JP6628874B2 - Information processing device, robot, and control program - Google Patents

Description

  The present invention relates to an information processing device, a robot, and a control program for notifying a user of a change in posture of a robot.

  Patent Literatures 1 to 3 disclose techniques for notifying a user of an incoming call, mail reception, and the like at a mobile terminal by changing the outer shape of the terminal body or an accessory. For example, Patent Document 1 discloses that a drive pattern signal is generated in real time by a drive pattern generation unit, and the drive pattern signal is transmitted to an actuator. By transmitting the drive pattern signal to the actuator, the shape of an accessory of the communication terminal or a member constituting the communication terminal itself is changed, and the generated event (for example, reception of a voice call, mail reception, or reception of a digital television broadcast). Etc.) to the user.

Japanese Unexamined Patent Publication "JP 2007-214908 A (Published August 23, 2007)" Japanese Unexamined Patent Publication "JP-A-2000-92164 (published on March 31, 2000)" Japanese Unexamined Patent Publication "JP-A-2001-145139 (published on May 25, 2001)"

  However, when the above-described conventional technique is applied to a change in the posture of the robot, the robot may not be able to maintain a stable self-standing posture and fall over depending on the posture of the robot after the change.

  The present invention has been made in view of the above problems, and an object of the present invention is to realize an information processing device, a robot, and a control program capable of preventing a robot from falling over due to a change in posture. is there.

  In order to solve the above problem, an information processing device according to one embodiment of the present invention is an information processing device applied to a robot that changes a posture by controlling a driving unit provided in a movable part, When the robot changes the posture to an unstable posture that cannot maintain a stable self-standing posture, before the posture change is performed, a notification process of notifying a user of posture change information regarding the posture change is performed. A notification control unit is provided.

  Advantageous Effects of Invention According to one aspect of the present invention, there is an effect that a fall of a robot due to a change in posture can be prevented.

FIG. 2 is a block diagram illustrating a main configuration of the robot according to the embodiment of the present invention. (A) is a front view schematically showing the robot, (b) is a rear view schematically showing the robot, and (c) is a side view schematically showing the robot. It is a flowchart which shows an example of control of the attitude | position change in the said robot. FIG. 5 is a schematic diagram illustrating an example of a posture table stored in a storage unit of the robot. It is a schematic diagram which shows an example of the notification frequency table stored in the storage part of the said robot. FIG. 3 is a schematic diagram illustrating an example of a notification content table stored in a storage unit of the robot. (A) is a schematic diagram showing a posture change of the robot at the time of voice reception, and (b) and (c) show a posture change of the robot when the user performs an input operation of selecting a call with respect to the voice reception. FIG. 4 is a schematic diagram showing a notification content.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. In the following embodiments, description will be made assuming that the information processing apparatus according to the present invention is applied to a biped humanoid robot.

  However, the information processing apparatus according to the present invention may be provided not only for the bipedal walking humanoid robot but also for a general robot such as a fighting robot of an animation character or an animal robot. In the present embodiment, a biped humanoid robot with a mobile phone function will be described as an example.

[Overview of Robot 100]
First, an outline of the robot 100 will be described with reference to FIG. FIG. 2A is a front view schematically illustrating the robot 100 according to the present embodiment. FIG. 2B is a rear view schematically illustrating the robot 100. FIG. 2C is a side view schematically showing the robot 100.

  When the robot 100 according to the present embodiment changes the posture to an unstable posture in which the robot 100 cannot maintain a stable self-standing posture, the robot 100 notifies the user in advance of a posture change message (posture change information) regarding the posture change. . The robot 100 notifies the user of the posture change message in advance, thereby preventing the robot 100 from falling due to the posture change.

  As shown in FIGS. 2A to 2C, the robot 100 includes a head 100a, a body 100b, an arm 100c, a leg 100d, and a foot 100e. The head 100a is movably connected to the body 100b via the neck 100g, the arm 100c is via the shoulder joint 100h, and the leg 100d is via the leg joint 100i. The foot 100e is movably connected to the leg 100d via the foot joint 100j.

  A drive unit (motor) 20, which will be described later, is built in the neck 100g and each joint, and the drive unit 20 drives the head 100a, the arm 100c, the leg 100d, and the foot 100e. Each move.

  Further, a speaker 40 to be described later is provided at a mouth 100l constituting a part of the head 100a, and a microphone 30 to be described later is provided at an abdomen 100m constituting a part of the body 100b. Further, a screen operation unit 60, which will be described later, is provided on the back 100k that forms a part of the body 100b.

  The positions where the microphones 30 and the speakers 40 are arranged are not particularly limited. For example, the microphones 30 may be arranged on the soles 100f constituting a part of the feet 100e. Further, the position at which the screen operation unit 60 is arranged is not limited to the back part 100k, and may be arranged at, for example, the abdomen 100m.

[Configuration of Robot 100]
Next, the configuration of the robot 100 will be described with reference to FIG. FIG. 1 is a block diagram illustrating a main configuration of the robot 100. As shown in FIG. 1, the robot 100 includes a communication unit 10, a driving unit 20, a microphone 30, a speaker 40, a control unit (information processing device) 50, a screen operation unit 60, and a storage unit 70.

  The communication unit 10 transmits and receives various data such as audio data. The drive unit 20 is for changing the posture of the robot 100. The drive unit 20 is configured by a motor provided at each movable part in the robot 100. As the driving unit 20, an actuator such as a hydraulic cylinder, a pneumatic cylinder, or a linear actuator may be used in addition to the motor. The microphone 30 is for collecting voices and the like during a call. The speaker 40 is for generating a voice during a call or the like, and for notifying the user by voice.

  The control unit (CPU) 50 controls the robot 100 as a whole. The control unit 50 performs, for example, a posture control of the robot 100 and a notification regarding a posture change. The control unit 50 includes an event detection unit 51, an image operation control unit 52, a posture control unit 53, and a notification control unit 54.

  The event detection unit 51 detects occurrence of various events related to the robot 100 based on output signals from the communication unit 10 and the image operation control unit 52. The events detected by the event detection unit 51 include events that require the user to respond to the notification from the robot 100 (for example, incoming voice (telephone incoming), incoming email, and alarm), and input operations by the user. (For example, a voice call (receiving a telephone call) and a voice call (calling)). When detecting the occurrence of an event, the event detection unit 51 notifies the attitude control unit 53 of the type of the event that has occurred.

  The image operation control unit 52 controls the screen operation unit 60. The image operation control unit 52 receives an input operation (interrupt operation) on the touch panel 61 of the screen operation unit 60 by the user, and outputs the operation to the event detection unit 51. Further, the image operation control unit 52 causes the display 62 of the screen operation unit 60 to display various information.

  The posture control unit 53 controls the driving unit 20 to change the posture of the robot 100. When the attitude control unit 53 receives the type of the event that has occurred from the event detection unit 51, the attitude control unit 53 refers to the attitude table 71 of the storage unit 70 and performs a robot operation so that the user can easily perform an operation according to the type of the event that occurred. Change the posture of 100. At this time, if the posture of the robot 100 after the posture change is an unstable posture in which the robot 100 cannot maintain a stable self-standing posture, the posture control unit 53 performs the posture change of the robot 100 before executing the posture change. The type information of the event that has occurred is transmitted to the notification control unit 54.

  When the posture control unit 53 changes the posture of the robot 100 to the unstable posture, the notification control unit 54 sends a posture change message (posture change information) regarding the posture change to the user before the posture change of the robot 100 is executed. The notification processing for notifying the user is executed.

  When the notification control unit 54 acquires the type of the event that has occurred from the attitude control unit 53, the notification control unit 54 refers to the notification count table 72 and the notification content table 73 in the storage unit 70, and determines the position of the content according to the type of the event that has occurred. Acquire the change message and notify the user. In addition, the notification control unit 54 notifies the posture control unit 53 that the notification processing has been completed, and causes the posture change of the robot 100 to be executed.

  In the present embodiment, the control unit (CPU) 50 functions as the event detection unit 51, the image operation control unit 52, the attitude control unit 53, and the notification control unit 54. The operation control unit 52, the posture control unit 53, and the notification control unit 54 may be configured by independent processing units.

  The screen operation unit 60 receives an input operation by a user and displays various information. The screen operation unit 60 has a configuration in which a touch panel 61 and a display 62 are overlapped and integrated. The touch panel 61 receives an input operation by the user by detecting a touch operation (input operation) of the user. The display 62 displays an object such as a button for the user to perform a touch operation and various information.

  The storage unit 70 is a non-volatile storage device such as a hard disk and a flash memory. The storage unit 70 stores various information related to the notification process, such as the posture information of the robot 100, the cumulative number of notification processes executed in the past, and a posture change message to be notified to the user. In the present embodiment, the storage unit 70 stores a posture table 71, a notification count table 72, and a notification content table 73.

  The posture table 71 stores posture information of the robot 100 for each event type and stability information (independence information) indicating whether the posture of the robot 100 indicated by the posture information is a stable posture. . The notification count table 72 stores the cumulative number of notification processes executed by the notification control unit 54 in the past. The notification content table 73 stores the content of the posture change message to be notified to the user in the notification processing. The details of the attitude table 71, the notification count table 72, and the notification content table 73 will be described later.

[Control of posture change of robot 100]
Next, the control of the posture change in the robot 100 will be described with reference to FIGS. FIG. 3 is a flowchart illustrating an example of control of a posture change in the robot 100.

  As shown in FIG. 3, first, the event detection unit 51 detects whether or not various events related to the robot 100 have occurred based on output signals from the communication unit 10 and the image operation control unit 52 (S101). When the occurrence of the event is not detected (NO in S101), the event detection unit 51 detects again whether or not the event has occurred. On the other hand, when the occurrence of the event is detected (YES in S101), the event detection unit 51 transmits the type information of the generated event to the posture control unit 53.

  Next, when acquiring the type of the event that has occurred from the event detection unit 51, the attitude control unit 53 determines the attitude of the robot 100 according to the type of the event (S102). Specifically, the posture control unit 53 refers to the posture table 71 of the storage unit 70 and obtains posture information corresponding to the type of the event that has occurred and stability information of the posture of the robot 100 indicated by the posture information. I do.

  FIG. 4 is a schematic diagram illustrating an example of the posture table 71 stored in the storage unit 70. As illustrated in FIG. 4, the posture table 71 stores, in the posture table, posture information of the robot 100 for each event type (for example, incoming voice call, voice call, and the like) and stability information of the posture of the robot 100 indicated by the posture information ( (Stable or unstable).

  In the posture table 71, the posture of the robot 100 standing upright is registered as posture information at the time of default. The default posture is a basic posture that the robot 100 takes after each event is completed. The posture indicated by the posture information at the time of default is a stable posture (independent posture) in which the robot 100 can maintain a stable independent posture and has a low possibility of falling. Therefore, “stability” is registered in the posture table 71 as the stability information of the posture at the time of default.

  Further, in the posture table 71, the posture of the robot 100 with the arm 100c raised is registered as posture information at the time of voice call so that the user can easily pick up the robot 100. The posture indicated by the posture information at the time of the incoming voice call is a stable posture (independent posture) in which the robot 100 can maintain a stable independent posture and has a low possibility of falling. For this reason, “stability” is registered in the posture table 71 as posture stability information at the time of incoming voice call.

  Further, the posture table 71 includes, as posture information at the time of a voice call, a robot 100 having the head 100a, the arm 100c, and the leg 100d close to the user side so that the user can easily talk the robot 100 with his / her face. Is registered. The posture indicated by the posture information at the time of the voice call is an unstable posture (the robot 100 cannot maintain a stable self-standing posture, and has a higher possibility of falling than the posture at the time of the above-described default and at the time of voice reception). (Independent posture). For this reason, “unstable” is registered in the posture table 71 as posture stability information during a voice call.

  The posture control unit 53 refers to the posture table 71 and first determines the posture of the robot 100 after the posture change according to the event type based on the event type acquired from the event detection unit 51 (S102). ).

  Further, the posture control unit 53 specifies whether the posture of the robot 100 after the posture change determined in S102 is a stable posture or an unstable posture (S103). The stable posture is a posture in which the robot 100 can maintain a stable self-standing posture, and the unstable posture is a posture in which the robot 100 cannot maintain a stable self-standing posture. If the posture of the robot 100 after the posture change is the stable posture (YES in S103), the posture control unit 53 changes the posture of the robot 100 based on the posture information determined in S102 (S108), and ends the processing. I do. On the other hand, when the posture of the robot 100 after the posture change is the unstable posture (NO in S103), the posture control unit 53 transmits the type information of the event that has occurred to the notification control unit 54.

  When acquiring the type of the event that has occurred from the attitude control unit 53, the notification control unit 54 refers to the notification count table 72 of the storage unit 70, and acquires the cumulative number of notification processes executed in the past for the type of the event. (S104).

  FIG. 5 is a schematic diagram illustrating an example of the notification count table 72 stored in the storage unit 70. As shown in FIG. 5, the notification count table 72 stores, for each event type (voice call (incoming), voice call (outgoing), etc.), the cumulative number of notification processes executed by the notification control unit 54 in the past. Have been. The notification control unit 54 refers to the notification count table 72 and acquires the cumulative number of notification processes executed in the past for the type of event that has occurred.

  In the notification count table 72 shown in FIG. 5, both the notification process executed in the past for the voice call (incoming call) and the cumulative number of notification processes executed in the past for the voice call (outgoing call) are 0. (I.e., when none of the notification processes is executed).

  Next, the notification control unit 54 refers to the notification content table 73 of the storage unit 70 and determines the content (notification content) of the posture change message for notifying the user that the robot 100 changes its posture to the unstable posture. (S105).

  FIG. 6 is a schematic diagram illustrating an example of the notification content table 73 stored in the storage unit 70. As shown in FIG. 6, the notification content table 73 is associated with the event type, the set notification frequency, and the content of the posture change message to be notified to the user.

  Here, the setting notification count (predetermined setting count) is a reference value for changing the content of the posture change message to be notified to the user according to the cumulative number of notification processes executed in the past. The notification control unit 54 obtains the content of the posture change message associated with the set notification count to which the cumulative count obtained from the notification count table 72 belongs, according to the type of the event that has occurred, and notifies the user.

  For example, in the case of a voice call (incoming call) shown in FIG. 6, when the number of setting notifications is "0", the posture change message is "When you receive a call, hold the hand, hold it by hand. Is registered. For this reason, in the first notification process executed for a voice call (incoming call), the user is notified of a posture change message having detailed contents. On the other hand, “moving” is registered as the posture change message when the setting notification count is “one or more times”, and the posture change message has been changed to simple content. For this reason, in the second and subsequent notification processes executed for a voice call (incoming call), the user is notified of a simple posture change message.

  In a voice call (outgoing call), when the setting notification number is “0 to 3 times”, “at hand is held when holding a telephone call. I have. For this reason, in the first to fourth notification processes executed for a voice call (originating), a user is notified of a posture change message having detailed contents. On the other hand, “moving” is registered as the posture change message when the setting notification count is “four or more times”, and the posture change message has been changed to simple content. For this reason, in the fifth and subsequent notification processes executed for a voice call (originating), the user is notified of a simple posture change message.

  As described above, when the predetermined number of notification processes is exceeded, by changing the posture change message to be notified to the user to simple content, the processing time of subsequent notification processes can be reduced, and as a result, Thus, user operability can be improved. Note that the number of setting notifications registered in the notification content table 73 and the content of the posture change message may be appropriately changeable.

  Next, the notification control unit 54 notifies the user of the posture change message determined in S105 (S106). Specifically, the notification control unit 54 causes the speaker 40 to output the posture change message acquired from the notification content table 73, and notifies the user by voice. Accordingly, the user can recognize in advance that the posture of the robot 100 changes to the unstable posture. Therefore, the user can take measures such as holding the robot 100 by hand before the posture of the robot 100 changes to the unstable posture, so that it is possible to prevent the robot 100 from falling due to the posture change. Become.

  In addition, by notifying the user of a different posture change message according to the type of event that has occurred by voice, it becomes possible to accurately convey the posture change of the robot 100 to the user, and to prompt the user to take appropriate measures. be able to. However, the user may be notified in advance that the posture of the robot 100 has changed to the unstable posture using a method other than voice (for example, a warning sound (alarm), a warning lamp, a sounding sound, etc.).

  Next, after the notification process to the user is completed, the notification control unit 54 updates the cumulative number in the notification number table 72 (S107). In addition, the notification control unit 54 notifies the posture control unit 53 that the notification process to the user has been completed. Thereby, the posture control unit 53 controls the driving unit 20 based on the posture information determined in S102, and changes the posture of the robot 100 (S108).

[Specific example of control of posture change of robot 100]
Next, a specific example of the control of the posture change of the robot 100 will be described based on FIG. 7 while appropriately referring to FIGS. FIG. 7A is a schematic diagram illustrating a change in the posture of the robot 100 when a voice call is received. FIGS. 7B and 7C illustrate an input operation in which the user selects a call for the voice call. FIG. 7 is a schematic diagram showing a change in posture of the robot 100 and notification contents when the robot 100 is moved.

  For example, when a voice call is received by the robot 100, the generated voice call is detected by the event detection unit 51 (YES in S101), and the posture control unit 53 determines the posture of the robot 100 according to the voice call (S102). As shown in the posture table 71, the posture of the robot 100 at the time of incoming voice is a stable posture (YES in S103). For this reason, as shown in FIG. 7A, the robot 100 changes the posture to the posture at the time of incoming voice without executing the notification process (S108).

  Also, when the user U performs an input operation for selecting a call with respect to the voice incoming call on the robot 100, the call selecting operation of the voice call (incoming call) is detected by the event detecting unit 51 (YES in S101), and the posture is determined. The control unit 53 determines the posture of the robot 100 according to the voice call (S102). As shown in the posture table 71, the posture of the robot 100 during the voice call is an unstable posture (NO in S103). For this reason, as shown in (b) and (c) of FIG. 7, after executing the notification processing by the notification control unit 54 (S104 to 107), the robot 100 changes the posture to the posture during the voice call (S108). ).

  In the present embodiment, in the first notification process performed for the call selection operation of the voice call (incoming call), the user is notified of a posture change message having detailed contents as shown in FIG. 7B. . On the other hand, in the second and subsequent notification processes executed for the call selection operation of the voice call (incoming call), the user U is notified of a simple posture change message as shown in FIG. You.

[Effect of Robot 100]
As described above, in the robot 100 according to the present embodiment, the posture control unit 53 that changes the posture of the robot 100 by controlling the driving unit 20 provided in the movable part, and the robot 100 maintains a stable self-standing posture. When the posture is changed to an unstable posture in which the posture cannot be changed, a notification control unit 54 that performs a notification process of notifying a user of a posture change message regarding the posture change before the posture change is performed is provided.

  In the robot 100, before the robot 100 changes its posture from a stable posture to an unstable posture, the notification control unit 54 notifies the user of a posture change message related to the posture change. Can be recognized in advance. Therefore, the user can take measures such as holding the robot 100 by hand before the robot 100 changes the posture to the unstable posture.

  Therefore, according to the present embodiment, it is possible to realize the robot 100 that can prevent a fall due to a change in posture beforehand.

[Example of software implementation]
The control blocks (particularly the attitude control unit 53 and the notification control unit 54) of the control unit 50 included in the robot 100 may be realized by a logic circuit (hardware) formed on an integrated circuit (IC chip) or the like, (Central Processing Unit).

  In the latter case, the control unit 50 includes a CPU that executes instructions of a program that is software for realizing each function, a ROM (Read Only Memory) in which the program and various data are recorded in a computer (or CPU) readable manner, or A storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like are provided. Then, the object of the present invention is achieved when the computer (or CPU) reads the program from the recording medium and executes the program. As the recording medium, a “temporary tangible medium”, for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, the program may be supplied to the computer via an arbitrary transmission medium (a communication network, a broadcast wave, or the like) capable of transmitting the program. Note that the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above-described program is embodied by electronic transmission.

[Summary]
The information processing device (control unit 50) according to the first aspect of the present invention is an information processing device applied to a robot that changes a posture by controlling a driving unit provided in a movable part, wherein the robot has: When the posture is changed to an unstable posture in which a stable independence posture cannot be maintained, a notification process for notifying the user of posture change information (posture change message) related to the posture change is performed before the posture change is performed. It is characterized by having a notification control unit that performs

  In the above configuration, the notification control unit notifies the user of posture change information related to the posture change before the robot changes the posture to the unstable posture. Can be recognized. Therefore, the user can take measures such as holding the robot by hand before changing the posture of the robot to the unstable posture.

  Therefore, according to the above configuration, it is possible to realize an information processing apparatus capable of preventing a robot from being caused by a change in posture.

  The information processing device according to aspect 2 of the present invention, in the above aspect 1, wherein the notification control unit changes the content of the posture change information to the content of the posture change information when the cumulative number of executions of the notification processing exceeds a predetermined number of times. Alternatively, the processing time of the notification processing may be reduced.

  According to the above configuration, when the number of times exceeds a predetermined number of times, the posture change information is changed to, for example, one having simple contents, thereby shortening the processing time of the notification process, thereby improving the operability of the user. be able to.

  In the information processing device according to aspect 3 of the present invention, in the aspect 1 or 2, the notification control unit may notify the user of the posture change information according to a type of an event that has occurred in the robot.

  According to the above configuration, since the posture change information that differs depending on the type of the event that has occurred in the robot is notified to the user, the posture change of the robot can be appropriately transmitted to the user.

  A robot according to a fourth aspect of the present invention includes the information processing apparatus according to any one of the first to third aspects, a posture control unit that changes a posture of the robot by controlling a driving unit provided at a movable part of the robot, It is characterized by having.

  According to the above configuration, it is possible to realize a robot capable of preventing the robot from falling due to a change in posture.

  The information processing device according to each aspect of the present invention may be realized by a computer. In this case, the information processing device that realizes the information processing device by operating the computer as the information processing device The control program (program) and a computer-readable recording medium on which the control program is recorded are also included in the scope of the present invention.

  The present invention is not limited to the above embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining the technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment.

Reference Signs List 20 drive unit 53 attitude control unit 54 notification control unit 50 control unit (information processing device)
100 robot U user

Claims (5)

An information processing apparatus applied to a robot that changes a posture by controlling a driving unit provided in a movable part,
When the robot changes the posture to an unstable posture that cannot maintain a stable self-standing posture, before the posture change is performed, a notification process of notifying a user of posture change information regarding the posture change is performed. An information processing device comprising a notification control unit. The notification control unit, when the cumulative number of executions of the notification processing exceeds a predetermined number of times, changes the posture change information from detailed contents to simple contents , and reduces the processing time of the notification processing. The information processing apparatus according to claim 1, wherein:   The information processing apparatus according to claim 1, wherein the notification control unit notifies the user of the posture change information according to a type of an event that has occurred in the robot. An information processing apparatus according to any one of claims 1 to 3,
A robot comprising: a posture control unit that changes a posture of the robot by controlling a driving unit provided at a movable part of the robot.   A control program for causing a computer to function as the information processing device according to claim 1.

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