JP3650817B2 - Robot emotion expression method and apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method for simply expressing an emotion expression of a robot as a facial expression and an apparatus for implementing the method.
[0002]
[Prior art]
Robots are used in a wide range of fields, starting with the production field of industrial products, including construction, civil engineering, agriculture and forestry, education, medical care, and services. Robots used in these fields, such as welding robots and paint robots in automobile production, work in poor environments where humans are difficult to work, work efficiency improvement, or human work It can be said that it is a work robot having a clear work function.
On the other hand, as a toy, there is a pet-type robot as a pseudo pet that can express emotions and communicate with people. This is a communication robot because it has a communication function instead of a work function.
[0003]
In addition, robots are being researched, developed and put into practical use. Robots include a type that cannot walk and move, a type that moves using wheels and a caterpillar, and a type that can walk on two legs.
Under such circumstances, a robot having functions of both a work robot and a communication robot is desired.
Similar to conventional robots, it is considered to be used in a wide range of fields such as security, medical care, facilities, homes, etc. from work in environments where humans cannot work, such as space environments and radioactivity management facilities. At present, some medical facilities use communication functions to communicate with robots to improve mental disorders, and some public facilities use them as guidance in the facility.
[0004]
Emotional expression is not particularly required for a robot as a working robot, but is an indispensable element when communicating with a person as a communication robot.
However, conventional robots have few robots that can express emotions such as emotions.
The easiest way to express emotion is to show it with the movement of the eyebrows. As means for expressing emotions by moving the eyebrows up and down, left and right or rotating, the following are considered.
[0005]
For example, the eyebrows are operated by fixing the wires to the four corners of the eyebrows and displacing the eyebrows by individually pulling the wires. According to this, in order to move the eyebrows with four wires, eight wires are required to move a pair of eyebrows, and the degree of freedom and expression of the eyebrows is high, but the structure is complicated. End up.
[0006]
There is also a method of expressing by rotating the eyebrows up and down. In order to rotate the eyebrows up and down, a vertical movement motor and a rotation motor are provided on the back of the head, and the eyebrows and the motor are connected by a wire. According to this, in order to operate a pair of eyebrows, four motors must be used, and a large space is required to install the motors. Further, when the robot operates, there is a problem that the eyebrows and the wire resonate if the eyebrows vibrate or the eyebrows are operated at high speed.
[0007]
Further, there is a method of providing a fulcrum at the outer end of the eyebrow and rotating the eyebrow around the fulcrum. In order to rotate the eyebrows, a motor is provided at the rear of the eyebrows. According to this, in order to operate a pair of eyebrows, only two motors are required. However, since the degree of freedom of eyebrows is low, there is a problem that expressions of surprise and fear cannot be illustrated separately.
[0008]
[Problems to be solved by the invention]
Therefore, an object of the present invention is to provide a method and apparatus for expressing a rich emotion by operating the eyebrows of a robot with a simple structure.
[0009]
[Means for solving problems]
In order to achieve the above object, a robot emotion expression method and apparatus according to the present invention aims to express emotions by driving both ends and center of the eyebrows up and down.
That is, in a robot including at least a pair of right and right eye bodies and a pair of right and left eyebrows, an eyebrow body guide that acts in a direction to push the eyebrows down is provided at the approximate center of each eyebrow body. Inner end pulling means for connecting the filaments to the inner ends and pulling both the filaments together, and outer end pulling means for connecting the filaments to the substantially outer ends of the eyebrows and pulling both the filaments together are provided. The eyebrows are vertically moved and rotated by two lifting means.
Thus, the action force by the eyebrow body guide on the eyebrow and the action force by the two lifting means on the eyebrow are adjusted to control the vertical movement and rotation of the eyebrow.
[0010]
Here, you may comprise a raising means with the motor which linked the filamentous body to the rotating shaft.
The eyebrows may be attached to a head cover separate from the eye.
The eyebrow guide may be configured by a linear body having rigidity and flexibility, and a slit for guiding the eyebrow guide may be provided at a substantially lower end of the head cover.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below based on examples shown in the drawings. It should be noted that the embodiment can be appropriately changed in design without departing from the gist of the present invention. FIGS. 1 and 2 are a front explanatory view and a plan explanatory view showing the vicinity of the eyebrows of the humanoid robot according to the present invention, and examples of eyebrow operations are shown in FIGS.
[0012]
As shown in a front view (FIG. 1), a bowl-shaped head cover (2) covering the entire head is provided above the eye (1) disposed on the robot face.
A pair of slits (4L) and (4R) are provided in a form inclined toward the side at each upper position of the left and right eye bodies (1) and (1) in the head cover (2).
Inside the head cover (2), an eyebrow guide (5L) made of a metallic linear material having a terminal portion bent into a substantially L shape is disposed on the inner surface of the head cover (2). The guide hole (20) of the collar (14) and the guide hole (21) of the collar (15) are held through, and the tip of the eyebrow guide (5L) reaches the opening at the lower end of the slit (4L). Yes. The tip of the eyebrow guide (5L) is attached to the lower part of the center of the left eyebrow (3L).
Similarly, an eyebrow guide (5R) made of a metallic linear material whose end portion is bent in an L shape is a guide hole (32) of a collar (19) disposed on the inner surface of the head cover (2). ) And the guide hole (29) of the collar (18), and the tip of the eyebrow guide (5R) reaches the opening at the lower end of the slit (4R). The tip of the eyebrow guide (5R) is attached to the lower part of the center of the right eyebrow (3R).
[0013]
A left eyebrow outer edge teg (6) made of a thread-like material having strength and flexibility is attached to the upper portion of the left eyebrow (3L). (7) is attached. Similarly, the right eyebrow end gusset (8) is attached to the upper part of the right eyebrow (3R), and the right eyebrow outer limb (9) is attached to the upper part of the outer end.
In the forehead of the head cover (2), the introduction holes (10), (11), (12) for introducing the respective guts (6), (7), (8), and (9) into the head cover (2) are provided. ) (13) is bored side by side above the eyebrows (3).
[0014]
Above the introduction holes (10), (11), (12), and (13), substantially cylindrical collars (15), (16), (17), and (18) are arranged on the inner surface of the front head of the head cover (2). It is installed. Above the collars (15) and (18), the substantially cylindrical collars (14) and (19) are arranged.
The collar (14) has a mounting hole in the central axis and a guide hole (20) in the diameter direction. The collar (15) has a mounting hole on the central axis, a guide hole (21) in the diametrical direction, and two teg holes (22) and (23) orthogonal to the guide hole (21) across the central axis. So that it is drilled. Similarly, the collar (16) has a mounting hole on the central axis, a teg hole (24) in the diametrical direction, and two teg holes (25) and (26) perpendicular to the teg hole (24) sandwiching the central axis. It is drilled to face. The collar (17) is provided with a mounting hole on the central axis, and a Tegs hole (27) in the diameter direction and a Tegs hole (28) orthogonal to the Tegs hole (27). The collar (18) has a mounting hole on the central axis, a guide hole (29) in the diametrical direction, and two Tegs holes (30) (31) orthogonal to the guide hole (29) across the central axis. So that it is drilled. The collar (19) has a mounting hole in the central axis and a guide hole (32) in the diameter direction.
The mounting hole, guide hole, and teg hole are drilled without communicating with each other, the guide hole has a clearance that allows the eyebrow guide to operate smoothly, and the teg hole operates the teg smoothly. Has a degree of clearance. Further, a lubricant may be applied to the guide hole, the teg hole, and the mouth of each hole, and a gentle roundness may be processed to the mouth.
[0015]
The left eyebrow outer end tegs (6) attached substantially above the outer end of the left eyebrow (3L) is introduced into the head cover (2) from the introduction hole (10), and the collar (15) tegs hole ( 22) and then passes through the teg hole (25) of the collar (16) and the teg hole (28) of the collar (17) and is fed into the teg hole (30) of the collar (18). The right eyebrow outer end tegs (9) attached substantially above the outer end of the right eyebrow (3R) is introduced into the head cover (2) from the introduction hole (13), and the collar (18) tegs hole ( 31), it is connected to the left eyebrow outer end teg (6) fed to the teg hole (30). The connected outer end tegs connected are connected to a connecting pin (36) fixed to a connecting plate (35) attached to a motor shaft (34) of a motor (33R) provided on the side of the head.
[0016]
On the other hand, the right eyebrow end tegs (8) attached substantially above the inner end of the right eyebrow (3R) is introduced into the head cover (2) through the introduction hole (12), and the tegs of the collar (17). After being fed into the hole (27), it passes through the teg hole (26) of the collar (16) and is fed into the teg hole (23) of the collar (15). The left eyebrow end tegs (7) attached substantially above the inner end of the left eyebrow (3L) is introduced into the head cover (2) through the introduction hole (11), and the tegs hole of the collar (16) After being fed into (24), it is fed into the teg hole (23) of the collar (15) and connected to the right eyebrow end teg (8) fed into the teg hole (23). The connected inner end tegs connected to the connecting pin (36) fixed to the connecting plate (35) disposed on the motor shaft (34) of the other motor (33L) provided on the side of the head. Connected.
[0017]
When the motor shaft (34) rotates and winds or sends out the tegs connected to the connecting pin (36), the eyebrows (3) at the site where the tegs are attached move up and down. By rotating the motor (33R) on the right side of the head, the outside of the left and right eyebrows can be moved up and down simultaneously, and by rotating the motor (33L) on the left side of the head, The inside can be moved up and down simultaneously.
The eyebrows guide (5) always applies a force to the eyebrows (3) to push the eyebrows (3) downward. Therefore, the eyebrows can be moved up and down or rotated by moving both ends of the eyebrows (3) up and down by the motor (33) to change the tension balance with the eyebrows guide (5), thereby expressing emotions. be able to.
[0018]
The end part of the eyebrow guide (5) holding the eyebrow (3) is bent in a substantially L shape, so that the eyebrow (3) is greatly moved downward or the teg is cut. Even in this case, the eyebrow (3) does not fall off from the head cover (2).
[0019]
If a resin material such as Teflon (registered trademark) is used for the collar, the friction between the collar, the guide and the Tegus can be reduced to enable smooth movement of the eyebrows and also prevent the Tegus from being cut by the friction. it can.
[0020]
FIGS. 3 to 11 show examples in which emotions are expressed by operating the eyebrows.
The state shown in FIG. 4 in which the attachment position of the eyebrow guide (5) substantially below the center of the eyebrow (3) is substantially directly above the eye (2) and the eyebrow (3) is kept substantially horizontal. Is the basic normal expression (37).
On the other hand, when the eyebrows (3) are raised as a whole, the concentrated expression (38) shown in FIG. 3 is obtained, and when the eyebrows (3) are lowered as a whole, the surprising expression shown in FIG. (39)
When the eyebrow (3) is rotated outward with respect to the normal facial expression (37), a happy facial expression (40) shown in FIG. 7 is obtained. On the other hand, when the eyebrows (3) are raised as a whole, the sadness expression (41) shown in FIG. 6 is obtained, and when the eyebrows (3) are lowered as a whole, the blissful expression shown in FIG. (42)
When the eyebrow (3) is rotated inward with respect to the normal facial expression (37), an angry facial expression (43) shown in FIG. 10 is obtained. On the other hand, when the eyebrows (3) are lifted as a whole, a furious expression (44) shown in FIG. 9 is obtained, and when the eyebrows (3) is lowered as a whole, a fearful expression shown in FIG. (45)
As described above, various emotions can be richly expressed only by the movement of the eyebrows without moving the eyes and mouth.
[0021]
【The invention's effect】
The robot emotion expression method and apparatus according to the present invention have the above-described configuration, thereby providing the following effects.
That is, since the eyebrow guide that pushes the eyebrow down to the approximate center of the eyebrow and the lifting means for lifting the eyebrow up to the substantially inner end and outer end of the eyebrow are provided, the vertical movement and rotation of the eyebrow can be simplified. Although it is configured, it can be controlled by two lifting means.
By adjusting the action force of the eyebrows guide on the eyebrows and the action force of the two lifting means on the eyebrows, the movement of the eyebrows can be adjusted to show various emotional expressions.
[Brief description of the drawings]
FIG. 1 is a front explanatory view of a robot emotion expression display device according to the present invention. FIG. 2 is a plan explanatory view. FIG. 3 is a front explanatory view showing a concentrated expression. FIG. 4 is a front explanatory view showing a normal expression. 5 is a front explanatory view showing a surprised expression. FIG. 6 is a front explanatory view showing a sad expression. FIG. 7 is a front explanatory view showing a happy expression. FIG. 8 is a front explanatory view showing a blissful expression. ] Front explanatory diagram showing an angry expression [FIG. 10] Front explanatory diagram showing an angry expression [FIG. 11] Front explanatory diagram showing a fearful expression [Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Eye body 2 Head cover 3 Eyebrow body 4 Slit 5 Eyebrow body guides 6 and 7 Left eyebrow outer end tegus 8 and 9 Right eyebrow body end tegs 10 to 13 Introducing holes 14 to 19 Color 20, 21 Guide holes 22 to 28, 30, 31 Tegs holes 29, 32 Guide holes 33 Motor 34 Motor shaft 35 Connecting plate 36 Connecting pin 37 Normal expression 38 Concentrated expression 39 Surprising expression 40 Happy expression 41 Sad expression 42 Bliss expression 43 Angry expression 44 Furious expression 45 Fearful expression

Claims (4)

In a robot including at least a pair of left and right eye bodies and a pair of right and left eyebrows,
On the center of each eyebrow in the lateral direction of the face , a brows guide that is composed of a linear body having rigidity and flexibility and holds the eyebrows and acts in the direction of pushing down is provided,
Inner end pulling means for connecting the filamentous body to the inner end portion of each eyebrow in the lateral direction of the face and pulling up both the filamentous bodies together;
Connecting the filamentous body to the outer end in the left-right direction of the face of each eyebrow, and providing an outer end lifting means for pulling up both the filaments together,
An emotion expression device for a robot characterized in that the eyebrows are moved up and down and rotated by two lifting means. The emotion expression apparatus for a robot according to claim 1, wherein the lifting means is a motor in which the filamentous body is interlocked and connected to the rotation shaft. The robot's emotion expression device according to claim 1, wherein the eyebrow is attached to a head cover separate from the eye. In a robot including at least a pair of left and right eye bodies and a pair of right and left eyebrows,
On the center of each eyebrow in the lateral direction of the face , a brows guide that is composed of a linear body having rigidity and flexibility and holds the eyebrows and acts in the direction of pushing down is provided,
Inner end pulling means for connecting the filamentous body to the inner end portion of each eyebrow in the lateral direction of the face and pulling up both the filamentous bodies together;
Connecting the filamentous body to the outer end in the left-right direction of the face of each eyebrow, and providing an outer end lifting means for pulling up both the filaments together,
Adjust the action force by the eyebrow body guide on the eyebrows and the action force by the two lifting means on the eyebrows,
A robot emotion expression method characterized by controlling the vertical movement and rotation of the eyebrows.

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