Nursing robot, method for controlling nursing robot and information processing device

Abstract

The present technology relates to a care robot, a method for controlling the care robot, and an information processing apparatus capable of improving the acceptance of a care recipient to various care provided by the care robot. A care robot of the present disclosure includes an action control unit that provides content after performing a cognitive method for gradually reducing a cognitive distance of a care recipient from the content provided in an application for care of the care recipient. The present technology is applied to, for example, a care robot that provides care to a care recipient.

Description

Technical Field

[0001] The present technology relates to a care robot, a method for controlling the care robot, and an information processing device, and in particular to a care robot that performs various types of care for a care recipient, a method for controlling such a care robot, and an information processing device. Background Art

[0002] Various types of care such as music therapy have been implemented for people suffering from dementia (see, for example, Patent Document 1).

[0003] For example, in care institutions such as nursing homes, there has been a demand for the development of care robots that can provide various types of care to care recipients such as people suffering from dementia.

[0004] Reference List

[0005] Patent Literature

[0006] Patent Document 1: JP 2020-14716A Summary of the invention

[0007] Technical issues

[0008] However, if music therapy is performed simply by having a care robot play music used in music therapy, people with dementia may not easily accept music therapy. For example, it is difficult for people with dementia to recognize what music has started, why it has been played, whether they can sing at the moment, or when they should start singing.

[0009] The present technology has been developed in view of the foregoing circumstances, and is intended to improve the acceptance of various types of care, including music therapy provided by a care robot, by care recipients, for example, suffering from dementia.

[0010] Solution to the problem

[0011] A care robot according to a first aspect of the present technology includes: an action control unit configured to execute a cognitive method of gradually reducing a care recipient's cognitive distance from content provided in an application for providing care to the care recipient, and then provide the content.

[0012] According to a second aspect of the present technology, a method for controlling a nursing robot, the nursing robot being configured to execute an application for providing care to a care recipient, includes causing the nursing robot to execute a cognitive method of gradually reducing the care recipient's cognitive distance from content to be provided in the application, and then providing the content.

[0013] According to the third aspect of the present technology, an information processing device includes: an action control unit configured to cause a care robot executing an application for providing care to a care recipient to perform a cognitive method of gradually reducing the care recipient's cognitive distance from the content to be provided in the application, and then provide the content.

[0014] According to the first aspect, after executing a cognitive method of gradually reducing a care recipient's cognitive distance from content provided in an application for providing care to the care recipient, the content is provided.

[0015] According to the second or third aspect, a care robot executing an application for providing care to a care recipient executes a cognitive method of gradually reducing a cognitive distance of the care recipient to content to be provided in the application, and then provides the content. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] [ Figure 1 ] Figure 1 The figures are the front view and the left side view of the nursing robot using the present technology.

[0017] [ Figure 2 ] Figure 2 is a rear view of the nursing robot.

[0018] [ Figure 3 ] Figure 3 This is a three-dimensional image of the nursing robot as seen from the diagonal front right.

[0019] [ Figure 4 ] Figure 4 This is a three-dimensional image of the nursing robot as seen from the diagonal left rear.

[0020] [ Figure 5 ] Figure 5 is a view of the nursing robot and a typical table for size comparison.

[0021] [ Figure 6 ] Figure 6 is an enlarged view of the head of the nursing robot.

[0022] [ Figure 7 ] Figure 7 is a disassembled view of an exemplary internal structure of the eyeball portion of the nursing robot.

[0023] [ Figure 8 ] Figure 8 is an external view of the arm of the nursing robot.

[0024] [ Fig. 9 ] Fig. 9 is an external view of the hand of the nursing robot.

[0025] [ Fig.10 ] Fig.10 is a front view of a nursing robot equipped with a handheld display.

[0026] [ Fig.11 ] Fig.11 It is a right side view of the nursing robot equipped with a handheld display.

[0027] [ Fig.12 ] Fig.12 is an external view of the upper body of the nursing robot equipped with a handheld display.

[0028] [ Fig.13 ] Fig.13 This is a three-dimensional image of the nursing robot's cart as seen from the diagonal right rear.

[0029] [ Fig.14 ] Fig.14 It is a three-dimensional image of the nursing robot's cart with the top plate removed, as seen from the diagonal right front.

[0030] [ Fig.15 ] Fig.15 is a plan view of the cart with the top panel removed.

[0031] [ Fig.16 ] Fig.16 It is an exterior view of the cart with the top panel removed, viewed from the diagonal left front and from below.

[0032] [ Fig.17 ] Fig.17 It is a view of a modified example of the layout of the damper and the spring of the cart of the foreign language robot.

[0033] [ Fig.18 ] Fig.18 is a block diagram of an exemplary configuration of a robot operation system to which the present technology is applied.

[0034] [ Fig.19 ] Fig.19 Examples of locations between which the care robot moves are shown.

[0035] [ Fig. 20 ] Fig. 20 It is a flowchart for illustrating the basic flow of application execution processing performed by the care robot.

[0036] [ Fig.21 ] Fig.21 is a flowchart for illustrating a first specific example of application execution processing performed by a care robot.

[0037] [ Fig. 22 ] Fig. 22 It is a flowchart for showing the details of the branch dialogue processing.

[0038] [ Fig.23 ] Fig.23 is a flowchart for illustrating a second specific example of application execution processing performed by a care robot.

[0039] [ Fig.24 ] Fig.24 is a view for illustrating a specific example of a vital measurement application.

[0040] [ Fig.25 ] Fig.25 is a view for illustrating a specific example of a vital sign measurement application.

[0041] [ Fig.26 ] Fig.26 is a view for illustrating a specific example of a vital sign measurement application.

[0042] [ Fig. 27 ] Fig. 27 is a view for illustrating a specific example of a vital sign measurement application.

[0043] [ Fig.28 ] Fig.28 is a view for illustrating a specific example of music therapy application.

[0044] [ Fig.29 ] Fig.29 is a view for illustrating a specific example of music therapy application.

[0045] [ Fig.30 ] Fig.30 is a view for illustrating a specific example of music therapy application.

[0046] [ Fig.31 ] Fig.31 is a view for illustrating a specific example of a phone application.

[0047] [ Fig.32 ] Fig.32 is a view for illustrating a specific example of a phone application.

[0048] [ Fig.33 ] Fig.33 is a view for illustrating a specific example of a phone application.

[0049] [ Fig.34 ] Fig.34 is a view for illustrating a specific example of a phone application.

[0050] [ Fig.35 ] Fig.35 is a view for illustrating a specific example of a phone application.

[0051] [ Fig.36 ] Fig.36 is a view for illustrating a specific example of a phone application.

[0052] [ Fig.37 ] Fig.37 is a flowchart for illustrating standing and sitting detection processing performed by a care robot.

[0053] [ Fig.38 ] Fig.38 It is a view of an example of an arrangement of tables and chairs in a living area.

[0054] [ Fig.39 ] Fig.39 It is a view of an example of an arrangement of tables and chairs in a living area.

[0055] [ Fig.40 ] Fig.40 is a flowchart for illustrating a vital sign measurement process performed by a care robot.

[0056] [ Fig.41 ] Fig.41 is a block diagram of an exemplary configuration of a computer. DETAILED DESCRIPTION

[0057] Hereinafter, embodiments of the present technology will be described in detail with reference to the accompanying drawings. Here, the description will be given in the following order.

[0058] 0. Background of this technology

[0059] 1. Implementation Method

[0060] 2. Modification

[0061] 3. Others

[0062] <<0. Background of this technology>>

[0063] In care facilities such as nursing homes, for example, the waiting period of a person being cared for (hereinafter referred to as a "care recipient"), such as a person suffering from dementia, may make the care recipient susceptible to mental instability, mainly due to insufficient staff, absence of staff in the living room, and a waiting period of a person being cared for (hereinafter referred to as a "care recipient"), such as a person suffering from dementia. For example, the care recipient tends to become restless, feel lonely, or become angry.

[0064] In addition, caregivers with high workloads have difficulty providing enough time for personal care such as music therapy and sessions aimed at preventing the progression of dementia, preventing instability, and improving the quality of life (QOL) of care recipients. Furthermore, in nursing facilities, there is a lack of activities aimed at improving the quality of life (QOL) of care recipients due to insufficient staff and restrictions on visits due to the COVID-19 pandemic.

[0065] At the same time, people with dementia may not easily accept music therapy by simply playing music as part of music therapy using, for example, karaoke, music players, televisions, or tablet devices. On the other hand, images may be used to explain the songs, but people with dementia have difficulty perceiving the beings in the images as subjects talking to them.

[0066] People with dementia may have difficulty managing and operating video calls on their own.

[0067] At the same time, the present technology aims to improve the acceptance of care recipients to various types of care performed by care robots, such as music therapy.

[0068] Specifically, for example, as will be described, the care robot uses humanitude to execute an application for providing care to a care recipient. For example, the care robot performs physical humanitude care and cognitive humanitude care before providing care to the care recipient.

[0069] Physical humanized care is a physical method to gradually reduce the physical distance between the care robot and the care recipient.

[0070] Cognitive human care is a cognitive approach to gradually reduce the cognitive distance between the care recipient and the content to be provided in the application used to provide care to the care recipient.

[0071] The content to be provided to the care recipient herein includes the content of the specific care performed on the care recipient and items used to provide care. Examples of items used to provide care include moving images, music, and other types of content used in music therapy, and devices for providing care. In some cases, for example, the content may be provided to the care recipient when the care robot itself performs the content, while in other cases, the content may be provided to the care recipient when the care robot presents the content.

[0072] <<1. Implementation Method>>

[0073] Reference Figures 1 to 36 , an embodiment of the present technology will be described.

[0074] <Exemplary Configuration of Care Robot 11>

[0075] Reference Figures 1 to 17 , a care robot 11 according to an embodiment of the present technology will be described.

[0076] The care robot 11 is a humanoid mobile manipulator robot capable of performing various applications for various types of care, condition observation, communication, and peripheral work tasks, the quality of which ensures high acceptance among care recipients.

[0077] For example, the care robot 11 executes various applications for performing care actions according to the scheduler and robot operation settings for each care recipient created at the discretion of the care staff. Examples of applications that the care robot 11 can execute include applications for greeting and comforting care recipients, vital sign measurement, music therapy, and telephone calls. The care robot 11 is configured to be able to execute applications designed to prevent instability of care recipients and help care recipients regulate their daily rhythms.

[0078] <Exemplary Configuration of Appearance of Care Robot 11>

[0079] Figures 1 to 9 An exemplary configuration of the appearance of care robot 11 is shown. Figure 1 A is a front view of the nursing robot 11. Figure 1 B is a left side view of the nursing robot 11. Figure 2 This is a rear view of the nursing robot 11. Figure 3 This is a perspective view of care robot 11 as viewed from the diagonally front right side. Figure 4 This is a three-dimensional view of the care robot 11 as viewed from the oblique left rear. Figure 5 is a view of the nursing robot 11 and a typical table 12 for size comparison. Figure 6 It is an enlarged view of the head 21 of the care robot 11. Figure 7 41R is an exploded view of an exemplary internal structure of eyeball portion 41R of care robot 11. Figure 8 It is an external view of the arm 27R of the care robot 11. Fig. 9 It is an external view of the hand 63R of the nursing robot 11.

[0080] The care robot 11 has, for example, an appearance of a child as a model based on the concept of a grandchild robot.

[0081] Care robot 11 has head 21, chest 22, and base portion 23 supporting chest 22. Base portion 23 includes, for example, cart 71 movable in all directions at the bottom. This enables care robot 11 to move in all directions.

[0082] The care robot 11 has an arm 27L attached to the left and upper part of the chest 22 and an arm 27R attached to the right and upper part of the chest 22. The care robot 11 has a movable neck 24 provided between the head 21 and the chest 22 and having a neck joint axis 24C. The care robot 11 has a movable shoulder portion 25L located between the chest 22 and the arm 27L and having a shoulder joint axis 25LC and a movable shoulder portion 25R located between the chest 22 and the arm 27R and having a shoulder joint axis 25RC. The care robot 11 also has a movable waist 26 provided at the lower part of the chest 22 and having a waist joint axis 26C.

[0083] The height of the care robot 11 is such that a seated care recipient can effortlessly look down upon the robot from the seated position. Figure 5 As shown, the care robot 11 has such a height that the robot can look down over the top of a typical table 12.

[0084] like Figure 6 As shown, the head 21 has eyeball parts 41L and 41R. The eyeball part 41L has a white eye part 51L and a black eye part 52L arranged inside the white eye part 51L. Similar to the eyeball part 41L, the eyeball part 41R has a white eye part 51R and a black eye part 52R arranged inside the white eye part 51R.

[0085] like Figure 7 As shown, the eyeball portion 41R has a transparent solid cylindrical portion 54R including a first end surface and a second end surface. The eyeball portion 41R has a first end surface side ( Figure 7 The eyeball portion 41 has a flat eyeball display 55R provided on the lower side of the cylindrical portion 54R for displaying the movement of the black eye portion 52R. Figure 7 The hemispherical transparent spherical portion 53R is formed on the upper side of the eyeball display 55R, which is used to emit the display light entering from the eyeball display 55R through the cylindrical portion 54R. The spherical portion 53R forms a hemispherical transparent spherical lens. The outer peripheral shape of the spherical portion 53R is configured to form the white eye portion 51R.

[0086] The outer peripheral surface of the cylindrical portion 54R is opaque to prevent light from entering, so the display image on the eyeball display 55R visible from the spherical portion 53R is clear and undistorted. The spherical portion 53R is arranged with a gap from the eyeball display 55R, which creates a sense of depth and a three-dimensional effect. The center of the sphere on the spherical portion 53R is designed as a virtual rotation center of the eyeball portion, and the movement of the black eye portion 52R displayed on the eyeball display 55R is controlled with reference to the center of the sphere of the spherical portion 53R.

[0087] As described above, unlike a flat display, the eyeball portion 42R is displayed on a built-in sphere that can be seen from any angle and appears to move without distortion, making it possible to recreate a real eyeball-like appearance. The center of the black eye portion 52R matches the center of the spherical portion 53R, so that there is no sense of awkwardness in the thickness or shape of the sphere. In addition, the reflection of ambient light on the surface of the spherical portion 53R enables the highlight in the pupil to be expressed naturally and in real time.

[0088] Although not shown, the eyeball portion 41L also has a spherical portion 53L, a cylindrical portion 54L, and an eyeball display 55L, and is configured symmetrically with the eyeball portion 41R.

[0089] The care robot 11 uses the head sensor 81 to perform human recognition and facial recognition, and keeps an eye on the care recipient by controlling the position of the black eye portion 52L of the eyeball portion 41L, the position of the black eye portion 52R of the eyeball portion 41R, and the axis (roll, pitch, yaw) of the neck 24. Specifically, the black eye portions 52L and 52R track the position of the care recipient in the up-down and left-right directions to keep an eye on the care recipient. The convergence angle between the black eye portions 52L and 52R (eyes facing, eyes closed) is used to indicate the distance from the care recipient. This makes it easier for the care recipient to identify where the care robot 11 is directed (especially in terms of depth perception).

[0090] Hereinafter, when there is no need to distinguish the left eyeball portion 41L and the right eyeball portion 41R separately, these are simply referred to as the eye portion 41. When there is no need to distinguish the white eye portions 51L and 51R separately, these are simply referred to as the white eye portion 51. When there is no need to distinguish the black eye portions 52L and 52R separately, these are simply referred to as the black eye portion 52. When there is no need to distinguish the spherical surface portions 53L and 53R, they are simply referred to as the spherical surface portions 53. When there is no need to distinguish the cylindrical portions 54L and 54R, they are simply referred to as the cylindrical portion 54. When there is no need to distinguish the eyeball displays 55L and 55R, they are simply referred to as the eyeball displays 55.

[0091] like Figure 8 As shown, the arm 27R has an elbow 61R, a wrist 62R, and a hand 63R. The elbow 61R has a pitch axis, and the wrist 62R has a yaw axis.

[0092] The hand 63R has a portion 63AR corresponding to a portion other than the thumb and a portion 63BR corresponding to the thumb. The portion 63BR is opposed to the portion 63AR, and by moving the portion 63BR, the hand 63R can grasp an object.

[0093] Although not shown, the arm 27L is also configured similarly to the arm 27R, and has an elbow 61L, a wrist 62L, and a hand 63L. Similar to the hand 63R, the hand 63L has parts 63AL and 63BL.

[0094] Hereinafter, when it is not necessary to distinguish arm 27L and arm 27R individually, they are simply referred to as arm 27. When it is not necessary to distinguish elbow 61L and elbow 61R individually, they are simply referred to as elbow 61. When it is not necessary to distinguish wrist 62L and wrist 62R individually, they are simply referred to as wrist 62. When it is not necessary to distinguish hand 63L and hand 63R individually, they are simply referred to as hand 63.

[0095] The head sensor 81 is provided at the front upper portion of the head 21. The head sensor 81 has, for example, a distance image sensor, a microphone, and a LiDAR (Light Detection and Ranging) device.

[0096] The head sensor 81 is configured so that the sensing direction is approximately the same as the direction of the line of sight of the care robot 11, so that humanistic care movements, face tracking movements, etc. can be performed.

[0097] For example, the care robot 11 may use the head sensor 81 to perform human recognition and facial recognition, and may implement interactions that track the eyes of the care recipient.

[0098] For example, a typical table 12 has a height of about 700 mm, while a typical table 12 in a nursing facility has a height of about 660 mm. Figure 5 As shown, the head sensor 81 is positioned so that the sensor can look down at the top of the tabletop 12A of the table 12. The head 21 is positioned so that the head can look up at the face of the care recipient while the care recipient is sitting in the chair 13 (sitting position). The head sensor 81 is installed at a high position (e.g., a height of about 760 mm) of the head 21, facing upward at an angle of about 5°. The head sensor 81 is positioned so that the head sensor does not extend too far from the outer diameter line of the head 21.

[0099] In this way, if Figure 5 As shown, the care robot 11 can recognize objects on a standard table 12 or the face of a care recipient in a sitting position above the table 12. The care robot 11 is able to recognize the face of a care recipient in a sitting position on a standard bed, and is able to recognize the face of a care recipient in a supine position on a standard bed. The care robot 11 is able to recognize the face of a care recipient in a sitting position, looking up at the care recipient, at close range, and is able to recognize the face of a care recipient in an upright position, looking up at the care recipient, at close range.

[0100] The chest sensor 82 is provided at the upper front of the chest 22. The chest sensor 82 includes, for example, a non-contact vital sign sensor. Examples of the non-contact vital sign sensor include a temperature sensor, a heart rate sensor, and a breathing sensor.

[0101] The chest sensor 82 is mounted at an upper front position of the chest 22 (e.g., at a height of approximately 537 mm), facing upward at an angle of approximately 10°. This enables the chest sensor 82 to measure without being affected by the movement of the head 21. The chest sensor 82 can reduce the blind spot created by the arm 27 during manipulation. The chest sensor 82 enables vital sign sensing, for example, from the face of a care recipient in a sitting position, the face of a care recipient in an upright position at a distance (e.g., approximately 2 m), and the face of a care recipient in a supine position at a close distance. The chest sensor 82 enables continuous sensing of changes in the state of the care recipient during application execution.

[0102] The hand 63R is provided with a hand sensor 83R. The hand sensor 83R includes, for example, a contact type vital sign sensor. Examples of the contact type vital sign sensor include a heart rate sensor, a blood pressure sensor, and an oxygen saturation sensor.

[0103] The hand sensor 83R is, for example, Fig. 9 The hand 63R is shown disposed on the exterior of the portion 63BR of the hand 63R. This prevents the hand 63R from squeezing the care recipient's hand during vital sign sensing.

[0104] In addition, the hand sensor 83R does not allow the care robot 11 to go and place the hand sensor 83R on the care recipient by itself, but allows the care recipient to place their hand on the hand sensor 83R or hold the hand sensor 83R, thereby enabling vital sign sensing. This is an interface that people with dementia are familiar with, and the care recipients are highly accepting of it. A sensor or other device for controlling the grip force may also be separately installed inside the hand 63R.

[0105] Although not shown, a hand sensor 83L including a vital sign sensor similar to the hand sensor 83R is provided on the outside of the portion 63BL of the hand 63L.

[0106] Hereinafter, when there is no need to distinguish the hand sensor 83L from the hand sensor 83R individually, the hand sensor is simply referred to as the hand sensor 83.

[0107] like Figures 10 to 12As shown, handheld display 91 may be mounted to hand 63L of care robot 11. For example, handheld display 91 is mounted to the outside of portion 63BL of hand 63L. Handheld display 91 has, for example, an 8-inch display portion.

[0108] For example, Fig.11 and Fig.12 As shown, the care robot 11 performs tracking control by controlling the movable axis of the arm 27L so that the screen of the handheld display 91 faces the head of the care recipient. This makes it possible to move the handheld display 91 to a position that is easy for the care recipient to see regardless of the care recipient's sitting posture.

[0109] Although not shown, the handheld display 91 may also be attached to the hand 63R of the care robot 11 .

[0110] For example, a handle-shaped grip device may be provided on the back side of the handheld display 91 so that the care robot 11 may hold the handheld display 91 using its hand 63L or 63R.

[0111] As described above, the care robot 11 has a real presence comparable to that of a two-year-old child, is appropriately compact, and is sized so that a seated elderly person can easily look down upon it. The care robot 11 has a large head-to-height ratio to evoke a cute form of a grandchild. The eyeball portion 41 is positioned at a height that makes it easy for the care recipient to make eye contact, so that the care recipient can easily recognize the gaze and the image displayed on the eyeball portion 41. The care robot 11 does not have a different degree of freedom axis or range of motion than a human being, making the movement of the care robot 11 natural and easy for the care recipient to understand.

[0112] The head 21 is positioned at a height that allows the head to look down at the surface of a typical table 12 , and the shoulders 25 and arms 27 are designed to provide easy access to the edge of a typical table 12 .

[0113] Therefore, the care robot 11 may be accepted by the care recipient without causing a feeling of fear or terror. The care robot 11 may also perform movements of humane care or perform basic applications for active monitoring robots.

[0114] <Exemplary Configuration of Cart 71>

[0115] Figures 13 to 16 An exemplary configuration of a cart 71 of a base portion 23 of a care robot 11 is shown. Fig.13 It is a perspective view of the cart 71 as viewed from the oblique right rear. Fig.14 It is a perspective view of the cart 71 with the top plate 111 removed, as viewed from the oblique right front. Fig.15 is a plan view of the cart 71 with the top plate 111 removed. Fig.16It is an exterior view of the cart 71 with the top plate 111 removed, as viewed from the oblique left front and from below.

[0116] The cart 71 includes a top plate 111, a base plate 112, front wheels 113F, rear wheels 113B, a left wheel 113L, a right wheel 113R, dampers 114F to 114R, and springs 115FL to 115BR.

[0117] The top plate 111 and the base plate 112 are made of metal. The front wheel 113F, the rear wheel 113B, the left wheel 113L, and the right wheel 113R each include a caster and a resin (eg, PTFE) wheel provided therein.

[0118] The front wheel 113F is provided at the front end of the base plate 112 so that the wheel rotates in the front-rear direction of the nursing robot 11. Above the resin wheel housing covering the front wheel 113F is a resin (e.g., sponge rubber) damper 114F extending in the vertical direction. The wheel housing of the front wheel 113F and the damper 114F may be formed integrally.

[0119] The rear wheel 113B is provided at the rear end of the base plate 112 so that the wheel rotates in the front-rear direction of the nursing robot 11. A resin damper (e.g., sponge rubber) 114B extending in the up-down direction is provided above the wheel housing made of resin covering the rear wheel 113B. The wheel housing of the rear wheel 113B and the damper 114B may be formed integrally.

[0120] The left wheel 113L is provided at the left end of the base plate 112 so that the wheel rotates in the front-rear direction of the nursing robot 11. A damper 114L made of resin (e.g., sponge rubber) is provided on the upper end of the resin wheel housing covering the left wheel 113L. The wheel housing of the left wheel 113L and the damper 114L may be formed integrally.

[0121] The right wheel 113R is provided at the right end of the base plate 112 so that the wheel rotates in the front-rear direction of the nursing robot 11. A resin damper 114R (e.g., sponge rubber) is provided on the upper end of the resin wheel housing covering the wheel of the right wheel 113R. The wheel housing of the right wheel 113R and the damper 114R may be formed integrally.

[0122] Hereinafter, when it is not necessary to distinguish the front wheel 113F, the rear wheel 113B, the left wheel 113L, and the right wheel 113R individually, they are referred to as wheels 113. Hereinafter, when it is not necessary to distinguish the dampers 114F to 114R individually, they are simply referred to as dampers 114.

[0123] The front wheel 113F and the rear wheel 113B are passive wheels, and the left wheel 113L and the right wheel 113R are driving wheels. Each of the wheels 113 does not have a steering mechanism, and the care robot 11 turns by the different movement between the left wheel 113L and the right wheel 113R. Since the wheels 113 are made of resin, the vibration generated by the cart 71 sliding on the ground when the cart 71 turns is suppressed.

[0124] Springs 115FL and 115BR are arranged along the periphery of the base plate 112. Specifically, the spring 115FL is located between the front wheel 113F and the left wheel 113L, and slightly close to the front wheel 113F. The spring 115FR is located between the front wheel 113F and the right wheel 113R, and slightly close to the front wheel 113F. The spring 115BL is located almost in the middle between the rear wheel 113B and the left wheel 113L. The spring 115BR is located almost in the middle between the rear wheel 113B and the right wheel 113R.

[0125] Hereinafter, when it is unnecessary to distinguish the springs 115FL to 115BR individually, they are simply referred to as springs 115 .

[0126] In this manner, each damper 114 and each spring 115 are arranged with a phase difference of about 45. Each damper 114 and each spring 115 are arranged so that a stroke t of the spring 115 and a natural length d of the damper 114 are equal.

[0127] The top plate 111 is fixed to the cart 71 via the damper 114 and the spring 115. The body of the care robot 11 above the cart 71 is set on the top surface of the top plate 111. In this way, the upper body of the care robot 11 and the wheel 113 of the cart 71 are connected via the damper 114 and the spring 115, and are therefore structurally insulated from each other.

[0128] Then, the high-frequency (short-term) vibration of the wheel 113 is absorbed by the spring 115, and the high-frequency vibration of the upper body of the care robot 11 is suppressed. The low-frequency (long-term) vibration of the wheel 113 is absorbed by the damper 114, and the low-frequency vibration of the upper body of the care robot 11 is suppressed. Therefore, the vibration of the wheel 113 of the care robot 11 during translation and steering is absorbed by the damper 114 and the spring 115, and the vibration of the upper body of the care robot 11 is suppressed.

[0129] In this way, since the vibration of the upper body of the care robot 11 is suppressed, the quality of the application to be performed by the care robot 11 is improved. For example, when the care robot 11 performs an application involving interaction with a care recipient, the upper body of the care robot 11 can be prevented from swaying, thereby avoiding causing anxiety to the care recipient. For example, when the care robot 11 performs an application for delivering an object, the vibration of the object is suppressed.

[0130] For example, this improves space efficiency when compared to a case where the suspension is fixed to each wheel 113, and vibration of the upper body of the care robot 11 can be suppressed while making the size of the cart 71 more compact.

[0131] <Modification of Layout of Damper 114 and Spring 115>

[0132] Fig.17 A modification of the arrangement of the damper 114 and spring 115 of the cart 71 is shown. Fig.17 In A to C, the upward direction indicates the front direction of the nursing robot 11.

[0133] exist Fig.17 In the example shown in FIG. 1A , four springs 115 are arranged at intervals of approximately 90° along the periphery of the base plate 112, and are positioned at the front, rear, left, and right. Four dampers 114 are also arranged at intervals of approximately 90° along the periphery of the base plate 112, and each damper 114 is approximately at the midpoint between adjacent springs 115.

[0134] exist Fig.17 In the example of B, three springs 115 are arranged at intervals of approximately 120° along the outer periphery of the base plate 112. One of the three springs 115 is arranged in the front direction of the base plate 112. Three dampers 114 are arranged at intervals of approximately 120° along the outer periphery of the base plate 112, and each damper 114 is approximately at the midpoint between adjacent springs 115.

[0135] exist Fig.17 In the C example, with Fig.17 Compared with the example in B, the positions of the damper 114 and the spring 115 are reversed. In other words, the damper 114 is arranged at Fig.17 The spring 115 is arranged in the position of B, and the spring 115 is arranged at Fig.17 The damper 114 is arranged at the position B.

[0136] <Exemplary Configuration of Robot Operating System 1>

[0137] Fig.18 An exemplary configuration of the robot operating system 201 for operating the above-mentioned nursing robot 11 is schematically shown.

[0138] The robot operating system 201 includes the care robot 11 , a controller 211 , a charging dock 212 , a Wi-Fi router 213 , and a facility LAN 214 .

[0139] In addition to the above-mentioned eyeball displays 55L and 55R and the handheld display 91, the nursing robot 11 also has a distance image sensor 231, a microphone 232, a vital sign sensor 233, a LiDAR 234, a robot internal PC (personal computer) 235, a robot internal PC 236, a head LED indicator 237, a speaker 238, an actuator 239, an emergency stop switch 240, a bumper sensor 241, a cart drive unit 242, an actuator 243, a power management unit 244, and a power supply 245.

[0140] The distance image sensor 231 is provided in, for example, the head sensor 81 of the care robot 11. The distance image sensor 231 captures an image of the surrounding environment of the care robot 11 and provides distance image data obtained by imaging to the robot internal PC 235. The distance image data indicates, for example, the depth value (distance) of the captured image and pixels.

[0141] The distance image sensor 231 may include a plurality of sensors. For example, the distance image sensor 231 may include two types of sensors: an image sensor and a distance sensor. In this case, for example, the image sensor may be provided in the head sensor 81, and the distance sensor may be provided in the head sensor 81 or the chest sensor 82.

[0142] Microphone 232 is provided, for example, in head sensor 81 of care robot 11. Microphone 232 collects sounds around care robot 11, and provides sound data indicating the collected sounds to robot internal PC 235.

[0143] The vital sign sensor 233 is provided in, for example, the chest sensor 82 and the hand sensor 83 of the care robot 11. The vital sign sensor 233 includes one or more sensors that measure the values ​​of the vital signs of the care recipient, such as body temperature, heart rate, SpO2, blood pressure, and respiratory rate. The vital sign sensor 233 provides vital sign data indicating the measurement results of the vital sign values ​​to the robot internal PC 235.

[0144] For example, the LiDAR 234 is provided in the head sensor 81 of the care robot 11. The LiDAR 234 detects the distance to each point around the care robot 11, generates point cloud data indicating the detection result, and provides the data to the PC 235 inside the robot.

[0145] The robot internal PC 235 includes, for example, a central processing unit (CPU), a read only memory (ROM), and a random access memory (RAM). The robot internal PC 235 performs control of various parts of the nursing robot 11 and various types of processing. The robot internal PC 235 includes a sensor information processing unit 261, an application setting unit 262, an application control unit 263, and an action control unit 264.

[0146] The sensor information processing unit 261 performs processing of information detected by various sensors of the care robot 11. For example, the sensor information processing unit 261 evaluates the condition of the care recipient based on the information detected by the various sensors, and detects obstacles around the care robot 11. The sensor information processing unit 261 includes an image information processing unit 281, a sound information processing unit 282, a vital sign information processing unit 283, and a LiDAR information processing unit 284.

[0147] The image information processing unit 281 performs various image processing based on the distance image data. For example, the image information processing unit 281 detects the position, shape, type, movement, etc. of objects around the care robot 11. For example, the image information processing unit 281 performs processing such as authenticating people around the care robot 11, detecting sight lines or facial orientations, detecting gestures, and recognizing facial expressions. The image information processing unit 281 provides information indicating the result of the image processing to the action control unit 264.

[0148] The sound information processing unit 282 performs various sound processing based on the sound data. For example, the sound information processing unit 282 performs a sound recognition process for recognizing the content of the speech of the care recipient. The sound information processing unit 282 provides information indicating the result of the sound processing to the action control unit 264.

[0149] The vital sign information processing unit 283 performs a process of detecting a vital sign value of the care recipient based on the vital sign data. The vital sign information processing unit 283 supplies the action control unit 264 with vital sign information indicating a detection result of the vital sign value.

[0150] The LiDAR information processing unit 284 performs processing for detecting the position, shape, and movement of objects around the nursing robot 11, for example, based on the point cloud data. The LiDAR information processing unit 284 provides information indicating the result of the processing for detecting the position, shape, and movement of objects around the nursing robot 11, for example, to the action control unit 264.

[0151] The application setting unit 262 sets various information for executing an application in response to an instruction from the controller 211. The application setting unit 262 includes a user setting data storage unit 301 and an application execution scheduler 302.

[0152] When the application is executed in response to an instruction from the controller 211, the user setting data storage unit 301 generates and stores individual operating parameters for each care recipient. The operating parameters are set based on information about the receptivity of each care recipient to the care robot 11. Examples of the operating parameters include operating parameters related to whether to start a conversation, voice volume, speech speed, body movement speed, travel speed, approachable distance, whether to allow physical contact, hobbies and preferences, and other special items.

[0153] Application execution scheduler 302 generates and stores scheduling information related to a schedule for executing an application in response to an instruction from controller 211. The scheduling information includes, for example, information on the date and time when the application is to be executed, the type of application to be executed, and the care recipient on whom the application is to be executed.

[0154] The application control unit 263 controls the care robot 11 to execute the application by controlling the action control unit 264 based on the operation parameters stored in the user setting data storage unit 301 and the scheduling information stored in the application execution scheduler 302. For example, the application control unit 263 controls the type of application to be executed by the care robot 11, the timing of the application execution, and the care recipient on whom the application is to be executed. For example, the application control unit 263 controls the application execution method of the care robot 11 based on the operation parameters, for example, so as to improve the acceptance of each care recipient to the application.

[0155] Application control unit 263 also updates the operation parameters stored in user setting data storage unit 301 based on the response of the care recipient during the execution of each application detected by sensor information processing unit 261 .

[0156] The action control unit 264 controls various parts of the care robot 11 so that the care robot 11 performs actions based on various applications, for example. The action control unit 264 includes an application information storage unit 321, a motion set information storage unit 322, a map information storage unit 323, a script execution control unit 324, a tracking motion control unit 325, a motor drive control unit 326, a sound output control unit 327, a navigation control unit 328, an automatic charging control unit 329, and a call communication function control unit 330.

[0157] The application information storage unit 321 stores application information related to each application executed by the care robot 11. The application information includes, for example, a script for executing the application. The script includes, for example, information about the content of the speech movement, the order in which the speech movement is executed, and the branching conditions of the speech movement.

[0158] The speaking movement indicates a combination of speaking and movement performed by care robot 11. In other words, the speaking movement indicates a combination of the content of speaking (conversation) output by care robot 11 and the movement (movement) of care robot 11 during speaking.

[0159] When the care robot 11 performs only speaking without moving, the speaking movement indicates only speaking performed by the care robot 11. When the care robot 11 performs only movement without speaking, the speaking movement indicates only movement performed by the care robot 11.

[0160] For example, care robot 11 executes each application by sequentially performing a plurality of speaking movements according to a script. Care robot 11 changes, for example, whether to perform speaking movements and the order of execution according to the situation.

[0161] The motion set information storage unit 322 stores motion set information for executing each speech motion indicated in the script of each application. The motion set information includes, for example, the content of the lines spoken by the care robot 11 or the sound data in the speech motion, and the motion data indicating the movement of each part of the care robot 11.

[0162] Map information storage unit 323 stores map information of a care mechanism using care robot 11. The map information includes, for example, information on the position of a room or a seat of each care recipient.

[0163] The script execution control unit 324 controls the execution of the script corresponding to the application to be executed based on the processing result of the sensor information processing unit 261. For example, the script execution control unit 324 detects a trigger used as a branch condition of the script. For example, the script execution control unit 324 detects a trigger such as a person, the direction of the face of the care recipient, the volume of the care recipient's speech, and the content of the care recipient's speech. The script execution control unit 324 controls whether to execute the speech movement contained in the script, the execution order, repeat, pause, and cancel, for example, based on the trigger detection result.

[0164] The tracking motion control unit 325 controls the execution of the tracking motion based on the detection result of at least one of the face and gaze direction of the care recipient obtained by the sensor information processing unit 261. The tracking motion refers to a process of tracking, for example, the face and gaze direction of the care recipient and turning the face of the care robot 11 or the screen of the handheld display 91 toward the face of the care recipient.

[0165] The motor drive control unit 326 controls the actuator 239 that drives the joints of the care robot 11 , thereby driving the joints of the care robot 11 and controlling the movement and posture of the care robot 11 .

[0166] The sound output control unit 327 controls the sound output from the speaker 238, such as the speaking sound of the care robot 11 and music.

[0167] For example, according to the concept of a robot as an infant grandchild robot, the speech sound of the care robot 11 is set to the voice of a child (eg, a child aged 4 to 8). However, it is difficult for a hearing-impaired person to hear the high-frequency sound included in the speech of a child.

[0168] To solve this problem, the sound output control unit 327 adjusts the frequency characteristics of the speech sound output to match the hearing ability of the care recipient, for example. For example, if the care recipient has difficulty hearing the standard speech sound of the care robot 11, the sound output control unit 327 amplifies the low frequency band (100 to 1000 Hz) that the elderly can easily hear, and attenuates the high frequency band (2000 Hz or more). This makes it easy for the care recipient to hear the speech sound of the care robot 11.

[0169] Since the high frequency components are retained without modulating the entire speaking voice, the speaking voice will not become too deep and the unnatural feeling compared to the standard speaking voice will be reduced.

[0170] For example, the sound output control unit 327 can be configured to correct the frequency characteristics of the speaking sound according to the user settings. For example, such as when it is necessary to capture the attention of the care recipient or ensure that the content of the speech is conveyed, the sound output control unit 327 can also correct the frequency characteristics of the speaking sound so that it is easier for people with hearing difficulties to hear it.

[0171] Navigation control unit 328 controls the direction, speed, and path of movement of care robot 11 by controlling cart driving unit 242 , for example, based on the map information stored in map information storage unit 323 .

[0172] The automatic charging control unit 329 controls the automatic charging of the power supply 245 based on the information indicating the state of the power supply 245 provided by the power supply management unit 244. For example, when it is determined that the power supply 245 needs to be charged, the automatic charging control unit 329 instructs the navigation control unit 328 to move the care robot 11 to the charging dock 212. After the care robot 11 moves to the charging dock 212, the automatic charging control unit 329 also controls the power supply management unit 244 to charge the power supply 245.

[0173] The call communication function control unit 330 controls, for example, call and communication functions with other communication devices and servers through the Wi-Fi router 213 and the facility LAN 214. For example, the call communication function control unit 330 uses the handheld display 91 to control a video call function.

[0174] For example, the robot internal PC 236 may be a computer including a CPU, a ROM, and a RAM. The robot internal PC 236 performs, for example, display control of the care robot 11. The robot internal PC 236 includes a display control unit 351.

[0175] Display control unit 351 controls the display function of care robot 11. For example, display control unit 351 controls eyeball display 55L to display black eye portion 52L and eyeball display 55R to display black eye portion 52R. Display control unit 351 controls head LED indicator 237 to blink.

[0176] The head LED indicator 237 is provided on the head of the care robot 11 , and indicates, for example, information regarding the status of the care robot 11 using an LED.

[0177] The speaker 238 outputs sounds such as the speech sound of the care robot 11 and music under the control of the sound output control unit 327.

[0178] The actuator 239 drives the joints of the care robot 11 under the control of the motor drive control unit 326 .

[0179] Emergency stop switch 240 is used to stop care robot 11 in an emergency. When emergency stop switch 240 is operated, emergency stop switch 240 provides an operation signal to cart drive unit 242.

[0180] The bumper sensor 241 is installed, for example, at the front of the cart 71 , and performs processing such as detecting a collision with an object in front of the cart 71 , and providing sensor data indicating the detection result to the cart drive unit 242 .

[0181] The cart drive unit 242 controls the moving direction and speed of the care robot 11 by controlling the actuator 243 of the cart 71 under the control of the motion control unit 264. The cart drive unit 242 also stops the movement of the care robot 11 by controlling the actuator 243 in response to an operation signal input from the emergency stop switch 240. In addition, the cart drive unit 242 controls the actuator 243 according to the sensor data from the bumper sensor 241, thereby controlling the moving direction and speed of the care robot 11.

[0182] The actuator 243 drives the left wheel 113L and the right wheel 113R, which are driving wheels, of the cart 71 under the control of the cart driving unit 242 .

[0183] The power management unit 244 manages the power source 245. For example, the power management unit 244 monitors the state of the power source 245 (e.g., the remaining power in the power source 245), and provides information indicating the state of the power source 245 to the action control unit 264. For example, the power management unit 244 controls charging of the power source 245 using the charging dock 212.

[0184] The power source 245 includes, for example, a battery, and supplies power to various parts of the care robot 11 .

[0185] The controller 211 is a robot controller device that can be carried or worn by nursing home staff. The controller 211 is used to set, for example, operating parameters for each care recipient and scheduling information for each application. Multiple controllers 211 may be provided, and multiple staff may carry or wear the controller 211.

[0186] The controller 211 includes a joystick type input device 371 and a tablet type terminal device 372 .

[0187] The joystick type input device 371 is used to set, for example, operation parameters for each care recipient and scheduling information for each application.

[0188] Tablet terminal device 372 includes a display, an operation panel, and a communication device. Tablet terminal device 372 is used to set operation parameters for each care recipient and scheduling information for each application, for example. Tablet terminal device 372 performs communication with care robot 11.

[0189] The charging dock 212 is located in the care facility and is used for standby charging of the power source 245 of the care robot 11. A plurality of charging docks 212 may be provided in the care facility.

[0190] The Wi-Fi router 213 is located in the nursing institution and is used for the nursing robot 11 to communicate with the outside. A plurality of Wi-Fi routers 213 may be provided in the nursing institution.

[0191] The facility LAN 214 is located in the nursing institution, and is connected to various communication devices and information processing devices.

[0192] <Processing by Care Robot 11>

[0193] Next, we will refer to Figures 19 to 36 The processing performed by care robot 11 is described.

[0194] In the following description, the following will be described. Fig.19 The process when care robot 11 executes the application to care recipient 14 sitting in chair 13 in front of table 12 is shown.

[0195] <Basic flow of application execution processing>

[0196] First, refer to Fig. 20 The flowchart in will describe the basic process of application execution processing performed by the care robot 11.

[0197] When it is time to execute an application to perform prescribed care on care recipient 14, and application control unit 263 issues a command to action control unit 264 to execute the application, the process starts.

[0198] For example, the care robot 11 executes an application to perform care for the care recipient 14 by sequentially performing the steps of preparing for a meeting, preparing for care, connecting perception, performing emotional fixation, and making an appointment to meet again using humanistic care.

[0199] Specifically, in step S1, care robot 11 greets from a distance and performs meeting preparation.

[0200] For example, the navigation control unit 328 controls the cart driving unit 242 to move the nursing robot 11 from the initial position P0 to the long-distance position P3, such as Fig.19 The long-distance position P3 is set to, for example, a direction of approximately 0° with respect to the front of the care recipient 14 and a position approximately 2 m away from the care recipient 14 .

[0201] At the long-distance position P3, the care robot 11 greets the care recipient 14. Specifically, for example, the motor drive control unit 326 controls the actuator 239 under the control of the tracking motion control unit 325 so that the face of the care robot 11 is directed toward the face of the care recipient 14. The motor drive control unit 326 controls the actuator 239 so that the care robot 11 performs a motion of greeting the care recipient 14. The sound output control unit 327 outputs a speech sound corresponding to the greeting from the speaker 238 according to the motion of the care robot 11.

[0202] In step S2, care robot 11 moves close to greet care recipient 14, and begins the main script portion of the application.

[0203] For example, the navigation control unit 328 controls the cart driving unit 242 to move the nursing robot 11 from the long-distance position P3 to the medium-distance position P2, such as Fig.19The middle distance position P2 is set, for example, in a direction of about 45° relative to the front of the care recipient 14 and is set at a position about 1.2 m away from the care recipient 14. Then, the care robot 11 greets the care recipient 14 at the middle distance position P2 using the same processing as step S1.

[0204] Then, the navigation control unit 328 controls the cart driving unit 242 as needed to move the nursing robot 11 from the medium-distance position P2 to the close-distance position P1, such as Fig.19 The close distance position P1 is set, for example, in a direction of about 70° relative to the front of the care recipient 14 and is set at a position about 0.6 m away from the care recipient 14. Then, the care robot 11 greets the care recipient 14 at the close distance position P1 using the same processing as step S1.

[0205] Mid-range position P2 and close position P1 are ideally in the direction of the dominant hand of care recipient 14. In this case, care robot 11 approaches care recipient 14 so that, for example, the angle relative to the front of care recipient 14 increases toward the dominant hand as the robot approaches care recipient 14.

[0206] When there is no obstacle facing the front of care recipient 14 , long-distance position P3 , middle-distance position P2 , and close-distance position P1 may all be set to a direction of approximately 0° relative to the front of care recipient 14 .

[0207] In this way, physical human care is performed on the care recipient 14. In other words, a method of gradually reducing the physical distance between the care robot 11 and the care recipient 14 is performed. This enables the care robot 11 to approach the care recipient 14 without causing negative emotions (such as fear) while giving the care recipient 14 a sense of security, which improves the care recipient 14's acceptance of the care robot 11.

[0208] Then, the care robot 11 starts the main script part of the application under the control of the script execution control unit 324.

[0209] In step S3, care robot 11 starts presenting image information using handheld display 91. For example, script execution control unit 324 displays, on handheld display 91, image information related to the content to be provided by the application.

[0210] In step S4, care robot 11 performs reality orientation. Here, reality orientation refers to a process of transmitting orientation information related to the content to be provided by the application being executed to care recipient 14.

[0211] For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324 so that the care robot 11 performs a movement for transmitting the directional information related to the content to the care recipient 14. The sound output control unit 327 outputs the sound for transmitting the directional information related to the content to the care recipient 14 from the speaker 238 under the control of the script execution control unit 324.

[0212] In step S5, care robot 11 performs cognitive stimulation therapy. For example, care robot 11 performs cognitive stimulation therapy by asking care recipient 14 questions related to the content of the application execution in the executed process.

[0213] For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324, thereby causing the care robot 11 to perform a movement of asking a question related to the content to the care recipient 14. The sound output control unit 327 causes a sound of asking a question related to the content to be output from the speaker 238 under the control of the script execution control unit 324.

[0214] In step S6, care robot 11 introduces and explains the content. For example, care robot 11 communicates to care recipient 14 information directly indicating the content provided by the application in the execution process (eg, the title of the content or its main content, etc.).

[0215] For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324 so that the care robot 11 performs a movement that directly transmits information of the representation content to the care recipient 14. The sound output control unit 327 outputs a sound that directly transmits information of the representation content to the care recipient 14 from the speaker 238 under the control of the script execution control unit 324.

[0216] Through the processing in steps S2 to S6, preparation for care in human care is performed. In other words, care recipient 14 is guided to the content through care robot 11 presenting information related to the content.

[0217] In step S7, the care robot 11 provides the content. For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324 so that the care robot 11 performs the movement corresponding to the content. The sound output control unit 327 outputs the sound corresponding to the content from the speaker 238 under the control of the script execution control unit 324.

[0218] Through the processing in step S7, a sense connection in, for example, human care is performed.

[0219] In this way, cognitive human care is performed on the care recipient 14. In other words, a method of gradually reducing the cognitive distance of the care recipient 14 to the content provided by the application is performed. Therefore, the care robot 11 can provide content while giving the care recipient 14 a sense of security without causing the care recipient to feel negative emotions (e.g., fear). Therefore, the care recipient 14 is more receptive to the provided content.

[0220] In step S8, the care robot 11 performs emotional fixation. For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324 so that the care robot 11 performs a movement that gives positive emotions to the care recipient 14 while consulting the provided content together with the care recipient 14. The sound output control unit 327 outputs a sound that gives positive emotions to the care recipient 14 while consulting the provided content together with the care recipient 14 from the speaker 238 under the control of the script execution control unit 324.

[0221] If the currently running application includes a plurality of contents, for example, the processing in steps S3 to S7 or the processing in steps S3 to S8 is repeatedly performed.

[0222] The processing in steps S3 to S6 does not have to be executed in full. For example, at least one of them is executed according to the characteristics of the content to be provided and the characteristics of the care recipient 14.

[0223] In step S9, the care robot 11 executes the appointment to meet again. For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324 to communicate the next appointment to the care recipient 14 and cause the care robot 11 to perform a goodbye movement. The voice output control unit 327, under the control of the script execution control unit 324, communicates the next appointment to the care recipient 14 and outputs a goodbye voice from the speaker 238. The navigation control unit 328 controls the cart drive unit 242 to cause the care robot 11 to move away from the care recipient 14.

[0224] Then, the application execution process ends.

[0225] <First Specific Example of Application Execution Processing>

[0226] Next, refer to Fig.21 A first specific example of the application execution process will be described with reference to the flowchart in FIG.

[0227] In the first specific example of the application execution process, the main content of the application is set at the middle distance position P2.

[0228] In step S101, the care robot 11 moves to the remote position P3. For example, the navigation control unit 328 controls the cart driving unit 242 to move the care robot 11 from the initial position P0 to the remote position P3. Fig.19 shown.

[0229] In step S102, the care robot 11 performs a speaking movement. For example, the motor drive control unit 326 controls the actuator 239 under the control of the script execution control unit 324 so that the care robot 11 performs a script-based movement. The sound output control unit 327 outputs a script-based speaking sound from the speaker 238 under the control of the script execution control unit 324.

[0230] In step S103, the care robot 11 determines whether it has detected the gaze of the care recipient 14. Specifically, the image information processing unit 281 detects at least one of the face and gaze direction of the care recipient 14 based on the distance image sensor data from the distance image sensor 231, and provides information indicating the detection result to the action control unit 264.

[0231] If the face or sight of care recipient 14 is not facing toward care robot 11 , script execution control unit 324 determines that the gaze of care recipient 14 has not been detected, and the process proceeds to step S104 .

[0232] In step S104, script execution control unit 324 determines whether the state in which care recipient 14's gaze is not detected continues for at least n seconds. If it is determined that the state in which care recipient 14's gaze is not detected has not continued for at least n seconds, processing returns to step S102.

[0233] Thereafter, the processing in steps S102 to S104 is repeated until it is determined in step S103 that the gaze of care recipient 14 has been detected, or it is determined in step S104 that the state in which the gaze of care recipient 14 is not detected continues for at least n seconds. More specifically, the speaking movement in step S102 is repeatedly performed.

[0234] Meanwhile, in step S103 , if the face or sight of care recipient 14 is oriented toward care robot 11 , script execution control unit 324 determines that the gaze of care recipient 14 has been detected, and the process proceeds to step S105 .

[0235] In step S105, the care robot 11 moves to the middle distance position P2. For example, the navigation control unit 328 controls the cart driving unit 242 to move the care robot 11 from the long distance position P3 to the middle distance position P2. Fig.19 shown.

[0236] In step S106, the next speaking motion is performed by the same process as step S102. The speaking motion performed in step S106 and the speaking motion performed in step S102 are generally different speaking motions.

[0237] In step S107, care robot 11 performs branching dialogue movement processing.

[0238] Here, refer to Fig. 22 The flowchart in will describe the details of the branch dialogue movement processing.

[0239] In step S151, Fig.21 Similar to the processing in step S103 in , it is determined whether the gaze of care recipient 14 has been detected. If it is determined that the gaze of care recipient 14 has not been detected, the processing proceeds to step S152.

[0240] In step S152, the care robot 11 changes the voice and performs the speaking movement again. Specifically, the care robot 11 performs the speaking movement again. Fig.21 At least a part of the speaking movement performed in step S106 in . At this time, for example, the sound output control unit 327 increases the volume of the speaking sound output from the speaker 238 and enhances the low-frequency range. This is expected to make it easier for the care recipient 14 to hear the speaking sound output from the care robot 11 and to notice the speaking movement of the care robot 11.

[0241] In step S153, Fig.21 Similar to the processing in step S103 in , it is determined whether the gaze of care recipient 14 has been detected. If it is determined that the gaze of care recipient 14 has not been detected, the process proceeds to step S154.

[0242] In step S154, the care robot 11 moves to a position within the field of view of the care recipient and performs the speaking motion again. Specifically, the tracking motion control unit 325 controls the cart drive unit 242 based on the direction of the face or line of sight of the care recipient 14 and moves the care robot 11 to a position within the field of view of the care recipient 14. The care robot 11 then performs the speaking motion again. Fig.21 At least a part of the speaking movement performed in step S106 in .

[0243] In step S155, Fig.21 Similar to the processing in step S103 in , it is determined whether the gaze of care recipient 14 has been detected. If it is determined that the gaze of care recipient 14 has not been detected, the process proceeds to step S156.

[0244] In step S156, the care robot 11 raises and moves its hand within the field of view, and then performs the speaking motion again. For example, the tracking motion control unit 325 controls the actuator 239 to raise the hand 63 that is not holding the handheld display 91 to the height of the head 21 and perform a motion such as waving within the field of view of the care recipient 14. The care robot 11 performs the speaking motion again. Fig.21 At least a part of the speaking movement performed in step S106 in .

[0245] In step S157, Fig.21 Similar to the processing in step S103 in , it is determined whether the gaze of care recipient 14 has been detected. If it is determined that the gaze of care recipient 14 has not been detected, the processing proceeds to step S158.

[0246] In step S158, the care robot 11 taps the table 12 of the care recipient 14 and performs the speaking motion again. For example, the tracking motion control unit 325 controls the actuator 239 so that the hand 63 that is not holding the handheld display 91 taps the table top 12A of the table 12. The care robot 11 then performs the speaking motion again. Fig.21 At least a part of the speaking movement performed in step S106 in .

[0247] In step S159, Fig.21 Similar to the processing in step S103 in , it is determined whether the gaze of care recipient 14 has been detected. If it is determined that the gaze of care recipient 14 has not been detected, the process proceeds to step S160.

[0248] In step S160, the care robot 11 touches the arm of the care recipient 14 and performs the speaking motion again. For example, the tracking motion control unit 325 controls the actuator 239 so that the hand 63 that is not holding the handheld display 91 contacts the arm of the care recipient 14. The care robot 11 performs the speaking motion again. Fig.21 At least a part of the speaking movement performed in step S106 in .

[0249] In step S161, Fig.21 Similar to the processing in step S103 in , it is determined whether the gaze of care recipient 14 has been detected. If it is determined that the gaze of care recipient 14 has not been detected, the processing proceeds to step S162.

[0250] In step S162, Fig.21 Similarly to the processing in step S104 in , it is determined whether the state where the gaze of care recipient 14 is not detected continues for at least n seconds. If it is determined that the state where the gaze of care recipient 14 is not detected has not continued for at least n seconds, the processing returns to step S161.

[0251] The processing in steps S161 and S162 is then repeated until it is determined in step S161 that the gaze of care recipient 14 has been detected, or until it is determined in step S162 that the state in which the gaze of care recipient 14 is not detected continues for at least n seconds.

[0252] Meanwhile, if it is determined in step S151 , S153 , S155 , S157 , S159 , or S161 that the gaze of care recipient 14 has been detected, the process proceeds to step S163 .

[0253] In step S163, sound information processing unit 282 determines whether speech of care recipient 14 has been detected based on the sound data provided by microphone 232. If it is determined that speech of care recipient 14 has been detected, the process proceeds to step S164.

[0254] In step S164, the sound information processing unit 282 recognizes the content of the speech. For example, the sound information processing unit 282 recognizes a pre-registered phrase from the detected speech of the care recipient 14. The registered phrase may be a single word, or a combination of a plurality of words.

[0255] In step S165, the care robot 11 performs a response movement according to the content of the speech. Specifically, the sound information processing unit 282 notifies the action control unit 264 of the recognition result of the content of the speech. In other words, the sound information processing unit 282 notifies the action control unit 264 of the phrases recognized from the speech of the care recipient 14.

[0256] Script execution control unit 324 selects the type of response to the speech of care recipient 14 according to the recognition result of the speech content. For example, script execution control unit 324 selects the type of response to be executed based on the phrase in the speech recognized by sound information processing unit 282.

[0257] For example, the responses are categorized under the following ten types.

[0258] 1.Thanks for providing information

[0259] 2. Reply

[0260] 3. Affirmation

[0261] 4. Care

[0262] 5. Wait

[0263] 6. Praise

[0264] 7. Empathy

[0265] 8. Greetings

[0266] 9. Thank you

[0267] 10. Name

[0268] For example, responses categorized under “1. Thanks for the information” included “Thank you for letting me know it.”

[0269] For example, responses categorized under "2. Reply" include "yes" and "hmm."

[0270] For example, responses categorized under “3. Affirmative” include “Uh-huh” and “I see.”

[0271] For example, responses categorized under “4. Concern” included “Are you OK?”, “I understand,” and “I’ll let staff know about it.”

[0272] For example, responses categorized under “5. Wait” included “It won’t be long” and “Please wait a moment.”

[0273] For example, responses categorized under “6. Compliments” included “You look as good as usual today,” “Good job,” and “Excellent as expected.”

[0274] For example, responses categorized under “7. Empathy” included “Nice” and “Happy for you.”

[0275] For example, responses categorized under "8. Greetings" include "Good morning" and "Hello."

[0276] Responses categorized under "9. Thanks" included "Thank you."

[0277] Responses classified under “10. Name” include “I am Hanamo” and “Call me Hana-chan.” “Hanamo” is an example of the name of the care robot 11 .

[0278] For example, when the care recipient 14 says "My back hurts", the sound information processing unit 282 recognizes the phrase "hurt". In response, the script execution control unit 324 selects responses such as "Are you OK?", "Thank you for letting me know about it", and "I'll let the staff know about it".

[0279] For example, when the care recipient 14 says "I want to go home", the voice information processing unit 282 recognizes the phrase "want to go home" or "go home". In response, the script execution control unit 324 selects responses such as "Are you okay?", "Thank you for letting me know about it", and "I'll let the staff know about it".

[0280] For example, when the care recipient 14 says "I couldn't sleep again last night", the sound information processing unit 282 recognizes the phrase "I couldn't sleep". In response, the script execution control unit 324 selects responses such as "I understand", "Are you okay?" and "I'll let the staff know about it".

[0281] For example, if care recipient 14 says "Is the meal ready?", voice information processing unit 282 recognizes the phrase "The meal is ready." In response, script execution control unit 324 selects a response such as "It won't be long, so please wait" or "Thanks for letting me know about it."

[0282] For example, when care recipient 14 says "Is the snack ready?", voice information processing unit 282 recognizes the phrase "Is the snack ready?" In response, script execution control unit 324 selects responses such as "It won't be long, so please wait" and "Thank you for letting me know about it."

[0283] For example, when the care recipient 14 says "I'm thirsty", the voice information processing unit 282 recognizes the phrase "thirsty". In response, the script execution control unit 324 selects responses such as "Are you okay?", "It won't be long, so please wait", and "Thank you for letting me know about it".

[0284] For example, when the care recipient 14 says "Is the tea ready?", the voice information processing unit 282 recognizes the phrase "Is the tea ready?" In response, the script execution control unit 324 selects responses such as "Really?", "It won't be long, so please wait", and "Thank you for letting me know".

[0285] For example, if care recipient 14 says "What's the meal?", voice information processing unit 282 recognizes the phrase "What's the meal?" In response, script execution control unit 324 selects responses such as "Really?", "It won't be long, so please wait", and "Thank you for letting me know about it".

[0286] For example, when the care recipient 14 says "What's a snack?", the voice information processing unit 282 recognizes the phrase "What's a snack?" In response, the script execution control unit 324 selects responses such as "Really?", "It won't be long, so please wait", and "Thank you for letting me know about it".

[0287] For example, when the care recipient 14 says "What's your name?", the sound information processing unit 282 recognizes the phrase "Your name?" In response, the script execution control unit 324 selects responses such as "I'm Hanamo" and "Please call me Hana-chan."

[0288] For example, when the care recipient 14 says “May I ask who this is?”, the sound information processing unit 282 recognizes the phrase “Who is this?” In response, the script execution control unit 324 selects responses such as “I am Hanamo” and “Call me Hana-chan”.

[0289] For example, when care recipient 14 says "How are you?", voice information processing unit 282 recognizes the phrase "How are you?" In response, script execution control unit 324 will select an appropriate response such as "Yes!" and "Hello."

[0290] For example, when the care recipient 14 says "I was born in the Taisho era", the sound information processing unit 282 recognizes the phrase "Born in the Taisho era". In response, the script execution control unit 324 selects responses such as "Hmm", "Wow", and "Thank you for letting me know that".

[0291] For example, when the care recipient 14 says "I drew this picture", the sound information processing unit 282 recognizes the phrase "drew a picture". In response, the script execution control unit 324 selects a response such as "Wow", "Great", or "Thanks for letting me know about it".

[0292] For example, when the care recipient 14 says "This is a picture of my grandson," the voice information processing unit 282 recognizes the phrase "a picture of my grandson." In response, the script execution control unit 324 selects a response such as "Hmm," "That's good," or "Thanks for letting me know about it."

[0293] For example, when the care recipient 14 says "thank you", the sound information processing unit 282 recognizes the phrase "thank you". In response to this, the script execution control unit 324 selects a response such as "thank you".

[0294] For example, when the care recipient 14 says "Thank you for taking care of me", the sound information processing unit 282 recognizes the phrase "Take care of me". In response, the script execution control unit 324 selects a friendly phrase such as "Thank you for telling me".

[0295] For example, when the care recipient 14 says "Good morning," the sound information processing unit 282 recognizes the phrase "Good morning." In response, the script execution control unit 324 selects a response such as "Good morning."

[0296] For example, when care recipient 14 says "Hello," voice information processing unit 282 recognizes the phrase "Hello." In response, script execution control unit 324 selects a response such as "Hello," for example.

[0297] For example, when the care recipient 14 says "I slept well", the sound information processing unit 282 recognizes the phrase "slept well" or "sleep". In response, the script execution control unit 324 selects a response such as "Really?", "Uh-huh", or "Thanks for letting me know about it".

[0298] For example, when the care recipient 14 says "the food is delicious", the sound information processing unit 282 recognizes the phrase "is delicious" or "delicious". In response, the script execution control unit 324 selects a response such as "really?", "great", or "thank you for letting me know about it".

[0299] For example, when the care recipient 14 says "My back doesn't hurt today", the voice information processing unit 282 recognizes the phrase "No pain". In response, the script execution control unit 324 selects a response such as "Really?", "That's great" or "Thank you for letting me know about it".

[0300] When no relevant phrase is recognized from the speech of the care recipient 14, or when the content of the speech cannot be recognized, the script execution control unit 324 selects a response belonging to "3. Affirmative." For example, when the care recipient 14 says "I like cats" and the sound information processing unit 282 cannot recognize any corresponding phrase, the script execution control unit 324 selects a response such as "Hmm" or the like.

[0301] Care robot 11 then performs a response movement including the selected response. Specifically, sound output control unit 327 causes the speech sound of the selected response to be output from speaker 238. Motor drive control unit 326 also controls actuator 239 to perform a movement corresponding to the response as needed.

[0302] Thereafter, the processing returns to step S151, and the processing in steps S151 to S165 is repeated until it is determined in step S162 that the state in which the gaze of the care recipient 14 is not detected has continued for at least n seconds, or until it is determined in step S163 that speech from the care recipient 14 has not been detected.

[0303] Meanwhile, if it is determined in step S162 that the state in which the gaze of the care recipient 14 is not detected has continued for at least n seconds, or if it is determined in step S163 that speech from the care recipient 14 has not been detected, the branching dialogue movement processing ends.

[0304] In this way, in the branching dialogue motion process, the care robot 11 performs at least a part of the speaking motion again, and at the same time adds a motion that encourages the care recipient 14 to look at and changes the voice. This encourages the care recipient 14 to look at the care robot 11.

[0305] Return to reference Fig.21 In step S108, the script execution control unit 324 determines whether the state in which the care recipient 14's gaze is not detected has continued for at least n seconds based on the result of the processing in step S107. If it is determined that the state in which the care recipient 14's gaze is not detected has not continued for at least n seconds, the processing proceeds to step S109.

[0306] In step S109, the script execution control unit 324 determines whether there is a next speech movement. If it is determined that there is a next speech movement, the process returns to step S106.

[0307] Thereafter, the processing in steps S106 to S109 is repeated until it is determined in step S108 that the state of not detecting the gaze of care recipient 14 continues for at least n seconds, or until it is determined in step S109 that there is no next speaking movement. In this way, the speaking movement of the application is sequentially executed according to the script.

[0308] Meanwhile, if it is determined in step S109 that there is no next speaking motion, the process proceeds to step S110. This is the case when all speaking motions of the application have been executed according to the script.

[0309] If it is determined in step S108 that the state of care recipient 14's gaze is not detected for at least n seconds, the processing in step S109 is skipped and the processing proceeds to step S110. This is the case when the application ends in the middle of the script because no positive response is obtained from care recipient 14, for example.

[0310] In step S110, the care robot 11 performs the ending motion. Fig. 20 Similar to the processing in step S9 in , the care robot 11 performs a speaking movement corresponding to the appointment to meet again as the ending movement.

[0311] Then, the application execution process ends.

[0312] Meanwhile, if it is determined in step S104 that the state in which the care recipient 14's gaze is not detected continues for at least n seconds, the application execution process ends. This is, for example, when the application execution is suspended before the main content of the application is executed due to no positive response from the care recipient 14.

[0313] <Second Specific Example of Application Execution Processing>

[0314] Next, we will refer to Fig.23 The flowchart in describes a second specific example of the application execution process.

[0315] In the second specific example of the application execution process, the main content is set at the middle distance position P2 and the close distance position P1.

[0316] In steps S201 to S207, the Fig.21 The same processing as that in steps S101 to S107 in .

[0317] In step S208, Fig.21 Similarly to the processing in step S108 in , it is determined whether the state in which the gaze of care recipient 14 is not detected continues for at least n seconds. If it is determined that the state in which the gaze of care recipient 14 is not detected continues for at least n seconds, the processing proceeds to step S209.

[0318] In step S209, Fig.21 Similarly to the process in step S109 in , it is determined whether there is a next speech movement. If it is determined that there is a next speech movement, the process returns to step S206.

[0319] Thereafter, the processing in steps S206 to S209 is repeated until it is determined in step S208 that the state in which the gaze of care recipient 14 is not detected continues for at least n seconds, or until it is determined in step S209 that there is no next speaking movement.

[0320] Meanwhile, if it is determined in step S209 that there is no next speaking movement, the process proceeds to step S210. This is the case when all speaking movements at the middle distance position P2 have been performed according to the script.

[0321] In step S210, the care robot 11 moves to the close distance position P1. For example, the navigation control unit 328 controls the cart driving unit 242 to move the care robot 11 from the medium distance position P2 to the close distance position P1. Fig.19 shown.

[0322] In step S211, Fig.21 The processing in step S106 in is similarly performed for the next speaking movement.

[0323] In step S212, Fig.21 The processing in step S107 in performs branch dialogue movement processing similarly.

[0324] In step S213, Fig.21 Similarly to the processing of step S108, based on the result of the processing in step S212, it is determined whether the state of not detecting the gaze of care recipient 14 has continued for at least n seconds. If it is determined that the state of not detecting the gaze of care recipient 14 has not continued for at least n seconds, the processing proceeds to step S214.

[0325] In step S214, Fig.19 Similarly to the process in step S109 in , it is determined whether there is a next speech movement. If it is determined that there is a next speech movement, the process returns to step S211.

[0326] Thereafter, the processing in steps S211 to S214 is repeated until it is determined in step S213 that the state in which the gaze of care recipient 14 is not detected continues for at least n seconds, or it is determined in step S214 that there is no next speaking movement.

[0327] Meanwhile, if it is determined in step S214 that there is no next speaking motion, the process proceeds to step S215. This is the case when all speaking motions of the application have been executed according to the script.

[0328] If it is determined in step S213 that the state of care recipient 14's gaze is not detected for at least n seconds, the processing in step S214 is skipped and the processing proceeds to step S215. This is the case when the application ends in the middle of the script because no positive response is obtained from care recipient 14, for example.

[0329] In addition, if it is determined in step S205 that the state of the care recipient 14's gaze is not detected for at least n seconds, the processing in steps S209 to S214 is skipped and the processing proceeds to step S215. This is the case when the application ends in the middle of the script because no positive response is obtained from the care recipient 14, for example.

[0330] In step S215, Fig.21 The processing in step S110 in is similarly performed to end the movement.

[0331] After that, the application execution process ends.

[0332] Meanwhile, if it is determined in step S204 that the state in which the care recipient 14's gaze is not detected continues for at least n seconds, the application execution process ends. This is, for example, when the application execution is suspended before the main content of the application is executed due to no positive response from the care recipient 14.

[0333] For example, after moving to the short-distance position P1 , the care robot 11 may move between the short-distance position P1 and the middle-distance position P2 if necessary.

[0334] <Specific examples of application>

[0335] Next, there will be described a specific example of an application executed by care robot 11. In particular, a specific example of a script executed in the application will be described.

[0336] <Vital Signs Measurement Application>

[0337] First, refer to Figure 24 to Figure 27 , a specific example of a vital sign measurement application that measures the value of a vital sign such as the body temperature of the care recipient 14 will be described.

[0338] First, if Fig.24 As shown, care robot 11 moves to remote position P3 and performs meeting preparation by executing speaking movements including the following lines.

[0339] "Good morning."

[0340] "Grandma! I'm coming to you now."

[0341] In response to this, the care robot 11 repeatedly performs the speaking motion when the care recipient 14 does not look at the care robot 11. However, if the care recipient 14 does not look at the care robot 11, the care robot 11 ends the vital sign measurement application and moves away from the care recipient 14.

[0342] At the same time, if the care recipient 14 looks at the care robot 11, the care robot 11 Fig.25 The patient moves to the middle distance position P2, and begins preparation for care by performing a speaking motion including the following lines.

[0343] "grandmother."

[0344] "grandmother!"

[0345] "I'm here to see you, grandma."

[0346] In response to this, if the care recipient 14 does not look at the care robot 11, the care robot 11 performs the above reference Fig. 22 The described branching dialogue motion processing causes the care recipient 14 to look at the care robot 11. However, if the care recipient 14 still does not look at the care robot 11, the care robot 11 performs the ending motion, ends the vital sign measurement application, and moves away from the care recipient 14.

[0347] Meanwhile, if the care recipient 14 looks at the care robot 11, the care robot 11 performs a response movement according to the speech (if any) of the care recipient 14. Then, at a timing when the care recipient 14 looks at the care robot 11 without speaking, the care robot 11 performs a speaking movement including the following lines.

[0348] In addition, although the description will not be repeated, it should be assumed that a series of processing is performed between each speaking motion. In other words, if the branching dialogue motion processing or the response motion is performed as needed, and the care recipient 14 does not look at the care robot 11, the application ends after the end motion. At the same time, when the care recipient 14 looks at the care robot 11 without speaking, the next speaking motion is performed.

[0349] "I'm glad you're smiling, Grandma."

[0350] "I'm glad you look well."

[0351] “I’m glad you’re doing well.”

[0352] "We all care about you, Grandma."

[0353] "Health is the best, isn't it?"

[0354] Next, care robot 11 performs speaking movements including the following lines.

[0355] "It's time to take today's temperature."

[0356] "body temperature?"

[0357] "Your temperature."

[0358] "Can I take your temperature now?"

[0359] Next, the care robot 11 performs speaking movements including the following lines to complete the care preparation.

[0360] "Temperature, it's time to take your temperature."

[0361] "If you take your temperature, you will be safe."

[0362] "Now what's your temperature? Can I take your temperature?"

[0363] Next, if Fig.26 As shown, the care robot 11 moves to the close distance position P1 and performs a perceptual connection by performing a speaking movement including the following lines.

[0364] "I'm going to take your temperature now."

[0365] "Just look at me for a moment."

[0366] "Beep, beep (sound of the thermometer)."

[0367] "It was 36.2 degrees Celsius."

[0368] "I've taken your temperature."

[0369] "Are you feeling the same as usual?"

[0370] Next, the care robot 11 performs emotion fixation by executing a speaking movement including the following lines.

[0371] "The time for taking your temperature is over now."

[0372] "That's fun, isn't it?"

[0373] "Thank you."

[0374] Next, if Fig. 27 As shown, care robot 11 moves to middle-distance position P2 and starts a reservation for another meeting by performing a speaking motion including the following lines.

[0375] "I'll come back to talk to you at two in the afternoon."

[0376] "I'm going to go prepare dinner, so wait for me."

[0377] "See you later."

[0378] Next, care robot 11 performs an ending motion which is a speaking motion including the following lines to end the reservation for the re-meeting.

[0379] "I will be back."

[0380] "Wait for me."

[0381] The care robot 11 then ends the vital sign measurement application and leaves the care recipient 14 .

[0382] In this way, the care robot 11 can perform vital sign measurement on the care recipient 14 while improving the care recipient's 14 acceptance of the care robot 11 and the vital sign measurement by using humane care.

[0383] <Music Therapy Application>

[0384] Next, refer to e.g. Figures 28 to 30 , a specific example of a music therapy application in which the care robot 11 sings with the care recipient 14 will be described.

[0385] First, if Fig.24 As shown, the care robot 11 moves to the remote position P3 and performs encounter preparation by executing a speaking movement including the following lines.

[0386] "grandmother."

[0387] "Good morning."

[0388] "Grandma! I'm coming to you now."

[0389] In response, if the care recipient 14 does not look at the care robot 11, the care robot 11 repeats the speaking motion. If the care recipient 14 still does not look at the care robot 11, the care robot 11 then terminates the music therapy application and leaves the care recipient 14.

[0390] At the same time, if the care recipient 14 looks at the care robot 11, the care robot 11 Fig.25 The patient moves to the middle distance position P2, and begins preparation for care by performing a speaking motion including the following lines.

[0391] "grandmother."

[0392] "grandmother!"

[0393] "I'm here to see you, grandma."

[0394] Next, care robot 11 performs speaking movements including the following lines.

[0395] "I'm glad you're smiling, Grandma."

[0396] "It's a nice day again today, isn't it?"

[0397] Next, care robot 11 performs speaking movements including the following lines.

[0398] "I have your picture, Grandma."

[0399] “Look at this.”

[0400] "Look this way."

[0401] Next, the nursing robot 11 raises the handheld display 91 to the vicinity of the head 21, as shown in FIG. Fig.28 The nursing robot 11 then uses Fig.29 The image of A in is displayed on the handheld display 91 to start reality orientation. Fig.29 The image of A in represents the theme of December, and for example, bells, Christmas trees, and snowmen are displayed. In other words, the care robot 11 starts a process of conveying to the care recipient 14 the orientation of the season, date, and time related to the song to be sung, for example.

[0402] Next, care robot 11 performs speaking movements including the following lines.

[0403] "It's December, winter time, isn't it?"

[0404] “Christmas is coming.”

[0405] "Just a few more sleeps and it will be New Year's Day."

[0406] “There are lots of fun things to do.”

[0407] Next, the care robot 11 performs speaking movements including the following lines and ends the reality orientation.

[0408] “I’m here to sing today.”

[0409] "I want to sing a song."

[0410] “Sing with me.”

[0411] Next, the care robot 11 causes the handheld display 91 to display Fig.29 The image of B in . Fig.29 The image of B in the song is an image of a starry sky, which evokes the image of the song "Twinkle, twinkle, little star" which is the song planned to be sung next.

[0412] Next, the care robot 11 begins to introduce and explain the song to be sung (“Twinkle, twinkle little star”) by performing speaking movements including the following lines.

[0413] “The stars in the winter sky are beautiful, aren’t they?”

[0414] "Shall we sing that song about stars, 'Twinkle, Twinkle, Little Star'?"

[0415] Next, the nursing robot 11 uses Fig.30 The image of A in is displayed on the handheld display 91. Fig.30 The image of A in FIG. 1 shows the title of the song to be sung, "Twinkle, Twinkle Little Star".

[0416] Next, the care robot 11 performs speaking movements including the following lines, ends the introduction and description of the song to be sung ("Twinkle, twinkle little star"), and completes the care preparation.

[0417] "Twinkle, twinkle, little star."

[0418] "It's twinkle, twinkle, little star."

[0419] Next, the nursing robot 11 causes the handheld display 91 to display the following Fig.30 While viewing the image of the lyrics of "Twinkle, twinkle, little star" shown in B, a perceptual connection is performed by singing "Twinkle, twinkle, little star" together with the care recipient 14.

[0420] After singing "Twinkle, twinkle little star", the nursing robot 11 causes the handheld display 91 to display the following Fig.30 The care robot 11 then starts the emotion fixation by performing a speaking movement including the following lines.

[0421] "Thank you."

[0422] Next, care robot 11 performs speaking movements including the following lines.

[0423] "Grandma, you look so good, thank you."

[0424] "I'm glad you're smiling."

[0425] Next, the care robot 11 performs a speaking movement including the following lines to end the emotion fixation.

[0426] "I am very happy."

[0427] Next, care robot 11 causes handheld display 91 to display an image (not shown) related to "Rudolph the Red-Nosed Reindeer" scheduled to be sung next. Care robot 11 then performs a speech movement including the following lines and outputs a ringtone, thereby performing cognitive stimulation therapy and starting care preparation.

[0428] "Next."

[0429] "Test, test."

[0430] "What's that noise?"

[0431] Next, if the care recipient 14 correctly answers the quiz, the care robot 11 performs a speaking movement including the following lines.

[0432] "Yes, you are correct."

[0433] “It’s the sound of reindeer bells.”

[0434] Next, the care robot 11 begins to introduce and explain the song to be sung ("Rudolph the Red-Nosed Reindeer") by performing speaking movements including the following lines.

[0435] "Shall we sing the Christmas song 'Rudolph the Red-Nosed Reindeer'?"

[0436] Next, the care robot 11 performs speaking movements including the following lines, and completes the introduction and explanation of the song to be sung ("Rudolph the Red-Nosed Reindeer"), thereby completing the care preparation.

[0437] "Rudolph the Red-Nosed Reindeer."

[0438] "It's Rudolph the Red-Nosed Reindeer."

[0439] Next, care robot 11 performs perceptual connection by singing “Rudolph the Red-Nosed Reindeer” with care recipient 14 while causing handheld display 91 to display an image (not shown) showing the lyrics of “Rudolph the Red-Nosed Reindeer”.

[0440] After singing "Rudolph the Red-Nosed Reindeer", the care robot 11 causes the handheld display 91 to display Fig.30 The image of C in FIG. 1 shows “Thank you”. The care robot 11 then starts the emotion fixation by performing a speaking movement including the following lines.

[0441] "Thank you."

[0442] Next, care robot 11 performs speaking movements including the following lines.

[0443] "grandmother."

[0444] "It's so nice of you to sing with me."

[0445] Next, care robot 11 performs speaking movements including the following lines.

[0446] "very good."

[0447] "Sing with me again."

[0448] “I’m looking forward to it.”

[0449] Next, care robot 11 performs speaking movements including the following lines.

[0450] "I'm so glad."

[0451] Next, the care robot 11 performs the speaking movement including the following lines and ends the emotion fixation.

[0452] "Our singing time ends here."

[0453] “It was fun singing today, wasn’t it?”

[0454] "Thank you."

[0455] Next, care robot 11 carries out the appointment to meet again by performing a speaking motion including the following lines.

[0456] "It's nice to see you today."

[0457] "I'll come see you again."

[0458] "goodbye."

[0459] Then, the care robot 11 ends the music therapy application and moves away from the care recipient 14 .

[0460] In this way, the care robot 11 can perform music therapy while using humanistic care to improve the care recipient's 14 acceptance of the care robot 11 and songs.

[0461] The script and content of the music therapy application (hereinafter referred to as "script, etc.") can change according to time factors such as seasons and months. For example, the image presented to the care recipient, the lines spoken by the care robot 11, and the song sung with the care recipient can change by season or by month.

[0462] For example, a plurality of scripts are prepared in advance for each month, and one of the scripts is executed. The script to be executed may be randomly selected according to the wishes of the care recipient, may be selected by the staff for each care recipient, or may be switched on a weekly basis.

[0463] For example, on special days such as birthdays and anniversaries, special scripts can be executed. For example, a script including a birthday song or a congratulatory message can be executed on the birthday of the care recipient.

[0464] <Phone Application>

[0465] Next, for example, refer to Figure 31 to Figure 36 , a specific example of a telephone application in which the care recipient 14 converses with a caller via a video call will be described.

[0466] First, if Fig.31 As shown, the nursing robot 11 looks at the handheld display 91 at the initial position P0, and then Fig.32 As shown, the user moves to the remote position P3 and performs meeting preparation by performing a speaking motion including the following lines.

[0467] "grandmother!"

[0468] "Good morning!"

[0469] "Grandma! I'm coming to you now."

[0470] In response to this, if the care recipient 14 does not look at the care robot 11, the care robot 11 repeats the speaking motion. If the care recipient 14 still does not look at the care robot 11, the care robot 11 ends the phone application and moves away from the care recipient 14.

[0471] At the same time, if the care recipient 14 looks at the care robot 11, the care robot 11 Fig.25As shown, the caller moves to the middle distance position P2 and starts the care preparation by performing the speaking movement including the following lines. At this time, the care robot 11 performs cognitive stimulation therapy and performs the introduction of the call by displaying the face image of the caller on the handheld display 91 and showing it to the care recipient 14.

[0472] "I'm glad you're smiling, Grandma."

[0473] "You look beautiful today as usual."

[0474] "I'm with my grandma now."

[0475] "On the phone."

[0476] "Someone wants to talk to you."

[0477] “That’s so thoughtful.”

[0478] “Guess who?”

[0479] Next, care robot 11 performs speaking movements including the following lines.

[0480] "I'm going to call that person right now."

[0481] "Please wait a moment."

[0482] Next, the care robot 11 makes a video call to the caller of the care recipient 14 using the handheld display 91. When the caller answers the video call, the care robot 11 performs a speaking motion including the following lines.

[0483] "Hello, I'm Hanamo."

[0484] "Thank you for taking my call."

[0485] "Grandma, it's time to make a phone call."

[0486] "I'll give the phone to grandma."

[0487] Next, the care robot 11 moves to the close position P1 and performs a speaking movement including the following lines, such as Fig.33 As shown, the handheld display 91 is placed on the table 12 and the care preparation is completed.

[0488] “I’ll put the phone on the table.”

[0489] Care recipient 14 then experiences a perceived connection by conversing with care recipient 14 using handheld display 91 .

[0490] Next, the care robot 11 performs speaking movements including the following lines at appropriate timing, ends the video call, and turns on emotion fixation.

[0491] "It's almost time to sing."

[0492] "Thank you for the call."

[0493] "Let's talk on the phone again."

[0494] Next, care robot 11 performs speaking movements including the following lines.

[0495] "Let's call again some other time."

[0496] “Let’s do this again.”

[0497] “Let’s do it again!”

[0498] Next, the care robot 11 puts down the hand 63 and moves the handheld display 91 away from the table 12 .

[0499] "Now I'm going to put my hands down."

[0500] After putting down the hand 63, the care robot 11 performs the speaking movement including the following lines.

[0501] "I've let it go."

[0502] Next, care robot 11 performs speaking movements including the following lines.

[0503] "This is the end of the call."

[0504] "It's nice to talk, isn't it?"

[0505] "Thank you."

[0506] Next, care robot 11 performs speaking movements including the following lines.

[0507] "I'm glad you're smiling."

[0508] “I see you love everyone.”

[0509] "Thanks for letting me know about it."

[0510] "Let's call again some other time."

[0511] Next, the care robot 11 performs a speaking movement including the following lines to end the emotion fixation.

[0512] "Thank you."

[0513] Next, in Fig.34 After moving to the middle-distance position P2 as shown, care robot 11 performs a speaking movement including the following lines to start an appointment to meet again.

[0514] "Next, it's time to sing."

[0515] "I'm going to sing."

[0516] "goodbye."

[0517] Next, care robot 11 performs a speaking motion including the following lines to end the appointment to meet again.

[0518] "I will be back."

[0519] "goodbye."

[0520] Next, if Fig.35 The nursing robot 11 moves to the remote position P3 and stops. Fig.36 The user is shown looking at the care recipient 14 , then ending the phone application and moving away from the care recipient 14 .

[0521] In the telephone application, it is not necessary to use a video phone, but a voice-only phone may be used. In this case, for example, a picture of the caller's face is displayed on the handheld display 91. An image other than the caller's face picture may be displayed on the handheld display 91 according to the caller's wishes or other factors.

[0522] In a telephony application, it is not always necessary to perform a video call in real time, and, for example, a video playback application may be used to play a pre-made message video.

[0523] For example, if a family member, friend, or other caller of a care recipient is not available to call in real time, a video of a message pre-made by the caller may be reproduced.

[0524] In this case, for example, the caller uploads the made video message to the cloud server, and the care robot 11 downloads the video message from the cloud server and plays it. For example, the information terminal at the care institution can download the video message from the cloud server and send it to the care robot 11.

[0525] For example, when a caller comes to the nursing facility, the nursing robot 11 can take a picture of the caller, make a video message, and store it.

[0526] The speaker in the message video need not be the care recipient's real-life caller. For example, the speaker may be a celebrity, such as an entertainer or athlete, a character from a movie, television show, or comic, or a character generated by computer graphics or animation.

[0527] The speaker in the message video may be, for example, a staff member of a care facility. This is expected to improve the relationship between the staff and the care recipients.

[0528] In addition, voice messages can be used to replace video messages. In this case, for example, a photo of the speaker is displayed on the handheld display 91.

[0529] <Standing and Sitting Detection Processing>

[0530] Next, we will refer to Fig.37 The flowchart in describes the standing and sitting detection processing performed by the care robot 11.

[0531] For example, Fig.38 and Fig.39 As shown, this process is performed when the care robot 11 is located at a prescribed position for charging in the living area (where the charging dock 212 (not shown) is located) and a care application for caring for a user in the living area is in effect.

[0532] Tables 401-1 to 401-8 and chairs 402-1 to 402-7 are located in the living area.

[0533] The tables 401-1 to 401-8 are arranged in a U shape. In other words, the row of tables 401-1 and 401-2, the row of tables 401-3 to 401-6, and the row of tables 401-7 and 401-8 are arranged in a U shape. The row of tables 401-3 to 401-6 is arranged in front of the nursing robot 11. The row of tables 401-1 and 401-2 and the row of tables 401-7 and 401-8 are arranged perpendicular to the row of tables 401-3 to 401-6 and opposite to each other.

[0534] Chairs 402-1 to 402-7 are arranged for tables 401-1 to 401-7, respectively. No chair is arranged for table 401-8.

[0535] exist Fig.38 and Fig.39 , for each of the chairs 402-1 to 402-7, a long-distance position P3, a middle-distance position P2, and a short-distance position P1 are shown.

[0536] In step S301, the care robot 11 looks around the living area. For example, the motor drive control unit 326 drives the actuator 239 under the control of the script execution control unit 324 to turn the neck joint axis 24C. In this way, the head 21 of the care robot 11 swings left and right, and the distance image sensor 231 captures an image of an area including the table 401 and the chair 402 in the living area. The distance image sensor 231 provides the distance image data obtained by imaging to the image information processing unit 281.

[0537] When the table 401 and the chair 402 are within the field of view of the distance image sensor 231, the care robot 11 does not have to swing its head 21 left and right.

[0538] In step S302, care robot 11 checks the presence of each user. Specifically, image information processing unit 281 checks the presence of each user by detecting whether the user is sitting in any of chairs 402 based on distance image data. Image information processing unit 281 provides information indicating the result of the presence check to action control unit 264.

[0539] In step S303, the image information processing unit 281 determines whether any of the users has stood up. Based on the result of the processing in step S302, when it is determined that at least one of the users present has stood up, the image information processing unit 281 determines that the user's standing up action has been detected, and the processing proceeds to step S304.

[0540] For example, if it is determined that a user who is sitting in a wheelchair without using the chair 402 stands up, detection of the user's standing up action is determined in the same manner.

[0541] In step S304, the care robot 11 notifies the staff of the user's standing up action. For example, the call communication function control unit 330 sends information for notifying the user's standing up action to an external device (e.g., an information terminal (e.g., a smartphone) carried by the staff or an information terminal in the staff's room) via the Wi-Fi router 213 and the facility LAN 214.

[0542] In response to this, the external device notifies the staff of the user's standing up action through at least one of visual, auditory, and tactile information, for example, based on the received information.

[0543] In step S305, the care robot 11 records the user's standing up history. For example, the call communication function control unit 330 sends data indicating the result of detecting the user's standing up action to an information terminal running care record software that records the history of care for each user via the Wi-Fi router 213 and the facility LAN 214.

[0544] In response, the information terminal records the user's standing history in the nursing record software based on the received data.

[0545] Thereafter, the process returns to step S301 , and the processes starting from step S301 are executed.

[0546] Meanwhile, if it is determined in step S303 that the user's standing-up motion has not been detected, the process returns to step S301 , and the processes starting from step S301 are executed.

[0547] This enables staff to quickly recognize the user's standing up action and take necessary measures. Therefore, this helps prevent incidents such as user injury or user loss.

[0548] For example, before executing each application according to the scheduling information, the care robot 11 can know in advance whether the care recipient for whom each application is to be executed is present. The care robot 11 can then skip executing the application for the absent care recipient, thereby being able to execute each application more smoothly.

[0549] If the care robot 11 cannot capture images of all seated users from just one location in the living area, for example due to a blind spot of the care robot 11, the care robot 11 can move between multiple locations while executing an application for caring for care recipients.

[0550] In this case, for example, a plurality of standby positions are set in the living area, and the care robot 11 regularly travels between the standby positions to take care of the user in the living area by taking images in the living area while moving and from each standby position. If necessary, each standby position is provided with a charging dock 212.

[0551] This reduces blind spots and ensures that users in the living area are watched from appropriate locations regardless of the shape or layout of the living area. This allows greater flexibility in adapting to changes in the layout of the living area and other changes when compared to installing surveillance cameras in the living area.

[0552] For example, the processing in steps S303 to S305 is also performed while care robot 11 is executing the application. When the user's standing up action is detected, the staff is notified and the user's standing up history is recorded.

[0553] <Vital Signs Measurement Processing>

[0554] Next, refer to Fig.40 The flowchart in will describe the vital signs measurement processing performed by the care robot 11.

[0555] This process is performed by the care robot 11 for each care recipient when a vital sign measurement application is executed, for example.

[0556] In step S351, the care robot 11 performs vital sign measurement. For example, the motor drive control unit 326 drives the actuator 239 under the control of the script execution control unit 324 to move the care robot 11, thereby measuring the vital sign value of the care recipient using the vital sign sensor 233. The vital sign sensor 233 provides vital sign data indicating the measurement result of the vital sign value of the care recipient to the vital sign information processing unit 283. The vital sign information processing unit 283 performs detection processing of the vital sign value of the care recipient based on the vital sign data. The vital sign information processing unit 283 provides vital sign information indicating the detection result of the vital sign value to the action control unit 264.

[0557] In step S352, the script execution control unit 324 determines whether a measurement error has occurred. If at least one of the vital sign values ​​cannot be measured, or if at least one of the vital sign values ​​is an erroneous value, the script execution control unit 324 determines that a measurement error has occurred, and the process proceeds to step S353. For example, if one of the vital sign values ​​(measured temperature of the caregiver) is an impossible value (e.g., at least 41°C), it is determined that a measurement error has occurred.

[0558] In step S353, the script execution control unit 324 determines whether the measurement error has occurred continuously for at least a prescribed number of times (eg, 4 times). If it is determined that the number of consecutive measurement errors has not reached the prescribed number, the process returns to step S351.

[0559] Thereafter, the processing in steps S351 to S353 is repeatedly performed until it is determined in step S352 that no measurement error has occurred or it is determined in step S353 that the number of consecutive measurement errors has reached a prescribed number.

[0560] Meanwhile, if it is determined in step S352 that a measurement error has not occurred, the process proceeds to step S354.

[0561] In step S354, the script execution control unit 324 determines whether any one of the vital sign values ​​is abnormal. Specifically, if at least one of the vital sign values ​​of the care recipient is within the abnormal range, the script execution control unit 324 determines that the vital sign value is abnormal, and the process proceeds to step S355. For example, if one of the vital sign values ​​(body temperature of the care recipient) is at least 37.5°C and less than 40°C, the vital sign value is determined to be abnormal.

[0562] Normal and abnormal ranges for each vital sign value can be set for each care recipient.

[0563] In step S355, the care robot 11 notifies the staff of the abnormal vital sign value. For example, the call communication function control unit 330 sends information notifying the abnormal vital sign value of the care recipient to an external device (e.g., an information terminal (e.g., a smartphone) carried by the staff of the care institution or an information terminal in the staff's room) via the Wi-Fi router 213 and the facility LAN 214.

[0564] In response thereto, the external device notifies the staff of the abnormality of the vital sign value of the care recipient through at least one of visual, auditory, and tactile information, for example, based on the received information.

[0565] Thereafter, the processing proceeds to step S356.

[0566] Meanwhile, in step S354 , if the vital sign values ​​of the care recipient are all within the normal range, the script execution control unit 324 determines that the vital sign values ​​are normal, skips the processing in step S355 , and the processing proceeds to step S356 .

[0567] When it is determined in step S353 that the measurement error has occurred continuously at least the prescribed number of times, the processing in steps S354 and S355 is skipped, and the processing proceeds to step S356.

[0568] In step S356, care robot 11 records the vital sign values ​​of the care recipient. For example, call communication function control unit 330 sends vital sign information indicating the vital sign values ​​of the care recipient via Wi-Fi router 213 and facility LAN 214 to an information terminal running care recording software.

[0569] In response to this, the information terminal records the received vital sign information about the care recipient in the care record software. If a measurement error occurs, the occurrence of the measurement error is recorded in the care record software.

[0570] Thereafter, the process returns to step S351, and the process starting from step S351 is executed.

[0571] This enables the staff to quickly recognize any abnormality in the vital sign values ​​of the care recipient and take necessary measures. Therefore, appropriate measures can be taken quickly in response to, for example, a poor physical condition of the care recipient.

[0572] As described above, using humanized care, the care robot 11 can enable the care recipient 14 to have a conversation via a video call while improving the care recipient's 14 acceptance of the care robot 11 and the phone.

[0573] As described above, according to the present technology, the acceptance of the care recipient to the care performed by the care robot 11 can be improved. For example, the recognition and acceptance of the provided content by the care recipient can be improved. For example, in music therapy, it becomes easier for the care recipient to know in advance what song to sing, which makes it easier for them to sing the song. Therefore, high-quality care suitable for each care recipient can be provided.

[0574] This enables the care recipient to live a peaceful life in his / her own room when the staff is away or in the absence of the staff. The quality of life of the care recipient is improved. The pace of life of the care recipient can be adjusted, and the instability of the care recipient can be prevented. If the care recipient is a dementia patient, non-drug therapy that is expected to have the effect of slowing down the progression of dementia can be regularly implemented on the care recipient using the care robot 11.

[0575] Additionally, staff can feel safe performing their nursing duties, and the entire nursing operation can become more efficient, thereby reducing costs.

[0576] <<2. Modifications>>

[0577] Hereinafter, modifications of the aforementioned embodiments of the present technology will be described.

[0578] In the above example, the care robot 11 operates autonomously, but the care robot 11 can be operated by an external information processing device such as a mobile information terminal or a cloud server through remote control. In this case, all or part of the functions of the robot's internal PC 235 (e.g., the action control unit 264) are set in the external device.

[0579] The shape, specifications, etc. of the care robot can be appropriately changed according to the content and purpose of care.

[0580] The path that the care robot 11 takes to approach the care recipient 14 is not limited to Fig.19 The examples shown are examples and can be modified as needed. For example, the care robot 11 can be configured to stop at four or more positions.

[0581] <<3. Others>>

[0582] <Exemplary Computer Configuration>

[0583] The above series of processes can be performed by hardware or software. When the series of processes are performed by software, the program constituting the software is installed in the computer. Here, the computer includes a computer embedded in dedicated hardware, or, for example, a general-purpose personal computer capable of performing various functions by installing various programs.

[0584] Fig.41 : is a block diagram showing an example of the hardware configuration of a computer that executes the above-described series of processes according to a program.

[0585] In the computer 1000 , a central processing unit (CPU) 1001 , a read only memory (ROM) 1002 , and a random access memory (RAM) 1003 are connected to each other via a bus 1004 .

[0586] The input / output interface 1005 is also connected to the bus 1004. An input unit 1006, an output unit 1007, a storage unit 1008, a communication unit 1009, and a drive 1010 are connected to the input / output interface 1005.

[0587] The input unit 1006 includes, for example, an input switch, a button, a microphone, and an imaging element. The output unit 1007 includes, for example, a display and a speaker. The storage unit 1008 includes, for example, a hard disk and a nonvolatile memory. The communication unit 1009 may be a network interface. The drive 1010 drives a removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory.

[0588] In the computer 1000 configured as described above, for example, the CPU 1001 loads a program recorded in the storage unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004 and executes the program to perform the above-described series of processing.

[0589] The program executed by the computer (CPU 1001) can be recorded on, for example, the removable medium 1011 as a package medium to be provided. The program can also be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

[0590] In the computer 1000, the program can be installed in the storage unit 1008 via the input / output interface 1005 by inserting the removable medium 1011 into the drive 1010. In addition, the program can be received by the communication unit 1009 via a wired or wireless transmission medium and installed in the storage unit 1008. Alternatively, the program may be pre-installed in the ROM 1002 or the storage unit 1008.

[0591] Note that the program executed by the computer may be a program that performs processing chronologically in the order described in this specification, or may be a program that performs processing in parallel or at necessary timing such as a calling time.

[0592] In this specification, a system means a collection of multiple constituent elements (devices, modules (components), etc.), and all constituent elements may or may not be included in the same housing. Therefore, multiple devices housed in separate housings and connected via a network and a device in which multiple modules are housed in one housing both constitute a system.

[0593] Furthermore, the embodiments of the present technology are not limited to the above-mentioned embodiments, and various modifications can be made without departing from the gist of the present technology.

[0594] For example, the present technology may be configured as cloud computing in which a plurality of devices share and collaboratively process one function via a network.

[0595] In addition, each step described in the above flowchart may be performed by one device, or may be performed by a plurality of devices in a shared manner.

[0596] Furthermore, in the case where one step includes a plurality of processes, the plurality of processes included in one step may be executed by one device, or may be executed by a plurality of devices in a shared manner.

[0597] <Configuration combination example>

[0598] The present technology may also have the following configurations. (1)

[0600] A care robot includes: an action control unit configured to execute a cognitive method of gradually reducing a care recipient's cognitive distance from content provided in an application for providing care to the care recipient, and then provide the content. (2)

[0602] The care robot according to (1), wherein the motion control unit executes a physical method of gradually reducing the physical distance from the care recipient before executing the cognitive method. (3)

[0604] A care robot according to (2), wherein the motion control unit causes the care robot to gradually approach the care recipient while performing at least one speaking movement including at least one of speaking and moving at each of a plurality of positions at different distances. (4)

[0606] The care robot according to (3), wherein the motion control unit performs at least one speaking movement at a first position and then moves the care robot to a second position closer to the care recipient than the first position. (5)

[0608] The care robot according to (4), further comprising: a sensor information processing unit configured to detect a gaze from the care recipient to the care robot based on information from the sensor,

[0609] in,

[0610] The motion control unit performs a first speaking motion, and then controls the execution of a subsequent second speaking motion according to the presence or absence of a gaze from the care recipient to the care robot. (6)

[0612] The care robot according to (5), wherein, after performing the first speaking movement, if the care recipient looks at the care robot, the motion control unit performs the second speaking movement. (7)

[0614] A care robot according to (5) or (6), wherein, after performing a first speaking movement, if the care recipient speaks, the motion control unit performs a response movement including a response to the care recipient's speech before performing a second speaking movement. (8)

[0616] The care robot according to (7), wherein, after performing the first speaking movement, if the care recipient speaks while looking at the care robot, the motion control unit performs a response movement before performing the second speaking movement. (9)

[0618] The care robot according to (7), wherein the motion control unit selects a response to be executed according to a phrase included in the speech of the care recipient. (10)

[0620] A care robot according to any one of (5) to (9), wherein, after performing the first speaking movement, if the care recipient does not look at the care robot, the motion control unit performs at least a part of the first speaking movement again. (11)

[0622] A care robot according to (10), wherein, after performing a first speaking movement, if the care recipient is not looking at the care robot, the motion control unit performs an additional movement for encouraging the care recipient to look, and performs at least a portion of the first speaking movement again. (12)

[0624] A care robot according to (10) or (11), wherein, after performing the first speaking movement, if the care recipient is not looking at the care robot, the motion control unit performs at least a part of the first speaking movement again using a different voice. (13)

[0626] The care robot according to any one of (10) to (12), wherein the motion control unit ends the application if the care recipient does not look at the care robot for at least a prescribed period of time. (14)

[0628] The care robot according to any one of (1) to (13), wherein the motion control unit guides the care recipient to the content by presenting information related to the content. (15)

[0630] A care robot according to (14), wherein the action control unit presents information related to the content by at least one of: transmitting directional information related to the content, asking questions related to the content, and transmitting information directly representing the content. (16)

[0632] A care robot according to (14) or (15), wherein the motion control unit guides the care recipient to the content through at least one of: reality orientation, cognitive stimulation therapy, introduction to the content, and explanation of the content. (17)

[0634] The care robot according to any one of (1) to (16), wherein, upon detecting a motion of the care recipient standing up from a seat, the motion control unit notifies an external device of the motion of the care recipient standing up. (18)

[0636] A nursing robot according to any one of (1) to (17), wherein, when an abnormality in the vital sign value of the care recipient is detected when executing an application for measuring the vital sign value of the care recipient, the action control unit notifies an external device of the abnormality in the vital sign value of the care recipient. (19)

[0638] A method for controlling a care robot configured to execute an application for providing care to a care recipient, the method comprising causing the care robot to execute a cognitive method that gradually reduces the care recipient's cognitive distance from content to be provided in the application, and then providing the content. (20)

[0640] An information processing device includes: an action control unit configured to cause a care robot executing an application for providing care to a care recipient to execute a cognitive method of gradually reducing the care recipient's cognitive distance to content to be provided in the application, and then provide the content.

[0641] The beneficial effects described in this specification are merely exemplary and not restrictive, and other beneficial effects may be obtained.

[0642] Reference numerals list

[0643] 11 Nursing robot, 14 Nursing recipient, 21 Head, 63L, 63R Hand, 71 Cart, 81 Head sensor, 82 Chest sensor, 83L, 83R Hand sensor, 91 Handheld display, 113F Front wheel, 113B Rear wheel, 113L Left wheel, 113R Right wheel, 114F to 114R Dampers, 115F to 115R Springs, 201 Robot operating system, 231 Distance image sensor, 232 Microphone, 233 Vital sign sensor, 234 LiD AR, 235 PC inside the robot, 238 speaker, 239 actuator, 242 cart drive unit, 243 actuator, 261 sensor information management unit, 263 application control unit, 264 action control unit, 281 image information processing unit, 282 sound information processing unit, 324 script execution control unit, 325 tracking motion control unit, 326 motor drive control unit, 327 sound output control unit, 328 navigation control unit, 330 call communication function control unit

Claims

1. A nursing robot, comprising: An action control unit configured to execute a cognitive method of gradually reducing a care recipient's cognitive distance from content provided in an application for providing care to the care recipient, and then provide the content.

2. The nursing robot according to claim 1, wherein: The action control unit executes a physical method of gradually reducing a physical distance from the care recipient before executing the cognitive method.

3. The nursing robot according to claim 2, wherein: The motion control unit causes the care robot to gradually approach the care recipient while performing at least one speaking movement including at least one of speaking and moving at each of a plurality of positions at different distances.

4. The nursing robot according to claim 3, wherein: The motion control unit performs the at least one speaking motion at a first position and then moves the care robot to a second position that is closer to the care recipient than the first position.

5. The nursing robot according to claim 4, further comprising: a sensor information processing unit configured to detect a gaze from the care recipient to the care robot based on information from a sensor, in, The motion control unit performs a first speaking motion, and then controls the performance of a subsequent second speaking motion according to the presence or absence of a gaze from the care recipient to the care robot.

6. The nursing robot according to claim 5, wherein: After performing the first speaking motion, if the care recipient looks at the care robot, the motion control unit performs the second speaking motion.

7. The nursing robot according to claim 5, wherein: After performing the first speaking motion, if the care recipient speaks, the motion control unit performs a response motion including a response to the care recipient's speaking before performing the second speaking motion.

8. The nursing robot according to claim 7, wherein: After performing the first speaking movement, if the care recipient speaks while looking at the care robot, the motion control unit performs the response movement before performing the second speaking movement.

9. The nursing robot according to claim 7, wherein: The action control unit selects a response to be executed according to a phrase included in the utterance of the care recipient.

10. The nursing robot according to claim 5, wherein: After performing the first speaking motion, if the care recipient does not look at the care robot, the motion control unit performs at least a part of the first speaking motion again.

11. The nursing robot according to claim 10, wherein: After performing the first speaking motion, if the care recipient is not looking at the care robot, the motion control unit performs an additional motion for encouraging the care recipient to look, and performs at least a portion of the first speaking motion again.

12. The nursing robot according to claim 10, wherein: After performing the first speaking motion, if the care recipient does not look at the care robot, the motion control unit performs at least a part of the first speaking motion again using a different voice.

13. The nursing robot according to claim 10, wherein: The action control unit ends the application if the care recipient does not look at the care robot for at least a prescribed period of time.

14. The nursing robot according to claim 1, wherein: Before providing the content, the action control unit guides the care recipient to the content by presenting information related to the content.

15. The nursing robot according to claim 14, wherein: The action control unit presents the information related to the content by at least one of: transmitting directional information related to the content, asking questions related to the content, and transmitting information directly representing the content.

16. The nursing robot according to claim 14, wherein: The motion control unit directs the care recipient to the content through at least one of: reality orientation, cognitive stimulation therapy, an introduction to the content, and an explanation of the content.

17. The nursing robot according to claim 1, wherein: Upon detecting a motion of the care recipient standing up from a seat, the motion control unit notifies an external device of the care recipient's standing up motion.

18. The nursing robot according to claim 1, wherein: The action control unit notifies an external device of the abnormality in the vital sign value of the care recipient when an abnormality in the vital sign value of the care recipient is detected while executing an application for measuring the vital sign value of the care recipient.

19. A method for controlling a care robot, wherein the care robot is configured to execute an application for providing care to a care recipient, the method comprising causing the care robot to execute a cognitive method that gradually reduces the care recipient's cognitive distance from content to be provided in the application, and then providing the content.

20. An information processing device, comprising: An action control unit configured to cause a care robot executing an application for providing care to a care recipient to execute a cognitive method of gradually reducing a cognitive distance of the care recipient to content to be provided in the application, and then provide the content.

Images