WO2017061210A1 - Notification control device and method for controlling notification control device - Google Patents

Abstract

The present invention executes notification actions in positions that are appropriate for a notification apparatus according to the state of the notification apparatus when an event to be reported occurs. A target position-determining section (104) determines a target position for the notification apparatus (1) on the basis of the implementation state of the notification apparatus (1) at the time that a notification event occurs, and a drive control section (109), a display control section (110), and a sound output control section (111) cause the notification apparatus (1) to execute the notification action in said target position.

Description

Notification control device and control method of notification control device

The present invention relates to a notification control device and a control method for the notification control device, and more particularly to a notification control device that controls a notification device that executes a notification operation when an event occurs.

2. Description of the Related Art Conventionally, a notification control device that notifies that various events (for example, incoming call, reception of mail, alarm set time, etc.) have occurred in a notification device by a notification operation according to the event. Are known. For example, in Patent Document 1, when an event occurs in a communication terminal (notification device), the event is generated by changing the outer shape of the communication terminal to a predetermined notification posture and executing a notification operation. An event notification mechanism (notification control device) for notifying this is described.

Japanese Patent Publication “Japanese Unexamined Patent Publication No. 2007-214908 (published on August 23, 2007)”

However, when an event occurs, it may not be desirable for the notification control device to perform the notification operation in a predetermined notification posture depending on the function performed by the notification device, the state of the notification device, and the like. For example, when the notification device is installed on the charging stand and the outer shape of the notification device is changed, the notification device may be separated from the charging stand and not be charged.

The present invention has been made in view of the above-described problems, and its purpose is to execute a notification operation in a posture appropriate to the notification device according to the state of the notification device when an event to be notified occurs. This is to realize a notification control device.

In order to solve the above-described problem, a notification control apparatus according to an aspect of the present invention is a notification control apparatus that controls a notification apparatus that performs a notification operation when a notification event occurs. A target posture determination unit that determines a target posture that is a posture when the notification device executes the notification operation according to an execution state that is a state of the notification device, and the target posture determined by the target posture determination unit And a notification operation execution unit that causes the notification device to execute the notification operation.

In order to solve the above-described problem, a control method for a notification device according to an aspect of the present invention is a control method for a notification device that performs a notification operation when a notification event occurs. In accordance with the execution state that is the state of the notification device, a target posture determination step that determines a target posture that is a posture when the notification device executes the notification operation, and the target determined in the target posture determination step A notification operation execution step for causing the notification device to execute the notification operation in a posture.

According to one aspect of the present invention, when an event to be notified occurs, the notification device can be caused to execute a notification operation in an appropriate posture according to the state of the notification device.

It is a block diagram which shows the structure of the alerting | reporting apparatus which concerns on Embodiment 1. FIG. 1 is an external view of a notification device according to Embodiment 1. FIG. It is a figure which shows an example of the alerting | reporting event generation | occurrence | production table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 1 was equipped. It is a figure which shows an example of the alerting | reporting event attitude | position table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 1 was equipped. (A) (b) is a figure which shows the example of the function influence determination table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 1 was equipped. It is a figure which shows the example of the attitude | position table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 1 was equipped. It is a figure which shows the other example of the attitude | position table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 1 was equipped. 6 is a flowchart illustrating a flow of a determination method performed by a posture change determination unit included in the notification device according to the first embodiment. It is a flowchart which shows the flow of the alerting | reporting process which the control part with which the alerting | reporting apparatus which concerns on Embodiment 1 is provided. It is a block diagram which shows the structure of the alerting | reporting apparatus which concerns on Embodiment 2. FIG. The example of the alerting | reporting event attitude | position table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 2 was provided is shown. The other example of the alerting | reporting event attitude | position table memorize | stored in the memory | storage part with which the alerting device concerning Embodiment 2 was provided is shown. The other example of the alerting | reporting event attitude | position table memorize | stored in the memory | storage part with which the alerting device concerning Embodiment 2 was provided is shown. 10 is a flowchart illustrating a flow of notification processing according to the second embodiment. It is a block diagram which shows the structure of the alerting | reporting apparatus which concerns on Embodiment 3. The example of the attitude | position change influence site | part determination table memorize | stored in the memory | storage part with which the alerting | reporting apparatus which concerns on Embodiment 3 was provided is shown. 10 is a flowchart illustrating a flow of notification processing according to the third embodiment. It is a block diagram which shows the structure of the alerting | reporting apparatus which concerns on Embodiment 4. It is a figure which shows an example of the alerting | reporting event attitude | position table memorize | stored in the memory | storage part with which the alerting device which concerns on Embodiment 4 was equipped. It is a flowchart which shows the flow of the alerting | reporting process of this Embodiment 4.

Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS.

(Configuration of notification device 1)
FIG. 1 is a block diagram illustrating a configuration of a notification device 1 according to the present embodiment. As shown in FIG. 1, the notification device 1 includes a control unit 10 (notification control device), a power supply unit 20, a communication unit 30, a storage unit 40, a drive unit 50, a display unit 60, a sound output unit 70, a camera 80, and A projector 90 is provided.

The control unit 10 controls the operation of the notification device 1 in an integrated manner. The control unit 10 is composed of a CPU. The control unit 10 has an event to be notified to the user in the notification device 1 (hereinafter referred to as a notification event. Although it is an event to be referred to as a “notification event”, it is abbreviated as a notification event here). A notification process for notifying the occurrence is executed. More specifically, the notification event is an event that requires a user's response to the notification from the notification device 1. The control unit 10 and the storage unit 40 (and various tables stored in the storage unit 40) may be provided outside the notification device 1 and separately from the notification device 1. For example, the control unit 10 and the storage unit 40 may be provided in a server (not shown) connected to the notification device 1 via a communication network.

Moreover, the control part 10 performs the various functions which the alerting | reporting apparatus 1 has. Here, the functions of the notification device 1 include a call function, a mail function, a shooting function (such as still image and moving image shooting), an alarm function, and a projector projection function (still image and moving image projection). The detailed configuration of the control unit 10 will be described later. The flow of notification processing will also be described later.

The power supply unit 20 supplies power to the notification device 1. The power supply unit 20 is composed of a battery. The communication unit 30 communicates with other communication devices. The communication unit 30 may be configured to perform communication in a communication format such as 3G, LTE, Bluetooth (registered trademark), or WLAN.

The storage unit 40 stores various tables that the control unit 10 refers to in the notification process described later, various information that the control unit 10 uses to execute various processes, and the like. The storage unit 40 may be configured with a hard disk or a flash memory. In the present embodiment, the storage unit 40 includes a notification event generation table 41, a notification event posture table 42, a function influence determination table 43 (43-1, 43-2), and a posture table 44 (44-1, 44-). 2) is stored. Various tables stored in the storage unit 40 may be determined in advance, or may be arbitrarily set or changed by the user. Examples of the notification event occurrence table 41, the notification event posture table 42, and the function influence determination table 43 will be described later.

The driving unit 50 deforms the outer shape of the notification device 1 by driving the movable part of the notification device 1. The drive unit 50 is controlled by the control unit 10. The drive unit 50 may be constituted by a servo motor, for example, or may be provided with an actuator other than the servo motor (for example, an actuator that operates using air pressure).

The display unit 60 is a device that displays various types of information. The display unit 60 may be configured with a liquid crystal display, or may be configured with other types of displays such as an organic EL. The sound output unit 70 is a device that outputs sound. The sound output unit 70 may be constituted by a speaker, for example. The display unit 60 and the sound output unit 70 are controlled by the control unit 10.

(Appearance of notification device 1)
FIG. 2 is a diagram illustrating an appearance of the notification device 1. As shown in FIG. 2, the notification device 1 has a humanoid shape. That is, the notification device 1 includes a head 1a, a torso 1b, a right arm 1c, a left arm 1d, and a leg 1e (right leg and left leg). Each unit 1a to 1e of the notification device 1 is movable. The control unit 10 described above drives the movable part of the notification device 1 by controlling the drive unit 50. The notification device 1 may have any form as long as it has a movable part. For example, the notification device 1 may be an animal type or an insect type in addition to the human type.

As shown in FIG. 2, a camera 80 is provided on the head 1 a of the notification device 1. Moreover, the connection part 120 used in order to connect the alerting | reporting apparatus 1 with an external apparatus is provided in the trunk | drum 1b of the alerting | reporting apparatus 1. FIG. The connection unit 120 includes a communication cable insertion port 121, an earphone cable insertion port 122, and a charging cable insertion port 123. The communication cable insertion port 121 and the earphone cable insertion port 122 are provided on the right side surface of the body portion 1b. Moreover, the charging cable insertion port 123 is provided in the left side surface of the trunk | drum 1b. Furthermore, a projector 90 is also provided in the body portion 1b. The projector 90 is a device that projects an image. The projector 90 is controlled by the control unit 10.

Further, the display unit 60 described above is provided on the back surface of the notification device 1. Further, the above-described connector 2c of the power supply unit 20 is also provided on the back surface. When the connector 2c of the power supply unit 20 is close to the charging stand, it receives power from the charging stand. Thereby, the alerting device 1 is charged. Normally, the notification device 1 is charged while sitting with its legs extended on a charging stand.

(Generation and notification of notification events)
In the notification device 1, when a notification event occurs, the control unit 10 performs a notification operation for notifying the notification content according to the type of the notification event that has occurred. The notification operation includes an operation of changing the outer shape of the notification device 1. By deforming the outer shape of the notification device 1, the user is notified that a notification event has occurred. For example, when the alarm set time is reached, the notification device 1 normally takes a notification posture in which the right arm 1c is raised. And the alerting | reporting apparatus 1 performs the alerting | reporting operation | movement which stands still with raising the right arm part 1c, or shakes the right arm part 1c. In addition, the alerting | reporting apparatus 1 may stand still, raising the right arm part 1c, after shaking the right arm part 1c for a predetermined time (for example, 10 seconds). Hereinafter, the notification operation performed by the notification device 1 taking the notification posture is referred to as a standard notification operation.

Here, when a notification event occurs, the control unit 10 may not cause the notification device 1 to execute the standard notification operation depending on the function being executed by the notification device 1 or the state of the notification device 1. For example, in the following cases, the control unit 10 should not cause the notification device 1 to perform the standard notification operation.

(1) When the projector projection function of the notification device 1 is activated. When the notification device 1 is deformed from the current posture to the notification posture while the projector 90 is projecting the image, the direction in which the image is projected may change.

(2) When the voice call function of the notification device 1 is activated. When the sound output unit 70 outputs the voice of the other party of the telephone and the notification device 1 takes the notification attitude, the user can hear the voice of the other party of the telephone by the driving sound of the servo motor provided in the driving unit 50. It becomes difficult to hear.

(3) When a cable is connected to the connection unit 120. As described above, the communication cable insertion port 121 and the earphone cable insertion port 122 are provided on the right side surface of the body portion 1 b of the notification device 1. Therefore, when the notification device 1 takes a notification posture in which the right arm portion 1c is raised in a state where the cable is connected to the communication cable insertion port 121 or the earphone cable insertion port 122, the cable may be damaged, There is a possibility that the cable may come off from the notification device 1. Similarly, when the notification device 1 performs a notification posture in which the left arm portion 1d is raised while the cable is connected to the charging cable insertion port 123, the cable is damaged or the cable is disconnected from the notification device 1. there's a possibility that.

(4) When the notification device 1 is charged. While the notification device 1 is being charged, the power supply unit 20 of the notification device 1 needs to be close to the charging stand. However, when the notification device 1 is deformed to the notification posture, the power supply unit 20 may not be charged when the notification device 1 is separated from the charging stand. Usually, the notification device 1 is charged in a state where the leg portion 1e is extended and is sitting. Therefore, for example, when the notification device 1 is deformed to a notification posture in which the notification device 1 stands, the power supply unit 20 may not be charged.

In the cases (1) to (4) and the like, the control unit 10 does not execute the standard notification operation and does not change the outer shape of the notification device 1, and performs another notification operation (hereinafter referred to as a non-standard notification operation). Execute. The non-standard notification operation may be an operation that does not interfere with the function performed by the notification device 1 (for example, an operation that does not deform the outer shape of the notification device 1). For example, the non-standard notification operation may be an operation in which the control unit 10 displays information on the notification event on the display unit 60, or may be an operation in which an LED (not shown) blinks.

(Table stored in the storage unit 40)
Examples of various tables stored in the storage unit 40 described above will be described with reference to FIGS.

(1. Notification event occurrence table 41)
FIG. 3 is a diagram illustrating an example of the notification event generation table 41 stored in the storage unit 40. The notification event generation table 41 shows a correspondence relationship between an example of a notification event that occurs in the notification device 1 and a generation condition of the notification event. As shown in FIG. 3, the notification event includes, for example, (i) an alarm set time, (ii) a TV program playback time, and (iii) a power supply unit 20 (that is, a battery). ) Includes a decrease in the remaining amount of stored power. In addition, the notification event may be that the notification device 1 has received an incoming call, or that the notification device 1 has received an email. The notification event is an event that changes the state of the notification device 1 and may be any event that has a reason for notifying the user of the event.

(2. Notification event posture table 42)
FIG. 4 is a diagram illustrating an example of the notification event posture table 42 stored in the storage unit 40. As shown in FIG. 4, the notification event posture table 42 indicates a correspondence relationship between (i) a notification event and (ii) drive information (servo motor rotation angle) of the drive unit 50. Here, the rotation angle of the servo motor defines the operations and positions of the head 1a, the body 1b, the right arm 1c, the left arm 1d, and the leg 1e of the notification device 1. That is, the drive information shown in FIG. 4 is obtained from the movable parts (the head 1a, the body 1b, the right arm 1c, the left arm 1d, and the leg 1e) when the control unit 10 is performing the standard notification operation. Define movement and position. In FIG. 4, the external view of the alerting | reporting apparatus 1 which is performing the standard alerting | reporting operation | movement prescribed | regulated by drive information is shown for reference to the right of drive information.

As shown in FIG. 4, when the notification device 1 receives a voice call, the control unit 10 normally performs a standard notification operation by bending the body portion 1 b of the notification device 1 at a predetermined angle. Similarly, when the alarm set time is reached, the control unit 10 normally performs the standard notification operation by raising the right arm 1c of the notification device 1 at a predetermined angle or by shaking the right arm 1c. However, even if the notification event occurs, the control unit 10 may not cause the notification device 1 to execute the standard notification operation depending on the state of the notification device 1 at that time. For example, when a problem such as deterioration of the state of the notification device 1 occurs when the notification device 1 executes the standard notification operation, the control unit 10 executes a notification operation other than the standard notification operation (non-standard notification operation). .

(3. Function influence determination table 43)
5A and 5B are diagrams illustrating an example of the function influence determination table 43 stored in the storage unit 40. FIG. As shown in FIG. 5 (a), the function influence determination table 43-1 includes the function of the notification device 1 and information on whether the notification device 1 can change the posture when the function is activated. The correspondence is shown. Alternatively, as shown in FIG. 5B, in the function influence determination table 43-2, each function of the notification device 1 may be divided into one or more subfunctions. The function influence determination table 43-2 shown in (b) of FIG. 5 is a correspondence between each sub-function of the notification device 1 and information regarding whether the notification device 1 can change its posture when the function is activated. Show the relationship. In (a) and (b) of FIG. 5, “◯” of “possibility of posture change” indicates that the notification device 1 can change the posture even when the notification device 1 is executing a function. Represents. In addition, “x” in “possibility of posture change” indicates that when the notification device 1 is executing a function, the notification device 1 cannot change the posture.

(4. Posture table 44)
6 and 7 are diagrams illustrating examples of the posture table 44 stored in the storage unit 40. FIG. In the posture table 44-1 shown in FIG. 6, a list of postures that should not be changed is described. Alternatively, as shown in FIG. 7, the posture table 44-2 includes (i) a function that the notification device 1 is executing (or a state of the notification device 1), (ii) driving information of the notification device 1, and ( iii) The attitude of the notification device 1 may indicate a correspondence relationship with information indicating whether or not it can be changed. For example, when the notification device 1 is in the posture of sitting with its legs extended, the posture should not be changed. This is because the notification device 1 may be charging. Moreover, when the alerting | reporting apparatus 1 is the attitude | position leaning forward, the attitude | position should not be changed. This is because the notification device 1 may be projecting an image. In FIG. 6, the external view of the alerting | reporting apparatus 1 which has taken the attitude | position prescribed | regulated by drive information (namely, attitude | position which should not be changed) is shown for reference to the right of drive information. Moreover, in FIG. 7, the external view of the alerting | reporting apparatus 1 which has taken the attitude | position (namely, the present attitude | position of the alerting | reporting apparatus 1) prescribed | regulated by drive information is shown for reference to the right of drive information.

(Configuration of control unit 10)
As shown in FIG. 1, the control unit 10 includes a generation condition determination unit 101, a notification event generation unit 102, a notification event detection unit 103, a target posture determination unit 104, a notification method determination unit 105, a function execution unit 106, and a device connection determination. Unit 107, posture change determination unit 108, drive control unit 109 (notification operation execution unit), display control unit 110 (notification operation execution unit), and sound output control unit 111 (notification operation execution unit).

The generation condition determination unit 101 refers to the notification event generation table 41 (see FIG. 3) to determine whether the generation condition of the notification event is satisfied. When the notification event generation condition is satisfied, the generation condition determination unit 101 notifies the notification event generation unit 102 of a determination result that the notification event generation condition is satisfied. For example, the generation condition determination unit 101 acquires information on the remaining amount of power from the power supply unit 20. If the remaining amount of power is less than the predetermined threshold, the generation condition determination unit 101 determines that a notification event has occurred.

The notification event generation unit 102 generates a notification event (notification event based on internal factors) when receiving a determination result that the generation condition of the notification event is satisfied from the generation condition determination unit 101.

The notification event detection unit 103 detects a notification event (a notification event based on internal factors) that has occurred in the notification device 1. In addition, the notification event detection unit 103 also detects a notification event generated by an external factor. For example, when the communication unit 30 of the notification device 1 receives data from another communication device, the notification event detection unit 103 detects a notification event based on an external factor. The notification event detection unit 103 transmits information of the detected notification event (notification event based on an internal factor or an external factor) to the target posture determination unit 104.

The target posture determination unit 104 includes information on the notification event detected by the notification event detection unit 103 and the result of determination by the posture change determination unit 108 described later (whether the current posture of the notification device 1 can be changed). Based on the above, the target posture of the notification device 1 is determined. Specifically, when the current posture of the notification device 1 cannot be changed, the target posture determination unit 104 determines the current posture of the notification device 1 as the target posture. On the other hand, when the posture of the notification device 1 can be changed, the target posture determination unit 104 refers to the notification event posture table 42 (FIG. 4) and drives information corresponding to the notification event detected by the notification event detection unit 103. (Servo motor rotation angle) is acquired. Then, the target posture determination unit 104 determines the notification posture of the notification device 1 defined based on the rotation angle of the servo motor as the target posture.

The notification method determination unit 105 determines a notification method based on the target posture determined by the target posture determination unit 104. Specifically, when the target posture is the current posture of the notification device 1, the notification method determination unit 105 does not change the current posture of the notification device 1, and performs a notification operation other than the standard notification operation (that is, non-standard operation). (Notification operation) is determined to be executed. Then, the notification method determination unit 105 performs the non-standard notification operation (for example, shakes the head up and down: when the notification event is an alarm), the drive control unit 109, the display control unit 110, and the sound output. The control unit 111 is instructed.

On the other hand, when the target posture is the notification posture, the notification method determination unit 105 determines to execute the standard notification operation. Then, the notification method determination unit 105 instructs the drive control unit 109 to cause the notification device 1 to take a notification posture (for example, raise the right arm 1c: when the notification event is an alarm). In addition, after the notification device 1 assumes the notification posture, the notification method determination unit 105 performs a standard notification operation (for example, shakes the right arm 1c: when the notification event is an alarm), the drive control unit 109. The display unit 60 and the sound output unit 70 are instructed.

The function execution unit 106 executes various functions of the notification device 1 in accordance with a user operation or the like. Here, the functions of the notification device 1 include a call function, a mail function, a photographing function, an alarm function, a camera function, and a projector projection function as described above. For example, the function execution unit 106 uses the camera 80 to capture a still image or a moving image (camera function). Further, the function execution unit 106 projects an image from the projector 90 (projector projection function). Here, when the video is projected on the floor on which the notification device 1 stands, the function execution unit 106 instructs the drive control unit 109 to cause the notification device 1 to take a notification posture inclined forward.

The device connection determination unit 107 determines whether a physical device (specifically, an earphone cable, a communication cable, or a charging cable) is connected to the connection unit 120 of the notification device 1. In addition, the device connection determination unit 107 determines whether or not the notification device 1 is charged (that is, whether or not the power supply unit 20 is supplied with power from the charging stand).

The posture change determination unit 108 determines whether the current posture of the notification device 1 can be changed based on the execution state of the notification device 1. In this specification, the execution state means a state at the time of occurrence of a notification event of the notification device 1, and specifically includes at least states exemplified by A to C described later. A specific example of a method by which the posture change determination unit 108 determines whether the current posture of the notification device 1 can be changed will be described later. Moreover, the specific example of the execution state of the alerting | reporting apparatus 1 is also mentioned later.

The drive control unit 109 performs a notification operation by controlling the drive unit 50. Specifically, when the notification method determination unit 105 determines to execute the standard notification operation, the drive control unit 109 controls the drive unit 50 to execute the standard notification operation corresponding to the notification event. Further, when the notification method determination unit 105 determines to execute the non-standard notification operation, the drive control unit 109 executes a preset notification operation. Or the drive control part 109 may perform alerting | reporting operation | movement (namely, alerting | reporting operation | movement which does not prevent the alerting device 1 performing a function) according to the function which the alerting device 1 is performing.

The display control unit 110 executes the notification operation by controlling the display on the display unit 60. The sound output control unit 111 executes the notification operation by controlling the output of sound from the sound output unit 70. Alternatively, one of the display control unit 110 and the sound output control unit 111 may perform a notification operation. For example, the display control unit 110 may display information on the generated notification event on the display unit 60. Alternatively, the display control unit 110 may blink an LED (not shown) or change the color of the display. In addition, the sound output control unit 111 may output information related to the notification event that has occurred in the notification device 1 from the sound output unit 70 by voice.

Note that it is sufficient that the notification operation performed by the display control unit 110 and the sound output control unit 111 is different depending on the type of notification event. That is, regardless of whether the notification method determination unit 105 has determined to perform the standard notification operation or the non-standard notification operation, the display control unit 110 and the sound output control unit 111 have the same notification. An operation may be performed. Alternatively, the display control unit 110 and the sound output control unit 111 may execute the notification operation only when the notification method determination unit 105 determines to execute the non-standard notification operation.

(Determination by posture change determination unit 108)
A method in which the posture change determination unit 108 determines whether or not the current posture of the notification device 1 can be changed will be described with reference to FIG. FIG. 8 is a flowchart illustrating a flow of a determination method performed by the posture change determination unit 108. In S103 of a notification process (see FIG. 9) described later, the posture change determination unit 108 determines whether or not the current posture of the notification device 1 can be changed by the following method.

First, the posture change determination unit 108 acquires the following information A to C. The following A to C are included in the execution state of the notification device 1.

A: Type of function executed in notification device 1 (function executed by function execution unit 106) B: Presence / absence of connection between notification device 1 and device (result of determination by device connection determination unit 107)
C: Current posture of the notification device 1 (rotation angle of the servo motor provided in the drive unit 50).

As shown in FIG. 8, in S103 of the notification process (see FIG. 9), the posture change determination unit 108 first determines whether or not the following condition I is satisfied (S1031).

Condition I: When the posture of the notification device 1 is changed, there is a possibility that the function execution unit 106 may be prevented from executing the function.

When the condition I is satisfied, the posture change determination unit 108 determines that the posture of the notification device 1 cannot be changed (S1034B). On the other hand, when the condition I is not satisfied, the posture change determination unit 108 subsequently determines whether or not the following condition II is satisfied (S1032).

Condition II: The notification device 1 is connected to a device (communication cable, earphone cable, charging cable, etc.).

When the condition II is satisfied, the posture change determination unit 108 determines that the posture of the notification device 1 cannot be changed (S1034B). On the other hand, when the condition II is not satisfied, the posture change determination unit 108 subsequently determines whether or not the following condition III is satisfied (S1033).

Condition III: The current posture of the notification device 1 is a posture that should not be changed.

In S1033, the posture change determination unit 108 refers to the posture table 44 illustrated in FIGS. 6 and 7 and determines whether or not the current posture of the notification device 1 is included in a posture that should not be changed. Alternatively, the posture change determination unit 108 may determine whether or not the current posture of the notification device 1 should not be changed with reference to the posture table 44 illustrated in FIGS. 6 and 7.

When the condition III is satisfied, the posture change determination unit 108 determines that the posture of the notification device 1 cannot be changed (S1034B). On the other hand, when the condition III is not satisfied, the posture change determination unit 108 determines that the current posture of the notification device 1 can be changed (S1034A).

As described above, when all of the conditions I to III are not satisfied, the posture change determination unit 108 determines that the current posture can be changed. On the other hand, when at least one of the conditions I to III is satisfied, the posture change determination unit 108 determines that the current posture cannot be changed.

Note that the posture change determination unit 108 may determine whether one or two of the conditions I to III are satisfied instead of determining whether or not the conditions I to III are all satisfied. For example, the posture change determination unit 108 may determine whether or not the posture of the notification device 1 can be changed depending on whether or not the condition I is satisfied.

(Flow of notification process)
The flow of the notification process executed by the control unit 10 described above will be described with reference to FIG. FIG. 9 is a flowchart showing the flow of the notification process. As shown in FIG. 9, in the notification process, the posture change determination unit 108 first determines whether or not the notification event detection unit 103 has detected the occurrence of a notification event (S101). When the notification event detection unit 103 does not detect the occurrence of the notification event (NO in S101), the posture change determination unit 108 executes the process of S101 again.

On the other hand, when the notification event detection unit 103 detects the occurrence of the notification event (YES in S101), the posture change determination unit 108 confirms the function (and the state of the notification device 1) executed by the notification device 1 ( S102). Next, the posture change determination unit 108 can change the current posture of the notification device 1 based on the type of the notification event that has occurred and the function that the notification device 1 is executing (and the state of the notification device 1). It is determined whether or not (S103). Note that the determination method by the posture change determination unit 108 has been described with reference to FIG.

When the current posture of the notification device 1 can be changed, the target posture determination unit 104 determines the notification posture as the target posture. On the other hand, when it is impossible to change the current posture of the notification device 1, the target posture determination unit 104 determines the current posture as the target posture (target posture determination step).

Subsequently, the notification method determination unit 105 determines whether the target posture is the notification posture or the current posture (S104). When the target posture is the notification posture, the drive control unit 109 transforms the notification device 1 into the notification posture (S105). On the other hand, when the target posture is the current posture of the notification device 1, the drive control unit 109 does not change the current posture of the notification device 1.

After the notification device 1 reaches the target posture (notification posture or current posture), the drive control unit 109, the display control unit 110, and the sound output control unit 111 perform a notification operation (standard notification operation or non-standard notification operation). Execute (S106). Note that the content of the notification operation may be determined in advance according to the type of notification event.

Thus, the notification process by the control unit 10 ends.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

In the first embodiment, the configuration in which the target posture determination unit 104 determines the target posture based on the determination result by the posture change determination unit 108 (whether the current posture of the notification device 1 can be changed) has been described. . In the present embodiment, a configuration in which the target posture determination unit 204 determines the target posture based on the type of notification event and the execution state of the notification device 2 will be described.

(Configuration of notification device 2)
FIG. 10 is a block diagram illustrating a configuration of the notification device 2 according to the present embodiment. As illustrated in FIG. 10, the notification device 2 includes a target posture determination unit 204 instead of the target posture determination unit 104 included in the notification device 1 of the first embodiment. In addition, a notification event posture table 242 is stored in the storage unit 240 of the notification device 2 instead of the notification event posture table 42. Further, the function influence determination table 43 and the posture table 44 (see FIG. 1) may not be stored in the storage unit 240. In addition, the notification device 2 may not include the posture change determination unit 108 included in the notification device 1 of the first embodiment.

(Notification event posture table 242)
11 to 13 show examples of the notification event posture table 242. FIG. As shown in FIGS. 11 to 13, in the notification event attitude table 242, (i) a notification event, (ii) a function (or a state of the notification device 1) being executed in the notification device 1, and (iii) driving The drive information (rotation angle of the servo motor) of the unit 50 is associated. FIGS. 11 to 13 are external views of the notification device 1 taking the notification posture defined by the drive information (iii) (that is, the target posture of the notification device 1) as a reference to the right of the drive information. Show.

Here, the drive information indicates how many rotation angles the drive unit 50 rotates the servo motor in order to execute the notification operation. For example, when the notification device 1 receives a mail, the drive control unit 109 performs a notification operation (that is, a standard notification operation) of shaking the right arm. On the other hand, when the notification device 1 projects a projector, the drive unit 50 moves the neck while tilting forward (see FIG. 11). Further, when the notification device 1 is connected to the earphone cable, the drive control unit 109 performs a notification operation (that is, a non-standard notification operation) of shaking the left arm (see FIG. 12). Further, when the notification device 1 is in a sitting posture, the drive control unit 109 performs a notification operation of shaking the right arm (that is, a standard notification operation).

When a notification event occurs, the target posture determination unit 204 according to the present embodiment refers to at least one of the notification event posture tables 242 shown in FIGS. Position). Further, the notification method determination unit 105 may determine a notification operation (standard notification operation or non-standard notification operation) by referring to at least one of the notification event posture tables 242 shown in FIGS. .

(Determination method of target posture of this embodiment)
A flow in which the target posture determination unit 204 determines the target posture when a notification event occurs will be described with reference to FIG. FIG. 14 is a flowchart showing a flow of notification processing according to the present embodiment. Here, it is assumed that an alarm notification event has occurred. The standard notification operation when an alarm notification event occurs is an operation in which the notification device 2 shakes the right hand in a notification posture with the right arm 1c raised. Note that S101 to S102 and S104 to S106 of the notification processing according to the present embodiment are the same as S101 to S102 and S104 to S106 of the notification processing described in the first embodiment.

In the notification process of the present embodiment, the target posture determination unit 204 confirms the function (and the state of the notification device 2) executed by the notification device 2 (S102), and then performs the notification event posture shown in FIGS. Reference is made to at least one of the tables 242. Then, the target posture determination unit 204 determines the target posture based on the function executed by the notification device 2 and the like. For example, the target posture determination unit 204 determines the target posture as described in the following two examples (S203).

In the first example, it is assumed that a notification event occurs when the notification device 1 is in a standby state. In this case, the target posture determination unit 104 refers to the notification event posture table 242 illustrated in FIG. 11 and is associated with (i) “alarm” notification event and (ii) “standby” state. Search for the target posture. Then, the target posture determination unit 104 determines the posture defined by the drive information (rotation angle of the servo motor) associated with (i) and (ii) above, that is, the posture with the right hand raised as the target posture. Determine as. The drive control unit 109 performs the standard notification operation described in the notification event posture table 242 after transforming the notification device 1 to the target posture determined by the target posture determination unit 104.

In the second example, it is assumed that a notification event occurs when the notification device 1 is in a charged state. Here, when the notification device 1 is charged, the notification device 1 is normally in a posture of sitting with its legs extended. In this case, the target posture determination unit 104 refers to one or both of the notification event posture table 242 illustrated in FIG. 12 and the notification event posture table 242 illustrated in FIG. 13, and (i) an “alarm” notification event; (ii) The target posture associated with the “charge” or “sitting” state is searched. Then, the target posture determination unit 104 raises the leg with the right hand as the posture defined by the drive information (rotation angle of the servo motor) associated with (i) and (ii) above. The sitting posture is determined as the target posture. The drive control unit 109 performs the standard notification operation described in the notification event posture table 242 after transforming the notification device 1 to the target posture determined by the target posture determination unit 104.

In yet another example, the target posture determination unit 104 may search for the target posture based on (i) the type of notification event and (ii) the presence / absence of a cable connected to the connection unit 120. Alternatively, the target posture determination unit 104 may search for the target posture based on (i) the type of notification event and (ii) the type of cable connected to the connection unit 120.

When the target posture determination unit 104 refers to two or more notification event posture tables 242 and the target postures indicated by the notification event posture tables 242 are different, the target posture determination unit 104 The posture may be determined as the target posture.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

In the first embodiment, the configuration has been described in which whether or not the posture of the notification device 1 as a whole can be changed is determined based on the type of function executed in the notification device 1 (see FIG. 9). In the present embodiment, a configuration in which whether or not deformation is possible is determined for each movable part of the notification device 3 will be described.

(Configuration of notification device 3)
FIG. 15 is a block diagram illustrating a configuration of the notification device 3 according to the present embodiment. As illustrated in FIG. 15, the notification device 3 includes a target posture determination unit 304 instead of the target posture determination unit 104 included in the notification device 1 of the first embodiment. In addition to the notification event generation table 41 and the notification event posture table 42, a posture change influence part determination table 345 is stored in the storage unit 340 of the notification device 3. Further, the function influence determination table 43 and the posture table 44 (see FIG. 1) may not be stored in the storage unit 340. Further, the notification device 3 does not have to include the posture change determination unit 108 included in the notification device 1 of the first embodiment.

(Posture change influence part determination table 345)
FIG. 16 shows an example of the posture change influence part determination table 345. As shown in FIG. 16, the posture change influence part determination table 345 includes the function being executed in the same manner as the function influence determination table 43 (see FIGS. 5A and 5B) described in the first embodiment. Further, whether or not the posture of the notification device 3 can be changed is associated. However, in the posture change influence part determination table 345, unlike the function influence determination table 43, each movable part of the notification device 3 (that is, the head part 1a, the body part 1b, the right arm part 1c, the left arm part 1d, and the leg part 1e). In addition, whether to permit deformation (or change in posture) is defined. For example, as shown in FIG. 16, when the notification device 3 is charged, the deformation of the leg 1 e (the right leg portion and the left leg portion) of the notification device 3 is not permitted, but the head 1 a of the notification device 3 is not allowed. Posture change is allowed.

(Modification)
It is not necessary to determine whether to permit deformation of all movable parts for each function. That is, it is not necessary that all the matrices shown in the posture change influence part determination table 345 are filled with ○ (deformation is permitted) or x (deformation is not permitted). For example, in the posture change influence part determination table 345, only a movable part that is not permitted to be deformed or only a movable part that is permitted to be deformed may be described for each function.

Moreover, in the posture change influence part determination table 345, the way of dividing the movable part is arbitrary. For example, whether to permit deformation may be determined for each movable part driven by the same servo motor.

Furthermore, in the posture change influence part determination table 345, an area where the movable part is allowed to move may be determined. For example, when an earphone cable is connected to the earphone cable insertion port 122 of the notification device 3, if the right arm 1 c of the notification device 3 is located above the earphone cable insertion port 122, The possibility of interference is low. Therefore, the right arm 1c of the notification device 3 is allowed to move in a region above the earphone cable insertion port 122. However, the right arm portion 1c is not permitted to move in a region below the earphone cable insertion port 122.

Furthermore, in the posture change influence part determination table 345, the current state and posture of the notification device 3 may be associated with a region where the movable part is permitted to move. For example, when an earphone cable is connected to the earphone cable insertion port 122 of the notification device 3 and the tip of the right arm portion 1c of the notification device 3 is above the horizontal, the right arm portion 1c is connected to the earphone cable. Is allowed to work because it is unlikely to interfere with. However, when the earphone cable is connected to the earphone cable insertion port 122 of the notification device 3 and the tip of the right arm portion 1c of the notification device 3 is below the horizontal, the right arm portion 1c is connected to the earphone. It is not allowed to operate as it may interfere with the cable.

(Determination method of target posture of this embodiment)
A flow in which the target posture determination unit 304 determines the target posture when a notification event occurs will be described with reference to FIG. FIG. 17 is a flowchart showing a flow of notification processing according to the present embodiment. Here, it is assumed that an alarm notification event has occurred. Further, it is assumed that the notification posture when the alarm notification event occurs is a posture with the right arm raised. Note that S101 to S102 and S105 to S106 of the notification processing according to the present embodiment are the same as S101 to S102 and S105 to S106 of the notification processing described in the first embodiment.

In the notification process of the present embodiment, the target posture determination unit 304 refers to the posture change influence part determination table 345 after confirming the function (and the state of the notification device 3) being executed by the notification device 3 (S102). Then, a movable part that should not be operated is determined (S303).

Next, the target posture determination unit 304 determines whether or not the notification device 3 can be transformed into a notification posture without moving a movable part that should not be operated (S304).

If it is possible to transform the notification device 3 into the notification posture without moving the movable part that should not be operated (YES in S304), the target posture determination unit 304 determines the target posture as the notification posture. The drive control unit 109 controls the drive unit 50 to transform the notification device 3 into a notification posture (S105). On the other hand, when it is impossible to change the notification device 3 to the notification posture without operating the movable part that should not be operated (NO in S304), the target posture is determined as the notification posture. The drive control unit 109 does not transform the notification device 3 into the notification posture.

After the notification device 1 is transformed into the target posture (current posture or notification posture), the drive control unit 109, the display control unit 110, and the sound output control unit 111 perform a notification operation (standard notification operation or non-standard notification operation). It performs (S106, alerting | reporting operation execution step).

Thus, the notification process of this embodiment is completed.

[Embodiment 4]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

In the third embodiment, the configuration in which it is determined whether or not the notification device 3 can be transformed into the notification posture without operating the movable part of the notification device 3 that should not be operated has been described. In the present embodiment, a configuration will be described in which a movable part of the notification device 4 that should not be operated is associated in advance with a notification operation that can be performed without operating the movable part.

(Configuration of notification device 4)
FIG. 18 is a block diagram illustrating a configuration of the notification device 4 according to the present embodiment. As illustrated in FIG. 18, the notification device 4 includes a target posture determination unit 404 instead of the target posture determination unit 304 included in the notification device 3 of the third embodiment. In addition, a notification event posture table 442 is stored in the storage unit 440 of the notification device 4 instead of the notification event posture table 442. Further, the function influence determination table 43 and the posture table 44 (see FIG. 1) may not be stored in the storage unit 440. In addition, the notification device 4 may not include the posture change determination unit 108 included in the notification device 1 of the first embodiment.

(Notification event posture table 442)
FIG. 19 is a diagram illustrating an example of the notification event posture table 442 stored in the storage unit 440. As illustrated in FIG. 19, the notification event posture table 442 indicates a correspondence relationship between (i) a notification event, (ii) a movable part that should not be operated, and (iii) driving information of the notification device 1. FIG. 19 shows an external view of the notification device 1 taking the posture defined by the above (iii) drive information (that is, the posture of the notification device 1 when performing an executable notification operation). It is shown as a reference on the right. In the notification event posture table 442, the drive information represents the rotation angle of the servo motor when an executable notification operation is executed.

Suppose here that an alarm notification event has occurred. In this case, the target posture determination unit 404 refers to the notification event posture table 442 after identifying a movable portion that should not be deformed with reference to the posture change influence portion determination table 345. Then, the target posture determination unit 404 searches the notification operation described in the notification event posture table 442 for an alarm notification operation that can be performed without performing a deformation operation on the “movable part that should not be deformed”.

(Determination method of target posture of this embodiment)
A flow in which the target posture determination unit 404 determines the target posture will be described with reference to FIG. FIG. 20 is a flowchart showing a flow of notification processing according to the present embodiment. Here, it is assumed that an alarm notification event has occurred. Note that S101 to S102, S303, and S105 to S106 of the notification processing according to the present embodiment are the same as S101 to S102, S303, and S105 to S106 of the notification processing described in the third embodiment.

In the notification process of the present embodiment, the target posture determination unit 404 refers to the posture change influence part determination table 345, determines a movable part that should not be operated (S303), and then refers to the notification event posture table 442. Then, the target posture determination unit 404 searches the notification operation described in the notification event posture table 442 for a notification operation that can be performed without operating a movable part that should not be operated (S404). The target posture determination unit 404 determines the notification posture for executing the notification operation obtained as a result of the search as the target posture. For example, when the “movable part that should not be deformed” is the right arm portion 1c, the target posture determination unit 404 determines the notification posture with the left arm portion 1d as the target posture. Further, when the “movable parts that should not be deformed” are the right arm portion 1c and the left arm portion 1d, the target posture determination unit 404 determines the notification posture capable of swinging the head 1a to the left and right as the target posture. For example, the target posture determination unit 404 may determine the notification posture in which the head 1a of the notification device 1 is facing forward as the target posture.

Subsequently, the drive control unit 109 transforms the notification device 1 into a notification posture (target posture) (S405). After the notification device 1 assumes the notification posture (target posture), the drive control unit 109, the display control unit 110, and the sound output control unit 111 execute a notification operation (standard notification operation or non-standard notification operation) (S106). ).

Thus, the notification process of this embodiment is completed.

[Example of software implementation]
The control unit 10 of the notification device 1 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software using a CPU (Central Processing Unit). .

In the latter case, the notification device 1 includes a CPU that executes instructions of a program that is software that implements each function, a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU), or A storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[Summary]
The notification control device (control unit 10) according to the first aspect of the present invention is a notification control device that controls a notification device that executes a notification operation when a notification event occurs, and is configured so that the notification device when the notification event occurs A target posture determining unit (104) that determines a target posture that is a posture when the notification device executes the notification operation according to an execution state that is a state, and the target posture determined by the target posture determination unit. And a notification operation execution unit (drive control unit 109, display control unit 110, and sound output control unit 111) for causing the notification device to execute the notification operation.

According to the above configuration, when a notification event occurs, it is possible to cause the notification device to execute a notification operation in an appropriate posture according to the execution state of the notification device.

The notification control apparatus according to aspect 2 of the present invention is the notification control apparatus according to aspect 1, wherein the target attitude determination unit includes: (i) a type of function being executed by the notification apparatus; (ii) attitude of the notification apparatus; And (iii) The target posture may be determined with at least one of the presence / absence of connection between the notification device and the external device as the execution state.

According to the above configuration, at least one of (i) a function performed by the notification device, (ii) a posture of the notification device, and (iii) presence / absence of connection between the notification device and an external device. Accordingly, a target posture that is a posture when the notification device executes the notification operation is determined. Therefore, it is possible to cause the notification device to take an appropriate notification posture in consideration of at least one of (i) to (iii) above.

For example, depending on the function performed by the notification device, when the notification device performs a notification operation with an inappropriate posture, the function may fail. On the other hand, according to said structure, a target attitude | position is determined according to the function which the alerting | reporting apparatus is performing. Therefore, it is possible to cause the notification device to perform the notification operation in a target posture that does not hinder the notification device from executing the function.

Further, according to the above configuration, when the notification device is in a posture that cannot be changed, the target posture can be determined so that the posture of the notification device is not changed. That is, the current posture of the notification device can be determined as the target posture. Therefore, it is possible to prevent a problem from occurring in the notification device by forcibly changing the posture of the notification device that cannot be changed.

Also, if the posture of the notification device is changed improperly while the notification device and the device are connected, the connection between the notification device and the device may be disconnected. On the other hand, according to said structure, a target attitude | position is determined according to the presence or absence of the connection of an alerting | reporting apparatus and an apparatus. Therefore, the target posture can be determined so that the notification device and the device are not disconnected. For example, the target posture can be determined so that the posture of the notification device is not changed.

The notification control apparatus according to Aspect 3 of the present invention is the notification control apparatus according to Aspect 1 or 2, wherein the target attitude determination unit is configured to determine the attitude according to the notification content of the notification event and the notification apparatus when the notification event occurs. Either one of the postures may be determined as the target posture.

According to the above configuration, the target posture is determined as a posture determined in advance for each notification content of the notification event or the posture of the notification device when the event occurs. Therefore, an appropriate one of the two postures can be determined as the target posture in accordance with at least one of the above (i) to (iii).

The notification control apparatus according to aspect 4 of the present invention is the notification control apparatus according to aspect 2, wherein the target posture determination unit includes a posture according to the notification content of the notification event and the execution state, and the notification event when the notification event occurs. Either one of the postures of the notification device may be determined as the target posture.

According to the above configuration, the target posture is determined as a posture determined in advance according to the notification content of the notification event and the execution state of the notification device, or the posture of the notification device when the notification event occurs. Therefore, an appropriate one of the two postures can be determined as the target posture in accordance with at least one of the above (i) to (iii).

In the notification control apparatus according to aspect 5 of the present invention, in the aspect 1, the target posture determination unit may determine the target posture according to a portion that should not be moved among the movable parts of the notification device. .

According to the above configuration, an appropriate target posture can be determined according to a portion that should not be moved. For example, the target posture may be determined so that the notification device can be set to the target posture without deforming the movable part (which should not be deformed).

In the notification control apparatus according to aspect 6 of the present invention, in any of the above aspects 1 to 5, the notification operation may include at least one of display and audio output.

According to the above configuration, even when the notification device cannot execute a notification operation with a change in posture, the notification operation can be executed by at least one of display and voice output.

A control method for a notification device according to aspect 7 of the present invention is a control method for a notification device that performs a notification operation when a notification event occurs, and is in an execution state that is a state of the notification device when the notification event occurs. In response, the notification device performs the notification operation with a target posture determination step for determining a target posture which is a posture when the notification device performs the notification operation, and the target posture determined in the target posture determination step. A notification operation execution step to be executed.

According to said structure, there can exist an effect similar to the alerting | reporting control apparatus which concerns on the said aspect 1. FIG.

The notification control apparatus according to each aspect of the present invention may be realized by a computer. In this case, the notification control apparatus is operated on each computer by causing the computer to operate as each unit (software element) included in the notification control apparatus. The control program of the notification control apparatus realized by the above and the computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

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

1 Notification Device 10 Control Unit (Notification Control Device)
104 Target posture determination unit 109 Drive control unit (notification operation execution unit)
110 Display control unit (notification operation execution unit)
111 sound output control unit (notification operation execution unit)

Claims (6)

1. A notification control device that controls a notification device that performs a notification operation when a notification event occurs,
   A target posture determination unit that determines a target posture that is a posture when the notification device executes the notification operation according to an execution state that is a state of the notification device at the time of occurrence of the notification event;
   A notification control device comprising: a notification operation execution unit that causes the notification device to execute the notification operation at the target posture determined by the target posture determination unit.
2. The target posture determination unit includes (i) the type of function being executed by the notification device, (ii) the posture of the notification device, and (iii) presence / absence of connection between the notification device and an external device. The notification control apparatus according to claim 1, wherein the target posture is determined by setting at least one of the execution states as the execution state.
3. The target posture determination unit determines, as the target posture, one of a posture corresponding to the notification content of the notification event and a posture of the notification device when the notification event occurs. Item 3. The notification control device according to item 1 or 2.
4. The target posture determination unit determines, as the target posture, one of a posture corresponding to the notification content of the notification event and the execution state, and a posture of the notification device when the notification event occurs. The notification control apparatus according to claim 2.
5. The notification control device according to claim 1, wherein the target posture determination unit determines the target posture according to a portion that should not be moved among the movable parts of the notification device.
6. A control method of a notification device that executes a notification operation when a notification event occurs,
   A target posture determination step for determining a target posture that is a posture when the notification device executes the notification operation according to an execution state that is a state of the notification device at the time of occurrence of the notification event;
   A notification operation execution step of causing the notification device to execute the notification operation at the target posture determined in the target posture determination step.

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