation judgment (step S01). Thereafter, the situation determination unit 107a determines whether or not the moving body 100 is under action control (step S02). Whether or not the work control is being performed can be determined by whether or not the work control unit 107b outputs a command for performing the work control, which is an internal signal of the controller 107, for example.

  If the work control is not being performed, the situation determination unit 107a ends the situation determination. In the case where the action control is being performed, the situation determination unit 107a selects a person on the set movement route from among the persons determined by the position detection device 104 (hereinafter referred to as “contact object”). ) And the position of the person identified as the contact target by the position detection device 104 (hereinafter referred to as “contact target position”) is detected (step S03). A distance from the moving body 100 to the contact target position (hereinafter referred to as “contact target distance”) is calculated and compared with a preset distance (hereinafter referred to as “person approach distance”) (step S04). When the contact target distance is equal to or less than the person approach distance, the situation variable A is set to 1 (step S05). When the contact target distance is more than the person approach distance, the situation variable A remains 0 (zero). And

  Next, the face detection position detected by the face detection device 105 is compared with the contact target position (step S06). If the face detection position is the same as the contact target position, the status variable B is set to 1 (step S06). S07) When the face detection position is different from the contact target position, the situation variable B is kept 0 (zero).

Next, the situation determination unit 107a checks whether or not contact between the moving body 100 and a person is detected by the contact detection device 106 (step S08). If contact is detected, the situation variable C is set to 1. (Step S09), and when no contact is detected, the status variable C remains 0 (zero).
Thereafter, the process returns to step S02, and the situation determination unit 107a continues the situation determination until the work control is completed.

  Next, a specific control method by the action control unit 107b will be described with reference to FIG.

  The action control unit 107b starts the action control when it is determined that there is no route that can be moved without contacting the surrounding person as described above. When the action control is started, the situation determination unit 107a starts the situation determination illustrated in FIG. 5 (step S10). Thereafter, the hand 110 is lifted to the height between the waist of the contact target and the shoulder using the shoulder 111 (step S11), and the moving body 100 is moved toward the contact target (step S12). During movement, the value of the situation variable A set by the situation judgment unit 107a is monitored (step S13), and when the situation variable A is set to 1 (that is, when approaching the contact target to a person approaching distance or less) The action control unit 107b stops the movement of the moving body 100. Thereby, the hand part 110 approaches the contact object integrally with the moving body 100 (step S14). The action control unit 107b monitors the status variable B of the status determination unit while bringing the hand unit 110 closer to the contact target (step S15).

When the situation variable B is set to 1, that is, when the face detection position is the same as the contact target position), the hand 110 is stopped from approaching the contact target (step S16), and the head 102 is moved to the head. After being tilted forward by the forward tilting portion 103, it is returned to the original state (standing state before the forward tilting), and at the same time, a voice is generated by the voice generating unit 108 so that the object to be touched is free. (Step S17).
Here, the situation in which the situation variable B is set to 1 is a situation in which the face detection position is the same as the contact target position because the face to be touched faces the moving body 100. Therefore, when the situation variable B is set to 1, tilting the head 102 forward means that when the person who is a contact object notices the mobile body 100 and views the mobile body 100, the mobile body 100 The head 102 is tilted forward. Therefore, the person who is the contact object can be surely recognized that the moving body 100 tilts the head 102 forward.

  At this time, the forward tilt angle of the head 102 with respect to the vertical direction is preferably 30 degrees, which is the angle at which the person bows when saluting, but 10 degrees so that the eyes 112b displayed on the face 112 can be seen by the person. A degree between 30 degrees is desirable. Further, the eyes 112b displayed on the face 112 are used when the head 102 is tilted forward in order to express that the moving body 100 recognizes a person even while the head 102 is tilted forward. Is moved upward.

  Thereafter, it is determined based on the detection result of the position detection device 104 whether the contact target has cleared the road (the space for the moving body 100 to move) (step S18). It moves along the empty road away from the object (step S19). If the road does not open, the hand 110 is moved away from the contact target and another movement route is searched (step S20).

  The action control unit 107b simultaneously monitors the status variable C while monitoring the status variable B (step S21), and when the status variable C is set to 1 before the status variable B is set to 1 ( That is, when contact between the moving body 100 and the contact target is detected, the operation for bringing the hand 110 closer to the contact target is stopped (step S22).

  Thereafter, the value of the status variable B is confirmed again (step S23). At that time, if the situation variable B is set to 1, after the head 102 is tilted forward by the head forward tilting portion 103, the head 102 is tilted in the reverse direction by the head forward tilting portion 103. The sound is returned to the original state, and at the same time, a sound is generated by the sound generator 108 so as to leave the way toward the contact target (step S17), and the process proceeds to step S18. On the other hand, if the status variable B remains 0 in step S23, the process proceeds to step S18 without tilting the head 102 forward or generating sound from the sound generator 108.

  In step S18, it is confirmed whether or not the contact target has cleared the road. If the road is empty, the hand 110 is moved away from the contact target and moved through the empty road (step S19). If the road is not free, the hand part 110 is moved away from the contact target, and another movement route is searched (step S20).

(Action / Effect)
According to the moving body 100 of the first embodiment of the present invention, when the person is acted upon by contact, the moving body 100 tilts the head 102 forward as if the person lowered his / her head. , I can clearly convey to people the intention to leave the way. Therefore, it becomes easy to get a way, and movement and tasks can be performed efficiently.

(Modification)
(1) A crawler or a leg mechanism may be used as a moving device for the body 101. In this case, compared with using a wheel mechanism for the moving device, movement on rough terrain such as an uneven surface can be easily performed.

  (2) A stereo camera may be provided as the position detection device 104. Compared to using a distance image sensor for the position detection device 104, the number of detection devices can be reduced by using a single camera as a camera for the position detection device 104 and a camera for the face detection device 105. And the cost of the moving body 100 can be reduced.

(3) A parallel link mechanism may be used as a mechanism for tilting the tilting member 120 (and thus the position detecting device 104 and the face detecting device 105) backward in conjunction with the forward tilt of the head 102. Specifically, as shown in FIG. 7, a pair of front and rear links 124 that are parallel to each other are pivotally attached to the body 101 with their lower ends at the same height, and the upper ends of the tilting member 120 with their upper ends at the same height. Just pivot on the side. Thereby, the angle of the tilting member 120 can be kept horizontal regardless of the angle of the head 102. That is, the tilting member 120 can be tilted backward in conjunction with the forward tilt of the head 102.
Compared with the case of using a pulley and a belt, it is not necessary to adjust the tension of the belt, so that the assembling property can be improved.

  (4) A touch sensor may be used for the contact detection device 106, and only the presence or absence of contact between the moving body 100 and a person may be detected by the touch sensor. In this case, the cost of the moving body 100 can be reduced compared to the case where a force sensor is used for the contact detection device 106.

  (5) The position detection device 104 may have the function of the contact detection device 106. In this case, the contact between the moving body 100 and the person can be detected using the distance between the person and the moving body 100 analyzed from the distance image data of the position detection device 104. The number of detection devices can be reduced, and the cost of the moving body 100 can be reduced.

(Embodiment 2)
Hereinafter, a second embodiment of the present invention will be described with reference to FIG. 1, FIG. 4, FIG. 5, and FIG.
The moving body 100 ′ of the second embodiment of the present invention is mainly different from the moving body 100 of the first embodiment in that the head 102 is tilted forward when the status variable C is set to 1.

  That is, in the moving body 100 ′ of the present embodiment, the head 102 is moved to a predetermined position regardless of whether or not the status variable B is set to 1 (whether or not the face detection position is the same as the contact target position). Tilt forward at the timing. Therefore, the moving body of the present embodiment may omit the face detection device 105 from the configuration of the moving body 100 of the first embodiment. In this case, the situation determination unit 107a ′ used in place of the situation determination unit 107a of the first embodiment does not implement step S06 and step S07 of FIG.

FIG. 8 is a flowchart related to the behavior of the moving body in the second embodiment, and mainly relates to the action control.
Hereinafter, the function of the action control unit 107b ′ used in place of the action control unit 107b of the first embodiment will be described with reference to FIG.

  When the action control unit 107b ′ starts the action control, the situation determination unit 107a ′ starts the situation determination described above (step S121). Thereafter, the action control unit 107b ′ uses the shoulder 111 to lift the hand 110 to a height between the waist of the contact target and the shoulder (step S122), and moves the moving body 100 toward the contact target (step S122). S123). The action control unit 107b ′ monitors the value of the situation variable A during the movement (step S124), and when the situation variable A is set to 1 (that is, the moving body 100 ′ approaches the contact target to a human approach distance or less. In the case of the case, the movement of the moving body 100 'is stopped and the hand part 110 is brought close to the contact target (step S125).

  Next, the action control unit 107b ′ monitors the status variable C (step S126). When the situation variable C is set to 1 (that is, when contact between the moving body 100 and the contact target is detected), the action control unit 107b ′ stops approaching the hand unit 110 to the contact target ( In step S127), the head 102 is once tilted forward by the head forward tilting section 103 and then returned to the original state, and at the same time, the voice is generated by the voice generating section 108 so that the contact target can leave the road. (Step S128).

Thereafter, the action control unit 107b ′ confirms whether or not the contact target has cleared the road (step S129), and when the road is empty, moves the hand part 110 away from the contact target and moves through the empty road (step S129). S130). If the road is not free, the hand 110 is moved away from the contact target and another movement route is searched (step S131).
The situation determination unit 107a ′ and the action control unit 107b ′ are the same as the situation determination unit 107a and the action control unit 107b of the first embodiment, and thus description thereof is omitted. Further, since the moving body 100 ′ is the same as the moving body 100 of the first embodiment except for the situation determination unit 107a ′ and the action control unit 107b ′, the description thereof is omitted.

(Action / Effect)
According to the mobile body of the second embodiment of the present invention, the face detection device 105 can be omitted. When the face detection device 105 is omitted, the cost of the moving body 100 ′ can be reduced, and the number of processing steps based on the detection result of the face detection device 105 can be reduced in the situation determination, so that the situation determination can be performed quickly. Can do.

(Embodiment 3)
Hereinafter, Embodiment 3 of the present invention will be described with reference to FIG. 1, FIG. 4, FIG. 5 and FIG.
The moving body 100 ″ according to the third embodiment of the present invention moves the head 102 according to the first embodiment in that the head 102 is tilted forward when the situation variable A is set to 1 when approaching the contact target to a human approach distance or less. The body 100 is mainly different.

  That is, in the moving body 100 ″ of the present embodiment, whether or not the status variable B is set to 1 (whether or not the face detection position is the same as the contact target position) as in the second embodiment. First, the head 102 is tilted forward at a predetermined timing.Therefore, the moving body 100 ″ of the present embodiment may omit the face detection device 105 from the configuration of the moving body 100 of the first embodiment. . In this case, the situation determination unit 107a ″ used in place of the situation determination unit 107a of the first embodiment does not perform Steps S06 and S07 of FIG.

FIG. 9 is a flowchart related to the behavior of the moving body in the third embodiment, and mainly relates to the action control.
Hereinafter, the function of the action control unit 107b ″ used in place of the action control unit 107b of the first embodiment will be described while explaining the flow of the action control with reference to FIG.

  When the control of the action control unit 107b ″ starts the action control, the above-described situation determination is started by the situation determination unit 107a ″ (step S32). Thereafter, the action control unit 107b ″ uses the shoulder 111 to lift the hand 110 to a height between the waist of the contact target and the shoulder (step S33), and moves the moving body 100 toward the contact target (step S33). S34) The action control unit 107b ″ monitors the value of the status variable A during movement (step S35). The action control unit 107b ″ stops the movement of the moving body 100 when the situation variable A is set to 1 (that is, when the approaching object approaches a person approaching distance or less) (step S36). The unit 107b ″ returns the original state to the original state after the head 102 is once tilted forward by the head forward tilting unit 103, and at the same time, generates a voice from the sound generating unit 108 so that the contact target can leave the road ( Step S37).

Next, the action control unit 107b ″ brings the hand 110 closer to the contact target (step S38), monitors the situation variable C (step S39), and if the situation variable C is set to 1, the hand 110 is moved. The approach to the contact target is stopped (step S40).
Thereafter, the action control unit 107b ″ confirms whether or not the contact target has cleared the road (step S41), and if the road is empty, moves the hand part 110 away from the contact target and moves along the empty road (step S41). 42) If the road is not clear, the hand 110 is moved away from the contact target to search for another movement route (step S43).
The situation determination unit 107a ″ and the action control unit 107b ″ are the same as the situation determination unit 107a and the action control unit 107b of the first embodiment, and thus description thereof is omitted. Further, since the moving body 100 ″ is the same as the moving body 100 of the first embodiment except for the situation determination unit 107a ″ and the action control unit 107b ″, description thereof is omitted.

  According to the moving body of the third embodiment of the present invention, the same effect as in the second embodiment can be obtained.

(Other)
In each embodiment described above, in the work control, in addition to tilting the head 102 forward, the person is touched. However, the action of touching the person may be omitted.

  The moving body of the present invention is useful when autonomous movement is necessary in a crowded area.

100, 100 ′, 100 ″ moving body 101 body 102 head 103 head forward tilting portion 104 position detection device 105 face detection device 106 contact detection device 107 controller 107a, 107a ′, 107a ″ situation determination unit 107b, 107b ′, 107b ″ Action control unit 108 Audio generation unit 109 Arm unit 110 Hand unit 111 Shoulder unit 111L Left shoulder unit 111R Right shoulder unit 112 Face unit 112a Display 112b Eye unit 120 Tilt member 121 Fixed pulley 122 Rotating pulley 123 Chain belt 124 Link M1, M2 Electric motor

Claims (15)

The head,
A head forward tilting part that tilts the head forward;
A position detection device for detecting the position of the detection target;
A situation determination unit that determines a surrounding situation using a detection result of the position detection device;
A moving body comprising: an action control unit that performs an action control including at least the control of tilting the head forward according to the surrounding situation.   The moving body according to claim 1, wherein the position detection device detects and detects a person as the detection target.   The mobile body according to claim 2, further comprising a face detection device that detects a human face, wherein the situation determination unit determines the surrounding situation using a detection result of the face detection device.   The moving body according to claim 1, further comprising a contact detection device that detects contact with the detection target, wherein the situation determination unit determines the surrounding situation using a detection result of the contact detection device. .   When the situation determination unit determines that the position of the detection target detected by the position detection device is within a preset range, the action control unit is the head tilting unit The moving body according to claim 1, wherein the head is tilted forward.   When the situation determination unit determines that the position of the person detected by the position detection device exists within a preset range, the action control unit moves the head with the head tilting unit. The moving body according to claim 2, wherein the moving body is tilted forward.   When the situation determination unit determines that the face detection device has detected a human face, the action control unit tilts the head forward with the head tilting unit. 3. The moving body according to 3.   When the situation determination unit determines that the contact detection device has detected contact with a person, the action control unit tilts the head forward by the head forward tilt unit. Item 5. A moving object according to item 4.   The position detection device is provided in the head, and when the head is tilted forward by the head forward tilt portion, the detection direction of the position detection device is reversed with the same magnitude as the head tilt angle. The moving body according to claim 1, wherein the moving body is inclined in a direction.   The face detection device is provided in the head, and when the head is tilted forward by the head forward tilt portion, the detection direction of the face detection device is reversed with the same magnitude as the head tilt angle. The moving body according to claim 3, wherein the moving body is inclined in a direction.   11. A sound generation unit capable of generating sound, wherein the sound generation unit generates sound when the head of the moving body is tilted forward by the head forward tilting unit. The moving body according to any one of the above. A torso that supports the head;
An arm portion that extends forward from both ends in the width direction of the trunk portion, and has a hand portion at the tip;
The movable body according to claim 1, wherein the action control unit causes the hand portion to contact a person. A shoulder for rotating the arm around an axis parallel to the width direction;
The action control unit adjusts the position in the height direction of the hand part according to the height of the detection target by controlling the operation of the shoulder part when the hand part is brought into contact with a person. The moving body according to claim 12, wherein: The head is provided with a face part having at least an eye part imitating eyes,
The moving body according to any one of claims 1 to 13, wherein when the head is tilted forward by the head tilting part, the eye part is moved to an upper part of the face part. It can move autonomously,
The said action control part performs said action control when it judges that it cannot move without contacting with the surrounding detection object based on the detection result of the said position detection apparatus, Any one of Claims 1-14 characterized by the above-mentioned. The moving body according to claim 1.

Images