WO2010001666A1

WO2010001666A1 - Robot

Info

Publication number: WO2010001666A1
Application number: PCT/JP2009/059202
Authority: WO
Inventors: 孝弘渡辺; 清司井上
Original assignee: 沖電気工業株式会社
Priority date: 2008-07-01
Filing date: 2009-05-19
Publication date: 2010-01-07
Also published as: JP2010012529A

Abstract

A robot is provided with a movable section, a case, an inserting port, a connecting terminal, a fixing section, a power feeding section and a control section. The inserting port is arranged on an outer surface of the case, and a portable terminal is inserted therein. The connecting terminal is electrically connected with the portable terminal inserted into the inserting port. The fixing section fixes the portable terminal inserted into the inserting port. The power feeding section transmits electric signals to the portable terminal through the connecting terminal. The control section controls operation of the power feeding section.

Description

robot

The present invention relates to a robot.

In recent years, robots, such as pet robots, have become deeply involved in people's lives. The following technologies are related to robots.

Regarding the charging system, visibility identification data arranged at a predetermined part of the charging station as a technique for charging the mobile robot that freely moves in the work space without a path by the battery, using the charging station. Imaging means mounted on the mobile robot, computing means for calculating the distance and direction from the mobile robot to the charging station based on the captured image, and moving the mobile robot toward the charging station based on the calculation result by the computing means Search means for searching. Since a mobile robot can search for a charging station by tracking visibility identification data with a camera, a system capable of automating charging work has been proposed (Patent Document 1).

In addition, as a technology for providing an inexpensive robot system with a robot that is easy to handle and fully utilized in general society, a mobile phone is set in a charger. The telephone connector is electrically connected to the charger connector. Thereby, various signals and electric power are transmitted between the mobile phone and the charger. The CPU receives signals from the charger attachment / detachment sensor, the charger charge capacity sensor, and the timepiece module, and controls the communication module in accordance with the communication control program stored in the memory, and the robot in accordance with the robot control program stored in the memory. Has been proposed (Patent Document 2).

In recent years, one person owns one mobile phone. Mobile phones are equipped with cameras, TV functions, and the like, and are becoming more and more multifunctional year by year.

JP 2001-125641 A JP 2007-110335 A

Various applications can be expected by linking mobile phones and robots against the background described above. As a direct link technique between a mobile phone and a robot, there is a connection between the mobile phone and a robot.
Specifically, for example, a cellular phone insertion slot is provided in an upward portion such as the back of a pet robot, and the cellular phone is inserted into the insertion slot to be electrically connected.

However, simply inserting the mobile phone into the insertion slot may cause the mobile phone to fall off the insertion slot and break down when the robot moves or tilts.
On the other hand, if the mobile phone is firmly locked at the insertion slot, it becomes difficult to attach and detach the mobile phone, and the convenience for the user is impaired.

Therefore, there is a demand for a robot that can easily attach and detach a mobile phone and prevent the mobile phone from being detached when moving.

A robot according to the present invention is a robot having a movable part, and is inserted into an insertion slot into which a portable terminal is inserted, a connection terminal electrically connected to the portable terminal inserted into the insertion slot, and the insertion slot. A fixing unit that fixes the mobile terminal, a power transmission unit that transmits an electric signal to the mobile terminal via the connection terminal, and a control unit that controls the operation of the power transmission unit, and the insertion port is provided on the main body housing of the robot. Prepare on the outside.

According to the robot of the present invention, since the insertion port of the mobile terminal is provided on the outer surface of the main body housing of the robot, the mobile terminal can be easily attached and detached.
In addition, there is a concern that the mobile terminal may be easily detached as a reaction that makes it easy to attach and detach the mobile terminal. However, since the robot according to the present invention includes a fixing portion to prevent this, when the robot moves Thus, it is possible to prevent the mobile terminal from being detached from the insertion slot.

1 is an external view of a robot 100 according to a first embodiment. 3 is a block diagram illustrating internal functions of the robot 100 according to Embodiment 1. FIG. 3 is an operation flow of the robot 100 according to the first embodiment. 2 is a diagram showing a configuration around an insertion slot 110 of a robot 100. FIG. FIG. 9 is a block diagram illustrating internal functions of a robot 100 according to a third embodiment. 10 is an operation flow of the robot 100 according to the third embodiment. FIG. 10 is a block diagram illustrating internal functions of a robot 100 according to a fourth embodiment. 10 is an operation flow of the robot 100 according to the fourth embodiment. FIG. 10 is a block diagram illustrating internal functions of a robot 100 according to a fifth embodiment. 10 is an operation flow of the robot 100 according to the sixth embodiment.

Embodiment 1
FIG. 1 is an external view of a robot 100 according to Embodiment 1 of the present invention.
The robot 100 according to the first embodiment is a quadruped walking type pet robot and includes an insertion slot 110 and a fixing mechanism 120.
1 shows a state before the mobile phone 200 is inserted into the insertion slot 110, and the right figure shows a state after the insertion.

The insertion port 110 is a port for inserting the mobile phone 200, and is provided on the back portion of the outer surface of the main body housing of the robot 100. A connection terminal 130 described later with reference to FIG. 2 is provided on the bottom surface of the insertion port 110.

The fixing mechanism 120 is a lock mechanism for preventing the mobile phone 200 from being detached from the insertion port 110 and falling off when the mobile phone 200 is inserted into the insertion port 110.
Here, a configuration in which the mobile phone 200 inserted into the insertion slot 110 is sandwiched from four directions is illustrated. However, the locking method is not limited to this, and the mobile phone 200 may be fixed using other methods. Further, not only a mechanical fixing method but also an electric fixing method may be used.

For example, a terminal corresponding to the electrode of the cradle charger of the mobile phone 200 is provided in the insertion port 110, and the terminal and the terminal on the mobile phone 200 side are fitted or engaged to fix the mobile phone 200. It may be a configuration.
Alternatively, the cradle charger of the mobile phone 200 may be set in the insertion port 110, and the fixing mechanism 120 may fix the cradle charger itself.

It should be noted that the operation flow such as an opportunity for the fixing mechanism 120 to operate will be described again with reference to FIG.

FIG. 2 is a block diagram showing the internal functions of the robot 100 according to the first embodiment. The robot 100 includes a connection terminal 130, an electric signal control unit 140, and a control unit 150 in addition to the configuration described in FIG.

The connection terminal 130 is provided on the bottom surface of the insertion port 110 and is electrically connected to a corresponding connection terminal of the mobile phone 200 when the mobile phone 200 is inserted into the insertion port 110.
For example, the connection terminal 130 may be a charging terminal, a communication signal terminal, a data terminal, or the like. Further, it may be a general-purpose electrical terminal that can output a plurality of signals.
The robot 100 and the mobile phone 200 transmit and receive power and transmit and receive communication signals and data via the connection terminal 130.

The electrical signal control unit 140 is a functional unit for controlling an electrical signal output to the mobile phone 200 when the connection terminal 130 and the mobile phone 200 are electrically connected.
The electrical signal output to the mobile phone 200 indicates, for example, a current for supplying charging power if the connection terminal 130 is a charging terminal, and indicates a communication signal if the connection terminal 130 is a communication signal terminal. Other data terminals can also be used.
The electrical signal control unit 140 is a circuit device for controlling the voltage, current, signal waveform, etc. of the electrical signal output to the mobile phone 200 via the connection terminal 130 according to the type and content of the electrical signal to be output, etc. Provide the necessary configuration.

The content of the electrical signal output from the electrical signal control unit 140 to the mobile phone 200 via the connection terminal 130 may be specified, or the user of the robot 100 may specify the content of the electrical signal. May be. For example, the following configuration examples 1 and 2 may be used.

Configuration example 1
When the mobile phone 200 and the connection terminal 130 are connected, the electric signal control unit 140 starts charging the mobile phone 200. The electric signal control unit 140 outputs a current for charging to the mobile phone 200 via the connection terminal 130.

Configuration example 2
An operation unit such as a remote controller for operating the robot 100 is provided. The user of the robot 100 inserts the mobile phone 200 into the insertion slot 110 and then operates the operation unit to specify the contents of the electrical signal to be transmitted / received between the mobile phone 200 and the robot 100.
For example, when the user performs an operation input indicating that “charging is to be started” on the operation unit, an operation signal indicating that is output to the control unit 150. The control unit 150 instructs the electric signal control unit 140 to output a current for charging to the mobile phone 200.
Alternatively, when the user performs an operation input indicating that “communication start” is to be performed on the operation unit, an operation signal indicating that is output to the control unit 150. The control unit 150 instructs the electric signal control unit 140 to transmit and receive communication signals to and from the mobile phone 200.
The electrical signal control unit 140 adjusts the voltage, current, signal waveform, and the like of the electrical signal so that any electrical signal can be output.

The control unit 150 controls the operation of the electric signal control unit 140. Further, the fixing mechanism 120 is operated to fix the mobile phone 200. In order to move the fixing mechanism 120, for example, an actuator that operates based on a control signal may be provided.
Further, the control unit 150 controls the quadruped walking motion of the robot 100. Specifically, drive control (not shown) such as a motor for driving each foot is controlled.
As the control unit 150, hardware such as a circuit device that realizes the function may be used, or an arithmetic device such as a microcomputer or a CPU (Central Processing Unit) and software that defines the operation may be used. .

The “movable part” in the first embodiment corresponds to the four legs of the robot 100 and its drive mechanism. The “power transmission unit” corresponds to the electrical signal control unit 140. Further, the “fixing portion” corresponds to the fixing mechanism 120.

FIG. 3 is an operation flow of the robot 100 according to the first embodiment. Hereinafter, each step of FIG. 3 will be described.

(S301)
The control unit 150 checks whether or not the mobile phone 200 is inserted into the insertion slot 110. If the cellular phone 200 has been inserted, the process proceeds to step S302, and if not, the operation flow ends.
As a specific method for confirming whether or not the mobile phone 200 is inserted into the insertion slot 110, for example, the following confirmation methods 1 to 3 may be used.

Confirmation method 1
By detecting that the connection terminal 130 and the mobile phone 200 are electrically connected, it is detected that the mobile phone 200 is inserted into the insertion slot 110. For example, a sensor that detects current and voltage flowing through the connection terminal 130 is provided, and the control unit 150 acquires a detection value of the sensor.

Confirmation method 2
A pressure-sensitive sensor is provided on the bottom surface of the insertion port 110. When the mobile phone 200 is inserted into the insertion slot and comes into contact with the pressure sensor, the control unit 150 acquires the detected value and detects that the mobile phone 200 is inserted into the insertion slot 110.

Confirmation method 3
The above-described confirmation method 1 and confirmation method 2 can be used in combination. For example, a method may be used in which a threshold value is provided for both detection values, and it is determined that the mobile phone 200 is inserted into the insertion slot 110 only when both detection values exceed the threshold value.

(S302)
The control unit 150 determines whether or not the robot 100 is moving or whether or not an electrical signal is being output between the connection terminal 130 and the mobile phone 200. When it corresponds to either, it progresses to step S303, and when it does not correspond to either, it returns to step S301.
This step prevents the mobile phone 200 from being detached from the insertion slot 110 due to the movement of the robot 100 and the electric signal output to the mobile phone 200 from being interrupted.
In this step, only one of whether or not the robot 100 is moving or whether or not an electric signal is being output from the connection terminal 130 to the mobile phone 200 may be determined.

(S303)
The control unit 150 operates the fixing mechanism 120 to fix the mobile phone 200 so that it does not come off the insertion slot 110. If already fixed, the fixed state is continued as it is.

(S304)
The control unit 150 determines whether or not the movement of the robot 100 has been completed and whether or not the output of the electrical signal has been completed. If each operation has been completed, the process proceeds to step S305. If any of the operations has not been completed, the process returns to step S303.
This step is a preparation step for detecting the end of the movement of the robot 100 and the output of the electric signal confirmed in step S302 and releasing the fixing of the mobile phone 200.
In this step, only one of whether the robot 100 is moving or whether an electrical signal is being output from the connection terminal 130 to the mobile phone 200 is determined corresponding to step S302. It may be.

(S305)
The control unit 150 releases the fixing of the fixing mechanism 120 and releases the mobile phone 200.
When the robot 100 is not moving and outputting no electrical signal, there is no need to fix the mobile phone 200. If fixed, the user cannot freely remove the mobile phone 200, which is inconvenient. Therefore, the fixing is released in this step based on the determination result in step S304.
(S306)
The control unit 150 determines whether or not to end this operation flow. If the operation is continued, the process returns to step S301.

The operation flow of the robot 100 according to the first embodiment has been described above.

In steps S302 and S304, it has been described that it is determined whether or not the robot 100 is moving. However, in addition to whether or not the robot 100 is moving, for example, whether or not the robot 100 is vibrating, the mobile phone You may make it determine comprehensively whether it exists in the condition where 200 may remove | deviate from the insertion port 110. FIG.

That is, not only when the robot 100 is autonomously moving, but the mobile phone 200 may be detached from the insertion slot 110 due to an external factor such as an earthquake.
For example, in the case of an earthquake, it may be possible that the movable part such as the four legs of the robot 100 vibrates irregularly or shakes back and forth. Therefore, regardless of the cause, the control unit 150 may When operating, the fixing mechanism 120 may be operated unconditionally.

In the first embodiment, the example in which the mobile phone 200 is inserted into the insertion slot 110 has been described. However, electronic devices other than the mobile phone are also electrically connected to the robot 100 to transmit and receive electrical signals. You may make it perform. The same applies to the following embodiments.
For example, PDA (Portable Digital Assistant) terminals, digital cameras, electronic notebooks, and the like may be portable electronic devices or terminals having a size, weight, connection interface, etc. that can be inserted into the insertion slot 110 and moved by the robot 100 For example, it can be handled in the same manner as the mobile phone 200 described in the first embodiment.

Further, in the first embodiment, the electrical signal output between the electrical signal control unit 140 and the mobile phone 200 does not necessarily need to be transmitted from only one, and the electrical signals are transmitted and received from each other. May be.
Further, even when an electric signal is transmitted only from either one, it may be transmitted from the electric signal control unit 140 to the mobile phone 200 or may be transmitted from the mobile phone 200 to the electric signal control unit 140.
The same applies to the following embodiments.

As described above, according to the first embodiment, since the insertion port 110 is provided on the back portion of the outer surface of the main body housing of the robot 100, the user can easily attach and detach the mobile phone 200.
Although the insertion port 110 may be provided at a position other than the back portion on the outer surface of the main body housing of the robot 100, it is preferable to provide the insertion port 110 at an appropriate position from the viewpoint of easy attachment / detachment of the mobile phone 200.

Further, according to the first embodiment, the control unit 150 detects that the mobile phone 200 is inserted into the insertion slot 110 and then detects that the robot 100 is moving. 120 is activated.
Thus, even when the mobile phone 200 is tilted or vibrates while the robot 100 is moving, the mobile phone 200 can be fixed to the insertion port 110 so that the mobile phone 200 does not fall off the insertion port 110 and the like. it can.

Similarly, the control unit 150 detects that the mobile phone 200 is inserted into the insertion slot 110, and then detects that an electrical signal is being transmitted / received between the electrical signal control unit 140 and the mobile phone 200. At this time, the fixing mechanism 120 is operated.
Thereby, transmission / reception of electrical signals can be prevented from being interrupted, and electrical signals can be reliably exchanged between the electrical signal control unit 140 and the mobile phone 200.

Further, according to the first embodiment, the control unit 150 releases the fixing of the fixing mechanism 120 and releases the mobile phone 200 after the movement of the robot 100 and the output of the electric signal are completed.
Thereby, the fixing mechanism 120 can be operated only when it is necessary to prevent the mobile phone 200 from being removed from the insertion slot 110. Therefore, when the robot 100 is not moving or when an electric signal is not output to the mobile phone 200, the mobile phone 200 can be easily attached and detached without impairing the user's feeling of use.

Embodiment 2
In the second embodiment of the present invention, another configuration example around the insertion port 110 will be described. The other configuration is substantially the same as the configuration described in the first embodiment, and therefore, the following description will focus on the differences.

FIG. 4 is a diagram illustrating a configuration around the insertion slot 110 of the robot 100.
In FIG. 4, a robot side connection terminal 131 is provided at the bottom of the insertion port 110. Further, a terminal-side connection terminal 132 for connecting the robot-side connection terminal 131 and the mobile phone 200 is provided.

The robot side connection terminal 131 is configured by an interface such as USB (Universal Serial Bus), for example, and is a connection terminal for connecting the robot 100 and an external device to transmit and receive electrical signals.

The terminal side connection terminal 132 has a configuration in which two connection terminals are connected by a cable 133. One terminal is connected to the robot side connection terminal 131, and the other terminal is connected to the mobile phone 200.
A terminal connected to the mobile phone 200 includes a fixing mechanism 120. The fixing mechanism 120 can be constituted by, for example, a latch mechanism that engages with a connection terminal of the mobile phone 200.

When the user inserts the mobile phone 200 into the insertion slot 110, the terminal on the terminal side connection terminal 132 is connected to the robot side connection terminal 131, and the other terminal is connected to the connection terminal of the mobile phone 200. Insert as if connected.
Alternatively, the terminal on the mobile phone 200 side of the terminal side connection terminal 132 may be stretched as shown in the right diagram of FIG. 4 and connected to the mobile phone 200, and then the mobile phone 200 may be inserted into the insertion slot 110.

When removing the mobile phone 200 from the insertion slot 110, the user extends the terminal side connection terminal 132 to the outside of the insertion slot 110 as shown in the right figure of FIG. 4 and presses the fixing mechanism 120 from both sides to release the fixation. Remove the mobile phone 200 from the terminal.

Alternatively, the fixing mechanism 120 may be composed of an electrically controllable member or the like, and the fixing mechanism 120 may be operated or released based on an instruction from the control unit 150.
In the case of this configuration, the operation is substantially the same as that of the first embodiment except that the terminal side connection terminal 132 can be extended and the structure of the fixing mechanism 120 is different.

The “connection terminal” in the second embodiment corresponds to the robot side connection terminal 131 and the terminal side connection terminal 132.

The robot side connection terminal 131 and the terminal side connection terminal 132 may be configured to simply electrically connect the robot 100 and the mobile phone 200, but the signal formats used by the robot 100 and the mobile phone 200 are different from each other. May have a function of a conversion connector that absorbs the difference.
For example, when the robot-side connection terminal 131 is a USB terminal and the terminal included in the mobile phone 200 is a serial terminal, the terminal-side connection terminal 132 may have a USB signal / serial signal mutual conversion function.

As described above, in the second embodiment, another configuration example around the insertion port 110 has been described. As in the second embodiment, the connection terminal 130 can be provided with a signal conversion function, so that the interconnection between the robot 100 and the mobile phone 200 can be improved.

Embodiment 3
In the third embodiment of the present invention, a specific configuration example for detecting a state in which the mobile phone 200 may be detached from the insertion slot 110 when the mobile phone 200 is inserted into the insertion slot 110 will be described. .

FIG. 5 is a block diagram illustrating internal functions of the robot 100 according to the third embodiment.
The robot 100 according to the third embodiment includes an acceleration sensor 160 in addition to the configuration described with reference to FIGS. 1 and 2 of the first embodiment. Since other configurations are substantially the same as those in FIGS. 1 and 2, the following description will focus on differences.
In the third embodiment, the acceleration sensor 160 is newly provided in addition to the configuration of the first embodiment. However, a configuration similar to the configuration described in the second embodiment may be used.

The acceleration sensor 160 detects the acceleration applied to the robot 100 and outputs the detection result to the control unit 150.
The acceleration applied to the robot 100 refers to, for example, acceleration in the traveling direction when the robot 100 starts moving, gravity acceleration applied to the robot 100, and the like. By detecting the gravitational acceleration applied to the robot 100 in three axis directions, the tilt of the robot 100 can also be detected.

The “first detection unit” in the third embodiment corresponds to the acceleration sensor 160.

FIG. 6 is an operation flow of the robot 100 according to the third embodiment. Hereinafter, each step of FIG. 6 will be described.

(S601)
Since it is the same as step S301 of FIG. 3, description is abbreviate | omitted.
(S602)
The control unit 150 determines whether the acceleration sensor 160 has detected an acceleration applied to the robot 100 or whether an electrical signal is being output between the connection terminal 130 and the mobile phone 200. When it corresponds to either, it progresses to step S603, and when it does not correspond to either, it returns to step S601.
In this step, as in step S302 of FIG. 3, it is determined whether only acceleration is detected or whether an electrical signal is being output from the connection terminal 130 to the mobile phone 200. May be.

(S603)
Since it is the same as step S303 of FIG. 3, description is abbreviate | omitted.
(S604)
The control unit 150 determines whether or not the acceleration sensor 160 has detected an acceleration applied to the robot 100 and whether or not the output of the electrical signal has been completed. If the acceleration is not detected and the output of the electric signal is completed, the process proceeds to step S605. If the acceleration is detected or the electric signal is being output, the process returns to step S603.
In this step, corresponding to step S602, it is determined whether only acceleration is detected or whether an electrical signal is being output from the connection terminal 130 to the mobile phone 200. Good.

(S605) to (S606)
Since this is the same as steps S305 to S306 in FIG. 3, description thereof is omitted.

The operation flow of the robot 100 according to the third embodiment has been described above.
In steps S <b> 602 and S <b> 604, the control unit 150 has been described as operating or releasing the fixing mechanism 120 based on the detection value of the acceleration sensor 160. This indicates that when the acceleration sensor 160 detects an acceleration applied to the robot 100, the robot 100 has started moving, or is in a vibration state or a tilted state. This is due to the fact that it is easily out of 110.

On the other hand, when the control unit 150 is controlling the movement of the robot 100 or the like, the control unit 150 can grasp that the robot 100 is moving or the like without depending on the detection value of the acceleration sensor 160.
In this case, instead of detecting the acceleration in steps S602 and S604, it may be determined whether or not the robot 100 itself is moving. In addition to this, the detection value of the acceleration sensor 160 may be used in parallel.

In the third embodiment, it has been described that the state of movement of the robot 100 is detected using the acceleration sensor 160, but the following configuration is used instead of or in combination with the acceleration sensor 160. Can also be used.

(1) Position Sensor of Robot 100 A position sensor that detects whether or not the position of the robot 100 has changed is provided. If the position of the robot 100 has changed over time, it can be seen that the robot 100 is moving.
(2) Angular velocity sensor of a rotating part such as a motor An angular velocity sensor is attached to the rotating shaft of a driving mechanism such as a motor that drives four legs of the robot 100. When rotation is detected, it can be seen that the motor is driven and the robot 100 is moving.

That is, regardless of which detection unit is used, it is preferable to use a sensor or the like that can detect a situation in which the mobile phone 200 is easily detached from the insertion port 110. This is the same in other embodiments.
Note that the operation performed while the robot 100 is stationary does not need to be included in the detection target unless there is a risk that the mobile phone 200 may be detached from the insertion slot 110 by the operation.

As described above, according to the third embodiment, the control unit 150 operates the fixing mechanism 120 when the mobile phone 200 is easily detached from the insertion slot 110 due to the movement of the robot 100 or the like. Then, the mobile phone 200 is fixed.
A sensor for detecting that the robot 100 is moving, such as the acceleration sensor 160, is provided, and the above operation is performed based on the detected value.
Thereby, not only when the robot 100 is moving by itself but also when the robot 100 is moved or vibrated dynamically by an acceleration applied from the outside, the mobile phone 200 does not come off the insertion slot 110. Can be fixed.

Embodiment 4
In the fourth embodiment of the present invention, a specific configuration example for detecting that an electrical signal is transmitted and received between the robot 100 and the mobile phone 200 will be described.

When charging power is supplied to the mobile phone 200 via the connection terminal 130, it is convenient to start charging by simply inserting the mobile phone 200 into the insertion slot 110 because the user's procedure is shortened.
Therefore, in the robot 100 according to the fourth embodiment, when the mobile phone 200 is connected to the connection terminal 130, the charging operation is automatically started.
However, a current sensor 170 described later is provided in order for the control unit 150 to grasp that the charging operation has started.

FIG. 7 is a block diagram showing internal functions of the robot 100 according to the fourth embodiment.
The robot 100 according to the fourth embodiment includes a current sensor 170 in addition to the configuration described in FIG. 5 of the third embodiment. Since other configurations are substantially the same as those in FIG. 5, the following description will focus on the differences.

The current sensor 170 detects the current flowing through the connection terminal 130 and outputs the detection result to the control unit 150.
The current flowing through the connection terminal 130 is, for example, when charging power is supplied from the electric signal control unit 140 to the mobile phone 200, and when the communication signal is transmitted to and received from the mobile phone 200, the electric current of the communication signal is transmitted. Refers to signal current.
Based on the detected value, control unit 150 determines whether or not an electric signal is being transmitted / received between electric signal control unit 140 and mobile phone 200.
In the fourth embodiment, each configuration and operation will be described by taking the case of supplying charging power as an example. However, the operation is the same even when a communication signal is transmitted to and received from the mobile phone 200.

The “second detection unit” in the fourth embodiment corresponds to the current sensor 170.

FIG. 8 is an operation flow of the robot 100 according to the fourth embodiment. Hereinafter, each step of FIG. 8 will be described.

(S801)
Since it is the same as step S301 of FIG. 3, description is abbreviate | omitted.
(S802)
If already charged, the process proceeds to step S806, and if not fully charged, the process proceeds to step S803. Whether or not the charging is completed may be determined by detecting a current or voltage flowing through the connection terminal 130. If the mobile phone 200 and the control unit 150 can transmit and receive a communication signal, charging is performed using the communication signal. You may make it notify of the completion.

(S803)
The electric signal control unit 140 starts supplying charging power to the mobile phone 200 via the connection terminal 130. At this time, if the power source for self-operation such as the battery of the robot 100 itself has a margin, power is supplied from the power source.
(S804)
The control unit 150 checks whether or not there is a margin in the power source of the robot 100 itself by supplying the charging power in S803. If there is a margin in the power source, the process proceeds to S806, and if there is no margin, the process proceeds to S805.

(S805)
When the power source of the robot 100 itself is not sufficient due to the series of actions from S801 to S803, the control unit 150 performs a charging action and supplies power to the mobile phone 200 after receiving power from an external power source. .
The charging action is, for example, an action in which the robot 100 moves to the charging station and charges autonomously when the robot 100 can act autonomously. When the robot cannot act autonomously, the charging action is to output an alarm or the like so that power can be supplied and to inform the robot owner or the like to supply external power.

(S806)
The controller 150 determines whether or not the acceleration sensor 160 has detected acceleration applied to the robot 100 by the charging action. If acceleration is detected, the process proceeds to step S807. If not detected, the process returns to step S801.

(S807)
Since it is the same as step S303 of FIG. 3, description is abbreviate | omitted.
(S808)
The controller 150 determines whether the acceleration sensor 160 has detected an acceleration applied to the robot 100. If no acceleration is detected, the process proceeds to step S809, and if acceleration is detected, the process returns to step S807.

(S809) to (S810)
Since this is the same as steps S305 to S306 in FIG. 3, description thereof is omitted.

The operation flow of the robot 100 according to the fourth embodiment has been described above.

In the fourth embodiment, the configuration example in which the current sensor 170 is used in addition to the configuration including the acceleration sensor 160 described in the third embodiment has been described. However, the configuration may include only the current sensor 170. .
In this case, whether the robot 100 is moving or not is determined based on whether the control unit 150 itself controls the operation of the robot 100.
Similarly, a current sensor 170 may be provided in addition to the configurations of the other embodiments.

In the fourth embodiment, it has been described that the current state of the connection terminal 130 is detected using the current sensor 170. However, the current state may be detected using another electrical sensor such as a voltage sensor. Good.

As described above, according to the fourth embodiment, the mobile phone 200 can be charged only by setting the mobile phone 200 in the insertion slot 110 of the robot 100, and the cooperation between the robot 100 and the mobile phone 200 is achieved. Can be easily performed.

Further, according to the fourth embodiment, when the robot 100 performs an operation such as moving after starting the charging operation, the acceleration sensor 160 detects the acceleration at that time, and the control unit 150 determines the fixing mechanism based on this. The mobile phone 200 is fixed by operating 120.
Therefore, it is possible to prevent the mobile phone 200 from being detached from the insertion slot 110 during charging.

In the fourth embodiment, when the control operation of the control unit 150 is performed so that the robot 100 autonomously searches for a charging station and replenishes power itself, the robot 100 effectively assists the user. Can do.
For example, in this case, if the user inserts the mobile phone 200 into the charging cradle or the back of the robot 100, the mobile phone 200 can be charged. Charging can be performed easily.

Embodiment 5
In the above first to fourth embodiments, after the mobile phone 200 is set in the insertion slot 110, the robot 100 is moving, or electrical signals are transmitted and received between the connection terminal 130 and the mobile phone 200. In some cases, the fixing mechanism 120 is operated to fix the mobile phone 200.
On the other hand, when the mobile phone 200 is fixed, the exchange of electrical signals or the like may be interrupted in the middle, and there may be a desire to remove the mobile phone 200.
Therefore, in the fifth embodiment of the present invention, an example provided with a configuration capable of manually releasing the fixing mechanism 120 will be described.

FIG. 9 is a block diagram showing internal functions of the robot 100 according to the fifth embodiment.
The robot 100 according to the fifth embodiment includes a fixing release unit 180 in addition to the configuration described in FIG. 2 of the first embodiment. Since the other configuration is substantially the same as that in FIG. 2, the following description will focus on the differences.
In addition to the configuration described in other embodiments, a fixing release unit 180 may be provided.

The fixing release unit 180 is an operation unit such as a remote controller or a button, for example, and is a functional unit that outputs a signal indicating that the fixing mechanism 120 should be released to the control unit 150.
The fixing release unit 180 may be provided in the main body of the robot 100, or may be configured to allow operation input from a remote location via an appropriate interface. Or it is good also as a structure which receives a control command via a communication line.

When the user instructs the robot 100 to release the fixation of the fixing mechanism 120 by operating the fixing release unit 180 or the like, the control unit 150 performs an interrupt process for releasing the fixation of the fixing mechanism 120.
Accordingly, for example, even when the robot 100 is moving or the mobile phone 200 is being charged, the user releases the fixing of the fixing mechanism 120 to release the mobile phone 200 and remove it from the insertion slot 110. Can do.

Note that after the fixing mechanism 120 is released by the fixing release unit 180, the robot 100 moves or performs electric signal control while the user leaves the mobile phone 200 without removing it from the insertion slot 110. In some cases, transmission / reception of an electrical signal is started between the unit 140 and the mobile phone 200.
At this time, the fixing mechanism 120 may be operated again to fix the mobile phone 200 again. Further, a certain grace period (for example, about several seconds) may be provided until the fixing mechanism 120 is operated again.

After the fixing mechanism 120 is released by the fixing release unit 180, the mobile phone 200 moves without being removed from the insertion slot 110, or the electric signal control unit 140 and the mobile phone 200 are electrically connected. When starting transmission / reception of signals, there is little need to unlock the mobile phone 200 anymore.
Therefore, the fixing mechanism 120 may be operated again as described above, and it is also preferable to fix the mobile phone 200 in order to prevent the mobile phone 200 from dropping from the insertion slot 110.

As described above, according to the fifth embodiment, the user can release the fixing of the fixing mechanism 120 by operating the fixing release unit 180, and the mobile phone 200 can be freely attached and detached as necessary. be able to.

Further, after the fixing is released by the fixing release unit 180, the fixing mechanism 120 is operated again to fix the mobile phone 200 again, thereby preventing the mobile phone 200 from being detached from the insertion slot 110.

Embodiment 6
In the configuration described in the second embodiment, it has been described that the mobile phone 200 is detached from the terminal-side connection terminal 132 by pressing the fixing mechanism 120 from both sides.
When this operation is performed, for example, while the mobile phone 200 is being charged, pressing the fixing mechanism 120 from both sides has the same effect as the fixing release unit 180 described in the fifth embodiment.
In the sixth embodiment, the operation of each unit at this time will be described.

FIG. 10 is an operation flow of the robot 100 according to the sixth embodiment. Hereinafter, each step of FIG. 10 will be described.

(S1001)
The user sets the mobile phone 200 in the insertion slot 110 and connects to the terminal side connection terminal 132.
(S1002)
The fixing mechanism 120 is activated to fix the mobile phone 200.
(S1003)
The electric signal control unit 140 supplies charging power to the mobile phone 200 via the robot side connection terminal 131 and the terminal side connection terminal 132.

(S1004)
When the fixing mechanism 120 is pressed from both sides and the fixing is released, the operation flow ends. If not canceled, the process proceeds to step S1005.
(S1005)
If charging of the mobile phone 200 is not completed, the process returns to step S1003, and if completed, the process proceeds to step S1006.
(S1006)
When the fixing mechanism 120 is pressed from both sides and the fixing is released, the operation flow ends. If not released, continue this step.

As described above, in the sixth embodiment, the example in which the fixing mechanism 120 is pressed from both sides and used as the fixing release unit 180 under the configuration of the second embodiment has been described.

Embodiment 7
In the above first to sixth embodiments, the control unit 150 may be configured to perform a control operation such that the robot 100 acts autonomously.
For example, the controller 150 can be equipped with artificial intelligence to communicate with the user. Since this communication may include movement of the robot 100 or the like, it is preferable to fix the mobile phone 200 so that it does not come off the insertion slot 110 as described in the present invention.

In the above first to sixth embodiments, it has been described that the robot 100 is a quadruped walking pet robot. However, the present invention can be applied to other types of robots. For example, the present invention can be applied to a robot that travels by wheels, a robot that vibrates or tilts without moving in place.
When the present invention is applied to another type of robot, a drive mechanism that moves the robot corresponds to a “movable part” of the robot.

In the first to sixth embodiments, communication signals and data are transmitted and received between the robot 100 and the mobile phone.
As an example thereof, for example, an image taken by the mobile phone 200, a call voice, or the like may be output to the robot 100 and stored. In addition, the robot 100 may include an imaging unit, and the captured image may be output to the mobile phone 200 and viewed on the mobile phone 200.

In addition, when the mobile phone 200 is received while the mobile phone 200 is inserted into the insertion slot 110, the following operation may be performed, for example.

(1) The control unit 150 releases the fixing of the fixing mechanism 120 so that the user can take a conversation by removing the mobile phone 200.
(2) In addition to the above (1), the control unit 150 stops operations such as movement of the robot 100 so that the user can easily remove the mobile phone 200.

Claims

Moving parts;
A housing,
An insertion port provided on the outer surface of the housing and into which the mobile terminal is inserted;
A connection terminal electrically connected to the portable terminal inserted into the insertion port;
A fixing portion for fixing the mobile terminal inserted into the insertion slot;
A power transmission unit that transmits an electrical signal to the portable terminal via the connection terminal;
A control unit for controlling the operation of the power transmission unit;
A robot comprising:
A detection unit for detecting that the portable terminal is inserted into the insertion slot;
When the detection unit detects that the portable terminal is inserted into the insertion port, the control unit operates the fixed unit when the movable unit or the power transmission unit operates to insert the insertion unit. Fixing the mobile terminal inserted into the mouth,
The robot according to claim 1.
The controller is
Controlling the operation of the movable part to move the robot, and operating the fixed part when operating the movable part to fix the portable terminal inserted into the insertion port;
The robot according to claim 2.
A first detection unit for detecting the operation of the movable unit;
When the first detection unit detects an operation of the movable unit, the control unit operates the fixing unit to fix the mobile terminal inserted into the insertion port.
The robot according to claim 2.
The control unit controls the operation of the power transmission unit to transmit an electric signal to the portable terminal, and operates the fixing unit when operating the power transmission unit to move the portable terminal inserted into the insertion port. To fix,
The robot according to claim 2.
A second detection unit for detecting the operation of the power transmission unit;
When the second detection unit detects an operation of the power transmission unit, the control unit operates the fixing unit to fix the portable terminal inserted into the insertion port.
The robot according to claim 2.
A fixing release part for releasing the fixing by the fixing part and releasing the portable terminal inserted in the insertion port;
The robot according to claim 1.
A fixing release part for releasing the fixing by the fixing part and releasing the portable terminal inserted in the insertion port;
The control unit operates the fixing unit again when the movable terminal or the power transmission unit operates after the portable terminal is inserted into the insertion port after the fixing releasing unit releases the fixing unit. Let the mobile terminal inserted into the insertion port be fixed again,
The robot according to claim 2.
A movement detection unit for detecting that the robot is moving;
When the movement detection unit detects the movement of the robot, the control unit operates the fixing unit to fix the portable terminal inserted into the insertion port.
The robot according to claim 1.
The power transmission unit supplies power to the mobile phone;
The robot according to claim 1.
The power transmission unit transmits and receives electrical communication signals to and from the mobile phone.
The robot according to claim 1.
The robot according to claim 1, wherein the control unit autonomously controls the operation of the movable unit to move the robot autonomously.