JP2022051980A - Pendulum device - Google Patents

Abstract

To further intuitively present interactivity of a device to a user.SOLUTION: A pendulum device according to an aspect of the present technology includes a multiple pendulum formed by coupling a plurality of pendulums, a rotation retaining section having a rotation mechanism for retaining the multiple pendulum, and a control section which controls the motion of the multiple pendulum according to a person situation being a situation of persons existing around thereby and being sensed by a sensor. This technology can be applied to a device which performs interaction with users.SELECTED DRAWING: Figure 1

Description

The present technology relates to a pendulum device, and more particularly to a pendulum device that enables the user to more intuitively present the interaction of the device.

Conventionally, devices equipped with proxy functions (agent devices) such as voice agents that remotely control another terminal according to the user's utterance and gesture agents that remotely control another terminal according to the user's actions have been used in various fields. Has been done.

JP-A-2018-195934 Japanese Unexamined Patent Publication No. 2018-120390

Conventional surrogate functions are limited to functions that utilize voice and functions that utilize sensing results such as movements. For example, it is limited to functions such as acquiring data on a server, shopping using the Internet, and remotely controlling home appliances such as televisions, triggered by a user's utterance.

The present technology has been made in view of such a situation, and makes it possible to more intuitively present the interaction of the devices to the user.

The pendulum device on the first aspect of the present technology includes a multiple pendulum in which a plurality of pendulums are connected, a rotation holding unit having a rotation mechanism for holding the multiple pendulum, and a situation of a person located in the surroundings sensed by a sensor. It is provided with a control unit that controls the movement of the multiple pendulum according to the human situation.

The pendulum device on the second aspect of the present technology is a state of the surrounding environment sensed by a sensor, a multiple pendulum in which a plurality of pendulums are connected, a rotation holding portion having a rotation mechanism for holding the multiple pendulums, and a sensor. It is provided with a control unit that controls the movement of the multiple pendulum according to the environmental conditions.

The pendulum device on the third aspect of the present technology includes a multiple pendulum in which a plurality of pendulums are connected, a rotation holding unit having a rotation mechanism for holding the multiple pendulum, a communication unit that communicates with an electronic device, and the communication unit. It is provided with a control unit that controls the movement of the multiple pendulum according to the state of the electronic device with which the communication is performed.

It is a figure which shows the use state of the interaction system which concerns on one Embodiment of this technique. It is a figure which shows the appearance composition example of a pendulum device. It is a figure which shows the appearance composition example of a pendulum device. It is a figure which shows the example of the movement of a pendulum device. It is a figure which shows the example of the movement of a double pendulum. It is a figure which shows another example of the movement of a double pendulum. It is a figure which shows the example of the movement of a double pendulum. It is a figure which shows the example of the movement of a double pendulum. It is a figure which shows the example of the movement of a double pendulum. It is a block diagram which shows the configuration example of an interaction system. It is a block diagram which shows the functional structure example of the control part of a control device. It is a figure which shows the example of the electronic device.

<Outline of this technology>
This technology focuses on the relationship between the user's movement and the pendulum movement (swing), and makes it possible to more intuitively present the interaction of the device equipped with the surrogate function to the user. It is a thing.

In addition, this technology makes it possible to appeal the situation more intuitively to the user's sensibility by combining the movement of the pendulum and the lighting.

<Use of interaction system>
FIG. 1 is a diagram showing a usage state of an interaction system according to an embodiment of the present technology.

The interaction system of FIG. 1 is used in a space such as a dark room. There is a person (user) in the space where the interaction system is installed.

As shown in FIG. 1, the pendulum device 1, which is a device constituting the interaction system, is provided in a state of being suspended from a ceiling or the like. The pendulum device 1 has, for example, a substantially spherical shape having a diameter of about 120 cm.

The pendulum device 1 is a device that expresses the consciousness of the device by driving the pendulum in response to the movement of a person and realizes interaction with a person.

The pendulum device 1 has, for example, a surrogate function (agent function) for searching information according to a person's voice or gesture and controlling other devices. The movement of the pendulum expresses the consciousness of the agent who anthropomorphized the pendulum device 1. In addition, the movement of the pendulum presents information about the agent function.

The movement of the pendulum may express the consciousness of an agent who anthropomorphizes another device having an agent function, or may present information about the agent function.

The interaction system is provided with a control device that recognizes the position of a person and the movement of a person and controls the drive of the pendulum device 1. In the control device, the position and movement of a person in the room are recognized by using a camera, a sensor, or the like provided in the room.

<Appearance configuration of pendulum device>
2 and 3 are views showing an example of an external configuration of the pendulum device 1.

As shown in FIG. 2, the pendulum device 1 includes a rotation holding portion 11, a double pendulum 12, and a cover 13.

The rotation holding portion 11 is configured by attaching a circular thin plate-shaped reinforcing member 21 to the upper end of the hollow pipe-shaped member. The reinforcing material 21 is fixed to the ceiling. The rotation holding portion 11 has a rotation mechanism 22 arranged on the back side of the ceiling or the like.

The rotation holding portion 11 holds the entire pendulum device 1 including the double pendulum 12 in a state of floating from the floor surface, and the rotation in the horizontal plane direction (horizontal direction) indicated by the arrow A1 caused by driving the rotation mechanism 22. It has a function of transmitting force to the double pendulum 12.

A cap 52 of the cover 13 is attached to the lower end of the rotation holding portion 11.

As shown in FIG. 3, the double pendulum 12 is composed of thin rod-shaped arm portions 31 to 33 and columnar shaft portions 41 and 42. In FIG. 3, a part of the grid constituting the cover 13 is omitted.

The upper end of the arm portion 31 is attached to the rotation mechanism 22 so as to extend in the vertical direction through the inside of the rotation holding portion 11. The arm portion 32 is connected to the arm portion 31 via a shaft portion 41 provided at a position near the lower end thereof. The rotational force generated by driving the rotation mechanism 22 is transmitted to the configuration ahead of the shaft portion 41 via the arm portion 31.

The arm portion 32 is fixed to the shaft portion 41 at a position deviated from the center in the length direction. The arm portion 33 is connected to the arm portion 32 via a shaft portion 42 provided at the lower end thereof.

A rotation mechanism such as a motor or a gear is provided inside the shaft portion 41. The shaft portion 41 rotates the arm portion 32 by the rotational force in the vertical plane direction (vertical direction) indicated by the arrow A2.

Similarly, the shaft portion 42 provided at the tip of the arm portion 32 is also provided with a rotation mechanism such as a motor or a gear inside. The shaft portion 42 rotates the arm portion 33 by the rotational force in the vertical plane direction indicated by the arrow A3.

The arm portion 33 is fixed to the shaft portion 42 at a position slightly offset from the center in the length direction. An illumination unit 33A is provided at the tip of the arm unit 33. The illumination unit 33A is composed of a light emitting body such as an LED and a light guide member that guides the light from the light emitting body forward.

As the arm portion 31 rotates in the horizontal plane direction and the arm portions 32 and 33 rotate in the vertical plane direction, as shown in FIG. 4, the illumination portion 33A provided at the tip of the arm portion 33 can be arbitrarily set at 360 degrees. It is possible to turn in the direction of. The arm portions 31 to 33 are connected via the shaft portions 41 and 42 so that they do not interfere with each other even if they rotate.

As described above, the double pendulum 12 is a pendulum that does not move by natural force but moves electrically. Instead of the double pendulum 12, a multiple pendulum in which four or more predetermined number of arm portions are connected may be provided.

The cover 13 is a cover configured by arranging metal wire rods 51 such as stainless steel in a grid pattern (sequential shape) so as to have a spherical shape as a whole. The movement of the double pendulum 12 is performed in the space inside the cover 13 formed by arranging the wire rods 51 in a grid pattern.

The upper tip of each wire 51 is connected to a cap 52 provided near the zenith above the cover 13, and the lower tip of each wire 51 is connected to a cap 53 provided near the zenith below the cover 13. ..

Each wire rod 51 is connected to the cap portion via a bearing provided at the edge portion of the cap portion. Even if the rotation holding portion 11 rotates, the rotational force is not transmitted to each wire rod 51. Even if the double pendulum 12 rotates in the horizontal direction, the cover 13 does not rotate.

The cover 13 may be rotated in conjunction with the rotation of the double pendulum 12.

<About the movement of the double pendulum 12>
FIG. 5 is a diagram showing an example of the movement of the double pendulum 12.

As shown by the arrow A11 on the left side of FIG. 5, the double pendulum 12 makes a periodic motion with a small amplitude when no person is nearby. The state of the pendulum device 1 shown on the left side of FIG. 5 is the standby state.

When it is detected that a person is nearby, the pendulum device 1 is activated. A predetermined range based on the position of the pendulum device 1 is set as a range in which the pendulum device 1 is in the active state.

When the pendulum device 1 becomes active, the double pendulum 12 is driven so as to direct the illumination unit 33A in the direction in which a person is present, as shown on the right side of FIG. As a result, the pendulum device 1 is conscious and an expression that reacts to a person is realized.

FIG. 6 is a diagram showing another example of the movement of the double pendulum 12.

As shown on the left side of FIG. 6, when a person reaches for the pendulum device 1, the double pendulum 12 is driven so as to direct the illumination unit 33A toward the person's hand.

Further, as shown on the right side of FIG. 6, when a person moves the position of the hand, the double pendulum 12 drives the lighting unit 33A so as to follow the movement of the hand. It is expressed that the pendulum device 1 has consciousness by the light of the lighting unit 33A following and continuing to illuminate the hand.

In this way, the double pendulum 12 performs various movements within the space inside the cover 13 surrounded by the cover 13. The maximum amplitude range of the double pendulum 12 is narrower than the range of the space inside the cover 13.

Instead of constantly emitting light with a constant amount of light, the illumination unit 33A may blink to emit light or change the brightness. The color of the light emitted from the illumination unit 33A may be changed.

7 to 9 are diagrams showing an example of the movement of the double pendulum 12. For convenience of explanation, the double pendulum 12 is shown in a simplified form in FIGS. 7 to 9.

The left side of FIG. 7 shows the double pendulum 12 in the standby state. When in the standby state, the double pendulum 12 moves in a predetermined range with reference to, for example, the vertical downward direction indicated by the arrow A21. The range indicated by the arrow A21 is the amplitude range of the double pendulum 12.

When a person brings his / her hand close to the double pendulum 12 in the standby state, the double pendulum 12 is within a predetermined range with respect to the direction of the person's hand, as shown by the arrow A22 on the right side of FIG. Exercise. The movement of the double pendulum 12 will be controlled so that the amplitude range of the double pendulum 12 is close to that of a human hand.

Further, when a person brings his / her hand close to the double pendulum 12 in the standby state, the double pendulum 12 increases the speed without changing the amplitude range, as shown by the arrow A31 on the right side of FIG. Exercise. The thick line indicating the arrow A31 indicates that the movement speed is high. The movement of the double pendulum 12 will be controlled so as to shorten the amplitude interval of the double pendulum 12.

Further, when a person brings his / her hand close to the double pendulum 12 in the standby state, the double pendulum 12 moves with a wide amplitude range as shown by the arrow A41 on the right side of FIG. The movement of the double pendulum 12 is controlled so that the amplitude of the double pendulum 12 becomes large.

In this way, the consciousness of the pendulum device 1 is expressed by combining various patterns of motion of the double pendulum 12.

<Example of interaction system configuration>
FIG. 10 is a block diagram showing a configuration example of an interaction system.

As shown in FIG. 10, the interaction system is configured by providing a control device 101, a camera group 102, and a sensor group 103 in addition to the pendulum device 1. Each camera constituting the camera group 102 and each sensor constituting the sensor group 103 are connected to the control device 101 via wired or wireless communication. The pendulum device 1 and the control device 101 are connected via wireless communication.

The pendulum device 1 includes a rotation holding unit 11, a double pendulum 12, a control unit 111, and a communication unit 112. The control unit 111 and the communication unit 112 are provided in, for example, the rotation mechanism 22.

The control unit 111 is composed of a computer. The control unit 111 executes a predetermined program by the CPU constituting the computer and controls the entire operation of the pendulum device 1. The control unit 111 drives the rotation holding unit 11 and the double pendulum 12 according to the control command supplied from the communication unit 112. The motion of the double pendulum 12, including swing and rotation, is controlled by the control unit 111.

The communication unit 112 receives the control command transmitted from the control device 101 and outputs the control command to the control unit 111.

The control device 101 is composed of a data processing device such as a PC. The control device 101 has a control unit 121 and a communication unit 122.

The control unit 121 generates a control command based on the shooting result by the camera group 102, the detection result by the sensor group 103, and the like, and outputs the control command to the communication unit 122.

The communication unit 122 transmits the control command supplied from the control unit 121 to the pendulum device 1.

The camera group 102 is composed of a plurality of cameras arranged at each position in the space where the interaction system is installed. The camera group 102 may be configured by an RGB camera or an IR camera. Each camera constituting the camera group 102 generates an image for a predetermined range and transmits it to the control device 101.

The sensor group 103 is composed of a plurality of sensors arranged at each position in the space where the interaction system is installed. For example, a distance sensor, a motion sensor, and a microphone are provided. Each sensor constituting the sensor group 103 transmits information representing a sensing result targeting a predetermined range to the control device 101.

The sensors constituting the sensor group 103 may include a temperature sensor, a humidity sensor, and an illuminance sensor.

FIG. 11 is a block diagram showing a functional configuration example of the control unit 121 of the control device 101.

At least a part of the functional units shown in FIG. 11 is realized by executing a predetermined program by the CPU constituting the control device 101.

In the control device 101, a person state recognition unit 131, a surrounding state recognition unit 132, and a motion control unit 133 are realized.

The person state recognition unit 131 recognizes the state of a person based on the image transmitted from each camera constituting the camera group 102 or the sensing result by each sensor constituting the sensor group 103. ..

The state of the person recognized by the person state recognition unit 131 includes the position of the person and the movement of the person. Human movements include hand gestures. The person state recognition unit 131 outputs information representing a person's state to the motion control unit 133.

The surrounding state recognition unit 132 recognizes the surrounding state based on the image transmitted from each camera constituting the camera group 102 or the sensing result by each sensor constituting the sensor group 103. ..

The surrounding state recognition unit 132 outputs information representing the surrounding state to the motion control unit 133. The movement of the double pendulum 12 of the pendulum device 1 may be controlled based on the surrounding state recognized by the surrounding state recognition unit 132.

The motion control unit 133 controls the motion of the double pendulum 12 based on the information supplied from the person state recognition unit 131 and the surrounding state recognized by the surrounding state recognition unit 132. The motion control unit 133 generates a control command for controlling the motion of the double pendulum 12, and causes the communication unit 122 to transmit the control command.

The configuration of the control unit 121 shown in FIG. 11 may be realized in the control unit 111 of the pendulum device 1. In this case, the pendulum device 1 does not drive according to the control by the external control device 101, but controls the movement of the double pendulum 12 according to the state of the person recognized by itself and the surrounding state.

<Modification example>
The ambient state recognized by the ambient state recognition unit 132 includes at least one of the temperature, humidity, and illuminance in the room where the interaction system is installed.

The movement of the double pendulum 12 may be controlled according to the temperature, humidity, and illuminance in the room. For example, when the temperature in the room is higher than the threshold temperature, the double pendulum 12 violently moves to indicate to the user that the temperature in the room is high.

The ambient state recognized by the ambient state recognition unit 132 may include the state of an external electronic device.

FIG. 12 is a diagram showing an example of an electronic device.

As shown in A of FIG. 12, the state of a mobile terminal such as a smartphone may be recognized by the surrounding state recognition unit 132, and the movement of the double pendulum 12 may be controlled according to the state of the mobile terminal. In this case, communication is performed between the mobile terminal and the control device 101, and information regarding the state of the mobile terminal is transmitted to the control device 101.

For example, when the remaining battery level of the mobile terminal falls below the threshold value, the movement of the double pendulum 12 is controlled to express this. Further, when there is an incoming call to the mobile terminal, the movement of the double pendulum 12 is controlled so as to express that fact.

As shown in B of FIG. 12, the state of a robot such as a pet-type robot may be recognized by the surrounding state recognition unit 132, and the movement of the double pendulum 12 may be controlled according to the state of the robot. In this case, communication is performed between the robot and the control device 101, and parameters expressing the robot's emotions are transmitted to the control device 101.

For example, when the emotion of the robot represented by the parameter changes, the movement of the double pendulum 12 is controlled so as to express that fact.

In this way, the movement of the double pendulum 12 is controlled according to the state of various electronic devices. The electronic device may have a surrogate function.

The series of processes described above can be executed by hardware or software. When a series of processes are executed by software, the programs constituting the software are installed from a program recording medium on a computer embedded in dedicated hardware, a general-purpose personal computer, or the like.

The program executed by the computer may be a program in which processing is performed in chronological order according to the order described in the present specification, or processing is performed in parallel or at a necessary timing such as when a call is made. It may be a program to be performed.

In the present specification, the system means a set of a plurality of components (devices, modules (parts), etc.), and it does not matter whether or not all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a device in which a plurality of modules are housed in one housing are both systems. ..

It should be noted that the effects described in the present specification are merely examples and are not limited, and other effects may be obtained.

The embodiment of the present technology is not limited to the above-described embodiment, and various changes can be made without departing from the gist of the present technology.

For example, the present technology can be configured as cloud computing in which one function is shared by a plurality of devices via a network and jointly processed.

1 pendulum device, 11 rotation holding unit, 12 double pendulum, 111 control unit, 112 communication unit, 101 control unit

Claims (20)

A multiple pendulum that connects multiple pendulums and
A rotation holding unit having a rotation mechanism for holding the multiple pendulum,
A pendulum device including a control unit that controls the movement of the multiple pendulum according to the human situation, which is the situation of a person located in the surroundings, sensed by a sensor. The person situation is a person's movement,
The pendulum device according to claim 1, wherein the control unit controls the movement of the multiple pendulum according to the movement of a person sensed by the sensor. The human movement is a gesture using a human hand.
The pendulum device according to claim 2, wherein the control unit controls the movement of the multiple pendulum in response to a gesture sensed by the sensor. The human movement is a movement in which the human hand approaches the multiple pendulum.
The pendulum device according to claim 2, wherein the control unit controls the movement of the multiple pendulum so that the amplitude range of the multiple pendulum approaches the human hand as the human hand approaches the multiple pendulum. .. The human movement is a movement in which the human hand approaches the multiple pendulum.
The pendulum device according to claim 2, wherein the control unit controls the movement of the multiple pendulum so that the amplitude interval of the multiple pendulum is shortened as the human hand approaches the multiple pendulum. The human movement is a movement in which the human hand approaches the multiple pendulum.
The pendulum device according to claim 2, wherein the control unit controls the movement of the multiple pendulum so that the amplitude of the multiple pendulum is increased as the human hand approaches the multiple pendulum. The pendulum device according to claim 1, wherein the movement of the multiple pendulum includes the swing of the multiple pendulum and the rotation of the multiple pendulum by the rotation holding portion. A lighting unit is provided at the tip of the multiple pendulum.
The pendulum device according to claim 1, wherein the control unit controls light emission of the lighting unit in response to the movement of the multiple pendulum. The person situation is a person's movement,
The pendulum device according to claim 8, wherein the control unit controls light emission of the lighting unit according to an operation sensed by the sensor. The human movement is a gesture using a human hand.
The pendulum device according to claim 9, wherein the control unit controls light emission of the lighting unit in response to a gesture sensed by the sensor. The pendulum device according to claim 8, wherein the control unit controls at least one of the blinking interval, brightness, and color of the lighting unit. The pendulum device according to claim 1, further comprising a cover portion for covering the multiple pendulum. The pendulum device according to claim 12, wherein the cover portion has a spherical shape formed by arranging wire rods in a grid pattern, and covers a range wider than the maximum amplitude range of the multiple pendulum. The pendulum device according to claim 12, wherein the control unit controls the movement of the multiple pendulum so that the amplitude range of the multiple pendulum is narrower than the range covered by the cover unit. A multiple pendulum that connects multiple pendulums and
A rotation holding unit having a rotation mechanism for holding the multiple pendulum,
A pendulum device including a control unit that controls the movement of the multiple pendulum according to the environmental conditions that are the conditions of the surrounding environment sensed by the sensor. The pendulum device according to claim 15, wherein the environmental condition includes at least one of temperature, humidity, and illuminance in the space where the pendulum device is installed. A multiple pendulum that connects multiple pendulums and
A rotation holding unit having a rotation mechanism for holding the multiple pendulum,
A communication unit that communicates with electronic devices,
A pendulum device including a control unit that controls the movement of the multiple pendulum according to the state of the electronic device with which the communication unit communicates. The state of the electronic device is the remaining battery level.
The pendulum device according to claim 17, wherein the control unit controls the movement of the multiple pendulum in response to a decrease in the remaining battery level. The state of the electronic device is the emotional state of the robot as the electronic device.
The pendulum device according to claim 17, wherein the control unit controls the movement of the multiple pendulum in response to a change in the emotional state of the robot. The state of the electronic device is the position of the mobile terminal as the electronic device.
The pendulum device according to claim 17, wherein the control unit controls the movement of the multiple pendulum in response to a change in the position of the mobile terminal.

Images