JP6901360B2 - Mobile - Google Patents

Description

The present invention relates to a mobile body.

Conventionally, an autonomous robot (an example of a moving body) moves while determining a route so as not to come into contact with a person. However, when a robot moves in a crowd, it is likely to come into contact with a person. Therefore, the robot may not be able to efficiently execute its own task.

Therefore, Non-Patent Document 1 describes a method for enabling a robot to efficiently perform a task even in a crowd by actively contacting a person and encouraging them to make a way. There is.

In the technique disclosed in Non-Patent Document 1, the robot is equipped with a robot arm having two degrees of freedom with two arms, and when there is no path that allows the robot to move without contacting a person, the robot itself touches one arm. It acts to get the way open. When the robot comes into contact with a person in this way, the number of routes that the robot can move increases, and the robot can take the route to improve the efficiency of task execution.

Moondeep C. Shretha et al., “Using contact-based inducement for efficient navigation in a congested environment”, Robot and Human Interactive Communication, Aug31 -Sep4. 2015

However, since the robot disclosed in Non-Patent Document 1 only touches a person with an arm as an action for getting a way to clear the road, the person who touches the arm does not always understand the intention of the robot's action. Absent. For this reason, the person touched by the robot may not be able to leave the road, and in that case, the robot may not be able to move and the task may not be executed efficiently.

The present invention solves such a problem, and can clearly convey to a person the intention of wanting to make a way, and can move efficiently by having the person make a way. The purpose is to provide.

In order to achieve the above object, the moving body according to the present invention includes a head, a head anteversion portion that tilts the head forward, a hand portion, a shoulder portion that lifts the hand portion, and a detection target. A position detection device that detects the position, a situation determination unit that determines the surrounding situation using the detection result of the position detection device, and a working control including at least a control for tilting the head forward are performed according to the surrounding situation. It is a moving body provided with a working control unit, and the working control is a control that works on a person around the moving body so as to give way, and the working control unit is the above-mentioned working body. When the action control is started, the hand portion is lifted by using the shoulder portion, and the moving body is moved toward the contact target .

According to the moving body of the present invention, by tilting the head forward as if the person bows and makes a request, it is possible to clearly convey to the person the intention to make a way. Therefore, the moving body can move efficiently by having a person clear the way.

Schematic perspective view showing the structure of the moving body in each embodiment of the present invention. Top view schematically showing the connection structure of part A in FIG. Schematic cross-sectional view from a side view for explaining the tilting structure of the position detection device and the face detection device according to the first embodiment of the present invention. Schematic control block diagram showing a configuration of a mobile controller according to each embodiment of the present invention. Flowchart for determining the status of a moving body according to the first embodiment of the present invention Flowchart regarding the behavior of the moving body in the first embodiment A schematic cross-sectional view from a side view for explaining a modified example of the tilting structure of the position detection device and the face detection device according to the first embodiment of the present invention. Flowchart regarding the behavior of the moving body in the second embodiment Flowchart regarding the behavior of the moving body in the third embodiment

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The same components are designated by the same reference numerals. In addition, each drawing is schematically shown for easy understanding.
Further, in each of the following embodiments, the side with the face portion 112 of the head 102 is defined as the front, the opposite side thereof is defined as the rear, and the horizontal direction orthogonal to the front-rear direction is described as the width direction. In addition, the left and right are defined based on the front.

(Embodiment 1)
(Composition of mobile body)
FIG. 1 is a schematic perspective view showing the configuration of the moving body 100 according to each embodiment of the present invention.
FIG. 2 is a plan view schematically showing the connection structure of the part A in FIG.
FIG. 3 is a schematic cross-sectional view taken from a side view for explaining the tilting structure of the head 102, the position detection device 104, and the face detection device 105 according to the first embodiment of the present invention.

As shown in FIGS. 1 and 2, the moving body 100 includes a body 101, a head 102, a head forward tilting portion 103 that tilts the head 102 forward, and detection targets existing around the moving body 100. In particular, the position detection device 104 that detects the position of a person, the face detection device 105 that detects the face of a person existing around the moving body 100, and the contact detection device 106 that detects that the moving body 100 and a person have come into contact with each other. A controller 107 that controls the operation of the moving body 100, a sound generating unit 108 that can generate sound, a curved arm portion 109 that extends substantially forward from both ends of the moving body 100 in the width direction, and each arm. The hand portion 110 provided at the tip (front end) of the portion 109 and the shoulder portion 111 (right shoulder portion 111R, left shoulder portion) capable of raising and lowering the tip of the arm portion 109 by rotating the base end of the arm portion 109 up and down. 111L) and the face 112.

In addition, the moving body 100 can perform autonomous movement, and as will be described later, it is possible to perform an action (working control) to increase the movement route by working on a person during the autonomous movement.

In FIG. 1, the controller 107 is shown floating in the air for convenience, but is fixed at an appropriate position on the fuselage 101, for example.

The body 101 is the main body of the moving body 100 and has a mechanism capable of moving on the ground. Specifically, the two wheels (not shown) provided at the bottom of the fuselage 101 are rotated around the axis line extending in the horizontal direction or turned in the horizontal direction to change the direction of the fuselage. The 101 can move while going straight or turning.

The head 102 is arranged on the body 101 (here, the upper part of the body 101), and can be tilted forward by the head forward tilting portion 103 as described above. Specifically, the head forward tilting portion 103 below the head 102 is connected to the body 101 via a rotation axis parallel to the width direction. This rotating shaft is connected to the output shaft of the electric motor M1 (omitted in FIG. 1) built in the body 101. The head 102 is driven by the electric motor M1 and tilts about its rotation axis. That is, the head 102 can be tilted forward at the head forward tilting portion 103 so that a person lowers his head.

The position detection device 104 detects the position of a person existing around the moving body 100, and specifically, for example, a distance image sensor. When a distance image sensor is used for the position detection device 104, a person is discriminated from the detection targets around the moving object 100 by using the distance image data from the distance image sensor, and the distance to the person in the depth direction is determined. The position of a person can be detected by measuring.

The face detection device 105 detects the face of a person existing in the vicinity of the moving body 100. Specifically, for example, the camera and the image data captured by the camera are analyzed and the face is detected in the vicinity of the moving body 100. It is configured to include an image analysis device (not shown) that detects an existing face. According to this configuration, the position of the face (face detection position) on the projection surface of the camera can also be detected.

The position detection device 104 and the face detection device 105 are attached to the tilting member 120 which is long in the width direction, respectively. The tilting member 120 is attached to the upper part of the head 102 so as to be tiltable up and down. Further, the tilting member 120, and thus the position detection device 104 and the face detection device 105, are tilted backward at the same angle (tilted in the direction opposite to the head 102) in conjunction with the tilting of the head 102 forward. It is configured. That is, even if the head 102 tilts forward, the detection directions of the position detection device 104 and the face detection device 105 tilt so as to cancel the forward tilt of the head 102. As a result, the position detection device 104 and the face detection device 105 are always oriented in a constant direction so that each detection of the position detection device 104 and the face detection device 105 can be performed stably.

Specifically, as shown in FIG. 3, the pulley 121 (fixed pulley) is fixed to the body 101 on the same axis as the rotation axis of the head forward tilted portion 103 (see FIG. 1). Further, a pulley 122 (rotary pulley) having the same diameter and the same number of teeth as the fixed pulley 121 is pivotally attached to the head 102 via a bearing (not shown) so that it can rotate freely. A chain belt 123 is hung between the fixed pulley 121 and the rotary pulley 122, and the rotary pulley 122 is attached to the tilting member 120.
With such a configuration, when the head 102 is tilted forward as shown by the arrow a1, the fixed pulley 121 does not rotate. Therefore, the rotary pulley 122 is indicated by the arrow a2 by the chain belt 123 that tilts forward integrally with the head 102. It is driven to rotate. As a result, the tilting member 120 tilts backward by the same angle as the forward tilt angle of the head 102.
A timing belt may be used instead of the chain belt 123. When a timing belt is used, the strength of the belt is reduced, but the quietness during operation is improved.

As shown in FIG. 1, the position detection device 104 and the face detection device 105 are connected to the controller 107 by a cable C1. Each detection result of the position detection device 104 and the face detection device 105 is output to the controller 107 via the cable C1.

The contact detection device 106 detects the contact between the moving body 100 and a person, and specifically, for example, a force sensor. When a force sensor is used for the contact detection device 106, the contact force between the moving body 100 and the person can be detected by calculating the contact force with the person from the force data detected by the force sensor.

The contact detection device 106 is connected to the controller 107 by a cable C2. The detection result of the contact detection device 106 is output to the controller 107 via the cable C2.

The voice generation unit 108 generates voice in order to call a person from the moving body 100, and specifically, for example, a speaker.

Each arm portion 109 has a curved shape extending forward from both end portions (shoulder portions 111) in the width direction of the body 101, and their tips (front ends) are respectively configured as hand portions 110. These hand portions 110 are connected at the center in the width direction. Specifically, each arm portion 109 has a substantially arc shape, the base end portion on the outer side in the width direction is fixed to the shoulder portion 111, and the hand portion 110 in the center in the width direction contacts as shown in FIG. It is coupled via the detector 106.

Each hand 110 can be lifted or lowered using the shoulder 111 at the base of the arm 109. The shoulder portion 111 includes a right shoulder portion 111R and a left shoulder portion 111L.

The right shoulder portion 111R and the left shoulder portion 111L are respectively connected to the widthwise end portion of the body 101 via a rotation axis parallel to the widthwise direction. Each of these rotating shafts is coupled to an output shaft of an electric motor M2 (omitted in FIG. 1) built in the body 101. Driven by the electric motor M2, the right shoulder portion 111R and the left shoulder portion 111L are tilted about their rotation axes. As a result, the hand portion 110 at the tip of the arm portion 109 whose base is fixed to the right shoulder portion 111R and the left shoulder portion 111L can be raised and lowered.

The face portion 112 includes a display 112a arranged in front of the head portion 102, and the display 112a displays a display 112b imitating an eye (hereinafter referred to as “eye portion 112b”). The display position of the eye portion 112b can be changed sequentially. The eye portion 112b may be formed of an article that is repositionable and imitates an eye, instead of being displayed.

(Control configuration)
FIG. 4 is a schematic control block diagram showing a configuration of a mobile controller according to the first embodiment of the present invention.
As shown in FIG. 4, the controller 107 has, as functional elements, a situation determination unit 107a that determines the situation of people in the vicinity of the moving body 100 (hereinafter referred to as "surrounding situation"), and the surroundings so as to give way. It is provided with at least a working control unit 107b that performs control for working on a person (working control).
The situation determination unit 107a determines the surrounding situation of the moving body 100 based on the detection results of the position detection device 104, the face detection device 105, and the contact detection device 106.

Based on the detection result of the position detection device 104, the action control unit 107b performs action control when it is determined that there is no path capable of moving without contacting surrounding people. Specifically, the working control unit 107b controls the head forward tilting portion 103 via the electric motor M1 so that the moving body 100 performs an operation that imitates an operation when a human makes a request to another person. The shoulder portion 111 is controlled via the electric motor M2, and the operation of the voice generating portion 108 and the body 101 is further controlled.

(flowchart)
FIG. 5 is a flowchart relating to the determination of the situation of the moving body according to the first embodiment of the present invention.
FIG. 6 is a flowchart relating to the behavior of the moving body according to the first embodiment, and mainly relates to the action control.
Hereinafter, with reference to FIGS. 5 and 6, the functions of the situation determination unit 107a and the action control unit 107b will be further described while explaining an example of the situation determination and the action control.

First, a specific situation determination method by the situation determination unit 107a will be described with reference to FIG.

The situation determination unit 107a sets each of the situation variable A, the situation variable B, and the situation variable C to 0 (zero) at the start of the situation judgment (step S01). After that, the situation determination unit 107a determines whether or not the moving body 100 is working and controlling (step S02). Whether or not the working control is in progress can be determined by, for example, whether or not the working control unit 107b outputs a command to perform the working control, which is an internal signal of the controller 107.

If the action control is not in progress, the situation determination unit 107a ends the situation determination. When the situation determination unit 107a is in the action control, the person who is on the set movement path from the persons determined by the position detection device 104 is the object to act by contact (hereinafter referred to as "contact object"). ), And the position of the person specified as the contact target by the position detection device 104 (hereinafter referred to as “contact target position”) is detected (step S03). The distance from the moving body 100 to the contact target position (hereinafter referred to as “contact target distance”) is calculated and compared with a preset distance (hereinafter referred to as “human approach distance”) (step S04). If the contact target distance is less than or equal to the human approach distance, the situation variable A is set to 1 (step S05), and if the contact target distance is farther than the person approach distance, the situation variable A remains 0 (zero). And.

Next, the face detection position detected by the face detection device 105 is compared with the contact target position (step S06), and if the face detection position is the same as the contact target position, the situation variable B is set to 1 (step). S07) If the face detection position is different from the contact target position, the situation variable B is left at 0 (zero).

Next, the situation determination unit 107a confirms whether or not the contact between the moving body 100 and the person is detected by the contact detection device 106 (step S08), and if the contact is detected, the situation variable C is set to 1. (Step S09), and if no contact is detected, the situation variable C is left at 0 (zero).
After that, the process returns to step S02, and the situation determination unit 107a continues the situation determination until the action control is completed.

Next, a specific control method by the working control unit 107b will be described with reference to FIG.

As described above, the working control unit 107b starts working control when it is determined that there is no route that can be moved without contacting surrounding people. When the action control is started, the situation determination unit 107a starts the situation determination illustrated in FIG. 5 above (step S10). Then, the shoulder portion 111 is used to lift the hand portion 110 to a height between the waist and the shoulder of the contact target (step S11), and the moving body 100 is moved toward the contact target (step S12). While moving, the value of the situation variable A set by the situation determination unit 107a is monitored (step S13), and when the situation variable A is set to 1 (that is, when the contact target is approached to a person approaching distance or less). The working control unit 107b stops the movement of the moving body 100. As a result, the hand portion 110 approaches the contact target integrally with the moving body 100 (step S14). The action control unit 107b monitors the status variable B of the status determination unit while bringing the hand unit 110 closer to the contact target (step S15).

When the situation variable B is set to 1, that is, when the face detection position is the same as the contact target position), the hand portion 110 is stopped from approaching the contact target (step S16), and the head 102 is set to the head. After tilting forward with the forward leaning portion 103, the original state (standing state before leaning forward) is returned, and at the same time, the voice generating portion 108 generates a voice asking the contact target to make a way. (Step S17).
Here, the situation in which the situation variable B is set to 1 is a situation in which the face detection position is the same as the contact target position because the face to be contacted faces the moving body 100. Therefore, when the situation variable B is set to 1, tilting the head 102 forward means that when the person to be contacted notices the moving body 100 and looks at the moving body 100, the moving body 100 causes the moving body 100 to move forward. The head 102 is tilted forward. Therefore, it is possible to make sure that the person to be contacted recognizes that the moving body 100 tilts the head 102 forward.

At this time, the forward tilt angle of the head 102 with respect to the vertical direction is preferably 30 degrees, which is the angle at which a person bows at the time of salute, but 10 so that the eyes 112b displayed on the face 112 can be seen by the person. It is preferably between degrees and 30 degrees. Further, the eye portion 112b displayed on the face portion 112 is used when the head portion 102 is tilted forward in order to express that the moving body 100 recognizes a person even while the head portion 102 is tilted forward. Moves upwards.

After that, it is determined based on the detection result of the position detection device 104 whether or not the contact target has vacated the road (space for the moving body 100 to move) (step S18), and if the road is vacant, the hand portion 110 is contacted. Move along an empty road away from the target (step S19). If the road does not open, move the hand 110 away from the contact target and search for another movement route (step S20).

While the action control unit 107b is monitoring the status variable B, the status variable C is also monitored at the same time (step S21), and the status variable C is set to 1 before the status variable B is set to 1 (step S21). That is, when the contact between the moving body 100 and the contact target is detected), the operation for bringing the hand portion 110 closer to the contact target is stopped (step S22).

After that, the value of the status variable B is confirmed again (step S23). At that time, when the situation variable B is set to 1, the head 102 is tilted forward by the head forward tilt portion 103, and then the head 102 is tilted in the opposite direction by the head forward tilt portion 103. The original state is restored, and at the same time, the voice generating unit 108 generates a voice so as to make a way toward the contact target (step S17), and the process proceeds to step S18. On the other hand, if the situation variable B remains 0 in step S23, the process proceeds to step S18 without tilting the head 102 forward or generating voice from the voice generating unit 108.

In step S18, it is confirmed whether or not the contact target has vacated the road, and if the road is vacant, the hand portion 110 is separated from the contact target and moved through the vacant road (step S19). If the road is not open, move the hand 110 away from the contact target and search for another movement route (step S20).

(Action / effect)
According to the moving body 100 of the first embodiment of the present invention, when the moving body 100 works on a person by contact, the moving body 100 tilts the head 102 forward as if the person bows and asks. , Can clearly convey to people the intention to clear the way. Therefore, it becomes easier for people to clear the road, and they can move and perform tasks efficiently.

(Modification example)
(1) A crawler or a leg mechanism may be used as a moving device for the body 101. In this case, as compared with using a wheel mechanism for the moving device, it is possible to easily move on an uneven surface such as an uneven surface.

(2) A stereo camera may be provided as the position detection device 104. Compared to using a distance image sensor for the position detection device 104, the number of detection devices can be increased by using one camera as both the camera for the position detection device 104 and the camera for the face detection device 105. Can be reduced, and the cost of the moving body 100 can be reduced.

(3) A parallel link mechanism may be used as a mechanism for tilting the tilting member 120 (and thus the position detecting device 104 and the face detecting device 105) in conjunction with the forward tilting of the head 102. Specifically, as shown in FIG. 7, a pair of front and rear links 124 parallel to each other are pivotally attached to the body 101 at the same height at the lower ends thereof, and at the same height at the upper ends of the tilting member 120. You just have to stick to the side. As a result, the angle of the tilting member 120 can be held horizontally regardless of the angle of the head 102. That is, the tilting member 120 can be tilted backward in conjunction with the forward tilting of the head 102.
Compared with the case of using a pulley and a belt, it is not necessary to adjust the tension of the belt, so that the assembling property can be improved.

(4) A touch sensor may be used in the contact detection device 106, and the touch sensor may detect only the presence or absence of contact between the moving body 100 and a person. In this case, the cost of the moving body 100 can be reduced as compared with the case where the force sensor is used for the contact detection device 106.

(5) The position detection device 104 may be made to take on the function of the contact detection device 106. In this case, the contact between the moving body 100 and the person can be detected by using the distance between the person and the moving body 100 analyzed from the distance image data of the position detecting device 104. The number of detection devices can be reduced, and the cost of the mobile body 100 can be reduced.

(Embodiment 2)
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 1, 4, 5, and 8.
The mobile body 100'of the second embodiment of the present invention is mainly different from the mobile body 100 of the first embodiment in that the head 102 is tilted forward when the situation variable C is set to 1.

That is, in the moving body 100'of the present embodiment, the head 102 is predetermined regardless of whether or not the situation variable B is set to 1 (whether or not the face detection position is the same as the contact target position). Tilt forward at the timing. Therefore, the moving body of the present embodiment may omit the face detection device 105 with respect to the configuration of the moving body 100 of the first embodiment. In this case, the situation determination unit 107a'used in place of the situation determination unit 107a of the first embodiment does not perform step S06 and step S07 of FIG.

FIG. 8 is a flowchart relating to the behavior of the moving body according to the second embodiment, and mainly relates to the action control.
Hereinafter, with reference to FIG. 8, the function of the working control unit 107b'used in place of the working control unit 107b of the first embodiment will be described while explaining the flow of the working control.

When the action control unit 107b'starts the action control, the situation determination unit 107a' starts the above-mentioned situation determination (step S121). After that, the working control unit 107b'lifts the hand 110 to the height between the waist and the shoulder of the contact target using the shoulder 111 (step S122), and moves the moving body 100 toward the contact target (step). S123). The working control unit 107b'monitors the value of the situation variable A during movement (step S124), and when the situation variable A is set to 1 (that is, the moving body 100'approaches the contact target to a distance equal to or less than the person approaching distance. In the case of), the movement of the moving body 100'is stopped and the hand portion 110 is brought closer to the contact target (step S125).

Next, the working control unit 107b'monitors the situation variable C (step S126). When the situation variable C is set to 1 (that is, when the contact between the moving body 100 and the contact target is detected), the action control unit 107b'stops bringing the hand portion 110 close to the contact target (that is, when the contact target is detected). In step S127), the head 102 is once tilted forward by the head forward tilting portion 103 and then returned to the original state, and at the same time, a voice is generated by the voice generating unit 108 so that the contact target makes a way. (Step S128).

After that, the working control unit 107b'confirms whether the contact target has vacated the road (step S129), and if the road is vacant, the hand portion 110 is separated from the contact target and moves through the vacant road (step). S130). If the road is not open, move the hand 110 away from the contact target and search for another movement route (step S131).
The situation determination unit 107a'and the action control unit 107b' are the same as the situation determination unit 107a and the action control unit 107b of the first embodiment in other respects, and thus the description thereof will be omitted. Further, since the moving body 100'is the same as the moving body 100 of the first embodiment except for the situation determination unit 107a'and the working control unit 107b', the description thereof will be omitted.

(Action / effect)
According to the moving body of the second embodiment of the present invention, the face detection device 105 can be omitted. When the face detection device 105 is omitted, the cost of the moving body 100'can be reduced, and the number of processing steps based on the detection result of the face detection device 105 can be reduced in the situation judgment, so that the situation judgment can be performed quickly. Can be done.

(Embodiment 3)
Hereinafter, a third embodiment of the present invention will be described with reference to FIGS. 1, 4, 5, and 9.
In the moving body 100 ″ of the third embodiment of the present invention, the movement of the first embodiment is that the head 102 is tilted forward when the situation variable A is set to 1 when the moving body 100 ″ approaches the contact target to a distance equal to or less than a person. Mainly different from body 100.

That is, in the moving body 100 ″ of the present embodiment, as in the second embodiment, regardless of whether or not the situation variable B is set to 1 (whether or not the face detection position is the same as the contact target position). Instead, the head 102 is tilted forward at a predetermined timing. Therefore, the moving body 100 ″ of the present embodiment may omit the face detection device 105 with respect to the configuration of the moving body 100 of the first embodiment. .. In this case, the situation determination unit 107a ″ used in place of the situation determination unit 107a of the first embodiment does not perform step S06 and step S07 of FIG.

FIG. 9 is a flowchart relating to the behavior of the moving body according to the third embodiment, and mainly relates to the action control.
Hereinafter, with reference to FIG. 9, the function of the working control unit 107b ″ used in place of the working control unit 107b of the first embodiment will be described while explaining the flow of the working control.

When the control of the working control unit 107b "starts the working control, the situation determination unit 107a" starts the above-mentioned situation determination (step S32). After that, the working control unit 107b "uses the shoulder portion 111 to lift the hand portion 110 to a height between the waist and the shoulder of the contact target (step S33), and moves the moving body 100 toward the contact target (step). S34). The working control unit 107b ″ monitors the value of the status variable A during movement (step S35). The action control unit 107b ″ stops the movement of the moving body 100 when the situation variable A is set to 1 (that is, when the contact target is approached to a person approaching distance or less) (step S36), and the action control unit 107b ″. The unit 107b ″ returns the head 102 to its original state after being tilted forward by the head forward tilting portion 103, and at the same time generates a voice from the voice generating unit 108 so as to have the contact target clear the way ( Step S37).

Next, the working control unit 107b ″ brings the hand unit 110 closer to the contact target (step S38), monitors the situation variable C (step S39), and if the situation variable C is set to 1, the hand unit 110 is moved. Stopping approaching the contact target (step S40).
After that, the working control unit 107b ″ confirms whether the contact target has vacated the road (step S41), and if the road is vacant, the hand portion 110 is separated from the contact target and moves through the vacant road (step). 42). If the road is not open, move the hand 110 away from the contact target and search for another movement route (step S43).
The situation determination unit 107a ″ and the action control unit 107b ″ are the same as the situation determination unit 107a and the action control unit 107b of the first embodiment in other respects, and thus the description thereof will be omitted. Further, the moving body 100 ″ is the same as the moving body 100 of the first embodiment except for the situation determination unit 107a ″ and the working control unit 107b ″, and thus the description thereof will be omitted.

According to the moving body of the third embodiment of the present invention, the same effect as that of the second embodiment can be obtained.

(Other)
In each of the above-described embodiments, in the action control, in addition to tilting the head 102 forward, the head 102 is touched, but the action of touching the person may be omitted.

The mobile body of the present invention is useful when autonomous movement is required in a crowd.

100, 100', 100 "moving body 101 body 102 head 103 head forward tilted part 104 position detection device 105 face detection device 106 contact detection device 107 controller 107a, 107a', 107a" situation judgment unit 107b, 107b', 107b ″ Working control unit 108 Sound generation unit 109 Arm 110 Hand 111 Shoulder 111L Left shoulder 111R Right shoulder 112 Face 112a Display 112b Eye 120 Tilt member 121 Fixed pulley 122 Rotating pulley 123 Chain belt 124 Link M1, M2 Electric motor

Claims (15)

With the head
The head tilted portion that tilts the head forward and
With the hand
The shoulder that lifts the hand and
A position detection device that detects the position of the detection target and
A situation judgment unit that judges the surrounding situation using the detection result of the position detection device, and
A moving body including a working control unit that performs working control including at least control of tilting the head forward according to the surrounding situation.
The action control is a control that acts to work on people around the moving body so as to give way.
The working control unit is a moving body characterized in that when the working control is started, the hand portion is lifted by using the shoulder portion and the moving body is moved toward a contact target. The moving body according to claim 1, wherein the position detecting device identifies and detects a person as the detection target. The moving body according to claim 2, further comprising a face detection device for detecting a human face, wherein the situation determination unit determines the surrounding situation using the detection result of the face detection device. The moving body according to claim 1, further comprising a contact detection device that detects contact with the detection target, and the situation determination unit determines the surrounding situation using the detection result of the contact detection device. .. When the situation determination unit determines that the position of the detection target detected by the position detection device exists within a preset range, the action control unit moves the head forward tilt portion to the head. The moving body according to claim 1, wherein the head is tilted forward. When the situation determination unit determines that the position of the person detected by the position detection device exists within a preset range, the action control unit presses the head at the head forward tilting portion. The moving body according to claim 2, wherein the moving body is tilted forward. The claim is characterized in that, when the situation determination unit determines that the face detection device has detected a human face, the action control unit tilts the head forward at the head forward tilting portion. The moving body according to 3. A claim characterized in that, when the situation determination unit determines that the contact detection device has detected contact with a person, the action control unit tilts the head forward at the head forward tilting portion. Item 4. The moving body according to item 4. When the position detecting device is provided on the head and the head is tilted forward at the head tilted portion, the detection direction of the position detecting device is reversed by the same magnitude as the forward tilt angle of the head. The moving body according to claim 1, wherein the moving body is inclined in a direction. When the face detection device is provided on the head and the head is tilted forward at the head forward tilt portion, the detection direction of the face detection device is reversed by the same magnitude as the forward tilt angle of the head. The moving body according to claim 3, wherein the moving body is inclined in a direction. Claims 1 to 10 include a voice generating unit capable of generating voice, and the voice generating unit generates voice when the head of the moving body is tilted forward by the head forward tilting portion. The moving body according to any one of the above items. The torso that supports the head and
Extending forwardly from opposite widthwise ends of the barrel, and a arm portion provided with the hand portion to the tip,
The moving body according to any one of claims 1 to 11, wherein the working control unit is characterized in that the hand portion is brought into contact with a person. The shoulder portion rotates the arm portion around an axial core line parallel to the width direction .
The action control unit controls the operation of the shoulder portion when the hand portion is brought into contact with a person, thereby adjusting the position of the hand portion in the height direction according to the height of the detection target. The moving body according to claim 12, wherein the moving body is characterized in that. The head is provided with a face having at least eyes that imitate the eyes.
The moving body according to any one of claims 1 to 13, wherein when the head is tilted forward by the head forward tilting portion, the eye portion is moved to the upper part of the face portion. Can move autonomously
Any of claims 1 to 14, wherein the working control unit performs the working control when it is determined that the working control unit cannot move without contacting a surrounding detection target based on the detection result of the position detecting device. Or the moving body according to item 1.

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