JP7298725B2 - ROBOT, STATE DETERMINATION METHOD AND PROGRAM - Google Patents

Description

The present invention relates to a robot, a state determination method , and a program.

Robots are used in general households and the like. Techniques for diagnosing failures of such robots have been proposed.

Japanese Unexamined Patent Application Publication No. 2002-200001 discloses a failure diagnosis means for diagnosing a failure of a mobile robot that runs independently when the mobile robot returns to a charging station. This fault diagnosis means determines whether or not the non-contact distance sensor, acceleration sensor, and direction sensor of the mobile robot show appropriate response characteristics when the charging station housing the mobile robot drives the turn mechanism and tilt mechanism. Diagnose the presence or absence of failure.

JP 2008-178959 A

Since the fault diagnosis means of Patent Document 1 diagnoses the mobile robot using the charging station, the mobile robot alone cannot determine the state of the mobile robot. Not only the mobile robot of Patent Document 1, but also robots used in general households are equipped with a non-contact distance sensor that measures the distance to an obstacle so as not to contact the obstacle during movement. Robots used in general households are sometimes attached with clothes or accessories. If the non-contact distance sensor is partially or occasionally covered by clothing or accessories attached to the robot, the non-contact distance sensor may not operate normally. It is not easy for the robot to self-determine whether the non-contact distance sensor is working normally or whether the non-contact distance sensor is not working properly because it is covered by clothing or accessories. .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot, a state determination method, and a program capable of self-determining the covering state of a non-contact distance sensor.

In order to achieve the above object, a robot according to a first aspect of the present invention is a robot equipped with clothes or accessories, and is a robot that is driven to autonomously move itself, and a predetermined robot. a non-contact distance sensor for measuring a distance to an object that reflected the signal by receiving a reflected wave of a signal transmitted in a direction; a movement distance determination means for determining whether or not a movement distance of the device from a predetermined position has reached the predetermined distance based on the driving amount of the driving means; a first distance and a second distance; and the predetermined distance, whether or not the non-contact distance sensor is in a state capable of measuring the distance to an obstacle that hinders movement when the self-device moves autonomously. and a notification means for notifying that the non-contact distance sensor is covered with the clothing or the accessory when the sensor state determination means determines that the non-contact distance sensor is covered with the clothing or the accessory. and, the first distance is the distance measured by the non-contact distance sensor when the device is positioned at the predetermined position, and the second distance is the distance of the device A distance measured by the non-contact distance sensor when the device is positioned at a position where the movement distance from the predetermined position is determined to have reached the predetermined distance by the movement distance determination means, It is characterized by
A robot according to a second aspect of the present invention is a robot equipped with clothes or accessories, and includes a driving means driven to autonomously move itself and a signal transmitted in a predetermined direction. a non-contact distance sensor for measuring a distance to an object that reflected the signal by receiving a reflected wave; moving distance measuring means for measuring a moving distance from the second position to the second position based on the driving amount of the driving means; a difference value between the first distance and the second distance; and based on the moving distance a sensor state determination means for determining whether or not the non-contact distance sensor is in a state capable of measuring a distance to an obstacle that hinders movement of the self-device when autonomously moving; notification means for notifying that the non-contact distance sensor is covered with the clothing or the accessory when the state determination means determines that the first distance is: The distance measured by the non-contact distance sensor when the device is positioned at the first position, and the second distance is the distance measured when the device is positioned at the second position. is the distance measured by the non-contact distance sensor.

Further, in order to achieve the above object, the state determination method of the first aspect according to the present invention includes driving means driven to autonomously move the device, and a reflected wave of a signal transmitted in a predetermined direction. and a non-contact distance sensor that measures the distance to an object that reflects the signal by receiving it , and is executed by a robot equipped with clothes or accessories , wherein the self-device is a predetermined movement distance determination for determining whether or not the movement distance of the device from the predetermined position has reached the predetermined distance based on the driving amount of the driving means when the device is moved by a predetermined distance from the position of Based on the processing, the difference value between the first distance and the second distance, and the predetermined distance, the non-contact distance sensor detects an obstacle that hinders movement when the self-device moves autonomously. a sensor state determination process for determining whether or not the distance to the object is in a measurable state, and if the sensor state determination process determines that the non-contact distance sensor is in a state in which the distance to the object can be measured, the non-contact distance sensor detects the clothing or the accessory and a notification process for notifying that the device is in a state of being covered by the device, wherein the first distance is the distance measured by the non-contact distance sensor when the device is positioned at the predetermined position. and the second distance is when the device is positioned at a position where the movement distance of the device from the predetermined position is determined to have reached the predetermined distance by the movement distance determination processing. is the distance measured by the non-contact distance sensor.
Further, a state determination method according to a second aspect of the present invention includes a driving means driven to autonomously move the self-device, and a signal transmitted in a predetermined direction. and a non-contact distance sensor for measuring the distance to an object that has been moved, the state determination method executed by a robot wearing clothes or accessories , wherein the self-device is moved from a first position to a second position. a moving distance measuring process for measuring a moving distance from the first position to the second position based on the driving amount of the driving means when moving to the first distance and the second distance; and the movement distance, whether or not the non-contact distance sensor is in a state capable of measuring the distance to an obstacle that hinders movement when the self-device moves autonomously, and a notification process for notifying that the non-contact distance sensor is covered with the clothing or the accessory when the sensor state determination process determines that the non-contact distance sensor is covered by the clothing or the accessory. , wherein the first distance is the distance measured by the non-contact distance sensor when the device is located at the first position, and the second distance is the second distance It is characterized by being the distance measured by the non-contact distance sensor when the device is positioned at the position.

Further, in order to achieve the above object, a program according to a first aspect of the present invention includes driving means driven to autonomously move the device, and receiving a reflected wave of a signal transmitted in a predetermined direction. and a non-contact distance sensor that measures the distance to the object that reflected the signal by moving the computer of the robot equipped with clothes or accessories by a predetermined distance from a predetermined position. moving distance determining means for determining whether or not the moving distance of the apparatus from the predetermined position has reached the predetermined distance, based on the amount of driving of the driving means when the driving is performed, a first distance and a first distance; 2, and the predetermined distance, the non-contact distance sensor can measure the distance to an obstacle that hinders movement when the self-device autonomously moves. sensor state determination means for determining whether or not there is, and notifying that the non-contact distance sensor is in a state covered by the clothing or the accessory when the sensor state determination means determines that the non-contact distance sensor is not The first distance is the distance measured by the non-contact distance sensor when the device is positioned at the predetermined position, and the second distance is: Measured by the non-contact distance sensor when the device is positioned at a position where the movement distance of the device from the predetermined position is determined to have reached the predetermined distance by the movement distance determining means It is a distance.
Further, a program according to a second aspect of the present invention includes driving means driven to autonomously move the device, and reflected waves of a signal transmitted in a predetermined direction to reflect the signal. and a non-contact distance sensor for measuring a distance to an object, wherein the computer of the robot equipped with clothes or accessories moves the computer from the first position to the second position. moving distance measuring means for measuring the moving distance from the first position to the second position based on the driving amount of the driving means; a difference value between the first distance and the second distance; and the moving distance; sensor state determination means for determining whether or not the non-contact distance sensor is in a state capable of measuring a distance to an obstacle that hinders movement of the self-device based on the functioning as notification control means for notifying that the non-contact distance sensor is in a state covered with the clothing or the accessory when the sensor state determination means determines that the first distance is the distance measured by the non-contact distance sensor when the device is positioned at the first position, and the second distance is the distance when the device is positioned at the second position. It is the distance measured by the non-contact distance sensor when the user is in the vehicle.

ADVANTAGE OF THE INVENTION According to this invention, the robot which can self-determine the covering state of a non-contact distance sensor, a state determination method , and a program can be provided.

It is a figure showing a robot concerning a 1st embodiment of the present invention. 1 is a block diagram showing the configuration of a robot according to a first embodiment of the present invention; FIG. 4 is a flowchart showing first determination processing according to the first embodiment of the present invention; It is a figure explaining the 1st determination processing which concerns on the 1st Embodiment of this invention. It is a figure explaining the 1st determination processing which concerns on the 1st Embodiment of this invention. It is a flow chart which shows the 2nd judgment processing concerning a 2nd embodiment of the present invention. It is a figure explaining the 2nd determination processing based on the 2nd Embodiment of this invention. It is a figure explaining the 2nd determination processing based on the 2nd Embodiment of this invention. FIG. 11 is a block diagram showing the configuration of a robot according to a modified example of the present invention; It is a figure which shows the robot based on the modification of this invention.

Hereinafter, robots according to embodiments for carrying out the present invention will be described with reference to the drawings.

(First embodiment)
As shown in FIG. 1, the robot 100 according to the first embodiment has a deformed shape of a human and has a function of autonomous movement in a room. The robot 100 includes a head 101 in which members imitating eyes, a mouth, and a nose are arranged, a body (housing) 102 in which members imitating legs are arranged, and a speaker 103 arranged in the head 101. and an imaging unit 104, a non-contact distance sensor 120 arranged on the torso 102, a contact sensor 130 arranged on a member imitating a leg, a moving means 105 arranged on the bottom, and on the back of the torso 102 , and a control unit 110 and a power supply unit 150 inside the body unit 102 . A body part 102 of the robot 100 is equipped with a costume 200 which is clothing.

The speaker 103 is provided at the position of the mouth of the head 101 and speaks a sound based on the control of the control unit 110 .

The imaging unit 104 is provided in the lower front part of the head 101, at the position of the nose of a human face. The imaging unit 104 captures an image of a subject such as a person, and outputs data representing the captured image to the control unit 110 .

The moving means 105 is composed of a motor and tires, and when moving the robot 100 based on the control of the control unit 110, the fixed object detected by the non-contact distance sensor 120 or another fixed object different from the fixed object is detected. The robot 100 moves autonomously in a region where it does not collide with objects. The moving means 105 changes the traveling direction of the robot 100 when the distance to the fixed object becomes smaller than the reference value. Further, the moving means 105 outputs data indicating the number of revolutions of the tire to the control section 110 . It should be noted that autonomous movement of the robot 100 so as not to come into contact with a fixed object excludes the case where the robot 100 comes into contact with a fixed object in a first determination process to be described later. Fixed objects and other fixed objects consist of obstacles to the movement of the robot 100, and include, for example, walls of a room, sofas, furniture such as tables, and the like.

The control unit 110 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The ROM is composed of non-volatile memory such as flash memory, and stores programs for the control unit 110 to implement various functions. The RAM is composed of volatile memory, and is used as a work area for executing programs for the control unit 110 to perform various processes. Also, the RAM stores distance data. As shown in FIG. 2, the control unit 110 reads a program stored in the ROM and executes it on the RAM, thereby obtaining an object distance acquisition unit 111, a moving distance acquisition unit 112, a determination unit 113, and a It functions as the notification unit 114 .

The object distance acquisition unit 111 acquires the distance measured by the non-contact distance sensor 120, and stores the acquired distance data in the RAM. Specifically, the object distance acquisition unit 111 obtains the distance ΔL measured by the non-contact distance sensor 120 when the robot 100 contacts the fixed object, and the non-contact distance when the robot 100 retreats by the reference distance after contacting the fixed object The distance L measured by the contact distance sensor 120 is acquired.

The movement distance acquisition unit 112 acquires the number of revolutions of the tire output from the moving means 105 and detects the movement distance of the robot 100 . Further, the movement distance acquisition unit 112 detects that the contact sensor 130 has come into contact with a fixed object that exists outside the robot 100 and does not change its position, and then retreats by a reference distance so that the robot 100 is separated from the fixed object. . Whether or not the vehicle has retreated by the reference distance is determined by acquiring the number of rotations of the tire output from the moving means 105 and determining whether or not the tire has rotated by a predetermined number of rotations.

Based on the distance acquired by the object distance acquisition unit 111 and the movement distance of the robot 100 acquired by the movement distance acquisition unit 112, the determination unit 113 determines whether the non-contact distance sensor 120 is operating normally. determine whether Specifically, the distance ΔL to the fixed object measured when the robot 100 comes into contact with the fixed object, and the distance L to the fixed object measured by the non-contact distance sensor 120 after moving away from the fixed object by the reference distance , and whether or not the absolute value of the difference between the distance L−distance ΔL and the reference distance D is greater than or equal to the reference value. Therefore, the determination unit 113 can determine whether the non-contact distance sensor 120 is operating normally without using the appearance image of the robot 100 . Further, when the imaging unit 104 is imaging a subject different from that of the robot 100, the determination unit 113 determines whether the non-contact distance sensor 120 is operating normally without using the external image of the robot 100. can judge.

The notification unit 114 notifies the user by voice from the speaker 103 whether or not the non-contact distance sensor 120 is operating normally.

The non-contact distance sensor 120 is a sensor that is provided to avoid fixed objects existing in the traveling direction of the robot 100 and measures the distance to the fixed object positioned in front. A non-contact distance sensor 120 is attached to the front of the body portion 102 . If the non-contact distance sensor 120 is attached to the head 101, the distance to a fixed object positioned in front cannot be measured when the head 101 is turned left or right. installed. The non-contact distance sensor 120 may be hidden when the costume 200 is worn on the body portion 102 . The non-contact distance sensor 120 is composed of, for example, an ultrasonic sensor. An ultrasonic sensor is a sensor that detects the distance to a fixed object by transmitting ultrasonic waves toward an object with a transmitter and receiving the reflected waves with a receiver.

The contact sensor 130 is a sensor that determines whether or not the robot 100 has come into contact with a fixed object, and is composed of a pressure sensor, a bumper switch, and the like. A pressure sensor changes its resistance value depending on the pressure of contact. A bumper switch has a bumper and a switch, and the switch is turned on when it comes into contact with a fixed object.

The operation button 140 is provided on the back of the body section 102 and is a button for operating the robot 100, and includes a power button.

The power supply unit 150 is composed of a rechargeable battery built into the body unit 102 and supplies electric power to each unit of the robot 100 .

Next, the first determination process executed by the robot 100 having the above configuration will be described. The first determination process is a process of determining whether or not the non-contact distance sensor 120 is operating normally.

When the user operates the operation button 140 to turn on the power, the first determination process shown in FIG. 3 is started. The first determination process executed by the robot 100 will be described below using a flowchart.

First, the movement distance acquisition unit 112 controls the movement means 105 to advance the robot 100 (step S101). Next, the movement distance acquisition unit 112 determines whether or not the contact sensor 130 has come into contact with a fixed object existing outside the robot 100 (step S102). When the contact sensor 130 determines that the stationary object is not in contact (step S102; No), steps S101 to S102 are repeated.

When the contact sensor 130 determines that the fixed object has been contacted (step S102; Yes), the object distance acquisition unit 111 acquires the distance ΔL to the fixed object measured by the non-contact distance sensor 120 (step S103). After that, it retreats by a reference distance (step S104). Whether or not the vehicle has retreated by the reference distance is determined by determining whether or not the tire has rotated by a predetermined number of rotations after the movement distance acquisition unit 112 acquires the number of rotations of the tire output from the moving means 105 . Next, the object distance acquisition unit 111 acquires the distance L to the fixed object measured by the non-contact distance sensor 120 (step S105). After that, the acquired distance data is stored in the RAM. Next, the determination unit 113 determines whether or not the absolute value of the difference between the reference distance and the distance L-distance ΔL is equal to or greater than the reference value (step S106).

When it is determined that the absolute value of the difference between the reference distance and the distance L-distance ΔL is equal to or greater than the reference value (step S106; Yes), the notification unit 114 indicates that the non-contact distance sensor 120 is not operating normally. is notified to the user by voice from the speaker 103 (step S107). After that, the first determination process ends. When it is determined that the absolute value of the difference between the reference distance and the distance L-distance ΔL is not equal to or greater than the reference value (step S106; No), the notification unit 114 notifies that the non-contact distance sensor 120 is operating normally. The user is notified by voice from the speaker 103 (step S108). After that, the first determination process ends.

Next, the first determination process executed by the robot 100 according to the present embodiment will be described based on a specific example with reference to FIGS. 4 and 5. FIG. In this example, it is assumed that the robot 100 is equipped with a costume 200 and that the costume 200 partially covers the non-contact distance sensor 120 .

When the user operates the operation button 140 to turn on the power, the robot 100 starts the first determination process. When the first determination process starts, the movement distance acquisition unit 112 controls the movement means 105 to advance the robot 100 (step S101; FIG. 3). Next, the movement distance acquisition unit 112 determines whether or not the contact sensor 130 has come into contact with the wall W, which is a fixed object existing outside the robot 100 (step S102; FIG. 3).

As shown in FIG. 4, when the contact sensor 130 determines that the contact sensor 130 has come into contact with the wall W (step S102; Yes; FIG. ΔL is acquired (step S103; FIG. 3). After that, as shown in FIG. 5, it retreats by a reference distance (step S104; FIG. 3). Next, the object distance acquisition unit 111 acquires the distance L to the wall W measured by the non-contact distance sensor 120 (step S105; FIG. 3). Next, the determination unit 113 determines whether or not the absolute value of the difference between the reference distance and the distance L-distance ΔL is equal to or greater than the reference value (step S106; FIG. 3).

When it is determined that the absolute value of the difference between the reference distance and the distance L-distance ΔL is equal to or greater than the reference value (step S106; Yes; FIG. 3), the notification unit 114 detects that the non-contact distance sensor 120 is operating normally. The user is notified by voice from the speaker 103 (step S107; FIG. 3). One of the reasons why the non-contact distance sensor 120 does not operate normally is that the clothing 200 partially covers the non-contact distance sensor 120 . After that, the first determination process ends. If it is determined that the absolute value of the difference between the reference distance and the distance L-distance ΔL is not equal to or greater than the reference value (step S106; No; FIG. 3), the notification unit 114 detects that the non-contact distance sensor 120 is operating normally. The user is notified by voice from the speaker 103 (step S108; FIG. 3). After that, the first determination process ends.

As described above, according to the robot 100 of the present embodiment, the non-contact distance sensor 120 is detected by the distance moved from the position in contact with the fixed object and the distance to the fixed object measured by the non-contact distance sensor 120. Whether or not the robot 100 is operating normally can be determined by the robot 100 alone. As shown in FIG. 1, when the clothing 200 attached to the robot 100 may cover the non-contact distance sensor 120, it is particularly useful for determining whether the non-contact distance sensor 120 is operating normally. is. Therefore, the robot 100 can easily determine the state of the robot by itself.

(Second embodiment)
In the robot 100 according to the first embodiment, the non-contact distance sensor 120 normally operates based on the distance moved from the position in contact with the fixed object and the distance to the fixed object measured by the non-contact distance sensor 120. Determine whether or not On the other hand, the robot 100 according to the second embodiment moves after measuring the distance to the fixed object by the non-contact distance sensor 120, measures the distance to the fixed object again after the movement, and measures the distance to the fixed object again. Based on the difference between the distance and the distance after movement, and the movement distance, it is determined whether the non-contact distance sensor 120 is operating normally. The robot 100 according to the second embodiment differs from the robot 100 according to the first embodiment in the object distance acquisition unit 111 , movement distance acquisition unit 112 and determination unit 113 . The object distance acquisition unit 111, movement distance acquisition unit 112, and determination unit 113 will be described below.

The object distance acquisition unit 111 acquires the distance measured by the non-contact distance sensor 120, and stores the acquired distance data in the RAM. Specifically, each time the robot 100 moves by a reference distance, the object distance obtaining unit 111 obtains the distance Ln between the robot 100 and the fixed object measured by the non-contact distance sensor 120 .

The movement distance acquisition unit 112 acquires the number of revolutions of the tire output from the moving means 105 and detects the movement distance of the robot 100 . Specifically, the movement distance acquisition unit 112 determines whether or not the robot 100 has moved by the reference distance. output to

Based on the distance acquired by the object distance acquisition unit 111 and the movement distance of the robot 100 acquired by the movement distance acquisition unit 112, the determination unit 113 determines whether the non-contact distance sensor 120 is operating normally. Whether is determined over a plurality of times. Further, the determination unit 113 divides the number of times the non-contact distance sensor 120 is determined not to operate normally by the number of times it determines whether the non-contact distance sensor 120 is operating normally. It is determined whether or not the non-contact distance sensor 120 is operating normally based on whether or not the above is the case. Specifically, the distance L1 to the fixed object measured before the robot 100 moves the reference distance, the distance L2 to the fixed object measured after the robot 100 moves the reference distance, and the distance L1 - the distance L2 and the reference Whether or not the non-contact distance sensor 120 is operating normally is determined multiple times based on whether or not the absolute value of the difference from the distance D is greater than or equal to a reference value. Further, whether or not the value obtained by dividing the number of times the non-contact distance sensor 120 did not operate normally by the number of times it was determined whether or not the non-contact distance sensor 120 was operating normally is greater than or equal to the reference value. determines whether the non-contact distance sensor 120 is operating normally.

Next, a second determination process executed by the robot 100 according to the present embodiment will be described based on a specific example with reference to FIGS. 7 and 8. FIG.

When the user operates the operation button 140 to turn on the power, the second determination process shown in FIG. 6 is started. The second determination process executed by the robot 100 will be described below using a flowchart.

First, the determination unit 113 sets the variable i=1 and the variable m=0 (step S201; FIG. 6). The variable m counts the number of times it is determined that the non-contact distance sensor 120 is not operating normally. Next, as shown in FIG. 7, the object distance acquisition unit 111 acquires the distance L1 to the fixed object measured by the non-contact distance sensor 120 (step S202; FIG. 6). Next, the moving distance acquisition unit 112 controls the moving means 105 to move the robot 100 forward by a reference distance as shown in FIG. 8 (step S203; FIG. 6). Next, the object distance acquisition unit 111 acquires the distance L2 to the fixed object measured by the non-contact distance sensor 120 (step S204; FIG. 6). Next, determination unit 113 determines whether non-contact distance sensor 120 is operating normally (step S205; FIG. 6). Specifically, when the absolute value of the difference between distance L1-distance L2 and the reference distance is less than the reference value, determination unit 113 determines that non-contact distance sensor 120 is operating normally. If the absolute value of the difference between distance L1 - distance L2 and the reference distance is greater than or equal to the reference value, it is determined that non-contact distance sensor 120 is not operating normally. If it is determined that the non-contact distance sensor 120 is not operating normally (step S205; No; FIG. 6), the variable m is incremented (step S206; FIG. 6). Next, the determination unit 113 determines whether or not the variable i=n (step S207; FIG. 6). When it is determined that the non-contact distance sensor 120 is operating normally (step S205; Yes; FIG. 6), the determination unit 113 determines whether the variable i=n (step S207; FIG. 6). Next, if it is determined that the variable i is not equal to n (step S207; No; FIG. 6), the variable i is incremented (step S208; FIG. 6) and the process returns to step S202. Steps S202 to S208 are repeated until the variable i=n. The variable n is an arbitrary predetermined integer, and indicates the number of times it is determined whether the non-contact distance sensor 120 is operating normally.

Next, when it is determined that the variable i=n (step S207; Yes; FIG. 6), m (the number of times it is determined that the non-contact distance sensor 120 is not operating normally)/n (the non-contact distance It is determined whether or not the number of times the sensor 120 has been determined to be operating normally is equal to or greater than a reference value (step S209; FIG. 6). Note that m/n indicates the probability that it is determined that the non-contact distance sensor 120 is not operating normally. When it is determined that m/n is equal to or greater than the reference value (step S209; Yes; FIG. 6), the notification unit 114 notifies the user by voice from the speaker 103 that the non-contact distance sensor 120 is not operating normally. (Step S210; FIG. 6). After that, the determination process ends. When it is determined that m/n is not equal to or greater than the reference value (step S209; No; FIG. 6), the notification unit 114 notifies the user by voice from the speaker 103 that the non-contact distance sensor 120 is operating normally ( Step S211; FIG. 6). After that, the determination process ends.

As described above, according to the robot 100 of the second embodiment, the non-contact distance sensor 120 normally operates based on the distance to the fixed object measured by the non-contact distance sensor 120 and the reference distance of movement. The robot 100 alone can determine whether the robot 100 is on or not. In addition, when it is determined whether or not the non-contact distance sensor 120 is operating normally over a plurality of times, and the rate at which it is determined that the non-contact distance sensor 120 is not operating normally is greater than or equal to the reference value, It is determined that the non-contact distance sensor 120 is not operating normally. As shown in FIG. 1, the non-contact distance sensor 120 may or may not operate normally due to the clothing 200 attached to the robot 100 partially or occasionally covering the non-contact distance sensor 120. There is As described above, the robot 100 makes determinations multiple times, so the determination result is less likely to be influenced by the timing of determination. Further, when the costume 200 is made of mesh or thin fabric, even if the costume 200 covers the non-contact distance sensor 120, the distance may be measured stochastically, and the probability of being able to measure the distance is constant. If so, it is determined that the non-contact distance sensor 120 is operating normally.

(Modification)
In the above embodiment, an example was described in which robot 100 determines whether non-contact distance sensor 120 is operating normally without determining whether clothing is attached. As shown in FIG. 9, the robot 100 may further include an ornamental information acquisition unit 115 that acquires information indicating whether or not clothes or ornaments are attached to the robot 100 . In this case, when the decoration information acquisition unit 115 acquires information that clothing or accessories are attached to the robot 100 and the determination unit 113 determines that the non-contact distance sensor 120 is not operating normally, the notification unit 114 may notify that the non-contact distance sensor 120 is covered with a decoration and is not operating properly.

The decoration information acquisition unit 115 may determine that clothing or an accessory is worn when acquiring information indicating that light is blocked from the optical sensor 160 arranged on the body 102 shown in FIG. 10 . Further, when the decoration information acquisition unit 115 acquires information indicating that a switch arranged on the body part 102 has been pressed, the decoration information acquisition unit 115 may determine that clothing or an accessory has been worn. Also, the decoration information acquisition unit 115 acquires image data of the robot 100 reflected in the mirror captured by the imaging unit 104, and the image of the robot 100 reflected in the mirror and the image of the robot 100 that is wearing the previously stored clothes or accessories. Information on whether or not the robot 100 is equipped with clothing or accessories may be obtained by comparing it with an image that does not exist.

When the robot 100 is provided with the decoration information acquisition unit 115 that acquires information indicating whether or not clothes or accessories are attached to the robot 100, the decoration information acquisition unit 115 receives information that the robot 100 has clothes or accessories attached. , the first determination process or the second determination process may be performed. By doing so, if the robot 100 is not attached with clothing or accessories, the possibility that the non-contact distance sensor 120 is not operating normally is low, and the first determination process or the second determination process described above is performed. Since the judgment process can be omitted, the amount of information processing executed by the robot 100 can be reduced.

In the above-described second embodiment, the determination unit 113 determines whether the non-contact distance sensor 120 is operating normally over a plurality of times, and determines whether the non-contact distance sensor 120 is not operating normally. An example has been described in which it is determined that the non-contact distance sensor 120 is not operating normally when the ratio determined to be equal to or greater than the reference value. The determination unit 113 determines whether the non-contact distance sensor 120 is operating normally a plurality of times, and based on the results of the multiple determinations, determines whether the non-contact distance sensor 120 is operating normally. For example, the determination unit 113 determines whether the non-contact distance sensor 120 is operating normally a plurality of times, and determines whether the non-contact distance sensor 120 is operating normally a reference number of times in succession. If it is determined that there is no contact, it may be determined that the non-contact distance sensor 120 is not operating normally. In this way, when clothing or accessories cover the non-contact distance sensor 120 and the non-contact distance sensor 120 does not operate normally, it can be determined that the non-contact distance sensor 120 does not operate normally.

In the above embodiment, an example in which the non-contact distance sensor 120 is composed of an ultrasonic sensor has been described. It may consist of a laser range finder for measuring distance.

In the above-described embodiment, an example has been described in which the movement distance acquisition unit 112 acquires the number of rotations of the tire output from the moving means 105 and detects the movement distance of the robot 100 . The movement distance acquisition unit 112 is different from the non-contact distance sensor 120, and is only required to detect the movement distance of the robot 100. For example, the movement distance acquisition unit 112 is output from an optical sensor attached to the bottom of the robot 100 that detects movement. It is also possible to detect the movement distance of the robot 100 by acquiring the data obtained from the measurement. In addition, the robot 100 is provided with a non-contact distance sensor different from the non-contact distance sensor 120, and the movement distance acquisition unit 112 obtains a A movement distance may be detected. Other non-contact distance sensors can be used, for example, laser rangefinders. Alternatively, a laser rangefinder may be used as the non-contact distance sensor 120, and an ultrasonic sensor may be used as another non-contact distance sensor.

In the above-described embodiment, an example in which the moving means 105 is composed of a motor and tires has been described. The moving means 105 only needs to be able to move the robot 100, and may be composed of, for example, a plurality of legs and motors for moving the legs. By doing so, the shape of the robot 100 can be made closer to a person or an animal. In this case, the moving means 105 outputs data indicating the stride length and the number of steps to the control section 110 .

In the above embodiment, an example in which the robot 100 is equipped with the costume 200 has been described. The robot 100 may be equipped with clothes or accessories other than the costume 200 . For example, accessories such as necklaces may be worn.

In the embodiment described above, an example in which the non-contact distance sensor 120 is attached to the front surface of the body portion 102 has been described. The non-contact distance sensor 120 may be attached to any position of the robot 100, for example, it may be provided at the position of the nose, the position of the right or left eye, the position between the right and left eyes, or the position of the forehead. may be provided.

In the above-described embodiment, an example in which robot 100 has a human-like shape has been described, but the shape of robot 100 is not particularly limited. It may be a shape imitating an animation character or an imaginary creature. Also, the robot 100 may be any robot that can move autonomously, and includes a cleaning robot that autonomously travels to clean floors, a security robot that performs patrol monitoring, and an automobile that has an automatic driving function.

In addition, the main part of the processing executed by the control unit 110, which is composed of a CPU, RAM, ROM, etc., is not based on a dedicated system, but a normal information portable terminal (smartphone, tablet PC (Personal Computer)), It can be executed using a personal computer or the like. For example, a computer program for executing the above-described operations can be stored on a computer-readable recording medium (flexible disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory), etc.). By storing, distributing, and installing this computer program in a portable information terminal or the like, an information terminal that executes the above-described processing may be constructed. Alternatively, the computer program may be stored in a storage device of a server device on a communication network such as the Internet, and may be downloaded by an ordinary information processing terminal to constitute an information processing device.

In addition, when the functions of the control unit 110 are realized by sharing the functions of an OS (Operating System) and an application program, or by cooperation between the OS and an application program, only the application program portion is stored in a recording medium or storage device. You may

It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be posted on a bulletin board system (BBS: Bulletin Board System) on a communication network and distributed over the network. Then, this computer program may be activated and executed in the same manner as other application programs under the control of the OS so that the above processing can be executed.

The present invention is capable of various embodiments and modifications without departing from the broader spirit and scope of the invention. Moreover, the above-described embodiments are for explaining the present invention, and do not limit the scope of the present invention. In other words, the scope of the present invention is indicated by the claims rather than the embodiments. Various modifications made within the scope of the claims and within the meaning of equivalent inventions are considered to be within the scope of the present invention. The invention described in the original claims of the present application is appended below.

(Appendix 1)
a moving means for autonomously moving the device;
a non-contact distance sensor for measuring distance;
a moving distance acquisition means different from the non-contact distance sensor for acquiring the moving distance of the own device;
determination means for determining whether the non-contact distance sensor is operating normally based on the distance measured by the non-contact distance sensor and the distance acquired by the moving distance acquisition means;
comprising
A robot characterized by:

(Appendix 2)
The determination means determines that the non-contact distance sensor is normal when the absolute value of the difference between the distance measured by the non-contact distance sensor and the distance acquired by the moving distance acquisition means is equal to or greater than a reference value. and determining that the non-contact distance sensor is operating normally when the absolute value of the difference is less than the reference value;
The robot according to appendix 1, characterized by:

(Appendix 3)
The non-contact distance sensor detects the distance to a fixed object that obstructs movement.
The robot according to appendix 1 or 2, characterized by:

(Appendix 4)
The moving means moves the device itself by a reference distance,
The non-contact distance sensor detects the distance between the self-device and the fixed object before the self-device is moved by the moving means and after the self-device is moved by the reference distance,
The determination means subtracts the distance between the device and the fixed object detected after movement from the distance between the device and the fixed object detected by the non-contact distance sensor before movement, and , determining whether the non-contact distance sensor is operating normally based on the reference distance;
The robot according to appendix 3, characterized by:

(Appendix 5)
further comprising a contact sensor for detecting whether or not the device has come into contact with the fixed object;
The determination means determines a distance to the fixed object measured by the non-contact distance sensor when the self-device retreats by a reference distance away from the fixed object after contacting the fixed object, and a reference distance. , determining whether the non-contact distance sensor is operating normally based on whether the absolute value of the difference is greater than or equal to a reference value;
The robot according to appendix 3 or 4, characterized by:

(Appendix 6)
The determination means determines whether or not the non-contact distance sensor is operating normally a plurality of times, and determines the non-contact distance sensor based on the number of times it is determined that the non-contact distance sensor is not operating normally. determining whether the contact distance sensor is operating normally;
The robot according to any one of Appendices 1 to 5, characterized by:

(Appendix 7)
The determination means divides the number of times the non-contact distance sensor is determined not to be operating normally by the number of times it is determined whether the non-contact distance sensor is operating normally, and the value is equal to or greater than a reference value. Determining whether the non-contact distance sensor is operating normally according to whether there is
The robot according to appendix 6, characterized by:

(Appendix 8)
The determination means determines that the non-contact distance sensor is not operating normally when it is determined that the non-contact distance sensor is not operating normally for a reference number of times consecutively.
The robot according to appendix 6, characterized by:

(Appendix 9)
Further comprising a notification means for notifying the determination result determined by the determination means,
9. The robot according to any one of Appendices 1 to 8, characterized by:

(Appendix 10)
further comprising a decoration information obtaining means for obtaining information indicating whether or not clothes or decorations are attached to the device,
When the information that the clothing or the accessory is attached to the self-device is acquired by the decoration information acquisition means and the determination means determines that the non-contact distance sensor is not operating normally, the notification means notifies that the non-contact distance sensor is covered by the clothing or the accessory and is not operating properly,
The robot according to appendix 9, characterized by:

(Appendix 11)
further comprising a decoration information obtaining means for obtaining information indicating whether or not clothes or decorations are attached to the device,
When the decoration information acquisition means acquires information that the clothing or the accessory is attached, the determination means determines whether the non-contact distance sensor is operating normally.
10. The robot according to any one of Appendices 1 to 9, characterized by:

(Appendix 12)
the ornament includes an accessory,
12. The robot according to appendix 10 or 11, characterized by:

(Appendix 13)
When moving the device, the moving means moves the device in a region where it does not collide with a fixed object or another fixed object different from the fixed object.
13. The robot according to any one of appendices 1 to 12, characterized in that:

(Appendix 14)
The determination means determines whether or not the non-contact distance sensor is operating normally without using the appearance image of the device itself.
14. The robot according to any one of appendices 1 to 13, characterized by:

(Appendix 15)
Further comprising imaging means for imaging an image,
The determination means determines whether or not the non-contact distance sensor is operating normally without using the appearance image of the own device when the imaging means is imaging a subject different from that of the own device. determine the
15. The robot according to appendix 14, characterized by:

(Appendix 16)
the fixed objects and the other fixed objects include walls or furniture;
The robot according to appendix 13, characterized by:

(Appendix 17)
A control method for a robot comprising a moving means for autonomously moving the robot and a non-contact distance sensor for measuring a distance,
a moving distance acquisition step different from the non-contact distance sensor for acquiring the moving distance of the own device;
a determination step of determining whether the non-contact distance sensor is operating normally based on the distance measured by the non-contact distance sensor and the distance obtained in the movement distance obtaining step;
including,
A robot control method characterized by:

(Appendix 18)
A computer that controls a robot that includes a moving means that autonomously moves the robot and a non-contact distance sensor that measures the distance,
Movement distance acquisition means different from the non-contact distance sensor, which acquires the movement distance of the own device,
determination means for determining whether the non-contact distance sensor is operating normally based on the distance measured by the non-contact distance sensor and the distance acquired by the moving distance acquisition means;
to function as
A program characterized by

DESCRIPTION OF SYMBOLS 100... Robot 101... Head 102... Body part 103... Speaker 104... Imaging part 105... Moving means 110... Control part 111... Object distance acquisition part 112... Movement distance acquisition part 113... Judgment Part 114... Notification part 115... Decoration information acquisition part 120... Non-contact distance sensor 130... Contact sensor 140... Operation button 150... Power supply part 160... Optical sensor 200... Costume

Claims (7)

A robot wearing clothing or accessories,
a driving means driven to move the device autonomously;
a non-contact distance sensor that measures the distance to an object that reflected the signal by receiving the reflected wave of the signal transmitted in a predetermined direction;
When the device is moved from a predetermined position by a predetermined distance, whether or not the movement distance of the device from the predetermined position has reached the predetermined distance is determined based on the driving amount of the driving means. movement distance determination means for determining;
Based on the difference value between the first distance and the second distance and the predetermined distance, the non-contact distance sensor determines the distance to an obstacle that hinders movement when the self-device moves autonomously. a sensor state determination means for determining whether or not it is in a state in which it is possible to measure
notification means for notifying that the non-contact distance sensor is covered with the clothing or the accessory when the sensor state determination means determines that the non-contact distance sensor is covered;
with
the first distance is a distance measured by the non-contact distance sensor when the device is positioned at the predetermined position;
The second distance is determined when the device is positioned at a position where the movement distance of the device from the predetermined position is determined to have reached the predetermined distance by the movement distance determining means. is the distance measured by the non-contact distance sensor,
A robot characterized by: A robot wearing clothing or accessories,
a driving means driven to move the device autonomously;
a non-contact distance sensor that measures the distance to an object that reflected the signal by receiving the reflected wave of the signal transmitted in a predetermined direction;
Moving distance measurement for measuring a moving distance from the first position to the second position based on the driving amount of the driving means when moving the own device from the first position to the second position means and
Based on the difference value between the first distance and the second distance and the movement distance, the non-contact distance sensor determines the distance to an obstacle that hinders movement when the self-device autonomously moves. a sensor state determination means for determining whether or not the sensor is in a measurable state;
notification means for notifying that the non-contact distance sensor is covered with the clothing or the accessory when the sensor state determination means determines that the non-contact distance sensor is covered;
with
The first distance is a distance measured by the non-contact distance sensor when the device is positioned at the first position,
The second distance is the distance measured by the non-contact distance sensor when the device is positioned at the second position,
A robot characterized by: By having a head and a body part, the appearance is configured in a shape imitating a person or an animal,
The non-contact distance sensor is attached to the head or the body,
3. The robot according to claim 1 or 2, characterized in that: A driving means driven to autonomously move the self-device, and a non-contact distance sensor that measures the distance to the object that reflected the signal by receiving the reflected wave of the signal transmitted in a predetermined direction. A state determination method executed by a robot equipped with clothes or accessories , comprising:
When the device is moved from a predetermined position by a predetermined distance, whether or not the movement distance of the device from the predetermined position has reached the predetermined distance is determined based on the driving amount of the driving means. a movement distance determination process to determine;
Based on the difference value between the first distance and the second distance and the predetermined distance, the non-contact distance sensor determines the distance to an obstacle that hinders movement when the self-device moves autonomously. a sensor state determination process for determining whether or not the sensor is in a measurable state;
a notification process for notifying that the non-contact distance sensor is in a state covered by the clothing or the accessory when the sensor state determination process determines that the non-contact distance sensor is covered;
including
the first distance is a distance measured by the non-contact distance sensor when the device is positioned at the predetermined position;
The second distance is determined when the device is positioned at a position where the movement distance of the device from the predetermined position is determined to have reached the predetermined distance by the movement distance determination processing. is the distance measured by the non-contact distance sensor,
A state determination method characterized by: A driving means driven to autonomously move the self-device, and a non-contact distance sensor that measures the distance to the object that reflected the signal by receiving the reflected wave of the signal transmitted in a predetermined direction. A state determination method executed by a robot equipped with clothes or accessories , comprising:
Moving distance measurement for measuring a moving distance from the first position to the second position based on the driving amount of the driving means when moving the own device from the first position to the second position processing;
Based on the difference value between the first distance and the second distance and the movement distance, the non-contact distance sensor determines the distance to an obstacle that hinders movement when the self-device autonomously moves. a sensor state determination process for determining whether or not the sensor is in a measurable state;
a notification process for notifying that the non-contact distance sensor is in a state covered by the clothing or the accessory when the sensor state determination process determines that the non-contact distance sensor is covered;
including
The first distance is a distance measured by the non-contact distance sensor when the device is positioned at the first position,
The second distance is the distance measured by the non-contact distance sensor when the device is positioned at the second position,
A state determination method characterized by: A driving means driven to autonomously move the self-device, and a non-contact distance sensor that measures the distance to the object that reflected the signal by receiving the reflected wave of the signal transmitted in a predetermined direction. a robot computer equipped with clothing or accessories ,
When the device is moved from a predetermined position by a predetermined distance, whether or not the movement distance of the device from the predetermined position has reached the predetermined distance is determined based on the driving amount of the driving means. movement distance determination means for determination;
Based on the difference value between the first distance and the second distance and the predetermined distance, the non-contact distance sensor determines the distance to an obstacle that hinders movement when the self-device moves autonomously. sensor state determination means for determining whether or not it is in a state where it is possible to measure
Notification control means for notifying that the non-contact distance sensor is in a state covered by the clothing or the accessory when the sensor state determination means determines that the non-contact distance sensor is in a state of being covered;
function as
the first distance is a distance measured by the non-contact distance sensor when the device is positioned at the predetermined position;
The second distance is determined when the device is positioned at a position where the movement distance of the device from the predetermined position is determined to have reached the predetermined distance by the movement distance determining means. is the distance measured by the non-contact distance sensor,
A program characterized by A driving means driven to autonomously move the self-device, and a non-contact distance sensor that measures the distance to the object that reflected the signal by receiving the reflected wave of the signal transmitted in a predetermined direction. a robot computer equipped with clothing or accessories ,
Moving distance measurement for measuring a moving distance from the first position to the second position based on the driving amount of the driving means when moving the own device from the first position to the second position means,
Based on the difference value between the first distance and the second distance and the movement distance, the non-contact distance sensor determines the distance to an obstacle that hinders movement when the self-device autonomously moves. sensor state determination means for determining whether or not it is in a measurable state;
Notification control means for notifying that the non-contact distance sensor is in a state covered by the clothing or the accessory when the sensor state determination means determines that the non-contact distance sensor is in a state of being covered;
function as
The first distance is a distance measured by the non-contact distance sensor when the device is positioned at the first position,
The second distance is the distance measured by the non-contact distance sensor when the device is positioned at the second position,
A program characterized by

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