JP2020121353A - robot - Google Patents

Abstract

To achieve a robot capable of reducing burden of a measuring object person.SOLUTION: Each of robots (1, 1a) includes: an arm (11) on which a measuring device (12) for measuring a vital sign of a measuring object person is mounted; and a control section (10). The control section executes proximity processing for controlling the arm so that the measuring device comes close to the measuring object person and measurement processing for causing the measuring device to measure the vital sign of the measuring object person after the proximity processing.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot.

A robot that assists in measuring biometric data of a measurement target is known as a conventional technique. Patent Document 1 describes a robot having a function of prompting the measurement target person to measure the biometric data in a conversation with the measurement target person when it is time for the measurement target person to wear the measuring device and measure the biometric data. Has been done.

Japanese Patent Laid-Open No. 2006-285425 (Published October 19, 2006)

However, the above-described conventional techniques have a problem that the measurement target person needs to go and prepare a measuring instrument when measuring the body temperature and the like, which is a burden.

One aspect of the present invention has been made in view of the above problems, and an object of the present invention is to realize a robot that can reduce the burden on the measurement target person.

In order to solve the above problems, a robot according to an aspect of the present invention includes an arm on which a measuring device that measures a vital sign of a measurement target person is mounted, and a control unit, and the control unit is the A proximity process that controls the arm so that the measuring instrument approaches the measurement target person, and a measurement process that causes the measurement instrument to measure the vital sign of the measurement target person after the proximity process are performed.

According to one aspect of the present invention, it is possible to realize a robot that can reduce the load on the measurement target person.

3 is a functional block diagram of the robot according to the first embodiment. FIG. It is an external view of a robot. 6 is a flowchart showing a flow of processing according to the first embodiment. 9 is a flowchart showing the flow of processing according to the second embodiment. 7 is a functional block diagram of a robot according to a third embodiment. FIG. 9 is a flowchart showing the flow of processing according to the third embodiment. It is a figure which shows an example of the mechanism which an arm has. It is sectional drawing which shows an example of the mechanism which fixes the joint part of an arm.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 8.

[Embodiment 1]
An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. In the present embodiment, a robot that approaches a measurement target person who is a vital sign measurement target and presents a measuring instrument will be described.

[1. Configuration of Robot 1]
The configuration of this embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a functional block diagram of a robot 1 according to this embodiment. Further, FIG. 2 is an external view of the robot 1.

The robot 1 is, for example, a robot used for medical care in an institution, and includes a control unit 10, an arm 11, a detection unit 13, a traveling unit 14, a communication unit 18, and a storage unit 19.

The control unit 10 is a control device that controls the entire robot 1. The control unit 10 executes, for example, proximity processing that controls the arm 11 so that the measuring instrument 12 approaches the measurement target person, and measurement processing that causes the measuring instrument 12 to measure the vital sign of the measurement target person.

The control unit 10 also identifies a person included in the detection result of the detection unit 13. A conventional technique may be used for the method of identifying the person by the control unit 10. Alternatively, the control unit 10 may include a neural network mechanism and perform machine learning for identifying a person.

Further, the control unit 10 may have a function of making an announcement for prompting a posture change of the measurement target person via a speaker or the like (not shown).

The arm 11 is a robot arm having one or a plurality of joints, and includes a measuring device 12. Further, it is desirable that the arm 11 can be folded compactly so that the robot 1 can pass through a narrow space. A detailed configuration example of the arm 11 will be described later.
The measuring device 12 is a device that measures the vital sign of the measurement subject. The above-mentioned vital sign is information regarding the biological activity of the measurement target person, which is exemplified by the body temperature, blood pressure, pulse, respiration, blood oxygen concentration, etc. of the measurement target person. The location where the measuring instrument 12 is located is not particularly limited, but it is desirable that it is near the tip of the arm 11.

Further, the measuring device 12 may be capable of performing non-contact detection, contact detection, or both with respect to the measurement site. Examples of non-contact detection include detection of information that can be estimated from body temperature on the surface of the body, respiratory fluctuation, or appearance. Examples of contact detection include pulse, blood pressure, blood oxygen concentration, and the like.

The detection unit 13 detects a person around the robot 1. Hereinafter, the detection unit 13 will be described as including a camera that captures an image of the surroundings of the robot 1.

The traveling unit 14 is a member such as a wheel having a function of moving the robot 1. The traveling unit 14 may have a configuration realized by, for example, a caterpillar.

The communication unit 18 performs communication processing with an external device such as a server. The storage unit 19 is a storage device that holds various data. The storage unit 19 stores various parameters in the machine learning described above, information that the control unit 10 refers to when identifying a person, information indicating the height and weight of each person, an injured portion, and the like, and measurement results of vital signs. , In a database format, for example.

It should be noted that each member included in the robot 1 is not limited to a single member, and may be configured to include a plurality of members. Further, a part of the above-mentioned processing in each member may be executed by another member. Further, a part of the above-described processing in each member included in the robot 1 may be executed by the external device.

[2. Processing flow]
Hereinafter, a flow of processing in which the robot 1 approaches the measurement target person and presents the measuring instrument 12 will be described with reference to FIGS. 1 and 3. FIG. 3 is a flowchart showing the flow of processing according to this embodiment.

(Step S101)
In step S101, the control unit 10 causes the detection unit 13 to capture an image of the surroundings of the robot 1. Then, in one aspect, the traveling unit 14 is controlled so as to move toward the preset measurement target person, and the robot 1 is appropriately moved. For example, information indicating the position of each person's bed may be stored in the storage unit 19, and the control unit 10 may determine the direction in which the robot 1 is moved by referring to the information. Further, in another aspect, the traveling unit 14 may be controlled to move along the preset patrol route to move the robot 1 appropriately.

The process in which the control unit 10 causes the detection unit 13 to capture an image of the surroundings of the robot 1 and recognizes the surrounding objects also continues in the subsequent steps.

Further, the frequency of measuring vital signs in each measurement subject may be different from each other. For example, a vital sign may be measured more frequently for a measurement subject who is in a serious health condition than for a measurement subject who is not.

(Step S102)
Subsequently, in step S102, the control unit 10 refers to the detection result of the detection unit 13 in step S101, that is, the captured image and the storage unit 19, and determines whether or not the measurement target person exists in the captured image. To judge. If the measurement target person in the captured image is specified, the process of step S103 is subsequently executed, and if not, the process of step S101 is executed again.

Further, at this step or at any timing thereafter, the control unit 10 may perform the determination according to the face of the measurement target person or the determination regarding the breathing state. Here, the determination according to the face means, for example, a determination for identifying a person by the face, a determination regarding whether or not there is an abnormality such as a facial expression, a facial color, or a body temperature on the surface of the face. Further, the determination of the respiratory state means, for example, determination of whether or not there is an abnormality in the breath sound or the chest region or chest variation.

In addition, the control unit 10 compares the detected complexion of the measurement target person with the complexion of the measurement target person in a healthy state or the complexion of the measurement target person who is not in a healthy state, which is stored in the storage unit 19. The determination result, that is, the state or the quality of the complexion may be stored in the storage unit 19.

In addition, the control unit 10 may perform a voice call for confirming the person estimated by the face, for example, a voice call for a name "Is it Mr.?" Further, if there is an abnormality in the facial expression or hue extracted from the face image of the measurement target person, the control unit 10 may call out, for example, "Do you feel unwell?" Further, if there is an abnormality in the temperature of the surface of the face estimated from the face image or measured by a thermograph (not shown), the control unit 10 may call out, for example, "is it hot?" .. Moreover, the control unit 10 may call out, for example, "Is breathing difficult?" if the measurement subject has an abnormal breathing state.
Further, when there is a response from the measurement target person that he/she is aware of the abnormal health condition, the control unit 10 may send information to that effect to an external device.

In addition, the control unit 10 may perform a determination or the like according to the face described above even for a person other than a preset measurement target person, and may call out when it is determined that there is an abnormality.

(Step S103)
Subsequently, in step S103, the control unit 10 controls the traveling unit 14 so as to approach the measurement target person specified in step S102.

In one aspect, the control unit 10 may control the traveling unit 14 so as to approach the measurement target person from the direction according to the measurement target person specified in step S102. For example, when the measurement target person has hemiplegia, the control unit 10 may control the traveling unit 14 so as to approach the measurement target person from the direction in which there is no inconvenience. Moreover, in one aspect, when the measurement target person is a boat eye, the control unit 10 may control the traveling unit 14 so as to approach from the direction of the eyes in which the measurement target person is not inconvenient. According to the above configuration, the anxiety of the measurement subject can be suppressed and the safety is improved.

Note that the control unit 10 does not necessarily have to control the approaching direction for each measurement target person. For example, the control unit 10 may be configured to control the traveling unit 14 so as to approach the measurement target person from the direction in which the measurement target person is uniformly the shortest distance.

(Step S104)
Subsequently, in step S104, the control unit 10 executes proximity processing for controlling the arm 11 so that the measuring instrument 12 approaches the measurement target person. Preferably, the control unit 10 controls the arm 11 so that the measuring device 12 approaches the measurement site of the measurement target person.

In one mode, control part 10 controls arm 11 so that measuring instrument 12 may be located in a position according to the measurement subject specified in step S101. For example, the control unit 10 may control the arm 11 to be extended to different heights depending on the measurement target person. Further, in one aspect, when the measurement target person is injured, the control unit 10 may control the arm 11 so as to avoid it from hitting the injured portion and to extend the arm 11.

As described above, the control unit 10 included in the robot 1 may control the arm 11 so that the measuring device 12 is located at a position according to the measurement target person in the proximity processing. According to the above-mentioned composition, measuring instrument 12 can be moved to a suitable place for every person to be measured.

The direction in which the robot 1 approaches the measurement target person in step S103, and the extension position of the arm 11 in this step may not be uniform every time. For example, the control unit 10 determines the direction according to the user's body, personality, preference information in advance, the posture of the measurement target person, for example, the state such as whether the measurement target person is sleeping in a bed or sitting in a wheelchair. Etc. may be changed.

The control unit 10 does not necessarily have to control the arm 11 so that the measuring device 12 is located at a position corresponding to each measurement target person. For example, the control unit 10 may control the arm 11 at a position that is uniform for the measurement target person and that corresponds to the type of vital sign to be measured.

Further, in the flowchart of FIG. 3, step S104 is performed after step S103, but step S103 and step S104 may be configured such that some or all of them are performed in parallel.

(Step S105)
Subsequently, in step S105, the control unit 10 executes a measurement process that causes the measuring device 12 to measure the vital sign of the measurement target person. In addition, when performing the measurement process, the control unit 10 may make an announcement to the measurement target person so as not to move the body. In addition, the control unit 10 may use a part of the arm 11 to support the measurement target person so as not to move the body. Then, the control unit 10 stores the measurement result of the measurement process in the storage unit 19 so that it can be referred to later. Further, as described later, the control unit 10 may transmit the measurement result to an external device via the communication unit 18. Further, the robot 1 may present the measurement result to the measurement target person by voice, for example.

(Step S106)
Subsequently, in step S106, the control unit 10 returns the arm 11 that has been brought close to the measurement target person to the original state, and controls the traveling unit 14 to move away from the measurement target person. The above is the flow of processing based on the flowchart of FIG.

As described above, the robot 1 according to the present embodiment includes the arm 11 on which the measuring device 12 that measures the vital sign of the measurement target person is mounted, and the control unit 10. A proximity process of controlling the arm 11 so as to approach the measurement target person and a measurement process of causing the measuring device 12 to measure the vital sign of the measurement target person after the proximity process are executed.

According to the above configuration, it is possible to realize the robot 1 that can reduce the load on the measurement target person. Further, the measurement by the robot 1 having the above configuration has the following advantages as compared with the wearable measurement in which the measurement target person wears a wearable device such as a wrist sensor.

(1) There is no need for the person to be measured to attach and detach the wearable device.

(2) It is easy to perform measurement in accordance with information obtained from the appearance of the person to be measured, such as facial expressions.

(3) It is easy to perform stimulus-responsive measurement, for example, eye movement when the arm is extended, measurement of cognitive state, and the like.

(4) It is easy to physically measure, for example, the grip force of gripping the arm, the reach of the hand, the movable range of the arm, and the like.

(5) Guidance for changing the posture of the person to be measured, for example, raising the arm height to be measured to the chest height is easy.

The control unit 10 uses the communication unit 18 to measure the vital signs, the state of the complexion described above, and the measurement results related to cognitive movement described below, on an external device such as a terminal held by a server or staff of the facility. It may be transmitted to the device. Then, the server may aggregate and store the measurement results received from the robot 1 in, for example, a database format.

Further, the information stored in the server may be referred to from the robot 1. For example, the server may store information indicating the characteristics of the face of the measurement subject, and the control unit 10 may refer to the information via the communication unit 18.

[Modification of Embodiment 1]
The detection unit 13 may include a range sensor or an infrared sensor instead of the camera, and the control unit 10 may refer to the detection result of the sensor to grasp the position of the measurement target person. In the above configuration, the control unit 10 includes, for example, a device such as a beacon, an IC tag, an AR marker, or the like, which is provided in a cane, a wheelchair, or the like that is carried by each person or is carried by each person, The person to be measured may be identified by voice. Further, the control unit 10 may use the identification by those devices and the identification by the above-described captured image together.

That is, the control unit 10 specifies the measurement target person by the above-described method, controls the traveling unit 14 so as to approach from the direction corresponding to the measurement target person, and performs the proximity processing according to the measurement target person. I do not care.

Note that the configuration in which the detection unit 13 in this modification example includes a range sensor, an infrared sensor, or the like instead of the camera can be applied to the following embodiments.

[Modification 2 of Embodiment 1]
By the processing of steps S101 and S102, for example, when the measurement target person is not specified for a predetermined time or more, or when the measurement target person is not set in advance, for example, for the person located on the patrol route of the robot 1. It is possible to execute the vital sign measurement process, which is equivalent to the process of step S103 and thereafter, acquire a face image at an arbitrary timing, and later manually associate the vital sign measurement result with the face image. It may be possible.

Note that the modified examples 1 and 2 of the first embodiment described above are also applicable to each of the embodiments described later.

(Structure example 1 of arm 11)
A configuration example of the arm 11 will be described with reference to FIGS. 7 and 8. Each drawing in FIG. 7 is a diagram showing an example of a mechanism included in the arm 11. As shown in FIG. 7, the arm 11 includes ball joints 22 a and 22 b, a wire 23, and a pulley 24. Each of the ball joints 22a and 22b has a spherical shape at its tip and functions as a joint of the arm 11. Further, the ball joints 22a and 22b have a mechanism for fixing the joints so that they do not move. The details of the mechanism will be described later. The wire 23 is a wire arranged along the periphery of the arm 11. By pulling the wire 23 in a predetermined direction by a pulling mechanism (not shown) located outside the arm 11, the posture of the arm 11 is changed according to the direction. The pulley 24 is a pulley arranged near the tip of the arm 11 and has a groove around which the wire 23 can be hooked and a rotation shaft.

FIG. 7A shows the operation when the joint portion corresponding to the ball joint 22a is fixed and one of the wires 23 is pulled in the direction of the arrow. Further, FIG. 7B shows an operation when the joint portion corresponding to the ball joint 22b is fixed and one of the wires 23 is pulled in the direction of the arrow. Further, FIG. 7C shows an operation in the case where one of the wires 23 is pulled in the direction of the arrow in a state where both joint parts are not fixed.

Moreover, when a load of a certain amount or more is applied to the arm 11, the arm 11 may be depowered by the wire 23 being detached. Thereby, safety can be improved.

Next, a mechanism for fixing the joint portion of the arm 11 will be described with reference to FIG. Each drawing of FIG. 8 is a cross-sectional view showing an example of the mechanism. As shown in FIG. 8, the joint portion of the arm 11 has a ball joint 22, a receiving portion 27, a spring 28, and a solenoid 29.

Here, FIG. 8A shows the operation when the joint part is fixed. Specifically, the receiving portion 27 fixes the ball joint 22 by the action of the spring 28 so as to prevent the ball joint 22 from moving, thereby fixing the joint portion. Further, FIG. 8B shows the operation when the joint portion is not fixed. Specifically, the solenoid 29 pulls the receiving portion 27 with a force stronger than the action of the spring 28, so that the friction between the ball joint 22 and the receiving portion 27 can be eliminated and the joint portion can be bent. To

As another aspect, the solenoid 29 may function as a push solenoid, and the solenoid 29 may press the receiving portion 27 upward in FIG. 8 to fix the ball joint 22 so that the ball joint 22 is fixed so as not to move.

Further, the joint portion of the arm 11 may be replaced with the receiving portion 27, the spring 28, and the solenoid 29, and an ultrasonic motor may be provided.

As described above, the arm 11 illustrated in FIGS. 7 and 8 has a plurality of joint portions, a mechanism capable of controlling whether or not to fix each of the plurality of joint portions, and a plurality of joint portions of the plurality of joint portions. Of these, a wire 23 that bends a joint portion that is not fixed is provided. According to the above configuration, it is possible to reduce the weight of the arm 11 and control multiple joints with a small number of wires.

(Structure example 2 of arm 11)
In the configuration example 1 of the arm 11, the mechanism for fixing the joint part of the arm 11 through the control of the solenoid 29 has been described, but the mechanism for fixing the ball joint 22 functioning as a joint is the change in the magnetic field or the voltage. It may be configured through a functional fluid whose characteristics are changed by an external stimulus such as application of. Here, examples of the functional fluid described above include magnetic fluid and MR fluid (Magneto Rheological Fluid).

For example, by filling the space around the ball joint 22 with a functional fluid whose viscosity can be reversibly controlled, and increasing the viscosity of the functional fluid to act as a brake for the ball joint 22, the arm 11 You may implement|achieve the mechanism which fixes the joint part of. Also in the configuration of this example, the weight of the arm 11 can be reduced, and multiple joints can be controlled with a small number of wires.

[Embodiment 2]
A second embodiment of the present invention will be described with reference to FIGS. 1, 3 and 4. For convenience of description, members having the same functions as the members described in the above embodiment are designated by the same reference numerals, and the description thereof will not be repeated. In the present embodiment, a configuration in which the robot adjusts the position of the arm before the measurement process will be described.

[1. Configuration of Robot 1]
The configuration shown in FIG. 1 is also used in this embodiment.

[2. Processing flow]
Hereinafter, the flow of processing in which the robot 1 adjusts the position of the arm 11 before the measurement processing will be described step by step with reference to FIGS. 1, 3, and 4. FIG. 4 is a flowchart showing the flow of processing according to this embodiment.

(Steps S101 to S103)
In steps S101 to S103, the same processing as that of the first embodiment is performed. After the process of step S103 is executed, the process of step S204 is subsequently executed.

(Step S204)
Subsequently, in step S204, the control unit 10 performs a process of moving the arm 11 to a position where the measurement target person can grasp. As a result, the measuring device 12 approaches the measurement target person, and thus the above process may be interpreted as the above-described proximity process. Then, the control unit 10 announces to the measurement target person that the gripping of, for example, the tip portion of the arm 11 is urged.

Further, in the announcement in this step or each subsequent step, the control unit 10 may record the reaction of the measurement target person with respect to the announcement in the storage unit 19 as a measurement result regarding cognitive movement. For example, the control unit 10 records, in the storage unit 19, information indicating that the ability related to cognitive movement is deteriorated if the measurement target person takes more than a predetermined time to react to the announcement. Alternatively, it may be transmitted to a server (not shown).

(Step S205)
Subsequently, in step S205, the control unit 10 determines whether or not the measurement target person holds the arm 11. Here, the control unit 10 may determine that the measurement target person has grasped the arm 11 when a load is applied to the arm 11. Alternatively, the arm 11 itself may be provided with a pressure sensor, and the control unit 10 may make the determination by referring to the detection result of the pressure sensor. The pressure sensor described above may be replaced with, for example, a force sensor.

When the control unit 10 determines that the measurement target person has grasped the arm 11, the process of step S206 is subsequently executed, and otherwise, the announcement process of step S204 is executed again.

In addition, in this step, the control unit 10 may determine the grip force when the measurement target person grips the arm 11, the movement of the fingertip, or the like. In addition, the control unit 10 exploratively extends the arm 11 to a position far from the measurement target person or a position that is difficult to grip, and refers to the measurement value of the pressure sensor included in the arm 11 to refer to the functional reach of the measurement target person. You may measure your physical function. Then, the control unit 10 may store information indicating the grip strength, functional reach, or the like of the measurement target person in the storage unit 19 or may transmit the information to a server (not illustrated). In addition, the control unit 10 refers to the information or the transition of the information, stores information indicating a prediction of flare occurrence or progress in the measurement target person in the storage unit 19 or transmits the information to a server (not illustrated). You may. Further, the method by which the control unit 10 predicts the occurrence or progress of flail is not limited to a specific method. For example, if the value indicating a predetermined physical function tends to decrease for a predetermined period or more, flare may occur. You may expect.

(Step S206)
Subsequently, the control unit 10 assists or guides the measurement target person to a posture more suitable for the measurement process by appropriately pushing the limbs or the like of the measurement target person by operating the arm 11. Then, the control unit 10 controls the arm 11 so that the measuring device 12 approaches the measurement target person. The control unit 10 may then control the arm 11 to adjust the position of the measuring device 12. Here, the angle of the measuring instrument 12 is also included in the position of the measuring instrument 12 described above.

For example, in one aspect, the control unit 10 moves the arm 11 to the hand of the measurement target person, and then sets the position of the measuring device 12 to a position suitable for measurement, for example, the heart of the measurement target person when measuring blood pressure. The measurement process may be performed by adjusting the arm 11 so that the measuring device 12 is located at a higher position.

The above description does not mean that the control unit 10 has to position the measuring device 12 at a position higher than the heart of the measurement subject when measuring the blood pressure. The control unit 10 may also correct the blood pressure measurement result according to the position of the measuring device 12.

In this way, the control unit 10 may execute the adjustment process of controlling the arm 11 so as to adjust the position of the measuring device 12 after the proximity process and before the measurement process. In addition, the above-described adjustment processing also includes the above-described processing in which the control unit 10 assists or guides the measurement target person through the arm 11 so as to change the posture.

Further, the process of assisting or guiding the measurement target person to change the posture is not necessarily limited to the configuration involving causing the measurement target person to grip the arm 11. For example, in one aspect, the configuration may be such that the arm 11 is inserted under the armpit of the measurement subject after the announcement by the control unit 10 or while the announcement is made to prompt the posture change. Further, the control unit 10 may perform the above-described adjustment processing before the measurement processing even when the posture of the measurement target person is not changed.

According to the above configuration, the measuring device 12 can be moved to a more suitable position for the measurement target person. After the above-described processing is executed, the processing of step S105 is subsequently executed.

(Steps S105 and S106)
In steps S105 and S106, the same processing as in the first embodiment is performed. However, the control unit 10 may appropriately announce before starting step S106 to control the arm 11 and guide the measurement target person to return to the original posture. The above is the flow of processing based on the flowchart of FIG.

[Embodiment 3]
A third embodiment of the present invention will be described with reference to FIGS. 1, 5 and 6. For convenience of description, members having the same functions as the members described in the above embodiment are designated by the same reference numerals, and the description thereof will not be repeated. In the present embodiment, a configuration will be described in which a robot located at a predetermined place presents a measuring instrument to a person to be measured.

[1. Configuration of Robot 1a]
The configuration of this embodiment will be described with reference to FIG. FIG. 5 is a functional block diagram of the robot 1a according to this embodiment. The robot 1 a has a configuration in which the robot 1 shown in FIG. 1 does not include the traveling unit 14. In the present embodiment, the robot 1a is arranged at a predetermined position, and the measurement subject appropriately moves to the vicinity of the robot 1a to perform the vital sign measurement process.

[2. Processing flow]
Hereinafter, the flow of processing in which the robot 1a presents the measuring device 12 will be described step by step with reference to FIGS. 5 and 6. FIG. 6 is a flowchart showing the flow of processing according to this embodiment.

(Step S301)
The measurement target appropriately moves in the vicinity of the robot 1a and at least within the reach of the arm 11. Then, in step S301, the control unit 10 causes the detection unit 13 to image the measurement target person. Note that the imaging by the detection unit 13 may be performed constantly during the operation of the robot 1a, or may be performed due to the operation or voice of the person to be measured.

In addition, at this step or timings thereafter, the control unit 10 may determine the complexion of the measurement target person. Specifically, the control unit 10 detects the detected complexion of the measurement target person and the complexion of the measurement target person in a healthy state or the complexion of the measurement target person who is not in a healthy state, which is stored in the storage unit 19. May be compared, and the determination result may be stored in the storage unit 19 as a part of the measurement result.

(Step S302)
Subsequently, in step S302, the control unit 10 refers to the detection result of the detection unit 13 in step S301, that is, the captured image, and identifies and specifies the measurement target person in the captured image. Note that if the control unit 10 cannot specify the measurement target person due to factors such as the fact that the information regarding the person in the captured image is not stored in the storage unit 19 or the like, the processing based on the flowchart of FIG. 6 ends. ..

(Steps S104 and S105)
In steps S104 and S105, the same processing as that of the first embodiment is performed. After the process of step S105 is executed, the process of step S306 is subsequently executed.

(Step S306)
Subsequently, in step S306, the control unit 10 controls to return the arm 11 that has been brought close to the measurement target person. The above is the flow of processing based on the flowchart of FIG. As described above in the first embodiment, the robot 1 may be configured to transmit the measurement result of vital signs and the like to an external server.

[Modification of Embodiment 2]
The robot 1a may be configured to end the series of processes as described above when the person who does not have the information stored in the storage unit 19, that is, an unregistered person tries to measure the vital sign, or may measure the vital sign. May be performed and the measurement result is presented on the spot.

[Example of software implementation]
The control block (especially the control unit 10) of the robot 1 (1a) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, the robot 1 includes a computer that executes the instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes the program to achieve the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a "non-transitory tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided. The program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. Note that one aspect of 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.

The present invention is not limited to the above-described embodiments, but various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining the technical means disclosed in the different embodiments Is also included in the technical scope of the present invention.

[Summary]
A robot (1, 1a) according to Aspect 1 of the present invention includes an arm (11) on which a measuring device (12) for measuring a vital sign of a measurement target person is mounted, and a control unit (10), The control unit includes a proximity process that controls the arm so that the measuring device approaches the measurement target person, and a measurement process that causes the measuring device to measure the vital sign of the measurement target person after the proximity process. It is a configuration to be executed. According to the above configuration, it is possible to realize a robot that can reduce the burden on the person to be measured.

A robot according to aspect 2 of the present invention is configured such that, in the aspect 1, the control unit controls the arm so that the measuring device is located at a position according to the measurement target person in the proximity processing. May be According to the above configuration, the measuring device can be moved to a suitable place for each person to be measured.

A robot according to Aspect 3 of the present invention is the robot according to Aspect 1 or 2, further comprising a traveling unit (14), wherein the control unit performs the proximity process before the proximity process or in parallel with the proximity process. The traveling unit may be controlled so as to approach the measurement target person from a direction corresponding to the measurement target person. According to the above configuration, the anxiety of the measurement subject can be suppressed and the safety is improved.

A robot according to aspect 4 of the present invention is the robot according to any one of aspects 1 to 3, wherein the control unit adjusts the position of the measuring device after the proximity processing and before the measurement processing. Alternatively, the adjustment processing for controlling the arm may be executed. According to the above configuration, the measuring device can be moved to a more suitable position for the person to be measured.

A robot according to Aspect 5 of the present invention is the robot according to any one of Aspects 1 to 4 above, wherein the arm can control whether or not to fix a plurality of joint portions and each of the plurality of joint portions. And a wire (23) for bending an unfixed joint of the plurality of joints. According to the above configuration, it is possible to reduce the weight of the arm and control multiple joints with a small number of wires.

1, 1a Robot 10 Control unit 11 Arm 12 Measuring instrument 13 Detecting unit 14 Running unit 19 Storage unit

Claims (5)

An arm equipped with a measuring device that measures the vital sign of the person to be measured,
And a control unit,
The control unit is
Proximity processing for controlling the arm so that the measuring device approaches the measurement target person,
A robot performing a measurement process of causing the measuring device to measure the vital sign of the measurement subject after the proximity process. The robot according to claim 1, wherein, in the proximity processing, the control unit controls the arm so that the measuring device is located at a position corresponding to the measurement target person. Further equipped with a running part,
The control unit controls the traveling unit before the proximity processing or in parallel with the proximity processing so as to approach the measurement target person from a direction according to the measurement target person. The robot according to claim 1 or 2. The control unit executes an adjustment process for controlling the arm so as to adjust the position of the measuring device after the proximity process and before the measurement process. The robot according to item 1. The arm is
Multiple joint parts,
A mechanism capable of controlling whether or not to fix each of the plurality of joint portions,
The robot according to any one of claims 1 to 4, further comprising: a wire that bends a joint part that is not fixed among the plurality of joint parts.

Images