robot

Abstract

This invention provides an effective structure for maintaining a suitable temperature in a robot. The robot (100) includes: a frame (500); a skin (502) covering the frame (500); a heat source for heating a fluid; and a pressurizing unit that pressurizes a space (504) surrounded by the frame (500) to allow the heated fluid to flow out of the space (504), thereby forming a fluid layer (506) between the skin (502) covering the frame (500) and the frame (500). The pressurizing unit draws in external air from the interior of the frame (500) to pressurize the space (504).

Description

[0001] This application is a divisional application of the following application:

[0002] Invention Title: Robot and its Skin International Application Date: February 19, 2020 International Application Number: PCT / JP2020 / 006516

[0003] National Application Number: 202080014911.3 Technical Field

[0004] This invention relates to the structure of robots and their outer skin. Background Technology

[0005] The development of autonomous robots that provide communication and comfort to humans has made progress (see Patent Document 1). Examples of such robots include humanoid robots and pet robots. Robots that learn autonomously based on their surroundings and evolve their behavior, thus giving humans a sense of life, are also gradually emerging (see Patent Document 2).

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2000-323219

[0009] Patent Document 2: International Publication No. 2017 / 169826 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] Life has temperature. When a user feels the warmth of a pet while holding it, they instinctively feel safe and secure. This naturally encourages physical contact, and the user develops affection for the pet. Regarding this, existing robots focus on mimicking the appearance and function of living beings, largely neglecting temperature. The need for cooling to prevent internal components from overheating is common knowledge, and the idea of ​​a heated robot is unprecedented. The inventors realized that utilizing the robot's structure to maintain a suitable temperature would effectively evoke the user's affection.

[0012] This invention is based on the above-mentioned problem and its main purpose is to provide an effective structure that enables a robot to have an appropriate temperature.

[0013] Solution for solving the problem

[0014] One aspect of the present invention is a robot. The robot comprises: a frame; an outer skin covering the frame; a heat source for heating a fluid; and a pressurizing unit for pressurizing the space surrounded by the frame to cause the heated fluid to flow out of the space, thereby forming a fluid layer on the inner side of the outer skin covering the frame.

[0015] Another aspect of the invention is also a robot. This robot comprises: a head frame; a torso frame connected to the head frame; an outer skin covering each frame to cover the space between the head frame and the torso frame; a first heat source housed in the head frame; a first ventilator located through the first heat source for discharging fluid heated by the first heat source into space; a second heat source housed in the torso frame; and a second ventilator located through the second heat source for discharging fluid heated by the second heat source into space. The fluid flowing into space is pressurized, thereby forming a fluid layer between each frame and the outer skin.

[0016] Another aspect of the invention is an outer skin that can be detached from and attached to a robot in a manner that covers both the head frame and the torso frame. This outer skin comprises: a substrate, which is flexible; and a fabric covering at least the outer surface of the substrate. The substrate has a connecting hole that allows communication between the space between the head frame and the torso frame and between the substrate and the fabric.

[0017] Invention Effects

[0018] According to the present invention, the robot's body surface can be made to have a suitable temperature. Attached Figure Description

[0019] The above-described objectives and other objectives, features, and advantages are further made clear by the preferred embodiments described below and the accompanying drawings.

[0020] Figure 1A This is a diagram used to illustrate the outline of the robot, and it shows the mechanism for heating the robot's body surface.

[0021] Figure 1B It is a diagram used to illustrate the outline of the robot, and a partially enlarged cross-sectional view schematically representing the heat preservation principle.

[0022] Figure 2A This is the front view showing the robot's appearance.

[0023] Figure 2B This is a side view showing the robot's appearance.

[0024] Figure 3 It is a cross-sectional view that roughly represents the structure of the robot.

[0025] Figure 4A It is a side view that schematically shows the structure and operation of the wheel storage mechanism.

[0026] Figure 4B It is a schematic front view showing the structure and operation of the wheel storage mechanism.

[0027] Figure 5 This is a diagram of the robot's hardware configuration.

[0028] Figure 6 This is a functional block diagram of the robot system.

[0029] Figure 7A This is the right view showing the robot's appearance.

[0030] Figure 7B This is the front view showing the robot's appearance.

[0031] Figure 7C This is a rear view showing the robot's appearance.

[0032] Figure 8A This is a magnified view of a portion of the main part of the ventilation structure. Figure 7C Enlarged view of part A.

[0033] Figure 8B This is a magnified view of a key part of the ventilation structure. Figure 8A The opposite side is the inner side of the outer skin 314.

[0034] Figure 8C yes Figure 8B The B-B sectional view.

[0035] Figure 9 It is a cross-sectional view showing the structure of the robot.

[0036] Figure 10A This is a cross-sectional view showing details of the robot's ventilation structure, and is a cross-sectional view of the upper half of the robot 100 viewed from the side.

[0037] Figure 10B yes Figure 10A The enlarged view of section C shows the low ventilation resistance region when the fan is stopped.

[0038] Figure 10C yes Figure 10A The enlarged view of section C shows the low ventilation resistance region when the fan is driven. Detailed Implementation

[0039] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that, for convenience, the positional relationships of the various structures are sometimes shown based on the illustrated configuration in the following description. Furthermore, for the following embodiments and their variations, sometimes the same reference numerals are used to label substantially the same structural elements, and their descriptions are appropriately omitted.

[0040] Figure 1 is a diagram illustrating the outline of robot 100. Figure 1A This is a diagram illustrating the mechanism by which the surface of the heated robot 100 is heated. Figure 1B It is a partially enlarged cross-sectional view that schematically illustrates the principle of heat preservation.

[0041] Generally, for robots with internal heat sources, the body surface near the heat source will heat up. However, parts of the body far from the heat source, such as extremities like fingers and fingertips, will not heat up. Therefore, if there is only an internal heat source, it is impossible to heat the body surface evenly. Heating near a heat source is a natural phenomenon, but localized heating of the body surface is different from uniform heating. It should be noted that "uniform heating" here refers to heating in a way that prevents a specific temperature difference between localized areas of the body surface and other areas from reaching a predetermined level.

[0042] By uniformly heating the robot's surface, a person in physical contact with the robot can feel the temperature in a way that avoids any sense of discomfort. This encourages the user to actively engage with the robot. Uniformly heating the robot's surface promotes physical contact and helps the user develop an attachment to the robot. The robot 100 of this embodiment is constructed based on the above considerations.

[0043] Robot 100 maintains a suitable surface temperature. When a user comes into contact with Robot 100, the user will feel as if Robot 100 has body temperature, and thus feel that Robot 100 has a living temperature. This encourages physical contact with Robot 100 and instinctively arouses the user's affection for Robot 100. This temperature is achieved by using warm air flowing inside the robot to form a warm air layer along the surface of the body.

[0044] like Figure 1A As shown, the robot 100 has a frame 500 forming a skeleton, and a skin 502 covers the frame 500. The skin 502 is detachable from the frame 500. On the other hand, an air intake is provided at a designated location on the frame 500, and external air is introduced, as indicated by the solid arrow. A heat source, such as a heating element, is provided within the frame 500, so cooling is achieved through external air in a manner that prevents the heat source from overheating. The air heated through heat exchange with the heat source converges into a specific space 504 enclosed by the frame 500, as indicated by the dashed arrow.

[0045] like Figure 1BAs shown, pressurized air, concentrated in space 504 and indicated by the dotted-dotted arrow, is partially exhausted to the outside through the fibers of the skin 502. However, due to the air resistance of the skin 502, some air is directed between the frame 500 and the skin 502, forming an air layer 506 between them. Heated air is continuously introduced into space 504, thus forming the air layer 506 and circulating throughout the body surface, as indicated by the double-dotted-dotted arrow. This maintains a suitable temperature for the robot 100. The specific structure of such a robot 100 will be described below.

[0046] [Basic Structure]

[0047] Figure 2 is a diagram showing the appearance of robot 100. Figure 2A This is the main view. Figure 2B It is a side view.

[0048] Robot 100 is a behaviorally autonomous robot whose behavior is determined by its external environment and internal state. The external environment is identified through various sensors such as cameras and thermal sensors. The internal state is quantified into various parameters representing Robot 100's emotions. Robot 100 operates primarily within the home of its owner. Hereinafter, anyone associated with Robot 100 will be referred to as a "user."

[0049] The main body 104 of robot 100 has an overall rounded shape, including an outer skin 314 made of soft and elastic materials such as polyurethane, rubber, resin, and fiber. This allows for the robot 100 to be dressed up. The total weight of robot 100 is approximately 5–15 kg, and its height is approximately 0.5–1.2 meters. Through its moderate weight and rounded, soft, and comfortable feel, robot 100 is designed to be easy and desirable for users to pick up.

[0050] Robot 100 includes a pair of front wheels 102 (left wheel 102a, right wheel 102b) and a rear wheel 103. The front wheels 102 are drive wheels, and the rear wheels 103 are driven wheels. The front wheels 102 do not have a steering mechanism, but can independently control the rotational speed and direction of the left and right wheels. The rear wheels 103 are casters, freely rotating to move the robot 100 forward, backward, left, and right. The rear wheels 103 can also be omnidirectional wheels. Robot 100 can turn left or counterclockwise by making the right wheel 102b rotate at a higher speed than the left wheel 102a. Robot 100 can turn right or clockwise by making the left wheel 102a rotate at a higher speed than the right wheel 102b.

[0051] The front wheel 102 and rear wheel 103 can be completely housed in the main body 104 via a drive mechanism (rotating mechanism, linkage mechanism). A pair of covers 312 are provided on the lower half of the main body 104. The covers 312 are formed of a flexible and elastic resin material (rubber, silicone rubber, etc.), forming a soft body and capable of housing the front wheel 102. The covers 312 have narrow slits 313 (openings) extending from the side openings to the front surface, through which the front wheel 102 can extend and protrude to the outside.

[0052] When moving, most of the wheels are hidden within the main body 104. When all the wheels are fully retracted into the main body 104, the robot 100 becomes immobile. That is, as the wheels are retracted, the main body 104 descends and sits on the ground F. In this seated state, the flat seat surface 108 (grounding bottom surface) formed on the bottom of the main body 104 comes into contact with the ground F.

[0053] Robot 100 has two arms 106. Hands are located at the ends of the arms 106, but they do not have the function of grasping objects. Driven by actuators described later, the arms 106 can perform simple movements such as raising, bending, waving, and trembling. Both arms 106 can be controlled independently.

[0054] The robot 100 has a facial area 116 exposed on the front of its head. Two eyes 110 are located in the facial area 116. The eyes 110 can display images using liquid crystal elements or organic EL elements. A nose 109 is located in the center of the facial area 116. A simulated joystick is located on the nose 109, which can detect all directions (up, down, left, right) and the direction of a touch. In addition, the robot 100 is equipped with multiple touch sensors that can detect user touches on almost the entire area of ​​the robot 100, including the head, torso, hips, and arms. The robot 100 is equipped with various sensors, such as a microphone array to determine the direction of a sound source and an ultrasonic sensor. Furthermore, it can have a built-in speaker to emit simple sounds.

[0055] A horn 112 is mounted on the head of the robot 100. A panoramic camera 113 is installed in the horn 112, capable of capturing the entire upper area of ​​the robot 100 in a single shot. A thermal sensor 115 (thermal camera) is also built into the horn 112. An emergency stop switch is located in the horn 112, allowing the user to stop the robot 100 by pulling on the horn 112.

[0056] Figure 3 It is a cross-sectional view that roughly represents the structure of robot 100.

[0057] The main body 104 includes: a main frame 310, a pair of arms 106, a pair of covers 312, and an outer skin 314. The main frame 310 includes a head frame 316 and a torso frame 318. The head frame 316 is hollow and hemispherical, forming the head skeleton of the robot 100. The torso frame 318 is cylindrical, forming the torso skeleton of the robot 100. The lower end of the torso frame 318 is fixed to the lower plate 334. The head frame 316 is connected to the torso frame 318 via a connecting mechanism 330.

[0058] The torso frame 318 forms the core of the main body 104. The torso frame 318 is configured to fix a pair of left and right side plates 336 to the lower plate 334, supporting a pair of arms 106 and internal mechanisms. The battery 118, control circuitry 342, and various actuators are housed inside the torso frame 318. The bottom surface of the lower plate 334 forms the seating surface 108.

[0059] The torso frame 318 has an upper plate 332 on its upper part. A bottomed cylindrical support portion 319 is fixed to the upper plate 332. The upper plate 332, lower plate 334, a pair of side plates 336, and support portion 319 constitute the torso frame 318. The outer diameter of the support portion 319 is smaller than the spacing between the left and right side plates 336. A pair of arms 106 are integrally assembled with an annular member 340 to form an arm unit 350. The annular member 340 is annular and the pair of arms 106 are assembled thereon in a radially separated manner along its center line. The annular member 340 is coaxially inserted into the support portion 319 and rests on the upper end face of the pair of side plates 336. The arm unit 350 is supported from below by the torso frame 318.

[0060] The head frame 316 has a yaw axis 321, a pitch axis 322, and a roll axis 323. Head-shaking motion is achieved by rotating the head frame 316 about the yaw axis 321; head-nodding, head-raising, and head-lowering motions are achieved by rotating the head frame 316 about the pitch axis 322; and head-tilting motions are achieved by rotating the head frame 323 about the roll axis 323. The position and angle of each axis in three-dimensional space can be changed according to the driving method of the connecting mechanism 330. The connecting mechanism 330 includes a linkage mechanism driven by multiple motors mounted on the torso frame 318.

[0061] The torso frame 318 houses a wheel drive mechanism 370. The wheel drive mechanism 370 includes a front wheel drive mechanism and a rear wheel drive mechanism that allow the front wheel 102 and rear wheel 103 to pass through the main body 104, respectively. The front wheel 102 and rear wheel 103 function as "mobility mechanisms" for moving the robot 100. A direct-drive motor is located at the center of the front wheel 102. Therefore, the left wheel 102a and right wheel 102b can be driven independently. The front wheel 102 is rotatably supported on a wheel cover 105, which is rotatably supported on the torso frame 318.

[0062] A pair of covers 312 are configured to cover the torso frame 318 from the left and right, forming a smooth curved shape with an arcuate outline of the main body 104. A closed space is formed between the torso frame 318 and the covers 312, which serves as the storage space S for the front wheel 102. The rear wheel 103 is accommodated in a storage space located at the lower rear of the torso frame 318.

[0063] The outer skin 314 covers the main frame 310 and a pair of arms 106 from the outside. The outer skin 314 has a thickness that provides a degree of elasticity that a human would feel, and is formed from a stretchable material such as polyurethane foam. Therefore, when a user hugs the robot 100, there is a moderately soft feeling, allowing for natural physical contact like hugging a pet. The outer skin 314 is fitted to the main frame 310 in a shape that exposes the cover 312. An opening 390 is provided at the upper end of the outer skin 314. This opening 390 inserts into the angle 112. The outer skin 314 is detachable from the main frame 310.

[0064] Touch sensors are disposed between the main frame 310 and the outer skin 314. Touch sensors are also embedded in the cover 312. These touch sensors are all capacitive sensors, detecting contact across almost the entire area of ​​the robot 100. It should be noted that the touch sensors can be embedded in the outer skin 314 or disposed inside the main frame 310.

[0065] The arm 106 has a first joint 352 and a second joint 354, with an arm 356 between the two joints and a hand 358 at the front end of the second joint 354. The first joint 352 corresponds to the shoulder joint, and the second joint 354 corresponds to the wrist joint. Motors are provided at each joint to drive the arm 356 and the hand 358, respectively. The drive mechanism for driving the arm 106 includes these motors and their drive circuitry 344.

[0066] Figure 4 is a schematic diagram illustrating the structure and operation of the wheel storage mechanism. Figure 4A It is a side view. Figure 4B This is the front view. The dashed lines in the diagram represent the state where the wheels extend from the storage space S and can move, while the solid lines represent the state where the wheels are stored in the storage space S.

[0067] The wheel drive mechanism 370 includes a front wheel drive mechanism 374 and a rear wheel drive mechanism 376. The front wheel drive mechanism 374 includes a rotating shaft 378 and an actuator 379. The rotating shaft 378 is connected to the wheel cover 105. In this embodiment, a motor is used as the actuator 379. The wheel cover 105 is rotated by the actuator 379, thereby driving the front wheel 102 forward and backward from the storage space S.

[0068] In this embodiment, the forward and reverse driving of the left wheel 102a and the right wheel 102b can be controlled independently. That is, an actuator 379a for the left wheel 102a and an actuator 379b for the right wheel 102b are provided, and they can be driven independently. The wheel cover 105 of the left wheel 102a is connected to the actuator 379a via a rotating shaft 378a, and the wheel cover 105 of the right wheel 102b is connected to the actuator 379a via a rotating shaft 378b. It should be noted that in the following description, the rotating shafts 378a and 378b are referred to as "rotating shaft 378" unless specifically distinguished, and the actuators 379a and 379b are referred to as "actuator 379".

[0069] The rear-wheel drive mechanism 376 includes a rotating shaft 404 and an actuator 406. The rotating shaft 404 is arranged parallel to the rotating shaft 378 of the front-wheel drive mechanism 374, supporting the rear wheel 103 in a manner that allows it to rotate about its axis. The rear wheel 103 is a caster wheel, having a main shaft 407 (rotating shaft) and an axle 408. Two arms 410 extend from the main shaft 407, with the axle 408 located at the front ends of these two arms 410. The wheel is rotatably supported on the axle 408. The upper end of the main shaft 407 is connected to the center of the rotating shaft 404 and is supported to rotate freely about this axis. The axle 408 is not on the axis of the main shaft 407 but deviates from it. The main shaft 407 allows the orientation (direction of travel) of the rear wheel 103 to change arbitrarily. The rotating shaft 404 is rotated by the actuator 406, enabling the rear wheel 103 to be driven forward and backward from the rear storage space.

[0070] When the wheels are retracted, actuators 379 and 406 are driven in one direction. At this time, wheel cover 105 rotates around pivot 378, and front wheel 102 rises from the ground F. Additionally, arm 410 rotates around pivot 404, and rear wheel 103 rises from the ground F (refer to the dotted arrow). As a result, body 104 descends, and seating surface 108 contacts the ground F (refer to the solid arrow), achieving a seated state for robot 100. By reversing the drive of actuators 379 and 406, the wheels can be extended, allowing robot 100 to stand up.

[0071] It should be noted that a tail-like rear cover 107 is provided on the outer side of the rear wheel 103, which opens and closes the lower rear opening of the main body 104 in conjunction with the forward and backward movement of the rear wheel 103. That is, the rear cover 107 opens when the rear wheel 103 is extended, and closes when the rear wheel 103 is retracted.

[0072] Figure 5 This is a hardware configuration diagram of Robot 100.

[0073] Robot 100 includes: internal sensors 128, a communicator 126, a storage device 124, a processor 122, a drive mechanism 120, and a battery 118. The drive mechanism 120 includes the aforementioned connection mechanism 330 and wheel drive mechanism 370. The processor 122 and storage device 124 are included in the control circuit 342. Each unit is interconnected via a power line 130 and a signal line 132. The battery 118 supplies power to each unit via the power line 130. Each unit transmits and receives control signals via the signal line 132. The battery 118 is a secondary battery such as a lithium-ion rechargeable battery and is the power source for robot 100.

[0074] The internal sensor 128 is a collection of various sensors built into the robot 100. Specifically, these include a camera, microphone array, ranging sensor (infrared sensor), thermal sensor, touch sensor, accelerometer, barometric pressure sensor, and olfactory sensor. The touch sensor covers most of the body 104 and detects user contact based on changes in capacitance. The olfactory sensor is a known sensor that utilizes the principle that resistance changes due to the adsorption of molecules that act as odor sources.

[0075] The communicator 126 is a communication module for wireless communication with various external devices. The storage device 124 consists of non-volatile memory and volatile memory, storing computer programs and various configuration information. The processor 122 is the execution unit of the computer program. The drive mechanism 120 includes multiple actuators. In addition, it also includes a display, speakers, etc.

[0076] The drive mechanism 120 primarily controls the wheels and head. Besides changing the robot 100's direction and speed of movement, the drive mechanism 120 also raises and lowers the wheels. When the wheels rise, they are completely retracted into the main body 104, and the robot 100 comes into contact with the ground F via the seating surface 108, entering a seated state. Furthermore, the drive mechanism 120 controls the arm 106.

[0077] Figure 6 This is a functional block diagram of Robot System 300.

[0078] The robot system 300 includes a robot 100, a server 200, and multiple external sensors 114. The components of the robot 100 and server 200 are implemented by hardware and software. The hardware includes an arithmetic logic unit (ALU) such as a central processing unit (CPU) and various coprocessors, storage devices such as memory and storage, and wired or wireless communication lines connecting these devices. The software is stored in the storage devices and provides processing commands to the ALU. The computer program may consist of device drivers, an operating system, various application programs located at their upper levels, and program libraries that provide common functions for these programs. The groups of sections described below do not represent the structure of hardware units, but rather groups of functional units. Some functions of the robot 100 can be implemented by the server 200, and some or all functions of the server 200 can also be implemented by the robot 100.

[0079] Multiple external sensors 114 are pre-installed inside the enclosure. A server 200 manages the external sensors 114, providing the robot 100 with the detection values ​​acquired by the external sensors 114 as needed. The robot 100 determines its basic behavior based on information obtained from internal sensors 128 and the multiple external sensors 114. The external sensors 114 enhance the robot 100's sensory capabilities, while the server 200 enhances the robot 100's processing capabilities. The robot 100's communicator 126 communicates periodically with the server 200, which is responsible for determining the robot 100's position using the external sensors 114 (see Patent Document 2).

[0080] (Server 200)

[0081] Server 200 includes a communication unit 204, a data processing unit 202, and a data storage unit 206. The communication unit 204 is responsible for communication processing with external sensors 114 and the robot 100. The data storage unit 206 stores various types of data. The data processing unit 202 performs various processes based on the data acquired through the communication unit 204 and the data stored in the data storage unit 206. The data processing unit 202 also functions as an interface between the communication unit 204 and the data storage unit 206.

[0082] The data storage unit 206 includes a motion storage unit 232 and a personal data storage unit 218. The robot 100 has multiple motion modes. Various motions are defined, such as shaking the arm 106, serpentine approach to the owner, and tilting the head to look at the owner.

[0083] The motion storage unit 232 stores "motion files" that define the control content of the motions. Each motion is identified by an motion ID. The motion files are also downloaded to the motion storage unit 160 of the robot 100. Which motion to execute is sometimes determined by the server 200 and sometimes by the robot 100. Many of the robot 100's motions are configured as composite motions that include multiple unit motions.

[0084] The personal data storage unit 218 stores user information. Specifically, it stores key information representing the user's level of intimacy and the user's physical / behavioral characteristics. Other attribute information such as age and gender may also be stored.

[0085] Robot 100 uses an internal parameter called "intimacy level" for each user. When Robot 100 recognizes behaviors that show friendliness, such as being hugged or greeted, it increases its intimacy level with that user. Intimacy levels decrease with users unrelated to Robot 100, users who are aggressive, or users with whom it rarely meets.

[0086] The data processing unit 202 includes: a position management unit 208, a recognition unit 212, a motion control unit 222, a closeness management unit 220, and a state management unit 244. The position management unit 208 determines the position coordinates of the robot 100. The state management unit 244 manages various internal parameters, such as charging rate, internal temperature, and the processing load of the processor 122. Furthermore, the state management unit 244 manages various emotional parameters representing the robot 100's emotions (loneliness, curiosity, desire for recognition, etc.).

[0087] The identification unit 212 identifies the external environment. External environment identification includes various methods such as climate and season identification based on temperature and humidity, and identification of sheltered areas (safe zones) based on light intensity and temperature. The identification unit 156 of the robot 100 acquires various environmental information through internal sensors 128, processes this information once, and forwards it to the identification unit 212 of the server 200.

[0088] The recognition unit 212 compares the feature vectors extracted from the images captured by the built-in camera of the robot 100 with the feature vectors of users (cluster) pre-recorded in the personal data storage unit 218, thereby determining which person the captured user corresponds to (user recognition processing). Furthermore, the recognition unit 212 infers the user's emotions by performing image recognition on the user's facial expressions. The recognition unit 212 also performs user recognition processing on moving objects other than people, such as cats and dogs kept as pets.

[0089] The recognition unit 212 identifies various responses received by the robot 100 and classifies them as pleasant / unpleasant behaviors. The recognition unit 212 also classifies responses from the user to the robot 100's actions as positive / negative reactions. Pleasant / unpleasant behaviors are determined based on whether the user's response is comfortable or unpleasant to the robot.

[0090] The motion control unit 222 works in conjunction with the motion control unit 150 of the robot 100 to determine the actions of the robot 100. The motion control unit 222 determines the target location for the robot 100's movement and the route to that target location. The motion control unit 222 can determine multiple routes and select any one of them. The motion control unit 222 selects the robot 100's action from multiple actions stored in the motion storage unit 232.

[0091] The Intimacy Management Department 220 manages the intimacy level of each user. Intimacy level is recorded as part of personal data in the Personal Data Storage Department 218. When pleasant behavior is detected, the Intimacy Management Department 220 increases the intimacy level with that user. When unpleasant behavior is detected, the intimacy level decreases. Furthermore, the intimacy level gradually decreases for users who have not seen each other for a long time.

[0092] (Robot 100)

[0093] Robot 100 includes: a communication unit 142, a data processing unit 136, a data storage unit 148, internal sensors 128, and a drive mechanism 120. The communication unit 142 and the communicator 126 (see reference) Figure 5 Corresponding to this, it is responsible for communication processing with external sensors 114, server 200, and other robots 100. Data storage unit 148 stores various types of data. Data storage unit 148 and storage device 124 (see reference) Figure 5 The data processing unit 136 performs various processes based on the data acquired by the communication unit 142 and the data stored in the data storage unit 148. The data processing unit 136 corresponds to the processor 122 and the computer program executed by the processor 122. The data processing unit 136 also functions as an interface between the communication unit 142, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.

[0094] The data storage unit 148 includes an action storage unit 160 that defines various actions of the robot 100. Various action files are downloaded from the action storage unit 232 of the server 200 to the action storage unit 160. Actions are identified by action IDs. To represent various actions such as retracting the wheels to sit, raising the arm 106, rotating the robot 100 by rotating the two front wheels 102 in opposite directions or by rotating only one front wheel 102, vibrating by rotating the front wheels 102 while the wheels are retracted, and stopping and turning back when leaving the user, the action files define the timing, duration, and direction of various actuators (drive mechanisms 120) in sequence. Alternatively, various data can be downloaded from the personal data storage unit 218 to the data storage unit 148.

[0095] The data processing unit 136 includes a recognition unit 156 and a motion control unit 150. The recognition unit 156 interprets external information acquired from the internal sensor 128. The recognition unit 156 is capable of visual recognition (visual unit), odor recognition (olfactory unit), sound recognition (auditory unit), and tactile recognition (tactile unit).

[0096] The recognition unit 156 extracts image regions corresponding to moving objects, particularly people and animals, from the image, and extracts "feature vectors" from the extracted image regions as a set of feature quantities representing the physical and behavioral characteristics of the moving object. Feature vector components (feature quantities) are numerical values ​​obtained by quantifying various physical / behavioral characteristics. For example, the width of a human eye is numerically quantified into a range of 0 to 1, forming a feature vector component. The method of extracting feature vectors from images of people is an application of known facial recognition technology. When a moving object is detected, physical and behavioral characteristics are also extracted from olfactory sensors, built-in microphones, thermal sensors, etc. These characteristics are also quantized into feature vector components. Based on known technologies described in Patent Document 2, etc., the recognition unit 156 determines the user based on the feature vectors. The robot 100 sends the feature vectors to the server 200.

[0097] In a series of identification processes including detection, analysis, and judgment, the identification unit 156 selects, extracts, and interprets the information required for identification, while the identification unit 212 of the server 200 performs the interpretation. The identification process can be performed solely by the identification unit 212 of the server 200, solely by the identification unit 156 of the robot 100, or by a division of labor between the two. The robot 100 acquires user behavior as physical information through its internal sensors 128, and the identification unit 212 of the server 200 determines whether the user is happy or unhappy. Furthermore, the identification unit 212 of the server 200 performs user identification processing based on feature vectors.

[0098] The recognition unit 212 of server 200 recognizes various responses from users to robot 100. A portion of these responses are typically associated with pleasant or unpleasant, affirmative or negative responses. Generally, pleasant responses are almost always positive, while unpleasant responses are almost always negative. Pleasant / unpleasant responses are related to intimacy levels, and positive / negative responses influence robot 100's behavioral choices.

[0099] Based on the response behavior identified by the identification unit 156, the affinity management unit 220 of the server 200 changes the affinity level with the user. In principle, the affinity level with users who have performed pleasant behaviors will increase, and the affinity level with users who have performed unpleasant behaviors will decrease.

[0100] The motion control unit 150 and the motion control unit 222 of the server 200 cooperate to determine the actions of the robot 100. Alternatively, some actions may be determined by the server 200, while others may be determined by the robot 100. Or, the robot 100 may determine the actions, but the server 200 may determine the actions when the robot 100's processing load is high. Alternatively, the server 200 may determine the basic actions, while the robot 100 determines additional actions. The design of how the server 200 and the robot 100 share the action determination and processing should be based on the specifications of the robot system 300.

[0101] The motion control unit 150 instructs the drive mechanism 120 to execute the selected motion. The drive mechanism 120 controls each actuator according to the motion file.

[0102] The motion control unit 150 can raise both arms 106 as a gesture of asking for a hug when a user with high intimacy approaches, or it can express aversion to hugging by alternately rotating in opposite directions and stopping while retracting the left and right front wheels 102. The drive mechanism 120 drives the front wheels 102, arms 106, and head (head frame 316) according to the instructions of the motion control unit 150, thereby enabling the robot 100 to perform a variety of actions.

[0103] Next, based on the above basic structure, the installation of the robot 100 in this embodiment will be described. The following description will focus on the differences from the basic structure.

[0104] Figure 7 is a diagram showing the appearance of robot 100. Figure 7A It is the right view. Figure 7B This is the main view. Figure 7C This is a rear view. It should be noted that the robot 100 is roughly symmetrical from left to right. The frame of the robot 100 (main frame 310, see reference) Figure 3The outer skin 314 is a skeleton structure located inside the outer skin 314, including parts that are in close contact with the outer skin 314 to form the appearance of the robot 100.

[0105] The robot 100 has a receiving opening 377 at the lower rear of its torso frame 318 for accommodating the rear wheels 103. A pair of charging terminals 510 protrude from the left and right sides of the receiving opening 377. The charging terminals 510 are cylindrical with varying diameters and receive power by connecting to a power supply terminal of a charging station (not shown). The base of the charging terminals 510 is located inside the torso frame 318 and is connected to the charging circuit and then to the battery 118 via wiring. The front end of the charging terminals 510 is enlarged into a circular plate shape, resembling a button.

[0106] The outer skin 314 is constructed by sewing together the outer skin body 420 and the elastic fitting portion 422. The outer skin body 420 and the elastic fitting portion 422 are integrally formed. Both the outer skin body 420 and the elastic fitting portion 422 are made of a material that is softer than the frame. The outer skin body 420 includes a stretchable base material 520 and a cloth bag 522 that houses the base material 520. The base material 520 is formed of a stretchable material such as polyurethane foam (a porous material). The base material 520 contains heat-insulating material. The cloth bag 522 is made by sewing a smooth and stretchable fabric such as polyester fiber into a bag. The outer skin body 420 includes: a bag-shaped portion 424 covering the head frame 316, a pair of hands 426 extending downward from the left and right sides of the bag-shaped portion 424, a front extension portion 428 extending downward from the front of the bag-shaped portion 424, and a rear extension portion 430 extending downward from the back of the bag-shaped portion 424. An opening 432 for exposing the face area 116 is provided on the front surface side of the bag-shaped portion 424. It should be noted that although the material of the outer skin 314 is preferably a soft and elastic material, it is acceptable as long as it is at least flexible.

[0107] The elastic fitting portion 422 forms the bottom of the outer skin 314, connecting the front extension portion 428 and the rear extension portion 430 of the outer skin body 420 at the bottom. An opening 434 is provided in the elastic fitting portion 422 at a position corresponding to the receiving opening 377. A pair of holes 436 are formed at the lower rear of the elastic fitting portion 422. The holes 436 are small-width holes, similar to button holes, and because the elastic fitting portion 422 is flexible, it can be flattened in the width direction. A pair of charging terminals 510 are inserted through these holes 436. The length of the holes 436 in the long dimension is longer than the diameter of the front end (expanded diameter portion) of the charging terminals 510, and the length of the holes 436 in the short dimension is shorter than the diameter of the front end of the charging terminals 510. After the charging terminals 510 are inserted through the holes 436, the holes 436 will return to their original smaller-width shape due to elasticity. Thus, the head of the charging terminal 510 is engaged around the periphery of the hole 436, preventing the outer sheath 314 from detaching from the frame. That is, the charging terminal 510 is a terminal for charging, and also a component for preventing or mitigating the detachment of the outer sheath 314.

[0108] It should be noted that the substrate 520 is configured to contain a flame-retardant material (e.g., flame-retardant sponge) that releases self-extinguishing gas when it reaches a temperature above a predetermined temperature threshold. That is, the outer body 420 is formed by enclosing the flame-retardant substrate 520 within a bag 522, so that even if the bag 522 reaches a temperature above a predetermined temperature, self-extinguishing gas can be released from the substrate 520, preventing the bag 522 from igniting or the spread of fire. The threshold temperature at which the substrate 520 generates self-extinguishing gas is preferably lower than the ignition temperature of the fabric of the bag 522. In this case, even if the temperature of the fabric of the bag 522 rises, self-extinguishing gas can be generated before the fabric of the bag 522 ignites, thus preventing the bag 522 from igniting. The outer body 420 is composed of a flame-retardant substrate 520 and a bag 522 that retains warm air on the outside of the substrate 520, thus balancing temperature during contact with the robot 100 and safety against high temperatures.

[0109] The outer skin body 420 has a ventilated structure for allowing warm air to flow out to the rear side. Figure 7C (Part A). The ventilation structure includes a porous structure with a plurality of connecting holes 524 arranged in a designated area of ​​the substrate 520.

[0110] Figure 8 is a partial enlarged view showing the main parts of the ventilation structure. Figure 8A yes Figure 7C Enlarged view of part A. Figure 8B express Figure 8A The opposite side is the inner side of the outer skin 314. Figure 8C yes Figure 8B The B-B sectional view.

[0111] like Figure 8A and Figure 8B As shown, connecting holes 524 are arranged longitudinally and transversely in a designated area of ​​the substrate 520, forming a porous structure. The connecting holes 524 are composed of circular holes, much larger than the air pores of the bag 522. This porous structure has a lower air resistance in a local area of ​​the substrate 520 than the air resistance of the bag 522, functioning as the "low air resistance region" and "low flow resistance region" of the present invention. It should be noted that the low air resistance region is not limited to the shape, size, or arrangement of the connecting holes 524 shown in the figure; any region with lower air resistance than the bag 522 can be appropriately selected.

[0112] like Figure 8B and Figure 8C As shown, an opening 526 is provided on the inner side of the bag 522 at a position corresponding to the low air resistance area, and a patch fabric 530 is sewn to cover the opening 526. The patch fabric 530 has a mesh bottom, the mesh size of which is smaller than the connecting hole 524 and much larger than the air vents of the bag 522. The patch fabric 530 protects the substrate 520 from the inside and ensures the air permeability of the low air resistance area. By sewing the patch fabric 530 to the bag 522 in this way, deformation of the opening 526 is prevented or suppressed, and the shape of the outer skin 314 is maintained.

[0113] Figure 9 This is a cross-sectional view showing the structure of robot 100.

[0114] In robot 100, the main frame 310 functions as frame 500 (see Figure 1). Robot 100 has a space 504 between head frame 316 and torso frame 318. Outer skin 314 covers the main frame 310 in such a way that it forms this space 504 internally. That is, the inner surface of outer skin 314 is exposed relative to space 504.

[0115] Near the base of arm 106, an annular inner skin 315 is integrally formed with the outer skin 314. The inner skin 315 is made of a fabric with higher elasticity than the pouch 522, which is a component of the outer skin 314, and is sewn to the pouch 522 along the armpit of robot 100. The lower periphery of the inner skin 315 is fitted into an annular groove 317 formed between the torso frame 318 and the cover 312, thereby securing it. Specifically, a drawstring portion is sewn along the lower opening of the inner skin 315. The drawstring (omitted) is inserted through this drawstring portion and tightened, thereby constricting the lower opening of the inner skin 315 and securing it to the annular groove 317. When robot 100 raises arm 106, the inner skin 315 extends; when arm 106 is lowered, the inner skin 315 contracts, but the lower end remains fixed. Therefore, regardless of the movement of arm 106, heated air can be prevented from leaking out from the lower opening of the inner skin 315.

[0116] It should be noted that, not only the inner skin 315, but also the portion of the outer skin 314 involving the movable area is preferably configured to be thinner than other portions of the outer skin 314 to ensure mobility. However, if it is configured to be thinner, the touch of this portion is more likely to be harder than other portions, or heat will be more easily released from the thinner portion compared to other portions. To avoid these problems, it is preferable that the portion of the outer skin 314 involving the movable area is made of a material that is more elastic and has higher thermal insulation than other portions.

[0117] A connecting hole 540 is provided in the center of the upper plate 332, allowing the inside of the torso frame 318 to communicate with the inside of the support portion 319. A connecting hole 542 is provided in the center of the bottom of the support portion 319, allowing the inside of the support portion 319 to communicate with the space 504. Ventilation holes 544 are provided on the left and right sides of the torso frame 318, and dust filters are installed in each ventilation hole 544. The mesh size of the filter is set to perform the dust-proof function without affecting ventilation. A fan 550 is provided directly below the connecting hole 540.

[0118] The robot 100 operates by driving the fan 550 to achieve cooling through ventilation. Specifically, the fan 550 draws in outside air into the torso frame 318. This outside air is introduced into the cover 312 via the narrow slit 313 shown in FIG. 7, and then into the torso frame 318 via the vent 544 (refer to the double-dotted arrow). This cools electrical components located in the torso frame 318, such as the battery 118, control circuit 342, and actuators, which are heat-generating components. The fan 550 then blows the air heated by this cooling heat exchange upwards as warm air. This air is discharged into the space 504 through the connecting holes 540 and 542. In other words, the vent 544 functions as an "intake port," and the connecting holes 540 and 542 function as "exhaust ports."

[0119] On the other hand, multiple control circuit boards 532 are arranged inside the head frame 316, which become the cause of heat generation. Therefore, an air intake is provided at the top of the head and an exhaust port is provided at the bottom. An intake fan 552 and an exhaust fan 554 are provided in the passage connecting the intake and exhaust ports, thereby achieving cooling by external air (see the double-dotted arrow).

[0120] Figure 10 is a cross-sectional view showing details of the ventilation structure of robot 100. Figure 10A This is a cross-sectional view of the upper half of robot 100 viewed from the side. Figure 10B and Figure 10C yes Figure 10A The enlarged view of section C shows the low ventilation resistance region. Figure 10B This indicates that the fan is stopped. Figure 10C This indicates the state in which the fan is driven.

[0121] like Figure 10A As shown, a guide 560 is provided at the top of the head frame 316. The guide 560 is a cylindrical part of varying diameter, and an opening 390 of the outer skin 314 is fitted onto its outer circumferential surface. The guide 560 supports the angle 112 and is used for positioning when fixing the outer skin 314. The guide 560 is formed of a flexible resin material and also serves a sealing function when the angle 112 is assembled to the head frame 316.

[0122] An annular air intake 562 is provided inside the guide 560, and an exhaust 564 is provided at the lower part of the head frame 316. A dust filter 568 is provided at the inlet of the air intake 562. The mesh size of the filter 568 is set to perform dust prevention without affecting airflow. A partition wall 570 is provided in the upper part of the head frame 316, dividing it into an external air intake chamber 572 above and a receiving chamber 574 below. Electrical components such as a control circuit board 532 are housed in the receiving chamber 574.

[0123] A step 576 is provided on the front half of the partition wall 570, and the rear of the step 576 is further lowered to form a drainage groove (drainage groove 578). On the other hand, an opening 580 for ventilation is provided on the upper surface of the step 576. An outlet 582 is provided at the rear of the head frame 316. The outlet 582 communicates with the external air inlet chamber 572. Even if moisture enters the external air inlet chamber 572 from the outside through the air intake 562, it can be discharged to the outside through the drainage groove 578 and the outlet 582.

[0124] An air intake fan 552 is positioned directly below the opening 580 inside the step 576. The lower opening (air intake 562) of the guide 560 is located rearward, offset from the step 576. Therefore, even if moisture enters from the outside through the guide 560, it will not be guided to the opening 580, but will drip down behind the step 576. That is, moisture is prevented from entering the containment chamber 574.

[0125] An exhaust fan 554 is positioned directly above the exhaust port 564 in the head frame 316. This creates a ventilation passage between the intake fan 552 and the exhaust fan 554. A control circuit board 532 is located within this ventilation passage.

[0126] During operation, the robot 100 drives fans 552 and 554 to achieve cooling through ventilation. Specifically, external air is drawn into the intake chamber 572 through the intake port 562 and then into the receiving chamber 574 via the opening 580, cooling heat-generating components (electrical components) such as the control circuit board 532. The exhaust fan 554 then delivers the heated air, heated through this cooling process, downwards as warm air. This air is then discharged into the space 504 through the exhaust port 564.

[0127] As described above, when the head frame 316 and the torso frame 318 are cooled by ventilation for the heat-generating components, the robot 100 uses the air heated by the heat exchange to properly heat the body surface.

[0128] That is, the pressure (also called "internal pressure") of space 504 is increased by continuously introducing heated air into space 504. As a result, the pressure difference between internal pressure and atmospheric pressure increases (internal pressure reaches a suitable positive pressure), and the heated air is forced out towards the body surface. At this time, the outer fabric 522a of the bag 522, which is in close contact with the outer surface of the substrate 520, is expanded ( Figure 10B , Figure 10C The inner fabric 522b remains tightly attached to the inner surface of the substrate 520. It should be noted that in this embodiment, the outer fabric 522a functions as a "skin". The exhaust port 564 and the connecting holes 540 and 542 function as "openings". The exhaust fan 554 functions as a "first fan", and the fan 550 functions as a "second fan". These fans function as "pressurization parts".

[0129] Heated air passes through patch fabric 530 and connecting holes 524 in areas of low ventilation resistance. A portion of this air passes through the fibers of outer fabric 522a to escape into the atmosphere (see dashed arrow), but this escape is suppressed by the ventilation resistance of outer fabric 522a. That is, most of the air flows into the gap between substrate 520 and outer fabric 522a, forming an air layer 506 (see double-dotted arrow). Air layer 506 covers almost the entire outer surface of the outer skin body 420, appropriately heating the body surface of robot 100. During fan operation, the air in air layer 506 flows, thus heating the outer fabric 522a in contact with air layer 506, stably maintaining the body surface temperature. The insulating nature of substrate 520 facilitates the distribution of warm air to almost the entire body surface and easily maintains the temperature of the air layer 506 formed by this air. That is, it avoids the situation where only the periphery of the internal heat source is locally heated on the body surface of robot 100, enabling a generally uniform body surface temperature. It should be noted that the size and material (elasticity) of the cloth bag 522 are set such that the thickness of the air layer 506 is smaller than the thickness of the substrate 520. Therefore, even if the cloth bag 522 inflates due to the drive of the fan, it can maintain the tactile feel of the outer skin 314.

[0130] The robot 100 has been described above based on the embodiment. According to this embodiment, the robot's surface can be efficiently heated by utilizing the essential function of cooling the heating components. Thus, although it is a robot, the user can feel the warmth of life. By converging warm air in a specific space formed between the frames, the pressure in that space (the robot's internal pressure) is increased, forcing the heated air outwards. On the other hand, by creating a difference in ventilation resistance between the inner side (low ventilation resistance area) and the outer side (epidermis) of the epidermis, a warm air layer is formed from the air flowing between the frame and the epidermis. In other words, a structure that provides warmth to the robot can be easily achieved by focusing on balancing ventilation resistance.

[0131] It should be noted that the present invention is not limited to the above-described embodiments and modifications, and can be embodied by modifying the constituent elements without departing from the spirit of the art. Various inventions can also be formed by appropriately combining multiple constituent elements disclosed in the above-described embodiments and modifications. Furthermore, some constituent elements can be removed from all the constituent elements shown in the above-described embodiments and modifications.

[0132] In the above embodiment, a structure is illustrated in which a space 504 is formed between the head frame 316 and the torso frame 318, and warm air is discharged from both frames into the space 504. In a variation, air may be discharged into the space 504 only from one of the head frame 316 and the torso frame 318. For example, air may be discharged into the space only from the frame with the higher heat generation of its built-in heating element. Conversely, air may be discharged into the space only from the frame with the lower heat generation of its built-in heating element. Alternatively, the frame with the higher heat generation may be preferentially cooled, and the air after heat exchange may be actively discharged to the outside.

[0133] In the above embodiment, a structure is illustrated in which a space 504 is formed between the head frame 316 and the torso frame 318, allowing warm air to converge. In the case of an arm frame, the space between the arm frame and the torso frame may also be covered by a skin, allowing warm air after heat exchange to be introduced into the space between the arm frame and the torso frame. That is, the area in the robot where warm air converges can be appropriately selected. The robot is configured to have a first frame forming the skeleton of a first part and a second frame forming the skeleton of a second part, with warm air converging in the space between the first and second frames. The air in this space is pressurized, causing it to flow out between each frame and the skin, forming an air layer between each frame and the skin. In the case where the outer skin is composed of a substrate and a skin, a low-airflow-resistance area is provided in the portion exposed to this space.

[0134] In the above embodiment, electrical components (heat-generating components) related to the driving of the robot 100, such as circuit boards and actuators, are shown as "heat sources" housed in the main frame 310. In a variation, a heating element for heating air, such as a heating wire, may also be prepared as a "heat source". In the above embodiment, heat sources are arranged inside the head frame 316 and the torso frame 318 respectively (within each frame), but heat sources may also be arranged in the space 504 (space between frames) between the head frame 316 and the torso frame 318.

[0135] In the above embodiment, a structure is illustrated in which external air is drawn into each frame and the air that has passed through the heat source is gathered into the space between the frames for pressurization. That is, a structure is illustrated in which the space between the frames is defined as "the space surrounded by the frames" and is designated as a pressurization area. In a modified example, the internal space of the frame may also be defined as "the space surrounded by the frames". For example, an opening may be provided in the side wall of the frame to expose the outer skin (skin) into the frame and the frame may be designated as a pressurization area. In this case, the internal pressure of the frame increases, so there is a possibility that external air cannot be introduced even if an air intake is provided. Therefore, a pressurization device (pressurization section) that uses a container for storing high-pressure gas, such as a gas cylinder, can be provided inside the frame for pressurization. That is, the frame is pressurized by releasing gas from the gas cylinder at a constant flow rate. By making the portion of the outer skin exposed to the opening a low-airflow-resistance area, a warm air layer can be formed between the frame and the skin. If such a structure is adopted, an opening for drawing in external air is not required.

[0136] In the above embodiment, a structure is illustrated in which a heat source is present in each frame, and fluid heated by the heat source is discharged into the space between the frames to pressurize the space. In a modified embodiment, a heat source may also be provided in the space between the frames to pressurize the space. That is, it is not necessary for a heat source to be present in each frame.

[0137] In the above embodiments, an example is shown where a base material is housed within a bag made of a single material to form an outer skin, with the outer fabric functioning as a "skin". In a variation, the outer and inner fabrics can be made of different materials, forming a bag that integrally comprises both an outer and inner fabric. In this case, the inner fabric can be a mesh fabric or similar material with higher breathability than the outer fabric. Therefore, it is unnecessary to sew patches as described in the above embodiments. Alternatively, the outer and inner fabrics can be attached to the outer surface of the base material and the inner fabric to the inner surface of the base material without sewing them together. The inner fabric can be omitted if the user has infrequent contact with the inner surface of the base material or if the base material has excellent abrasion resistance. Alternatively, a structure can be adopted where the base material is eliminated and the frame is covered by one or more skins. In this case, the skin can also be made of fabric. This results in a cost reduction.

[0138] In the above embodiment, an example is shown where the connecting hole in the low ventilation resistance region of the substrate is a circular hole, but the shape of the connecting hole is not limited to this. The cross-sectional shape of the connecting hole can be polygonal, or various shapes such as Y-shaped, V-shaped, X-shaped, etc. However, the cross-sectional shape of the connecting hole is preferably set such that the substrate is less likely to experience local stress concentration due to deformation when the robot 100 is working.

[0139] In the above embodiment, an example is shown where the exhaust of heated air to the atmosphere depends on the ventilation structure (fiber gaps) of the outer fabric 522a itself. In such an embodiment, if the ventilation resistance is too high, the heated air will remain in the robot 100, potentially hindering the cooling of the heat-generating components that are intended to function as heat sources. Furthermore, the temperature may exceed the intended temperature for transmitting heat to the robot 100, even causing discomfort to the user. Therefore, the ventilation resistance of the outer fabric 522a is preferably a resistance corresponding to the pressure difference between the internal pressure and atmospheric pressure, the flow resistance of the air forming the air layer, and the external air temperature. In other words, it is preferable to construct the outer fabric 522a from a material that provides appropriate ventilation resistance. The material can be selected based on this ventilation resistance to ensure that the temperature of the air layer is at a predetermined temperature (e.g., 30°C to 40°C). The drive load (speed) of the fan can also be controlled based on the material of the outer fabric (outer skin) or its ventilation resistance to ensure that the temperature of the air layer corresponds to a predetermined temperature (e.g., 30°C to 40°C) in relation to the external air temperature.

[0140] As a venting structure that allows air to leak to the outside, an exhaust port can be further provided instead of a structure that depends solely on the ventilation performance of the outer fabric (skin). For example, the exhaust port can be provided at a predetermined location in the area forming the air layer of the skin (e.g., at the end away from the area with low ventilation resistance). The exhaust port can also be designed as a throttling orifice to obtain exhaust resistance (pressure loss) that at least ensures the air layer when the fan is driven. Alternatively, a valve for opening and closing the exhaust port can be provided. By employing an on / off valve that opens when the air layer pressure exceeds a set pressure, the rise in internal pressure can be suppressed, thereby suppressing the rise in temperature within the frame.

[0141] In the above embodiment, an example is shown where the skin of the robot 100 is made of fabric. In a variation, the skin may also be formed of a soft resin material such as vinyl plastic. Such a structure can also form an air layer between the frame and the skin. In this case, ventilation holes (holes) can be provided on the surface of the resin material to obtain appropriate air resistance on the skin. Alternatively, an outlet may be formed at a designated location (end, etc.) of the resin material.

[0142] Not described in the above embodiments, but which may also be the case, the outer skin is elastic, and the air resistance decreases when it is stretched. Specifically, the material can be selected in such a way that by increasing the internal pressure through the pressurizing part, the outer fabric will bulge, and the gaps (pores) between the fibers of the outer fabric will be appropriately enlarged.

[0143] Although not described in the above embodiments, a structure in which the intake of external air is greater than the exhaust of air leaking from the skin can also be adopted, achieved by the operation of the pressurization unit.

[0144] In the above embodiments, an example of a robot embodying the heat-insulating structure of the outer surface achieved by forming the aforementioned air layer has been shown. However, it is not limited to robots as long as it is a device in which a user feels the temperature through contact. For example, it can also be applied to toys, dolls, hand warmers, kotatsu, and blankets (hereinafter collectively referred to as "heat-insulating devices"). Such heat-insulating devices can function as follows.

[0145] The heat preservation device comprises: a main body; a skin covering the main body; an opening disposed in the main body; a heat source for heating the air inside the main body; and a pressurizing unit that pressurizes the space surrounded by the main body, utilizing the air flowing out from the opening to form an air layer between the main body and the skin. According to this solution, the heat preservation device can maintain a suitable temperature, providing comfort to the user.

[0146] Furthermore, other fluids besides air, such as water, can be used as the medium for heat exchange to maintain insulation. The insulation device includes: a main body; a skin covering the main body; an opening in the main body; a heat source for heating the fluid within the main body; and a pressurizing unit that forms an insulation medium layer (fluid layer) between the main body and the skin by pressurizing the space surrounded by the main body and utilizing the fluid flowing out from the opening. When a base material is housed within a bag-shaped member to form the outer skin, the portion outermost from the base material constitutes the skin. A low-resistance region is provided in the portion of the bag-shaped member innermost from the base material, where the fluid flow resistance is lower than that of the outer portion.

[0147] It should be noted that "passage resistance" refers to the resistance encountered by fluid as it passes through the pores (which can be small pores formed by gaps between fibers, etc.) of a component; in the case of air, it refers to ventilation resistance. That is, "passage resistance" may include concepts such as ventilation resistance, flow resistance, and flow rate resistance. "Low passage resistance region" may include concepts such as low ventilation resistance region, low flow resistance region, and low flow rate resistance region. The lower the passage resistance, the less pressure loss occurs when the fluid passes through.

[0148] This application claims priority based on Japanese Patent Application No. 2019-27070, filed on February 19, 2019, the entire contents of which are incorporated herein by reference.

Claims

1. A robot, characterized in that, have: frame; Skin, covering the framework; A heat source for heating fluids; and The pressurizing section pressurizes the space surrounded by the frame to cause heated fluid to flow out of the space, thereby forming a fluid layer between the skin covering the frame and the frame. The pressurization unit draws in outside air into the interior of the frame to pressurize the space.

2. A robot, characterized in that, have: Head frame; The torso frame connects to the head frame; The skin covers each frame in such a way that it covers the space between the head frame and the torso frame; The first heat source is housed within the head frame; The first fan is located in the ventilation passage that passes through the first heat source, and sends the fluid heated by the first heat source into the space. The second heat source is housed within the body frame; as well as The second fan, located in the ventilation passage passing through the second heat source, sends the fluid heated by the second heat source into the space. The fluid flowing into the space is pressurized, thereby forming a fluid layer between the frames and the skin.

3. The robot according to claim 2, characterized in that, The epidermis has: The substrate has heat insulation properties; and Fabric, covering at least the outer surface of the substrate. The substrate has a connecting hole that connects the space between the head frame and the torso frame and the gap between the substrate and the fabric.

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