JP6530906B2 - Partner robot and its remote control system - Google Patents

Description

  The present invention relates to a partner robot and its remote control system. More specifically, the present invention relates to a partner robot capable of highly communicating with an elderly person living alone and a remote control system thereof.

  Conventionally, various robots have been proposed to be used as counterparts of an elderly person living alone (hereinafter, referred to as an elderly person living alone).

  For example, Patent Document 1 proposes a stuffing robot that has a healing effect not only as a toy but also for humans, and that can communicate with humans.

  However, the stuffed-arm robot according to the proposal of Patent Document 1 has a drawback that it gets tired immediately because it is a simple one in which the arms and legs operate according to the degree of force when touched. .

  Patent Document 2 proposes a robot toy that attacks a human being as a target.

JP, 2009-291328, A Utility model registration number 3086859 gazette

  The present invention has been made in view of the problems of the prior art, and it is an object of the present invention to provide a partner robot capable of highly communicating with a single person such as a single person living alone and a remote control system thereof.

A first embodiment of the present invention is a partner robot capable of communicating with a person living alone, such as a single-person elderly person, comprising: an imaging device, a microphone, a speaker, and a control device ; Unit, a data storage unit, a program storage unit, an arithmetic processing unit, an output signal generation unit, and an output unit, and the data storage unit includes image data captured by the imaging device and the microphone Voice pattern data of a person living alone, voice pattern data of the same person, motion pattern data of the partner robot, and voice pattern data output from the speaker are stored, and the program storage unit A program necessary to execute the operation of the partner robot is stored, and the arithmetic processing unit is configured to perform state determination means, And a pattern selecting means, wherein the state determining means includes a human image Alone imaged by the imaging device, and Doujin the audio signal from the microphone, the Doujin stored in the data storage unit status The state of the same person is determined based on the pattern data and the voice pattern data of the same person, and the operation pattern selection means selects the operation pattern of the partner robot based on the judgment result of the state judgment means, and the partner robot Is an uprising small scale having an outer shell formed like a shell, and an upset up being operable on a small scale so as to be placed on a pedestal and housed inside each of the outer shell and the pedestal The outer shell includes a head outer shell, a neck outer shell, a trunk outer shell, and a bottom outer shell, and the bottom outer shell is fixed to the pedestal and the inner structure Element includes a driving mechanism for driving the said head outer shell and the neck shell said cylinder part outer shell, and a said control device, said drive mechanism, a head tilting mechanism for tilting the head A head rotating mechanism for rotating the head and a body tilting mechanism for tilting the body, the head tilting mechanism moving the head back and forth, and a head moving mechanism for moving the head back and forth The body tilting mechanism includes a body moving mechanism for moving the body back and forth, and a body moving mechanism for moving the body horizontally. Emotional expression is made by a combination of the head rotation operation and the body tilting operation, and the head outer shell of the drive mechanism, the neck outer shell, and the body outer shell are driven. emotion table by made by the operation of the head and neck and the body by the operation pattern selected by said pattern selecting means It is a partner robot, characterized in that formed by way could make.

The second aspect of the partner robot of the first aspect of the present invention, the head tilting mechanism comprises a head tilt left motor and head tilted right motor, the head tilting block body, and a drive wire, the head The tilting left motor and the head tilting right motor are integrated in the body shell, the head tilting block is disposed in the head shell, and the drive wire is the head tilting left motor and the head. The head tilting mechanism includes a left drive wire and a right drive wire driven by a partially tilting right motor, and the left drive wire and the right drive wire are driven to move the head tilting block back and forth. The head tilting mechanism operates as a head longitudinal movement mechanism, and the left and right drive wires are driven to move the head tilting block laterally. It is assumed to be a structure.

Preferably, the arithmetic processing means has voice pattern selection means added, and the voice pattern selection means selects voice pattern data output from the speaker based on the determination result of the state determination means.

And partner robot, comprising a remote control device, and a communication network for connecting the partner robot and said remote control device, the partner robot, from the image data and the microphone picked up by the image pickup apparatus through the communication network The partner robot according to any one of the above claims, wherein data including voice signals can be communicated with the remote control device and can be remotely controlled, the remote control device being the partner robot The state of the same person is judged based on the image of the person living alone and the voice signal of the person living alone, and the movement pattern and the voice pattern are automatically sent to the partner robot based on the judgment result. It is considered as a remote control system of a partner robot characterized by instructing.

  In the second embodiment of the present invention, it is preferable that an input device, an image display device, and an audio output device be attached to the remote control device. In that case, it is further preferable that the partner robot be instructed to operate and sound in response to an input from the input device.

  Since the present invention is configured as described above, it has an excellent effect of being able to be a partner robot of a single-living person such as a single-person living alone.

It is a front view of the partner robot concerning Embodiment 1 of the present invention. FIG. FIG. It is the same block diagram. It is two views of a head order movement mechanism. It is two views of a head left-right moving mechanism. FIG. 5 is a schematic view of the neck and torso attachment. It is two views of a head rotation mechanism. FIG. FIG. It is a block diagram of a control device of the robot. It is a schematic diagram of an example of the operation pattern of the robot, and shows "agreeing state". It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: "A state which has not agreed" is shown. It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: "The state which is carrying out bowing" is shown. It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: It shows "a state which can not be understood." It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: "It is in a state of being surprised". It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: The "willing state" is shown. It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: "an angry state" is shown. It is the schematic of the other example of the operation | movement pattern of the robot, Comprising: It shows "in a sad state". It is a block diagram of the arithmetic processing part of the robot. It is a front view of the partner robot concerning Embodiment 2 of the present invention. It is a front image figure of the robot. FIG. It is a skeleton diagram of the same robot. It is a block diagram of the robot. It is a front view of the main support body of the robot. FIG. It is a front view of the head side mechanism of the head tilting mechanism of the robot. FIG. It is a front view of the bottom part side mechanism of the same head tilting mechanism. FIG. It is a top view of the upper tilting plate of the head tilting book body of the same head tilting mechanism. It is a front view of the body inclination mechanism of the robot. FIG. It is two views of the guide block body. It is a block diagram of the remote control system concerning Embodiment 3 of this invention. It is a block diagram of the remote control apparatus of the system. It is a block diagram of the remote control concerning a fourth embodiment of the present invention.

  Hereinafter, although the present invention is explained based on an embodiment, referring to an accompanying drawing, the present invention is not limited only to such an embodiment.

Embodiment 1
Embodiment 1 of the present invention is shown in FIG. 1 and FIG. The first embodiment relates to a partner robot (hereinafter simply referred to as a robot) R.

  The robot R, as shown in FIG. 1 and FIG. 2, is a rising-up type small ruler having a shell-like outer shell S, and has a head 1, a neck 2, a trunk 3 and a bottom 4. And is mounted on the pedestal 5.

  More specifically, in the robot R, the head 1, the neck 2, the body 3 and the bottom 4 are formed of a shell-like outer shell S, and are housed inside the outer shell S and the pedestal 5. The internal component 6 is configured to be started and stopped at a predetermined time by the timer T that constitutes the internal component 6 (see FIGS. 3 and 4).

  The head 1 is tiltable and pivotable back and forth and to the left and right, and a speaker P is disposed at the top of the head 1 (see FIGS. 4 and 6). The head shell S1 is formed in a spherical shape in which a part of the bottom portion is cut away. The eye E is made of, for example, a light emitting diode, and the color and light intensity of the eyeball are changed according to the situation.

  Neck 2 includes an upper neck portion 2a, a neck body 2b and a lid 2c, is joined to the inner surface of head shell S1 via a head tilting mechanism 30 described later, and can rotate integrally with head 1 It is assumed. The neck shell S2 is formed integrally with the hemispherical neck shell upper portion S2a slidably disposed in the head 1 and slightly backward of the lower portion of the neck shell upper portion S2a. And a cylindrical neck shell body S2b. At the bottom of the neck body outer shell S2b, a lid outer shell S2c having a through hole for passing a head pivot shaft 36b described later at the center is provided and formed in a bottomed shape. The lid shell S2c is mounted on a head turning mechanism 36 of an internal component 6 described later.

  The body 3 is tiltable back and forth and to the left and right. The body outer shell S3 includes a skirt-like body outer shell upper portion S3a and a body outer shell lower portion S3b integrally formed in a tapered spherical shape from the lower end of the body outer shell upper portion S3a. A locking member with the internal component 6 is provided at the upper end portion of the upper part of the body outer shell S3a.

  The bottom 4 is placed on the pedestal 5 and the upper half is covered by the lower part of the body 3. The bottom shell S4 is shaped like a plate with a bottom center cut away, and the lower half of the lower shell shell S3b is slidably disposed. The bottom shell S4 is fixed to the upper surface of the pedestal 5 by, for example, screwing.

  As shown in FIG. 3, the internal component 6 includes a drive mechanism 10 for driving the head outer shell S1, the neck outer shell S2 and the body outer shell S3, a control device 20 for controlling the drive mechanism 10, and imaging The apparatus V, the microphone M, the timer T and the battery B are included. The battery B supplies power to the drive mechanism 10 and the control device 20. The power to the drive mechanism 10 and the control device 20 may be supplied from an external power supply.

  The driving mechanism 10 is disposed inside the head shell S1, the neck shell S2, the body shell S3 and the bottom shell S4, while the timer T, the control device 20 and the battery B are housed inside the pedestal 5. It is arranged.

  The head tilting mechanism 30 for tilting the head 1 is, as shown in FIG. 4, a head back and forth moving mechanism 31 for tilting the head 1 in the back and forth direction within a predetermined angle range, and the head 1 within a predetermined angle range And a head horizontal movement mechanism 32 which tilts in the left and right direction. In the present embodiment, the head lateral moving motor 32 a of the head lateral moving mechanism 32 is disposed inside the head longitudinal moving body 31 d of the head longitudinal moving mechanism 31. In addition, the head longitudinal movement mechanism 31 is disposed on a head rotation plate 36a of a head rotation mechanism 36 described later (see FIGS. 5, 6 and 7).

  As shown in FIG. 5, the head back and forth movement mechanism 31 includes a head back and forth movement support member 31a, a head back and forth movement motor 31b, a reduction mechanism 31c, a head back and forth movement body 31d, and an origin sensor D. The head front and back moving body 31d is joined to the inner surface of the head shell S1 by an appropriate means, specifically, via the head left and right moving body 32b, in response to the front and back movement of the head front and back moving body 31d. The head 1 moves back and forth. In addition, the angle due to the back and forth movement of the head 1 is limited within a predetermined range. In the present embodiment, the angle is in the range of 30 degrees (-30 degrees to +30 degrees) back and forth.

  The head front and rear moving body support member 31a includes a bottom plate 31f and a pair of standing plates 31g positioned on both sides of the bottom plate 31f. The bottom plate 31f is fixed to the upper surface of a head rotation plate 36a of a head rotation mechanism 36 described later, for example, by bolt and nut fastening. The upright plate 31g is not clearly illustrated but includes a wide lower portion and a narrow upper portion, and a pivot shaft 31h is rotatably supported on the upper portion via a bearing. Also, the top of the upper portion is formed in an arc shape, although not clearly shown.

  The head back and forth movement motor 31b is provided with an encoder and a gear that engages with the small gear of the reduction mechanism 31c at the tip of the drive shaft, and the front of the motor is suitably used for one standing plate 31g of the head movement support 31a. It is fixed by means such as bolting.

  The speed reduction mechanism 31 c includes the small gear described above and a large gear that meshes with the small gear. One rotation shaft 31 h of the head moving assembly 31 d is fitted to the large gear.

  The head front and rear moving body 31d is, as shown in FIG. 5, a bottom plate 31i, a front side plate 31j located forward and a lower end portion joined to the bottom plate 31i, and a rear located back and a lower end portion joined to the bottom plate 31i A side plate 31k and a pair of connecting plates 31m located on the side surface and connecting the front side plate 31j and the rear side plate 31k are provided. A rotating shaft 31h is disposed outward on the side surface of the connecting plate 31m in such a manner that the axial center is aligned. As described above, the one rotation shaft 31h is fitted to the center of the large gear through the one side surface of the rising plate 31g of the head front and rear moving body support member 31a. Further, the other rotation shaft 31h penetrates the other side surface of the rising plate 31g of the head front and rear moving body support member 31a and is fitted to the center of a shielding plate (not shown) of the origin sensor D.

  Here, the head longitudinal moving body 31 d also functions as a support member for the head lateral moving motor 32 a and the head lateral moving body 32 d of the head lateral moving mechanism 32 described later. That is, the head horizontal movement motor 32a described later is mounted with the drive shaft directed to the back side plate 31k side, and the head horizontal movement body 32d is supported via the rotation shaft 32c described later. In other words, the head front-rear moving body 31 d also functions as the main support 32 m of the head horizontal movement mechanism 32.

  Although not shown, the origin sensor D includes a semi-disc-like member that functions as a shielding plate and a photo-interrupter that functions as a detection unit that detects shielding by the shielding plate. An auxiliary signal is output, and the origin is determined based on the signal, and angle control is performed based on it.

  That is, the home position sensor D is set to operate in the vicinity of the home position (the reference position of the home position) in the home position return operation which is performed only once when the power is turned on to determine the control home position. The angle is controlled to limit the angle detected by the encoder, and the angle limit function prevents operation beyond the operating range limit.

In addition, the other origin sensor D in this embodiment is also set as the same structure, and angle restriction is also made similarly.

  As shown in FIG. 6, the head horizontal movement mechanism 32 includes a head horizontal movement motor 32a, a reduction gear 32b, a rotation shaft 32c including a front rotation shaft and a rear rotation shaft, and a head Section horizontal moving body 32d, main support (that is, the head vertical moving body 31d mentioned above) 32m, and an origin sensor D, and the head horizontal moving body 32d appropriately with the inner surface of the head shell S1 By being joined together, the head 1 moves laterally in response to the lateral movement of the head horizontal moving body 32d. Further, the angle due to the lateral movement of the head 1 is limited within a predetermined range by the origin sensor D. In the present embodiment, the angle is in the range of 30 degrees (-30 degrees to +30 degrees) right and left.

The head left and right movement motor 32a is provided with an encoder and a gear that meshes with the reduction gear 32b at the tip end of the drive shaft, and the front side of the head left and right movement motor 32a is appropriately connected to the rear side plate 31k of the head front and rear moving body 31d, For example, they are fixed by bolting. Further, the drive shaft is protruded from the rear side plate rising plate 32e, and a gear is attached to the protruding portion.

As shown in FIG. 6, the head left and right moving body 32d includes the above-described rear side plate raising plate 32e, a front side raising plate 32f positioned outward of the rear surface (rear surface) of the head horizontal movement motor 32a, and head horizontal movement. And a horizontal upper plate 32g located above the upper surface of the motor 32a. One end of the front side pivot shaft 32c is rotatably supported at the lower center of the front upright plate 32f so as to be protruded inside (head side left / right movement motor side), and at the lower center of the rear upright plate 32e One end of the rear side rotation shaft 32c is rotatably supported at one end. On the other hand, the other end of the front side pivot shaft 32c is rotatably supported by the front side plate 31j of the front and rear moving body 31d, and the other end of the rear side is rotatably supported by the rear side plate 31k of the front and rear moving body 31d.

In addition, a nut is screwed to the end of the front pivot shaft 32c projecting outward from the front upright plate 32f, and is directed outward from the rear upright plate 32e of the rear pivot shaft 32c. A nut is screwed to the end portion projecting so as to prevent the front rotary shaft 32c and the rear rotary shaft 32c from coming off.

Furthermore, a shielding plate is mounted at a position corresponding to the detection portion (photo-interrupter) of the origin sensor D disposed on the front side plate 31j of the front side rotation shaft 32c, and the head of the rear side rotation shaft 32c A reduction gear 32b is mounted in mesh with the gear at a position corresponding to the gear mounted on the drive shaft of the left and right motion motor 32a.

A head shell attaching member 32h is disposed on the upper surface of the upper plate 32g of the head left and right moving body 32d. The head shell attachment member 32h is joined to the inner surface of the head shell S1 via an appropriate means. Further, a speaker P is mounted and fixed on the upper surface of the upper plate 32g.

  As described above, the neck 2 has the hemispherical upper neck 2a and the bottomed cylindrical lower neck 2b, that is, the upper outer shell S2a, the outer shell S2b, and the outer lid. While the upper neck portion 2a is disposed along the lower inner surface of the head 1, the lower end end face of the neck portion, that is, the lid S2c is placed on the neck of the head rotation shaft 36b described later. It is placed on the member 36g and joined, for example, by bolt and nut fastening (see FIG. 7). Further, the head rotation shaft 36b of the head rotation mechanism 36, more specifically, the upper divided body 36bU is disposed in the vertical direction inside the neck 2 and the lower end portion of the upper divided body 36bU In this case, for example, a bolt and a nut are joined to the neck placement member 36g via the lid 2c of the neck 2.

  As shown in FIG. 7, the body 3 has a mounting portion 3a mounted on a body mounting member 36j described later at an upper end portion and an imaging window 3b at an appropriate position on the upper front, corresponding to the imaging window 3b. The imaging device V is disposed. Further, inside the body outer shell S3, a head rotation mechanism 36 and a body tilting mechanism 40 including a body longitudinal movement mechanism 41 and a body lateral movement mechanism 42 are disposed. The robot R is configured to move up and operate in a cruciform manner by means of a body longitudinal movement mechanism 41 and a body lateral movement mechanism 42.

  The head rotation mechanism 36, as shown in FIG. 8, includes the head rotation plate 36a and the head rotation shaft 36b described above, the head rotation motor 36c, the reduction gear 36d, and the head rotation shaft. The support block body 36e, the base block body 36f, and the origin sensor D are included, and the lower end of the neck 2 is joined to the head rotation shaft 36b through an appropriate means, thereby the neck 2 and the above The head 1 joined via the head horizontal movement mechanism 32 rotates. Further, the angle of the head rotation mechanism 36 of the head (including the neck 2 which is integrated with the head 1 and rotated) 1 is limited by the origin sensor D within a predetermined range. In the present embodiment, the angle is in the range of 90 degrees (-90 degrees to +90 degrees) on the left and right.

The head rotation motor 36c is provided with an encoder and a gear that meshes with the reduction gear 36d at the tip of the drive shaft, and the front surface is fixed to the lower surface of the base block 36f by appropriate means, for example, bolting. .

The head rotation shaft 36b has a reduction gear mounting member to which the reduction gear 36d is mounted at the lower end, although not clearly illustrated, and the head of the base block 36f is formed on the top of the reduction gear mounting member. It has a contact member with a thrust bearing disposed in the through portion of the rotation shaft 36b, has a neck placement member 36g in the middle part near the upper end of the body 3, and has a head rotation at the upper end It is assumed to have a plate 36a.

As described above, the lower end portion end face of the neck 2, that is, the lid 2c is placed on the neck placement member 36g and joined by bolts and nuts, and the head rotation plate 36a has the above-described head The front and rear moving mechanism 31 is placed.

Although the head rotation shaft 36 is not clearly shown, it has a reduction gear mounting member, an upper divided body 36bU having the above-described head rotation plate 36a, and a neck placement member 36g. It consists of the lower divided body 36bL, and is convenient for assembly. Here, the lower divided body 36bL and the upper divided body 36bU are integrated by flange bonding in the vicinity of the level of the body mounting portion.

  The level of the head rotation shaft support block 36e is adjusted so that the upper end thereof corresponds to the upper end of the body 3, and the base plate 36h in a square shape and the base plate 36h are arranged in a square shape. Base support block 36i, an imaging device support plate 36m disposed above the middle portion of the post 36i, a trunk attachment member 36j disposed corresponding to the upper end of the trunk 3 and a base plate 36h A base plate support column 36k disposed in a rectangular shape on the base block 36f supporting from 36f is included.

  In the base plate 36h, a through hole having an inner diameter larger than the diameter of the head rotation shaft 36b for inserting the head rotation shaft 36b is formed to correspond to the head rotation shaft 36b. Further, on the base plate 36h, a detection unit of the origin sensor D is disposed, while a shielding plate is disposed on the head rotation shaft 36b in correspondence with the photo-interrupter.

The imaging device support plate 36m is provided with the imaging device V corresponding to the imaging window 3b provided in the body outer shell S3, and a head rotation shaft for inserting the head rotation shaft 36b. A through hole whose inner diameter is larger than the shaft diameter of 36 b is formed corresponding to the head rotation shaft 36 b. In addition, bearings are provided in the through holes to ensure smooth rotation of the head rotation shaft 36b and to prevent swinging of the head rotation shaft 36b.

  The body attachment member 36j has a generally toroidal shape whose inner diameter is larger than the outer diameter of the neck main body 2b, and has an inner peripheral portion standing up. The inner peripheral surface of the mounting portion 3a at the upper end portion of the body 3 abuts against the outer periphery of the inner peripheral portion which stands up, whereby the lateral displacement of the body 3 is prevented.

  The base block body 36f is a rectangular parallelepiped box, and has a penetration portion of the head rotation shaft 36b on the upper surface and a penetration portion of a drive shaft of the head rotation motor 36c on the lower surface. A thrust bearing is disposed in the through portion of the head pivot shaft 36b. Further, a reduction gear 36d is disposed inside the base block 36f and fitted to the head pivot shaft 36b. In the drawing, reference numeral 36 n indicates a joining flange.

The base block body 36f also functions as a body longitudinal moving body 41a of a body longitudinal movement mechanism 41 described later.

  As shown in FIG. 9, the body longitudinal drive mechanism 41 includes the body longitudinal drive body 41a, the body longitudinal drive motor 41b, the reduction gear 41c, the support block body 41d, and the origin sensor D as described above. The torso portion 3 moves back and forth in response to the back and forth movement of the torso portion back and forth moving body 41a. Further, the angle due to the back and forth movement of the body 3 is limited within a predetermined range by the origin sensor D. In the present embodiment, the angle is in the range of 30 degrees (-30 degrees to +30 degrees) back and forth.

The body longitudinal drive motor 41b is provided with a gear that meshes with the reduction gear 41c at the tip end of the drive shaft, and the motor mounting member 41e whose front surface is disposed separately on the right side of the support block 41d. It is fixed by appropriate means, for example, bolting.

  The body front and rear moving body 41a is a rectangular parallelepiped box body or a rectangular parallelepiped cylindrical body whose front and rear faces are open, and the upper portion is protruded and rotatably disposed inside the support block body 41d. The right and left side surfaces of the front and rear moving body 41a are provided with turning shafts 41f directed outward so that the axes of both turning shafts coincide with each other. While the reduction gear 41c is attached to the portion of the right rotation shaft (right rotation shaft) 41f that protrudes from the right side surface of the support block body 41d, the left rotation shaft (left rotation shaft) 41f is supported A shield plate of the origin sensor D is mounted on a portion of the block body 41d that protrudes from the left side surface. On the left side surface of the support block 41d, a detection unit is disposed in correspondence with the shielding plate.

  The support block body 41d is a rectangular parallelepiped cylindrical shape whose upper and lower surfaces are open, and has a motor attachment member 41e spaced apart on the right side. Further, bearings are disposed at the through portions of the right and left side pivot shafts 41f, and the right and left pivot shafts 41f are rotatably supported. The support block 41d also functions as a body left and right moving body 42a.

The torso left and right moving mechanism 42 is, as shown in FIG. 10, the aforementioned torso left and right moving body 42a, torso left and right moving motor 42b, reduction gear 42c, torso left and right moving body support block 42d, and origin sensor D And the left and right moving body 42a is also used as the support block 41d of the back and forth moving mechanism 41, the left and right movement of the body 3 in response to the left and right movement of the left and right moving body 42a. Do. Further, the angle due to the lateral movement of the body 3 is limited within a predetermined range by the origin sensor D. In the present embodiment, the angle is in the range of 30 degrees (-30 degrees to +30 degrees) right and left.

The body left and right movement motor 42b is provided with a gear that meshes with the reduction gear 42c at the tip of the drive shaft, and the front surface thereof is fixed to the body left and right moving body support block 42d by, for example, bolting.

The body left and right moving body 42a is formed in a cylindrical shape with the upper surface and the lower surface being opened, and the rotary shaft 42e is disposed on the top of the front and rear surfaces so as to project outward with both axes matched. The pivot shaft 42e which is disposed so as to project forward from the front surface is disposed at the front and is rotatably supported by the front support plate 42f of the body horizontal movement body support block 42d. The pivot shaft 42e disposed to project rearward from the rear surface is rotatably supported by a rear support plate 42g disposed at the rear. Also, while the reduction gear 42c is mounted between the front surface of the pivot shaft 42e projecting from the front surface and the front support plate 42f, it projects from the rear support plate 42g of the pivot shaft 42e disposed on the rear surface. The shield plate of the origin sensor D is disposed at the end where the sensor is located.

Although not clearly shown on the front of the body left and right moving body 42a, notches are provided in corresponding portions of the drive shaft to avoid interference with the drive shaft of the body left and right movement motor 42b. There is.

  As described above, the body left and right moving body support block 42d includes the front support plate 42f and the rear support plate 42g. Each of the support plates 42f and 42g is formed in an L shape having a short horizontal portion and a long vertical portion, and the horizontal portion is fixed to the pedestal 5 via a connection member, for example, by bolting, while rotating the vertical portion A bearing is disposed in the shaft through portion.

  The top of the bottom shell S4 is covered by the lower end of the body shell S3.

A microphone M is disposed on the front exposed portion of the pedestal 5. Further, a timer T, a control device 20 and a battery B are disposed inside the pedestal 5.

  The control device 20 includes an input unit 21, a data storage unit 22, a program storage unit 23, an arithmetic processing unit 24, an output signal generation unit 25, and an output unit 26, as shown in FIG. Be done.

  The captured image from the imaging device V and the sound from the microphone M are input to the input unit 21.

  The data storage unit 22 outputs the image data captured by the imaging device V, the voice signal from the microphone M, the state pattern data of a single old man, the voice pattern data of a single old man, the operation pattern data of the robot R, and the speaker P Voice pattern data, data necessary for arithmetic processing, and other data are stored.

  The program storage unit 23 stores the operation as a partner shown below, that is, a program necessary to execute the operation in the partner mode.

  12 to 19 show operation patterns of the robot R in the partner mode.

  FIG. 12 shows a state of consenting and nodding to the story of an elderly person living alone, and it is assumed that the head 1 is tilted forward.

FIG. 13 shows a state in which the story of an elderly person living alone is disagreed and opposed, and it is assumed that the head 1 is shaken from side to side.

FIG. 14 shows a state of bowing and greeting to a single person living alone, and it is assumed that the head 1 and the trunk 3 are tilted forward.

  FIG. 15 shows a state that it can not be understood in response to a question from an elderly person living alone, and it is assumed that the head 1 is tilted to the right or to the left.

FIG. 16 shows an astonished state with respect to the story of a single elderly man, who is supposed to do gestures to tilt the trunk 3 back.

FIG. 17 shows a state of being pleased with the story of an elderly person living alone, in which the body 3 and the head 1 are inclined in the opposite direction.

FIG. 18 shows an angry state with respect to a solitary geriatric story, in which the body 3 is tilted backward and then tilted forward to perform a head-push operation.

FIG. 19 shows a state of sadness with respect to the story of an elderly person living alone, in which the body 3 is inclined to the left and the head 1 is inclined diagonally forward.

  The arithmetic processing unit 24 determines the state of the solitary old man based on the image data from the imaging device V, the voice signal from the microphone M, the state pattern data of the solitary old man, and the voice pattern data of the solitary old man A voice for selecting a voice pattern from voice pattern data based on the determination result of the determination means 24a, the operation pattern selection means 24b for selecting the motion pattern of the robot R based on the determination result of the state determination means 24a, and the determination result of the state determination means 24a And a pattern selection unit 24c (see FIG. 20).

  The output signal generation unit 25 generates a command value of the current of the motor corresponding to the operation pattern selected by the arithmetic processing unit 24, and generates an audio signal corresponding to the audio pattern.

  The output unit 26 outputs each signal generated by the output signal generation unit 25 to each motor and speaker P.

  Next, the operation of the robot R configured as such will be described.

  Step 1: The image of the single-living elderly person imaged by the imaging device V is matched with the state pattern data of the same person stored in the data storage unit 22.

  Procedure 2: The microphone M matches the voice signal of an elderly person living alone and the voice pattern data stored in the data storage unit 22.

  Step 3: Determine the status of the same person based on the matching result.

  Step 4: Based on the determination result of the state of the same person, the operation pattern of the robot R is selected.

  Step 5: Generate a command value corresponding to the selected operation pattern.

  Step 6: The generated command value is output to each operating mechanism 31, 32, 36, 41, 42 and the speaker P.

  As described above, according to the present embodiment, the robot R operates in accordance with the state of the single-living elderly person used, so the healing effect is large. In addition, since the robot R performs an operation corresponding to the condition of a single-living elderly person to be used, it is possible to function as a partner.

Embodiment 2
A robot R according to a second embodiment of the present invention is shown in FIGS. The second embodiment is a modification of the first embodiment, in which the drive mechanism is modified to make the robot R smart. Also, the robot R is driven by a commercial power source.

  The robot R includes the head 1, the neck 2, the body 3, and the bottom 4 as in the robot R of the first embodiment, and is mounted on the pedestal 5.

  More specifically, in the robot R, the head 1, the neck 2, the body 3 and the bottom 4 are made of a shell-like outer shell S, and are internal components housed inside the outer shell S. 6, and is started and stopped at a predetermined time by a timer T which constitutes the internal component 6 (see FIGS. 24 and 25).

  The head 1 is configured substantially the same as the head 1 of the first embodiment. That is, the head 1 is tiltable and pivotable. The head shell S1 is formed in a spherical shape in which a part of the bottom portion is cut away. Also, although not clearly illustrated, the head shell S1 is a divided body, and the head front shell constituting the front, the head back shell constituting the rear, and the head front outside It includes a head joint outer shell which joins the shell and the head rear shell at a central portion.

  The head 1 is supported by the neck 2 as described later.

  Since the neck 2 is integrated with the head 1 by supporting the head 1 as described above, the neck 2 rotates integrally with the head 1. The neck shell S2 is formed integrally with the hemispherical neck shell upper portion S2a disposed inside the head shell S1 and slightly forward of the lower portion of the neck shell upper portion S2a. And the neck shell main body S2b. At the bottom of the neck shell main body S2b, a lid shell S2c having a through hole for penetrating a drive wire 37e of a head tilting mechanism 30A described later at the center is provided and formed in a bottomed shape.

  The body 3 includes a main body 3c having a collar 3e and a lower body 3d joined to the lower end of the main body 3c, that is, the body outer shell S3 includes a main body outer shell S3c and a lower body outer shell S3d. And is tiltable in an integrated state with the bottom 4. The main body shell S3c is frusto-conical and has a collar shell S3e at its upper end. The lower barrel outer shell S3d has a fitting portion with the main barrel outer shell S3c at the upper end portion and a fitting portion with the bottom portion outer shell S4 at the lower end portion, and has a lower barrel 3d bottom portion And a bottom plate 3d1 for motor installation described later.

  The bottom 4 is tiltably supported by the pedestal 5 so as to be tiltable. The bottom shell S4 is hemispherical. Further, a notch having a predetermined shape is provided on the bottom surface of the bottom portion 4 to avoid interference with a body tilting mechanism 40A described later.

  The pedestal 5 is a box-like body having a bottom receiving portion 5a on the top surface.

  The internal component 6 includes a drive mechanism 10A, a control device 20A, a main support 50 corresponding to a spine, a microphone M, a speaker P, an eye E, an imaging device V, and a timer T. It is assumed.

  The speaker P and the eye E are disposed inside the head shell S1, the imaging device V is disposed inside the body outer shell S3, the microphone M, the timer T and the control device 20A are disposed inside the pedestal 5 There is. The control device 20A has the same configuration as the control device 20 of the first embodiment.

  As shown in FIGS. 26 and 27, the main support 50 is formed by arranging four pipes 51 in a square shape at the center of the body outer shell S3. The lower end of the main support 50 is placed on the bottom plate 3d1, and the upper end of the main support 50 is joined to the upper end of the main barrel 3c. A head pivot shaft 38 b of a head pivot mechanism 38 described later is disposed inside the main support 50.

  As shown in FIG. 25, the driving mechanism 10A includes a head tilting mechanism 30A for tilting the head 1, a head rotating mechanism 38 for integrally rotating the head 1 and the neck 2, and a body 3 And a body tilting mechanism 40A that tilts.

  As shown in FIG. 25, the head tilting mechanism 30A operates in both the head longitudinal movement mode in which the head 1 is tilted back and forth and in the head horizontal movement mode in which the head 1 is tilted laterally. It is made possible. In addition, as shown in FIG. 25, the body tilting mechanism 40A for tilting the body 3 includes a body moving mechanism 45 for tilting the body 3 back and forth, and a body for moving the body 3 laterally to the left and right. And the mechanism 46.

  More specifically, as shown in FIGS. 28 to 32, the head tilting mechanism 30A includes a head tilting left motor 37a and a head tilting right motor 37b, a head tilting block 37c, and a tilting block support member. 37 d and a drive wire 37 e. As shown in FIG. 32, the drive wire 37e includes a front left drive wire 37f, a rear left drive wire 37g, a front right drive wire 37h, and a rear right drive wire 37i.

  The head tilt left motor 37a and the head tilt right motor 37b are provided with a pulley 37j for winding and unwinding the drive wire on the drive shaft, and the drive shaft is directed downward to the bottom plate 3d1. For example, it fixes by bolting. The head left tilt motor 37a is to drive the left front drive wire 37f and the left rear drive wire 37g, and the head tilt right motor 37b is to drive the right front drive wire 37h and the right rear drive wire 37i. . The drive wire 37e unwound from the pulley 37j is guided by a wire guide 37j1 provided to the head tilting left motor 37a and the head tilting right motor 37b, respectively.

  As shown in FIG. 28, the head tilt block 37c includes an upper tilt plate 37k, a lower tilt plate 37m, and a universal joint UJ disposed between the upper tilt plate 37k and the lower tilt plate 37m. It is assumed. A bonding member 37n to the head shell S1 is placed on the upper surface of the upper tilting plate 37k. The joining member n has a hat-like cross section, and the speaker P is disposed therein.

  As shown in FIG. 32, the upper tilting plate 37k is a flat octagon with a rectangular corner cut away, the upper end of the universal joint UJ is joined to the central portion, and the drive wire 37e is square around the universal joint UJ. The upper end of the is fixed. That is, the upper end of the left front drive wire 37f is fixed to the left front side of the universal joint UJ, the upper end of the right front drive wire 37h is fixed axisymmetrically to the right front side of the universal joint UJ, and the upper end of the left rear drive wire 37g is universal joint UJ The upper end of the right rear drive wire 37i is axisymmetrically fixed to the right rear side of the universal joint UJ. A guide path 37p having a predetermined length directed inward is provided at a fixed position of the drive wire 37e of the upper tilting plate 37k, and the upper end of the drive wire 37e is guided to the fixed position. Thereby, the displacement of the drive wire 37e during operation can be prevented.

  The lower tilt plate 37m is placed and fixed on the upper support plate 37q of the tilt block body support member 37d. For example, they are fixed by screws.

The tilting block support member 37d includes an upper support plate 37q, a support column 37r, and a lower support plate 37s. The support column 37r is formed by arranging four pipes in a square shape, each upper end is joined to the lower surface of the upper support plate 37q, and each lower end is joined to the upper surface of the lower support plate 37s. Further, the lower support plate 37 s is supported by the head turning mechanism 38.

  Thus, by driving the head tilting left motor 37a and the head tilting right motor 37b in synchronization with each other, the head 1 tilts back and forth as well as to the left and right.

That is, in the head longitudinal movement mode, the head 1 is tilted forward by simultaneously winding the left front drive wire 37f and the right front drive wire 37h while simultaneously winding the left rear drive wire 37g and the right rear drive wire 37i. . Conversely, in the head longitudinal movement mode, the left front drive wire 37f and the right front drive wire 37h are simultaneously unwound, while the left rear drive wire 37g and the right rear drive wire 37i are simultaneously wound, so that the head 1 tilts backward. Do.

  Further, in the head left / right motion mode, the left front drive wire 37f and the left rear drive wire 37g are simultaneously wound, while the right front drive wire 37h and the right rear drive wire 37i are wound to tilt the head 1 to the left. Conversely, in the head left / right motion mode, the head 1 is tilted to the right by winding the left front drive wire 37f and the left rear drive wire 37g simultaneously while winding the right front drive wire 37h and the right rear drive wire 37i. Do.

  As shown in FIGS. 26 and 27, the head turning mechanism 38 includes a head turning motor 38a, a head turning shaft 38b, and a turning power transmission mechanism 38c. The rotation power transmission mechanism 38c includes a timing belt 38d, a motor-side timing pulley 38e mounted on the drive shaft of the head rotation motor 38a, and a rotation shaft-side timing pulley mounted on the lower end of the head rotation shaft 38b. And 38f.

The head rotation shaft 38b is a hollow shaft, and the drive wire 37e of the head tilting mechanism 30A and the like are inserted therein. At the lower end of the head pivoting shaft 38b, an abutment member 38g is mounted on the bottom plate 3b1 and in contact with a thrust bearing disposed in correspondence with the head pivoting shaft 38b. A reinforcement member 38h for preventing the swing of the arm, for example, a bush having a heel is attached, and a neck support member 38i for supporting the neck 2 is attached to the upper end. In the neck portion 2, the lid shell S2c is placed on the upper surface of the neck support member 38i and fixed to the neck support member 38i by bolting, for example.

  Since the neck 2 is engaged with the inside of the head shell S1 via the head tilting mechanism 30A, the neck 2 and the head 1 turn as the head turning shaft 38b turns. .

  The body longitudinal movement mechanism 45 and the body lateral movement mechanism 46 have the same configuration, and as shown in FIGS. 33 to 35, the body longitudinal movement motor 45a and the body lateral movement motor 46a, the drive wire 47, and the motor side A wire guide 48, a wire guide block 49, and a spring SP for applying tension to the drive wire 47 are included.

  The spring SP is pivotally attached at its proximal end to a spring mounting member provided on the pedestal 5 at a position outward of the wire guide block 49, although not clearly shown.

  The body longitudinal motor 45a and the body lateral motor 46a are provided with pulleys 45b and 46b for winding and unwinding the drive wire 47 on the drive shaft, and are bolted to the bottom plate 3d1, for example. It is fixed.

As shown in FIG. 35, the drive wire 47 includes a front drive wire 47a, a rear drive wire 47b, a left drive wire 47c and a right drive wire 47d, and the drive wire 47 includes the front drive wire 47a and the rear drive wire 47b. The torso portion 3 is moved back and forth by cooperation, and the torso portion 3 is moved laterally by cooperation of the left drive wire 47c and the right side wire 47d.

The wire guide block 49 shares the trunk longitudinal movement mechanism 45 and the trunk lateral movement mechanism 46, and as shown in FIG. 35, the trunk longitudinal movement portion FB and the trunk lateral movement portion LR are formed. It is assumed. More specifically, as shown in FIG. 35, the wire guide block 49 includes a square wire guide plate 49a and a wire guide roller 49b disposed on the inner lower side of each side of the wire guide plate 49a. It is assumed. In order to avoid interference with the wire guide roller 49b and the roller attachment member 49c, the center of the bottom shell S4 is cut out in a predetermined shape, for example, a square shape.

  The wire guide plate 49a has a through hole 49d at the center for inserting a cable or for maintenance, etc., and has wire insertion holes 49e concentrically around the through hole 49d in the front and rear direction and the left and right direction. The through holes 49f for fixing the roller mounting member 49c are provided in the section, and the fixing projections 49g are provided in the center of each side, and bolts and nuts are fastened to the bottom shell S4 via the fixing projections 49g. Thus, the wire guide plate 49a is fixed to the bottom shell S4. Here, in order to facilitate fixing of the wire guide plate 49a to the bottom shell S4, the fixing projection 49g is bent upward so as to be parallel to the tangent at the bolt-nut fastening position of the bottom shell S4. At the same time, the tip is cut into a semi-long hole.

  The front drive wire 47a and the rear drive wire 47b are inserted through the wire insertion holes 49e provided in the front-rear direction, and the left drive wire 47c and the right drive wire 47d are inserted through the wire insertion holes 49e provided in the left-right direction.

The wire guide roller 49b guides the front drive wire 47a, the rear guide roller guides the rear drive wire 47b, the left guide roller guides the left drive wire 47c, and the right drive wire 47d. And a right side guide roller. The wire guide roller 49 b has a V-shaped cross section to prevent lateral displacement of the drive wire 47. Further, the shaft provided at each end of the wire guide roller 49b is rotatably attached to, for example, a guide roller attachment member 49c screwed to the wire guide plate 49a by using the fixing hole 49f. There is.

  After the drive wire 47 is unwound from the pulleys 45b and 46b, it passes through the guide hole of the motor side wire guide 48 provided on the drive motor side and the wire insertion hole 49e and is guided below the wire guide plate 49a. It is guided by the wire guide roller 49 b and coupled to the spring SP disposed on the pedestal 5.

  As a result, the trunk drive motor 45a is driven and the front drive wire 47a and the rear drive wire 47b are driven to move the trunk 3 back and forth, and the trunk horizontal drive motor 46a is driven to drive the left side. By driving the wire 47c and the right drive wire 47d, the body 3 moves laterally.

  As described above, in the present embodiment, since all the drive motors are disposed at the bottom 4, the head 1 is lightened. As a result, an effect which can not be obtained in the first embodiment that the responsiveness of the tilting motion of the head 1 is improved can be obtained.

Embodiment 3
Embodiment 3 of the present invention is shown in FIG.
The third embodiment relates to a remote control system (hereinafter simply referred to as a system) RS including a robot R and a remote control device 100 that remotely controls the robot R, and the robot R is partnered by remote control.

  The robot R is assumed to be a modification of the robot R of the first embodiment, to which a communication means 200 having a transmitting unit 201 and a receiving unit 202 for communicating with the remote control device 100 is added. The device 100 enables remote control.

  The remote control device 100 remotely controls the robot R via the network N, for example, the Internet.

Specifically, as shown in FIG. 37, the remote control device 100 communicates means 110 including a database 101, a transmitting unit 111 and a receiving unit 112, and voice / character conversion means 120 for converting voice signals into character data. And psychological state analysis means 130 for analyzing the mental state of the single person living alone with reference to a keyword set in advance for the converted character data, and a response message corresponding to the analyzed mental state with reference to the sample message A response message creating unit 140 to create, a character-to-speech conversion unit 150 to convert the response message into an audio signal, and an image captured and transmitted by the imaging device V provided in the robot R with the image of the database 101 State determination means 160 for determining the state of a solitary old man by performing pattern matching, and the state of the determined solitary old man Robot operation formulating unit 170 which formulates the operation of the robot R corresponding to the robot with reference to the operation pattern data stored in the database 101 and a robot operation which generates an operation command for the robot operation formulated by the robot operation formulating unit 170 It has a command generation unit 180 and makes the robot R perform a partner operation.

The remote control device 100 including the respective units is mainly configured of a personal computer having a communication function, and is realized by storing programs for realizing the respective functions in the personal computer.

  Next, remote control of the robot R in the remote control system RS configured as described above will be described.

  Step 21: In response to a command from the remote control device 100, the robot R captures an image of an elderly person living alone by the imaging device V and records a voice by the microphone M.

  Step 22: The robot R transmits the image captured by the imaging device V and the sound recorded by the microphone M to the remote control device 100.

  Step 23: The remote control device 100 determines the state of the single-living elderly person from the received image and sound of the single-living elderly person.

  Step 24: The remote control device 100 formulates the operation of the robot R including the voice according to the determined state of the single-living elderly person.

  Step 25: The remote control device 100 generates a robot operation command according to the determined operation of the robot R.

  Step 26: The remote control device 100 transmits the generated robot operation command to the robot R.

  Step 27: The robot R generates an operation command value corresponding to the received robot operation command.

  Step 28: The robot R operates based on the generated operation command value. For example, the voice of "Today is a birthday. Happy birthday." Is made to flow from the speaker P, and the joy operation shown in FIG. 17 is performed.

As described above, according to the present embodiment, since the robot R is remotely controlled by the remote control device 100, the robot R is caused to make the robot R perform an operation corresponding to the state of a single elderly person while avoiding enlargement of the robot R. Can.

In addition, since it is not necessary to set a limit on the storage capacity of the data storage unit, it is possible to store detailed state data of an elderly person living alone, and more detailed correspondence becomes possible.

Embodiment 4
Embodiment 4 of the present invention is shown in FIG. The fourth embodiment is a modification of the third embodiment, in which an image display device G as a monitor, an input device I such as a keyboard, and an audio output device K are attached to the remote control device 100. An input / output processing means 103 for exchanging signals with the image display device G, the audio output device K and the input device I is added to the inside of the control device 100.

  As described above, in the present embodiment, since the image display device G, the voice output device K, and the input device I are attached to the remote control device 100, a care worker such as a care worker can use the image display device G. Since the operation formulated by the robot behavior formulating means can be corrected through the input device I while referring to the displayed behavior of the elderly living alone and the voice outputted by the voice output device K, etc., detailed response Is possible.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited to this embodiment, A various change is possible.

  For example, although one imaging device V is provided on the front of the body 3 in the present embodiment, the imaging device V may be provided on the left and right of the body 3.

  The present invention is applicable to the robotics industry and the care industry.

DESCRIPTION OF SYMBOLS 1 head 2 neck 2a neck upper part 2b neck main body 3 trunk 3a placement part 3b imaging window 3c main trunk 3d lower trunk 3d 1 bottom plate 3e collar 4 bottom 5 pedestal 5a bottom receiving portion 6 internal component 10 driving mechanism 10A Drive mechanism 20 control device 20A control device 21 input unit 22 data storage unit 23 program storage unit 24 operation processing unit 24a state determination unit 24b operation pattern selection unit 24c voice pattern selection unit 25 output signal generation unit 26 output unit 30 head tilting mechanism 30A head tilting mechanism 31 head longitudinal motion mechanism 31a head longitudinal motion support member 31b head longitudinal motion motor 31c speed reduction mechanism 31d head longitudinal motion body 31f bottom plate 31g raising plate 31h pivot shaft 31i bottom plate 31j front plate 31k rear side plate 31m Connection plate 32 head left and right movement mechanism 32a head left and right movement motor 32b reduction gear 32c rotation shaft 32d head Head part horizontal moving body 32e Rear side standing plate 32f Front side standing plate 32g Top plate 32h Head outer shell mounting member 32m Main support body 36 Head turning mechanism 36a Head turning plate 36b Head turning shaft 36bU Top divided body 36bL Lower division body 36c Head rotation motor 36d Reduction gear 36e Head rotation shaft support block 36f Base block 36g Neck mounting member 36h Base plate 36i Support 36j Body mounting member 36k Base support 63m Imager support plate 37a head tilt left motor 37b head tilt right motor 37c head tilt block 37d tilt block support member 37e drive wire 37f left front drive wire 37g left rear drive wire 37h right front drive wire 37i right rear drive wire 37j pulley 37j1 wire guide 37k upward tilting plate 37m downward tilting plate 37n joint member 37p induction path 7q upper support plate 37r support column 37s lower support plate 38 head rotation mechanism 38a head rotation motor 38b head rotation shaft 38c turn power transmission mechanism 38d timing belt 38e motor side timing pulley 38f rotation shaft side timing pulley 38g Contact member 38h Reinforcement member 38i Neck support member 39 Head rotation mechanism 40 Body tilting mechanism 40A Body tilting mechanism 41 Body longitudinal moving mechanism 41a Body longitudinal moving body 41b Body longitudinal moving motor 41c Reduction gear 41d Support block Body 41e Motor mounting member 41f Rotation shaft 42 Body horizontal movement mechanism 42a Body horizontal movement 42b Body horizontal movement motor 42c Reduction gear 42d Body horizontal movement support block 42e Rotation shaft 42f Front support plate 42g Rear support plate 45 body longitudinal movement mechanism 45a body longitudinal movement motor 45b pulley 46 body lateral movement mechanism 46 Barrel left and right movement motor 46b Pulley 47 Drive wire 47a Front drive wire 47b Rear drive wire 47c Left drive wire 47d Right drive wire 48 Motor side wire guide 49 Wire guide block 49a Wire guide plate 49b Wire guide roller 49c Roller mounting member 49d Through hole 49e Wire insertion hole 49f Fixing through hole 49g Fixing projection 50 Main support 51 Pipe 100 Remote control device 101 Database 103 Input / output processing means 110 Communication means 111 Transmission unit 112 Reception unit 120 Voice / character conversion means 130 Psych Condition analysis means 140 Response message creation means 150 Character-to-speech conversion means 160 State determination means 170 Robot operation formulation means 180 Robot operation command generation means 200 Communication means 201 Transmission unit 202 Reception unit R Robot B Telly S Outer shell S1 Head outer shell S2 Neck outer shell S2a Neck outer shell upper portion S2b Neck outer shell main body S3 Body outer shell S3a Body outer shell upper S3 b Body outer shell lower S3 c Main body outer shell S3 d Lower Barrel shell S3e Collar shell S4 bottom shell D origin sensor E eye M microphone P speaker T timer V imager RS remote control system N network G image display device I input device K audio output device UJ universal joint SP spring FB front and back Moving part LR body left and right moving part

Claims (6)

A partner robot capable of communicating with a single living person such as an elderly person living alone, comprising: an imaging device, a microphone, a speaker, and a control device , the control device including an input unit, a data storage unit, The data storage unit includes a program storage unit, an arithmetic processing unit, an output signal generation unit, and an output unit, and the data storage unit includes image data captured by the imaging device, an audio signal from the microphone, and a person living alone. State pattern data, voice pattern data of the same person, motion pattern data of the partner robot, and voice pattern data output from the speaker are stored, and the program storage unit executes the motion of the partner robot The program necessary for the operation is stored, and the arithmetic processing unit includes state determination means, operation pattern selection means, and It has the state determining means includes a human image Alone imaged by the imaging device, and the audio signal Doujin from the microphone, and Doujin the state pattern data stored in the data storage unit, Doujin The motion pattern selection means selects the motion pattern of the partner robot based on the judgment result of the state judgment means, and the partner robot is shaped like a shell. Uprising, having a formed shell, and having an internal component that is upset and made movable, capable of being mounted on a pedestal and housed inside each of the shell and the pedestal, The shell comprises a head shell, a neck shell, a body shell and a bottom shell, the bottom shell being fixed to the pedestal and the internal component being the head shell A drive mechanism for driving the said neck shell said cylinder part outer shell, and a said control device, the head the drive mechanism, for rotating the head tilting mechanism for tilting the head, the head The head tilting mechanism includes a pivoting mechanism and a barrel tilting mechanism for tilting the barrel, the head tilting mechanism includes a head moving mechanism for moving the head back and forth, and a head moving mechanism for moving the head horizontally. The body tilting mechanism includes a body moving mechanism for moving the body back and forth, and a body moving mechanism for moving the body horizontally, the head tilting operation and the head rotating operation; Emotional expression is achieved by a combination with the body tilting movement, and the movement pattern selecting means is realized by driving the head outer shell, the neck outer shell and the body outer shell of the drive mechanism. as can no emotional expression by the operation of the head and neck and the body by the selected operational pattern Partner robot characterized by comprising Te. The head tilting mechanism includes a head tilting left motor and a head tilting right motor, a head tilting block, and a drive wire, and the head tilting left motor and the head tilting right motor are inside the body outer shell. The head tilting block is disposed in the head shell, and the drive wire is driven by the head tilting left motor and the head tilting right motor, respectively. The head tilting mechanism becomes a head moving mechanism by moving the left drive wire and the right drive wire to move the head tilt block back and forth, and the left drive wire and the right drive wire are included. partner of claim 1, wherein but, characterized in that the head tilting mechanism by being driven so as to horizontal movement of the head tilting block body becomes a head lateral movement mechanism -Robot. The arithmetic processing means has voice pattern selection means added, and the voice pattern selection means selects voice pattern data output from the speaker based on the determination result of the state determination means. The partner robot of 1 description. And partner robot, comprising a remote control device, and a communication network for connecting the partner robot and said remote control device, the partner robot, from the image data and the microphone picked up by the image pickup apparatus through the communication network The partner robot according to any one of the above claims, wherein data including voice signals can be communicated with the remote control device and can be remotely controlled, the remote control device being the partner robot The state of the same person is judged based on the image of the person living alone and the voice signal of the person living alone, and the movement pattern and the voice pattern are automatically sent to the partner robot based on the judgment result. A remote control system of a partner robot characterized by indicating. 5. The partner robot remote control system according to claim 4 , wherein an input device, an image display device, and an audio output device are attached to the remote control device. 6. The partner robot remote control system according to claim 5 , wherein the partner robot is instructed to operate and sound in response to an input from the input device.