Display control device, display control system, display method, and program

Abstract

The invention discloses a display control device, a display control system, a display method, and a program. In a terminal device (50), a control unit (510) executes an action corresponding to an event. Information of a parameter related to the robot (200) and varying according to the event is obtained. The control unit (510) generates total information of the parameters in the target period on the basis of the acquired information of the parameters. The control unit (510) displays the generated total information on a display unit (540).

Description

Technical Field

[0001] The present invention relates to a display control device, a display control system, a display method and a program. Background Art

[0002] Among robots that simulate living things such as pets, humans, etc., there are known robots that perform actions corresponding to events. For example, in Japanese Patent Publication No. 2020-032014, regarding a robot that changes one or more emotional parameters according to an event, an autonomous action robot is disclosed, which generates a reaction report when the emotional parameter meets a specified psychological condition and provides the reaction report to a user. Summary of the invention

[0003] Problem that the invention aims to solve

[0004] In a robot that performs behavior according to an event as described above, it is desirable to allow a user to more easily check a record of the event.

[0005] The present disclosure is made to solve the above-mentioned problems, and its object is to provide a display control device, a display control system, a display method, and a program that allow a user to easily confirm a record of an event in a robot that performs a behavior corresponding to the event.

[0006] Solutions for solving problems

[0007] In order to achieve the above object, one embodiment of the display control device according to the present invention is characterized in that:

[0008] It has one or more control units, wherein the control unit

[0009] acquiring information of a parameter, the parameter being a parameter related to a robot that performs a behavior corresponding to an event and being a parameter that changes according to the event,

[0010] Based on the acquired information of the parameter, generating summary information of the parameter during the target period,

[0011] The generated total information is displayed on a display unit.

[0012] Effects of the Invention

[0013] According to the present invention, it is possible for a user to easily check a record of an event in a robot that performs a behavior corresponding to the event. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a diagram schematically showing the overall configuration of the robot system according to the first embodiment.

[0015] Figure 2 This is a cross-sectional view of the robot according to Embodiment 1 as viewed from the side.

[0016] Figure 3 This is a block diagram showing the structure of the robot according to the first embodiment.

[0017] Figure 4 This is a block diagram showing the configuration of a terminal device according to the first embodiment.

[0018] Figure 5 This is a diagram showing an example of an emotion map according to Implementation Example 1.

[0019] Figure 6 This is a diagram showing an example of a character value radar chart according to the first embodiment.

[0020] Figure 7 This is a diagram showing an example of behavior information according to the first embodiment.

[0021] Figure 8 This is a diagram showing an example of log information according to the first embodiment.

[0022] Fig. 9 This is a diagram showing an example of the event classification table according to the first embodiment.

[0023] Fig.10 This is a diagram showing a display example of a diary screen according to the first embodiment.

[0024] Fig.11 This is a diagram showing a display example of a total screen according to the first embodiment.

[0025] Fig.12 This is a diagram showing a display example of total information of friendship points according to the first embodiment.

[0026] Fig.13 This is a diagram showing a display example of summary information of personality parameters according to the first embodiment.

[0027] Fig.14 This is a diagram showing a display example of summary information of emotion parameters involved in Implementation Example 1.

[0028] Fig.15 This is a diagram showing a display example of first total information of the number of event occurrences according to the first embodiment.

[0029] Fig.16 This is a diagram showing a display example of the second total information of the number of event occurrences according to the first embodiment.

[0030] Fig.17 1 is a diagram showing a display example of total sleep time information according to the first embodiment.

[0031] Fig.18 This is a flowchart showing the flow of robot control processing according to the first embodiment.

[0032] Fig.19 This is a flowchart showing the flow of the behavior control process according to the first embodiment.

[0033] Fig. 20 This is a flowchart showing the flow of display processing according to Embodiment 1. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In addition, the same reference numerals are given to the same or corresponding parts in the drawings.

[0035] (Implementation Method 1)

[0036] Figure 1 2 schematically shows a configuration of a robot system 1 according to Embodiment 1. The robot system 1 includes a robot 200 and a terminal device 50. The robot 200 is an example of a robot according to Embodiment 1.

[0037] The robot 200 involved in the first embodiment has the same exterior 201, decorative part 202, thick hair 203, head 204, connecting part 205, trunk 206, housing 207, touch sensor 211, acceleration sensor 212, microphone 213, illumination sensor 214 and speaker 231 as the robot 200 disclosed in Japanese Patent Application Publication No. 2023-115370, and the description thereof is omitted. In addition, the shape of the head 204 may be Figure 2 The shape shown may also be the shape described in Japanese Patent Publication No. 2023-115370, for example Figure 2 The shape disclosed in .

[0038] The robot 200 according to the first embodiment includes the same torsion motor 221 and up-down motor 222 as the robot 200 disclosed in Japanese Patent Application Laid-Open No. 2023-115370, and the description thereof is omitted. The torsion motor 221 and up-down motor 222 of the robot 200 according to the first embodiment operate in the same manner as the robot 200 disclosed in Japanese Patent Application Laid-Open No. 2023-115370.

[0039] The robot 200 has a gyro sensor 215. The robot 200 can detect changes in the posture of the robot 200 itself through the acceleration sensor 212 and the gyro sensor 215, and can also detect being lifted by the user, or changing the direction, or being thrown. The robot 200 can detect the illumination around the robot 200 through the illumination sensor 214.

[0040] In addition, at least a part of the acceleration sensor 212 , microphone 213 , gyro sensor 215 , illuminance sensor 214 , and speaker 231 are not limited to being set on the trunk 206 , but may also be set on the head 204 , or may be set on both the trunk 206 and the head 204 .

[0041] Next, refer to Figure 3 The functional structure of the robot 200 is described below. Figure 3 As shown, the robot 200 includes a control device 100, a sensor unit 210, a drive unit 220, an output unit 230, and an operation unit 240. These units are connected via a bus BL as an example. In addition, a wired interface such as a USB (Universal Serial Bus) cable or a wireless interface such as Bluetooth (registered trademark) may be used instead of the bus BL.

[0042] The control device 100 is a device that controls the robot 200. The control device 100 includes a control unit 110, a storage unit 120, and a communication unit 130.

[0043] The control unit 110 includes a CPU (Central Processing Unit). The CPU is, for example, a microprocessor, and is a central processing unit that performs various processes and calculations. In the control unit 110, the CPU reads out the control program stored in the ROM, uses the RAM as a working memory, and controls the overall movement of the robot 200 as the device. In addition, although not shown in the figure, the control unit 110 includes a clock function, a timer function, etc., and can count the date and time, etc. The control unit 110 can also be called a "processor".

[0044] The storage unit 120 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, etc. The storage unit 120 stores programs and data used by the control unit 110 to perform various processes, including an OS (Operating System) and application programs. In addition, the storage unit 120 stores data generated or acquired by the control unit 110 performing various processes.

[0045] The communication unit 130 includes a communication interface for communicating with external devices of the robot 200. For example, the communication unit 130 communicates with external devices including the terminal device 50 in accordance with well-known communication standards such as wireless LAN (Local Area Network), BLE (Bluetooth Low Energy; registered trademark), and NFC (Near Field Communication).

[0046] The sensor unit 210 includes the aforementioned touch sensor 211, the acceleration sensor 212, the gyro sensor 215, the illuminance sensor 214, and the microphone 213. The sensor unit 210 is an example of a detection unit that detects an external stimulus.

[0047] The touch sensor 211 includes, for example, a pressure sensor or an electrostatic capacitance sensor, and detects contact with a certain object. The control unit 110 can detect, based on the detection value of the touch sensor 211 , that the robot 200 is being touched or patted by the user.

[0048] The acceleration sensor 212 detects acceleration applied to the trunk 206 of the robot 200. The acceleration sensor 212 detects acceleration in each of the X-axis direction, the Y-axis direction, and the Z-axis direction, that is, three-axis acceleration.

[0049] For example, the acceleration sensor 212 detects gravity acceleration when the robot 200 is stationary. The control unit 110 can detect the current posture of the robot 200 based on the gravity acceleration detected by the acceleration sensor 212. In other words, the control unit 110 can detect whether the housing 207 of the robot 200 is tilted from the horizontal direction based on the gravity acceleration detected by the acceleration sensor 212. In this way, the acceleration sensor 212 functions as an inclination detection unit that detects the inclination of the robot 200.

[0050] Furthermore, when the user lifts or throws the robot 200, the acceleration sensor 212 detects not only the gravitational acceleration but also the acceleration accompanying the movement of the robot 200. Therefore, the control unit 110 can detect the movement of the robot 200 by removing the gravitational acceleration component from the detection value detected by the acceleration sensor 212.

[0051] The gyro sensor 215 detects the angular velocity when rotation is applied to the trunk 206 of the robot 200. Specifically, the gyro sensor 215 detects the angular velocity of three-axis rotations, namely, rotation about the X-axis direction, rotation about the Y-axis direction, and rotation about the Z-axis direction. By combining the detection value detected by the acceleration sensor 212 with the detection value detected by the gyro sensor 215, the motion of the robot 200 can be detected with higher accuracy.

[0052] Furthermore, the touch sensor 211 , the acceleration sensor 212 , and the gyro sensor 215 detect the intensity, acceleration, and angular velocity of contact at synchronized timings (for example, every 0.25 seconds), and output the detection values ​​to the control unit 110 .

[0053] The microphone 213 detects sounds around the robot 200. Based on the components of the sounds detected by the microphone 213, the control unit 110 can detect, for example, that the user has called out to the robot 200 or clapped his hands.

[0054] The illuminance sensor 214 detects the illuminance around the robot 200. The control unit 110 can detect whether the surroundings of the robot 200 have become brighter or darker based on the illuminance detected by the illuminance sensor 214.

[0055] The control unit 110 acquires detection values ​​detected by various sensors provided in the sensor unit 210 as external stimuli via the bus BL. The external stimuli are stimuli acting on the robot 200 from the outside of the robot 200. Examples of the external stimuli include "loud sound", "being talked to", "being touched", "being lifted up", "being turned upside down", "becoming brighter", "becoming darker", etc.

[0056] For example, the control unit 110 obtains external stimuli caused by "loud sound" or "being talked to" through the microphone 213, and obtains external stimuli caused by "being touched" through the touch sensor 211. In addition, the control unit 110 obtains external stimuli caused by "being lifted", "being held" or "being turned upside down" through the acceleration sensor 212 and the gyro sensor 215, and obtains external stimuli caused by "becoming brighter" or "becoming darker" through the illumination sensor 214.

[0057] The sensor unit 210 may include sensors other than the touch sensor 211, the acceleration sensor 212, the gyro sensor 215, and the microphone 213. By increasing the types of sensors included in the sensor unit 210, the types of external stimuli that the control unit 110 can acquire can be increased.

[0058] The driving unit 220 includes a twisting motor 221 and an up-and-down motor 222, and is driven by the control unit 110. The twisting motor 221 is a servo motor for rotating the head 204 in the left-right direction (width direction) relative to the trunk 206 with the front-and-back direction as an axis. The up-and-down motor 222 is a servo motor for rotating the head 204 in the up-and-down direction (height direction) relative to the trunk 206 with the left-and-right direction as an axis. The robot 200 can perform an action of twisting the head 204 laterally by means of the twisting motor 221, and can perform an action of raising and lowering the head 204 by means of the up-and-down motor 222.

[0059] The output unit 230 includes a speaker 231, and the control unit 110 inputs sound data to the output unit 230, and the sound is output from the speaker 231. For example, the control unit 110 inputs the data of the chirping sound of the robot 200 to the output unit 230, and the robot 200 emits a virtual chirping sound.

[0060] Furthermore, the output unit 230 may include a display such as a liquid crystal display or a light emitting unit such as an LED (Light Emitting Diode) instead of the speaker 231 or in addition to the speaker 231, so that emotions such as joy and sadness can be displayed on the display or expressed by the color or brightness of the emitted light.

[0061] The operation unit 240 includes operation buttons, a volume knob, etc. The operation unit 240 is an interface for receiving user operations such as turning on and off the power supply and adjusting the volume of the output sound.

[0062] The battery 250 is a rechargeable secondary battery that stores power to be used in the robot 200. The battery 250 is charged when the robot 200 moves to a charging station.

[0063] The position information acquisition unit 260 includes a position information sensor based on GPS (Global Positioning System) or the like, and acquires the current position information of the robot 200. The position information acquisition unit 260 is not limited to GPS, and may acquire the position information of the robot 200 by a general method using wireless communication, or may acquire the position information of the robot 200 by application software of the terminal device 50.

[0064] The control unit 110 functionally includes a state parameter acquisition unit 112 as an example of a state parameter acquisition unit, a behavior control unit 113 as an example of a behavior control unit, and a log information update unit 114 as an example of a log information update unit. In the control unit 110, the CPU performs control by reading a program stored in the ROM to the RAM and executing the program, thereby functioning as each of these units. In addition, in the control unit 110, it is not limited to a single CPU functioning as each unit, and multiple CPUs can also function as each unit together. In addition, the storage unit 120 stores behavior information 121, state parameters 122, log information 123, and a coefficient table 124.

[0065] Next, refer to Figure 4 The configuration of the terminal device 50 is described below. The terminal device 50 is an operation terminal operated by a user. The terminal device 50 is, for example, a general-purpose information processing device such as a smart phone, a tablet terminal, and a wearable terminal. Figure 4 As shown, the terminal device 50 includes a control unit 510, a storage unit 520, an operation unit 530, a display unit 540, and a communication unit 550. The terminal device 50 is an example of a display control device that displays an object related to the robot 200. The robot system 1 is an example of a display control system.

[0066] The control unit 510 includes a CPU. In the control unit 110, the CPU reads out the control program stored in the ROM, uses the RAM as a working memory, and controls the overall operation of the terminal device 50. The control unit 510 may also be referred to as a "processor."

[0067] The storage unit 520 includes a ROM, a RAM, a flash memory, etc. The storage unit 520 stores programs and data used by the control unit 510 to perform various processes. In addition, the storage unit 520 stores data generated or acquired by the control unit 510 when performing various processes.

[0068] The operation unit 530 includes an input device such as a touch panel, a touch pad, or a physical button, and receives operation input from a user.

[0069] The display unit 540 includes a display device such as a liquid crystal display, and displays various images under the control of the control unit 510. The display unit 540 is an example of a display unit.

[0070] The communication unit 550 includes a communication interface for communicating with external devices of the terminal device 50. For example, the communication unit 550 communicates with external devices including the robot 200 in compliance with a known communication standard such as wireless LAN, BLE (registered trademark), or NFC.

[0071] The control unit 510 functionally includes a log information acquisition unit 512 as an example of a log information acquisition unit, a totaling unit 513 as an example of a totaling unit, and a display control unit 514 as an example of a display control unit. In the control unit 510, the CPU performs control by reading a program stored in the ROM to the RAM and executing the program, thereby performing functions as these parts. In addition, in the control unit 510, it is not limited to a single CPU to function as each part, and multiple CPUs can also function as each part together. In addition, the storage unit 520 stores an event classification table 521.

[0072] Return to Figure 3 In the control device 100 of the robot 200, the state parameter acquisition unit 112 acquires the state parameter 122. The state parameter 122 is a parameter for indicating the state of the robot 200. Specifically, the state parameter 122 includes (1) an emotion parameter, (2) a personality parameter, (3) a remaining battery level, (4) a current location, (5) a current time, and (6) growth days (nurturing days).

[0073] (1) Emotional parameters

[0074] The emotion parameter is a parameter indicating the virtual emotion of the robot 200. The emotion parameter is expressed by coordinates (X, Y) on the emotion map 300.

[0075] like Figure 5 As shown, the emotion map 300 is represented by a two-dimensional coordinate system having an axis of security (uneasiness) as the X-axis and an axis of excitement (listlessness) as the Y-axis. The origin (0, 0) on the emotion map represents the emotion at normal times. If the value of the X coordinate (X value) is positive and its absolute value is larger, it indicates a higher emotion of security, and if it is negative and its absolute value is larger, it indicates a higher emotion of uneasiness. If the value of the Y coordinate (Y value) is positive and its absolute value is larger, it indicates a higher emotion of excitement, and if it is negative and its absolute value is larger, it indicates a higher emotion of listlessness.

[0076] The emotion parameter represents a plurality of (four in this embodiment) different virtual emotions.

[0077] exist Figure 5In the figure, the values ​​representing virtual emotions, namely, peace of mind and uneasiness, are summarized on one axis (X-axis), and excitement and listlessness are summarized on another axis (Y-axis). Therefore, the emotion parameter has two values, namely, X value (peace of mind, uneasiness) and Y value (excitement, listlessness), and the points on the emotion map 300 represented by the X value and the Y value represent the virtual emotion of the robot 200. The initial value of the emotion parameter is (0, 0). The emotion map 300 is divided into nine zones, namely, "joy zone", "peace of mind zone", "calm zone", "excitement zone", "normal zone", "listlessness zone", "anxiety zone", "uneasiness zone", and "sad zone", according to the X value and the Y value. These nine zones are, for example, Figure 5 In the example, the boundary line is shown as a dotted line. Figure 5 In the figure, the emotion map 300 is represented by a two-dimensional coordinate system, but the dimension of the emotion map 300 is arbitrary, for example, it can be one-dimensional or three-dimensional.

[0078] The state parameter acquisition unit 112 calculates the emotion change amount as the amount of change caused by increasing or decreasing the X value and the Y value of the emotion parameter. The emotion change amount is expressed by the following four variables.

[0079] DXP: ease of feeling at ease (the ease with which the X value in the emotional map changes in a positive direction)

[0080] DXM: Ease of anxiety (the ease with which the X value in the emotional map changes in the negative direction)

[0081] DYP: Degree of excitability (the ease with which the Y value in the emotional map changes in the positive direction)

[0082] DYM: Desire to be listless (the ease with which the Y value in the emotional map changes in the negative direction)

[0083] The state parameter acquisition unit 112 updates the emotion parameter by adding or subtracting the current emotion parameter from the value corresponding to the external stimulus among the emotion change amounts DXP, DXM, DYP, and DYM. For example, when the head 204 is stroked, the virtual emotion of the robot 200 is reassurance, so the state parameter acquisition unit 112 adds DXP to the X value of the emotion parameter. On the contrary, when the head 204 is patted, the virtual emotion of the robot 200 becomes uneasy, so the state parameter acquisition unit 112 subtracts DXM from the X value of the emotion parameter. It is possible to arbitrarily set what kind of emotion change amount is associated with various external stimuli. An example is shown below.

[0084] The head 204 is touched (reassurance): X = X + DXP

[0085] Head 204 is slapped (becomes restless): X = X-DXM

[0086] (These external stimuli can be detected by the touch sensor 211 of the head 204)

[0087] The trunk 206 is touched (excited): Y = Y + DYP

[0088] The trunk 206 is slapped (becomes listless): Y = Y-DYM

[0089] (These external stimuli can be detected by the touch sensor 211 of the torso 206)

[0090] Being held head up (joy): X = X + DXP and Y = Y + DYP

[0091] Suspended upside down (sad): X = X-DXM and Y = Y-DYM

[0092] (These external stimuli can be detected by the touch sensor 211 and the acceleration sensor 212)

[0093] Called by a gentle voice (becomes calm): X = X + DXP and Y = Y - DYM

[0094] Being yelled at (anxious): X = X-DXM and Y = Y+DYP

[0095] (These external stimuli can be detected by microphone 213)

[0096] The sensor unit 210 acquires a plurality of external stimuli of different types through a plurality of sensors. The state parameter acquisition unit 112 derives various emotion variation amounts from each of the plurality of external stimuli, and sets emotion parameters based on the derived emotion variation amounts.

[0097] The initial value of each value of the emotion change amount DXP, DXM, DYP, and DYM is 10, and the maximum value increases to 20. The state parameter acquisition unit 112 updates each variable of the emotion change amount DXP, DXM, DYP, and DYM according to the external stimulus detected by the sensor unit 210. Specifically, if the X value of the emotion parameter is set to the maximum value of the emotion map 300 once in a day, the state parameter acquisition unit 112 adds 1 to DXP, and if the Y value of the emotion parameter is set to the maximum value of the emotion map 300 once in a day, the state parameter acquisition unit 112 adds 1 to DYP. In addition, if the X value of the emotion parameter is set to the minimum value of the emotion map 300 once in a day, the state parameter acquisition unit 112 adds 1 to DXM, and if the Y value of the emotion parameter is set to the minimum value of the emotion map 300 once in a day, the state parameter acquisition unit 112 adds 1 to DYM.

[0098] In this way, the state parameter acquisition unit 112 changes the emotion change amount according to whether the value of the emotion parameter reaches the maximum value or the minimum value of the emotion map 300. Through such an update process, the emotion change amount, that is, the degree of change of the emotion changes. For example, if only the head 204 is stroked multiple times, only the emotion change amount DXP increases, and other emotion change amounts do not change. Therefore, the robot 200 becomes a character that is easy to feel at ease. In addition, if only the head 204 is patted multiple times, only the emotion change amount DXM increases, and other emotion change amounts do not change. Therefore, the robot 200 becomes a character that is easy to feel uneasy. In this way, the state parameter acquisition unit 112 changes the emotion change amount according to various external stimuli.

[0099] (2) Personality parameters

[0100] The personality parameter is a parameter indicating the virtual personality of the robot 200. The personality parameter includes a plurality of personality values ​​indicating the degree of each of the different personalities. The state parameter acquisition unit 112 changes the plurality of personality values ​​included in the personality parameter according to the external stimulus detected by the sensor unit 210.

[0101] Specifically, the state parameter acquisition unit 112 calculates four personality values ​​according to the following (Formula 1). That is, the value obtained by subtracting 10 from DXP indicating ease of comfort is used as the personality value (cheerful), the value obtained by subtracting 10 from DXM indicating ease of anxiety is used as the personality value (shy), the value obtained by subtracting 10 from DYP indicating ease of excitation is used as the personality value (lively), and the value obtained by subtracting 10 from DYM indicating ease of listlessness is used as the personality value (squeamish).

[0102] Personality value (cheerful) = DXP-10

[0103] Personality value (shy) = DXM-10

[0104] Personality value (lively) = DYP-10

[0105] Personality value (squeamish) = DYM-10

[0106] …(Formula 1)

[0107] Therefore, if Figure 6 As shown in FIG. 4 , by plotting the personality value (cheerful) on the first axis, the personality value (lively) on the second axis, the personality value (shy) on the third axis, and the personality value (squeamish) on the fourth axis, it is possible to generate a personality value radar chart 400. Since the initial value of each variable of the emotion change amount is 10 and increases to a maximum of 20, the range of the personality value is between 0 and 10.

[0108] Since the initial value of each personality value is 0, the personality of the robot 200 at birth is represented by the origin of the personality value radar graph 400. Then, as the robot 200 grows, the four personality values ​​change with 10 as the upper limit due to external stimuli detected by the sensor unit 210 (how the user treats the robot 200). Thus, 11 to the fourth power = 14641 types of personality can be expressed. In this way, the robot 200 has various personalities depending on how the user treats the robot 200. In other words, the personality of the robot 200 is formed differently depending on how the user treats the robot 200.

[0109] These four personality values ​​are fixed after the robot 200 has completed its virtual growth through childhood. In the subsequent adult stage, the personality needs to be corrected according to the way the user treats the robot 200, so the state parameter acquisition unit 112 adjusts the four personality correction values ​​(cheerful correction value, lively correction value, shy correction value, and delicate correction value).

[0110] The state parameter acquisition unit 112 adjusts the four personality correction values ​​based on which of the nine zones the longest existing zone of the emotion map 300 is. As an example, if the longest existing zone is the reassuring zone on the emotion map 300, the state parameter acquisition unit 112 adds 1 to the cheerfulness correction value and subtracts 1 from the shyness correction value. In addition, if the longest existing zone is the excitement zone on the emotion map 300, the state parameter acquisition unit 112 adds 1 to the liveliness correction value and subtracts 1 from the pampering correction value. In addition, the same is true for the case where the longest existing zone is another zone, and the state parameter acquisition unit 112 adjusts the four personality correction values ​​according to the zone.

[0111] When four personality correction values ​​are set, the state parameter acquisition unit 112 calculates the four personality values ​​according to the following (Formula 2).

[0112] Personality value (cheerfulness) = DXP-10 + cheerfulness correction value

[0113] Personality value (shy) = DXM-10 + shyness correction value

[0114] Personality value (lively) = DYP-10 + liveliness correction value

[0115] Personality value (squeamish) = DYM-10 + squeamish correction value

[0116] …(Formula 2)

[0117] (3)Battery level

[0118] The remaining battery level is the remaining power stored in the battery 250 and is a parameter indicating the virtual hunger level of the robot 200. The state parameter acquisition unit 112 acquires information on the current remaining battery level through a power supply control unit that controls charging and discharging of the battery 250.

[0119] (4) Current location

[0120] The current location is the location where the robot 200 is currently located. The state parameter acquisition unit 112 acquires information about the current location of the robot 200 through the location information acquisition unit 260. Specifically, the state parameter acquisition unit 112 refers to the past location information of the robot 200 to determine whether the current location is the robot's home, the first time the current location is a place that the robot 200 is visiting, the place that the robot is used to visiting, or the place that the robot is not used to visiting. Then, the state parameter acquisition unit 112 acquires the determination information as the current location.

[0121] (5) Current time

[0122] The current time is the current time of a specified country. The state parameter acquisition unit 112 acquires the current time through a clock mounted on the robot 200. Specifically, the state parameter acquisition unit 112 refers to the log of the on / off of the virtual sleep of the robot 200 to determine whether the current time is just after the wake-up time of the day, just before the bedtime, or in the nap time period.

[0123] (6) Growth days (nurturing days)

[0124] The number of days of growth indicates the number of days of virtual growth of the robot 200. The robot 200 is virtually born when it is first started by the user after being shipped from the factory, and grows from a child to an adult over a predetermined growth period (e.g., 50 days). The number of days of growth is equivalent to the number of days from the virtual birth of the robot 200. The growth period is called "childhood", and the period after the completion of the childhood is called "adulthood".

[0125] During the childhood period, every time the number of days of virtual growth of the robot 200 increases by one day, the state parameter acquisition unit 112 increases the maximum value and the minimum value of the emotion map 300 by 2. The initial value of the size of the emotion map 300 is that the maximum value of the X value and the Y value are both 100, and the minimum value is both -100. When the number of growth days has passed half of the childhood period (for example, 25 days), the maximum value of the X value and the Y value become 150, and the minimum value becomes -150. When the childhood period is passed, the virtual growth of the robot 200 stops. At this time, the maximum value of the X value and the Y value become 200, and the minimum value becomes -200. After that, the size of the emotion map 300 is fixed.

[0126] The settable range of the emotion parameter is determined by the emotion map 300. Therefore, as the size of the emotion map 300 increases, the range of the settable emotion parameter increases. By expanding the settable range of the emotion parameter, richer emotion expression can be achieved. Therefore, the virtual growth of the robot 200 is expressed by the expansion of the size of the emotion map 300.

[0127] Back to Figure 3 The behavior control unit 113 causes the robot 200 to perform various behaviors according to the situation based on the behavior information 121. The behavior information 121 is information that defines the behavior performed by the robot 200. Here, the behavior is the manners and actions of the robot 200. Specifically, Figure 7 As shown, the behaviors are "bowing", "beeping", "shaking head", "surprise", "joy", "sadness", etc. In addition, Figure 7 In addition to the behaviors shown, various behaviors such as "laughing", "getting angry", "sneezing", "breathing", etc. can be listed. Each behavior is composed of a combination of multiple elements output as motion or sound.

[0128] The action refers to the physical movement (motion) of the robot 200 executed by the driving unit 220. Specifically, the action is equivalent to moving the head 204 relative to the trunk 206 by the twist motor 221 or the up-and-down motor 222. The sound output refers to the output of various sounds such as beeps from the speaker 231 of the output unit 230.

[0129] like Figure 7 As shown, the behavior information 121 defines a behavior control parameter for each of the multiple behaviors that the robot 200 can perform. The behavior control parameter is a parameter for causing the robot 200 to perform each behavior. The behavior control parameter defines an action parameter or a chirp parameter and the time (milliseconds) for executing the element for each element constituting the behavior. The action parameter defines the action angle of the twist motor 221 and the action angle of the up-and-down motor 222. The chirp parameter defines the sound and volume.

[0130] As an example, when the robot 200 is caused to perform the "head-down" behavior, the behavior control unit 113 first controls the torsion motor 221 and the up-down motor 222 to an angle of 0 after 100 milliseconds, and controls the up-down motor 222 to an angle of -45 after another 100 milliseconds. When the robot 200 is caused to perform the "beeping" behavior, the behavior control unit 113 outputs a "beep" sound from the speaker 231 at a volume of 60 dB for 300 milliseconds. When the robot 200 is caused to perform the "shaking head" behavior, the behavior control unit 113 first controls the torsion motor 221 and the up-down motor 222 to an angle of 0 after 100 milliseconds, and controls the drive unit 220 so that the angle of the torsion motor 221 is 34 after another 100 milliseconds, and further controls the angle of the torsion motor 221 to -34 after another 100 milliseconds.

[0131] and, Figure 7 The behavior information 121 shown also defines behaviors such as "surprise", "joy", and "sadness" as more complex behaviors. In the case of making the robot 200 perform the "surprise" behavior, the behavior control unit 113 first controls the torsion motor 221 and the up-and-down motor 222 to an angle of 0 after 100 milliseconds, and then controls the up-and-down motor 222 to an angle of -24 after another 100 milliseconds. Furthermore, the behavior control unit 113 prevents them from rotating during the next 700 milliseconds, and then controls the torsion motor 221 to an angle of 34 and the up-and-down motor 222 to an angle of -24 after another 500 milliseconds. Furthermore, the behavior control unit 113 controls the torsion motor 221 to an angle of -34 after another 400 milliseconds, and then controls the torsion motor 221 and the up-and-down motor 222 to an angle of 0 after another 500 milliseconds. In addition, the behavior control unit 113 outputs a "wow" sound from the speaker 231 at a volume of 70 dB in parallel with the driving of the torsion motor 221 and the up-and-down motor 222. In addition, in parallel with the driving of the torsion motor 221 and the up-and-down motor 222, the behavior control unit 113 outputs a "wow" sound at a volume of 70 dB from the speaker 231. In addition, in Figure 7 The behavior control parameters for behaviors such as "joy" and "sadness" are omitted, but they are determined by the combination of the action (motion) performed by the twist motor 221 or the up and down motor 222 and the sound output (beep) from the speaker 231, just like "surprise".

[0132] The behavior information 121 determines the behavior that the robot 200 should perform through the combination of such motion or sound output (beep). The behavior information 121 may be pre-installed in the robot 200. Alternatively, the behavior information 121 may be freely created by the user operating the terminal device 50.

[0133] Each behavior defined in the behavior information 121 is previously associated with a trigger that is a condition for the robot 200 to execute the behavior. Specifically, the trigger can be various conditions such as "being touched", "being talked to", "being shaken", "being hugged", "being slapped", "being scolded", "being turned upside down", "becoming brighter", "becoming darker", etc.

[0134] These triggers are based on external stimuli and are detected by the sensor unit 210. For example, "being talked to" and "being scolded" are detected by the microphone 213. "Being touched" and "being slapped" are detected by the touch sensor 211. "Being shaken", "being held" and "being turned upside down" are detected by the acceleration sensor 212 or the gyro sensor 215. "Becoming brighter" and "becoming darker" are detected by the illuminance sensor 214. In addition, the trigger may also be a trigger that is not based on external stimuli, such as "it has come to a specific time" or "the robot 200 has moved to a specific place".

[0135] More specifically, the behavior control unit 113 determines that “being spoken to” when a relatively small sound is detected by the microphone 213, and determines that “being scolded” when a relatively large sound is detected by the microphone 213. In addition, the behavior control unit 113 determines that “being touched” when a relatively small value is detected by the touch sensor 211, and determines that “being slapped” when a relatively large value is detected by the touch sensor 211. Moreover, the behavior control unit 113 determines whether “being gently shaken”, “being strongly shaken”, “being hugged”, or “being turned upside down” based on the detection value of the acceleration sensor 212 or the gyro sensor 215.

[0136] The behavior control unit 113 determines whether any one of the triggers of the multiple behaviors defined by the behavior information 121 is established based on the detection results of the sensor unit 210, etc. If the result of the determination is that any one of the triggers is established, the robot 200 is caused to perform a behavior corresponding to the established trigger. In this way, the behavior control unit 113 causes the robot 200 to perform various behaviors according to the establishment of the trigger. As a result, for example, the user and the robot 200 can interact, such as performing a chirping behavior in response to a call from the user, performing a joyful behavior when being touched by the user, and performing a disgusting behavior when being turned upside down by the user. Hereinafter, the establishment of any one of the triggers for the robot 200 to perform a behavior is referred to as an "event."

[0137] More specifically, the behavior control unit 113 corrects the behavior control parameter determined by the behavior information 121 based on the state parameter 122 acquired by the state parameter acquisition unit 112. Thus, the behavior can be changed according to the current state of the robot 200, and a living being can be realistically simulated.

[0138] In order to correct the behavior control parameters, the behavior control unit 113 refers to the coefficient table 124. Although the coefficient table 124 is omitted in the figure, various correction coefficients are defined according to the states that the robot 200 can take. The behavior control unit 113 uses the correction coefficient corresponding to the current state of the robot 200 represented by the state parameter 122 acquired by the state parameter acquisition unit 112 to correct the behavior control parameters. Specifically, the behavior control unit 113 changes the time for executing each element constituting the behavior, the action angle of the action parameter, and the volume of the chirping sound parameter based on the value in the behavior information 121. As a result, the movement of the robot 200 becomes alert or slow, or the movement becomes larger or smaller, or the chirping sound becomes larger or smaller.

[0139] In this way, the behavior control unit 113 corrects the behavior control parameter based on the state parameter 122 acquired by the state parameter acquisition unit 112. And, the behavior control unit 113 drives the drive unit 220 or outputs a sound from the speaker 231 based on the corrected behavior control parameter, thereby causing the robot 200 to perform a behavior corresponding to the established trigger. By correcting the behavior control parameter based on the state parameter 122, even when the robot 200 performs the same behavior, differences will occur in the executed behavior according to the current state of the robot 200 (emotion, personality, battery remaining amount, current location, current time, etc.). For example, even when the robot 200 performs the same "joy" behavior, the executed behavior will be different when the virtual emotion belongs to "joy" and when the virtual emotion belongs to "anxiety". As a result, the behavior is not single and can express individuality.

[0140] Return to Figure 3 , the log information update unit 114 updates the log information 123. The log information 123 is information that records a log (history) of parameters related to the robot 200, which is an electronic device that performs a behavior corresponding to an event (success of a trigger).

[0141] The log information 123 records a log of parameters related to the robot 200 that performs various actions when such an event occurs. The parameter is a value that changes according to the event. Specifically, the parameter includes the number of occurrences of the event, an emotion parameter representing the virtual emotion of the robot 200, a personality parameter representing the virtual personality of the robot 200, and information related to the virtual sleep of the robot 200.

[0142] like Figure 8As shown, the log information 123 records the emotion parameter, personality parameter, number of event occurrences, battery remaining, and sleep on / off every 10 minutes. Specifically, the log information 123 records the X value and Y value on the emotion map 300 as emotion parameters, and records the above four personality values ​​as personality parameters. In addition, the log information 123 records the number of event occurrences according to the established trigger.

[0143] Whenever a predetermined time (e.g., 10 minutes) has passed, the log information updating unit 114 records the number of event occurrences during this period in the log information 123 as a trigger, and also records the emotion parameter, personality parameter, battery remaining level, and sleep on / off at that time point in the log information 123. In this way, the log information updating unit 114 continuously accumulates the log information 123.

[0144] Return to Figure 4 In the terminal device 50, the log information acquisition unit 512 acquires the log information 123 updated by the log information update unit 114. When the predetermined acquisition timing arrives, the log information acquisition unit 512 communicates with the control device 100 of the robot 200 via the communication unit 550 to acquire the log information 123. The acquisition timing of the log information 123 may be a regular timing such as once a day, or an appropriate timing when the log information 123 is needed.

[0145] For example, the log information acquisition unit 512 requests the robot 200 for log information 123 at the timing when an operation of displaying a diary screen as a record of the interaction between the user and the robot 200 is input to the terminal device 50. In response to such a request, the log information update unit 114 sends the latest log information 123 stored in the storage unit 120 to the terminal device 50. In addition, the log information update unit 114 is not limited to sending all the log information 123 stored in the storage unit 120 to the terminal device 50, and the difference data between the log information 123 sent to the terminal device 50 in the past may be sent to the terminal device 50. In this way, the log information acquisition unit 512 acquires the log information 123 sent from the robot 200.

[0146] The totaling unit 513 generates the totaling information of the parameters during the target period based on the log information 123 acquired by the log information acquisition unit 512. Here, the totaling information of the parameters during the target period is information that summarizes the change amount, transition, cumulative value, etc. of the parameters during the target period. The totaling information may also be statistical information such as the average value, maximum value, minimum value, etc. of the parameters during the target period. The totaling unit 513 totals the data recorded during the target period for each of the multiple parameters recorded in the log information 123 to generate the totaling information.

[0147] The target period is a period for which the parameter is to be aggregated, specifically, a period such as 1 day, 1 week, 1 month, 1 year, etc. The aggregation unit 513 generates aggregation information of the parameter in each of the plurality of target periods of different time lengths. Hereinafter, as an example, a case where the aggregation unit 513 generates aggregation information for each of three target periods of different time lengths, namely, 1 week from the current time point, 1 month from the current time point, and 1 year from the current time point (week, month, year) will be described.

[0148] First, the totaling unit 513 generates information indicating the virtual emotion of the robot 200 during the target period as total information of the emotion parameter. Specifically, the totaling unit 513 refers to the log information 123 and calculates the ratio of the length of time that the X value and the Y value of the emotion parameter during the target period are located in each of the nine areas on the emotion map 300. The nine areas are the "joy area", "reassurance area", "calm area", "excitement area", "normal area", "listlessness area", "anxiety area", "uneasiness area", and "sadness area" divided on the emotion map 300.

[0149] The totaling unit 513 calculates the ratio of the length of time of the emotion held by the robot 200 in the past week, the past month, and the past year for each of the nine emotions corresponding to these zones. In this way, the totaling unit 513 generates total information of the emotion parameters in each target period of the week, month, and year.

[0150] Second, the totaling unit 513 generates information indicating the virtual personality of the robot 200 during the target period as total information of personality parameters. Specifically, the totaling unit 513 obtains four personality values ​​of "cheerful", "lively", "shy", and "squeamish" at the last time point of each day of the past week, each week of the past month, and each month of the past year from the log information 123. In this way, the totaling unit 513 generates total information of personality parameters during each target period of the week, month, and year.

[0151] Third, the totaling unit 513 generates information indicating the virtual sleep time of the robot 200 during the target period as the total information of the sleep information. Specifically, the totaling unit 513 refers to the log information 123, and derives the sleep time during the target period on a daily basis from the information on the on / off of sleep during the target period. The sleep time is equivalent to the length of time that the sleep column in the log information 123 is continuously turned on. At this time, for example, when the robot 200 performs multiple virtual sleeps in one day in the form of naps and nighttime sleeps, the totaling unit 513 derives the longest time among the multiple sleep times as the sleep time of that day.

[0152] Specifically, the totaling unit 513 extracts the sleep time in each day of the past week from the log information 123, and further calculates the average sleep time in the past week. The totaling unit 513 calculates the average sleep time in each week of the past month, and further calculates the average sleep time in the past month. The totaling unit 513 calculates the average sleep time in each month of the past year, and further calculates the average sleep time in the past year. In this way, the totaling unit 513 generates the total information of the sleep time in each target period of the week, month, and year.

[0153] Fourth, the totaling unit 513 generates information indicating the number of occurrences of events during the target period by type as total information of the number of occurrences of events. Specifically, the totaling unit 513 obtains the number of occurrences of triggered events from the log information 123, and counts the number of occurrences of triggered events in each day of the past week, each week of the past month, and each month of the past year. In this way, the totaling unit 513 generates total information of the number of occurrences of triggered events during each target period of the week, month, and year.

[0154] Then, the totaling unit 513 refers to the event classification table 521 and classifies the number of event occurrences during the target period by type. Fig. 9 As shown, the event classification table 521 classifies a plurality of events that may occur into the first category, the second category, and other categories according to their triggers.

[0155] The first type of event is an event in which the robot 200 has a virtual positive emotion. Here, the robot 200 having a virtual positive emotion means that the robot 200 is virtually happy, and specifically, it is equivalent to an increase in the emotion change amount DXP indicating ease of comfort on the emotion map 300. For example, events triggered by "being touched", "being talked to", "being gently shaken", "being hugged", etc. belong to the first type of event. Positive emotion is an example of the specified first emotion.

[0156] In contrast, the second type of event is an event in which the robot 200 has a second emotion that is a virtual negative emotion. The robot 200 having a virtual negative emotion means that the robot 200 is virtually disgusted, and specifically, it is equivalent to an increase in the emotion change amount DXM indicating the degree of susceptibility to anxiety on the emotion map 300. For example, events triggered by "being slapped", "being scolded", "being shaken strongly", and "being turned upside down" belong to the second type of event. Negative emotion is an example of a second emotion different from the first emotion.

[0157] Other types of events are events other than those described above, such as "brightening", "darkening", "arrival of a specific time", and "movement to a specific location", etc.

[0158] The totaling unit 513 refers to the event classification table 521 and classifies the number of occurrences of the events by trigger acquired from the log information 123 into the first category, the second category, and other categories. Furthermore, the totaling unit 513 counts the number of occurrences of the first category of events, the second category of events, and other categories of events in each day of the past week, each week of the past month, and each month of the past year. In this way, the totaling unit 513 generates total information of the number of occurrences of events by category in each target period of the week, month, and year.

[0159] Fifth, the totaling unit 513 generates a "friendship score" during the target period as total information of the number of event occurrences. Here, the friendship score is an example of a value indicating the relationship between the user and the robot 200, and is an indicator indicating whether the relationship between the user and the robot 200 is good. As an example, the initial value of the friendship score is 0, and it increases or decreases according to the following (Formula 3).

[0160] Friendly score = number of occurrences of the first type of event × 10 points - number of occurrences of the second type of event × 5 points + additional points based on the number of days that have passed (Formula 3)

[0161] Specifically, the more the number of events in which the robot 200 has virtual positive emotions (the number of events of the first type), the more the friendship score increases, and the more the number of events in which the robot 200 has virtual negative emotions (the number of events of the second type), the more the friendship score decreases. In other words, the more the number of events in which the robot 200 is virtually pleased increases, the more the friendship score increases, and the more the number of events in which the robot 200 is virtually disgusted decreases.

[0162] The additional score based on the number of days that have passed in (Formula 3) is a bonus score added according to the number of days that the user has spent with the robot 200. As an example, the additional score based on the number of days that have passed is added to the friendship score every time a predetermined number of days such as 7 days, 30 days, or 90 days has passed. In this way, by adding the friendship score according to the elapsed time, it can be expressed that the longer the period of time that the user has spent with the robot 200, the more trust the user has.

[0163] Thus, the friendship score changes according to the content of the interaction between the user and the robot 200 and the number of days that have passed. The totaling unit 513 calculates such a friendship score based on the number of occurrences of the first type of event, the number of occurrences of the second type of event, and the number of days that have passed during the target period.

[0164] Specifically, the totaling unit 513 calculates the change amount and cumulative value of the friendship score in each day of the past week, each week of the past month, and each month of the past year. In addition, the totaling unit 513 calculates the maximum value, minimum value, and average value of the calculated change amount of the friendship score for each target period of the week, month, and year. In this way, the totaling unit 513 generates the total information of the friendship score in each target period of the week, month, and year.

[0165] Here, the change amount of the friendship score in a certain period increases as the number of events that the robot 200 likes increases during the period, and decreases as the number of events that the robot 200 dislikes increases. In addition, the cumulative value of the friendship score in a certain period is equivalent to the value of the friendship score at the last time point in the period. The cumulative value of the friendship score can be used as an indicator representing the cumulative relationship between the user and the robot 200.

[0166] Return to Figure 4 The display control unit 514 displays the summary information generated by the summary unit 513 on the display unit 540. When the user wishes to confirm the record of the interaction with the robot 200, the user operates the operation unit 530 to input an operation to display the diary screen. In this case, the display control unit 514 Fig.10 The diary screen shown is displayed on the display unit 540 .

[0167] exist Fig.10 In the diary screen shown, the display control unit 514 displays a plurality of areas corresponding to a plurality of days in a calendar format. The display control unit 514 displays a face-shaped icon in each of the plurality of areas. The expression of each icon represents the virtual emotion of the robot 200 on the corresponding day. Specifically, the expression of each icon represents the emotion corresponding to the area where the emotion parameter on the corresponding day exists the longest on the emotion map 300.

[0168] Furthermore, the display control unit 514 further displays information indicating the transition of the virtual emotion of the robot 200 on the diary screen. Specifically, when the user operates the operation unit 530 and selects any one of the multiple days displayed on the diary screen, the display control unit 514 displays the information as follows: Fig.10 As shown, a graph showing the virtual emotion of the robot 200 at each time of the selected day is displayed in the lower area of ​​the diary screen. Thus, the user can easily confirm the change of the virtual emotion of the robot 200 on the selected day. In addition, the information of the emotion at each day and each time can be obtained from the X value and Y value of the emotion parameter recorded in the log information 123.

[0169] When the user selects the icon A1 of "parenting record" on such a diary screen, the display control unit 514 will Fig.11The total screen shown is displayed on the display unit 540. On the total screen, the display control unit 514 causes the total information of each parameter generated by the total unit 513 to be displayed.

[0170] The summary screen has one main area R0 and six sub-areas R1 to R6. The display control unit 514 displays the summary information of each parameter in the sub-areas R1 to R6. Specifically, the display control unit 514 displays the summary information of the personality parameters in the sub-area R1, displays the summary information of the emotion parameters in the sub-area R2, displays the summary information of the number of event occurrences in the sub-areas R3 and R4, displays the summary information of the friendship score in the sub-area R5, and displays the summary information of the sleep time in the sub-area R6. The details of the summary information of these parameters will be described later.

[0171] By providing a plurality of sub-regions R1 to R6 in one screen in this manner, the user can simultaneously check the summary information of a plurality of parameters. Therefore, the user can easily check the growth status of the robot 200 from various viewpoints.

[0172] The main region R0 is a region for displaying the summary information of one of the sub-regions R1 to R6 in a larger size than the individual sub-regions. The user selects a sub-region (in the sub-regions R1 to R6) for displaying the summary information of a parameter that he or she wishes to check in more detail. Fig.11 In the example of the example, it is sub-region R5). Then, the display control unit 514 displays the total information displayed in one sub-region selected by the user in the main region R0. Since the size of the main region R0 is larger than the size of each sub-region, by displaying the total information in the main region R0, it can be confirmed in more detail than in each sub-region.

[0173] The display control unit 514 displays the total information of the target period selected by the user among the plurality of target periods in the main region R0. Specifically, the main region R0 includes tabs T1 to T3 for switching the target period, such as tab T1 for "week", tab T2 for "month", and tab T3 for "year".

[0174] When the user selects (clicks) the week tab T1, the display control unit 514 displays the total information for the past week from the current time point in the main area R0. When the user selects the month tab T2, the display control unit 514 displays the total information for the past month from the current time point in the main area R0. When the user selects the year tab T3, the display control unit 514 displays the total information for the past year from the current time point in the main area R0. In this way, the user can easily switch the total information for different target periods such as weeks, months, and years by operating the tabs T1 to T3.

[0175] In addition, when the user operates the tabs T1 to T3 to switch the object period, the display control unit 514 is not limited to switching only the object period of the total information displayed in the main area R0, but can also switch the object period of all the total information displayed in the main area R0 and the 6 sub-areas R1 to R6 to the selected object period at the same time. Specifically, when the user selects the tab T1 of the week, the display control unit 514 switches the object period of the total information displayed in the main area R0 to the past week, and the object period of the total information of each parameter displayed in each of the sub-areas R1 to R6 is also switched to the past week. The same is true for the case where the user selects the tab T2 of the month and the case where the user selects the tab T3 of the year. By switching the object period of all the total information displayed in the main area R0 and the 6 sub-areas R1 to R6 at the same time with one operation, it is possible to easily confirm the total screen of multiple parameters in the object period that the user wants to confirm.

[0176] Fig.12 , an example in which the total information of the friendship score is displayed in the main region R0 is shown. The display control unit 514 displays the change in the friendship score during the target period in a bar graph, and displays the change in the cumulative value of the friendship score during the target period in a line graph. In addition, the display control unit 514 displays the maximum value, minimum value, and average value of the change in the friendship score during the target period as statistical information on the friendship score during the target period in the upper right portion of the main region R0.

[0177] For example, when a week is selected as the target period, the display control unit 514 displays the change amount, cumulative value, and statistical information of the friendship score in each day of the past week. Although not shown in the figure, when a month or a year is selected as the target period by switching the labels T1 to T3, the display control unit 514 displays the change amount, cumulative value, and statistical information of the friendship score in each week of the past month or each month of the past year. In this way, the user can easily confirm how the relationship of the robot 200 changes.

[0178] Fig.13 An example is shown in which the total information of the personality parameters is displayed in the main area R0. The display control unit 514 displays the changes of the four personality values ​​during the target period in a bar graph. When a week is selected as the target period, the display control unit 514 displays the four personality values ​​of "cheerful", "lively", "shy", and "squeamish" on each day of the past week. Moreover, although the illustration is omitted, when a month or a year is selected as the target period by switching the labels T1 to T3, the display control unit 514 displays the four personality values ​​on each week of the past month or each month of the past year. In this way, the user can confirm how the personality parameters of the robot 200 are developing.

[0179] Fig.14 , an example of a case where the total information of the emotion parameters is displayed in the main area R0 is shown. The display control unit 514 displays the proportions of the 9 emotions calculated by the total unit 513 in a pie chart. When a week is selected as the target period, the display control unit 514 displays the proportions of the 9 emotions in the past week. Moreover, although the illustration is omitted, when a month or a year is selected as the target period by switching between the labels T1 to T3, the display control unit 514 displays the proportions of the 9 emotions in the past month or the past year. Thereby, the user can confirm the distribution of the virtual emotions possessed by the robot 200.

[0180] Fig.15 , an example is shown in which the total information of the number of occurrences of events by type is displayed in the main region R0. The display control unit 514 displays the transition of the number of occurrences of the first type of event and the number of occurrences of the second type of event during the target period using a bar graph. Fig.15 In the example, the number of occurrences of the first type of event is displayed as "number of times the person is loved", and the number of occurrences of the second type of event is displayed as "number of times the person is disliked". When a week is selected as the target period, the display control unit 514 displays the number of times the person is loved and the number of times the person is disliked on each day of the past week. Moreover, although the illustration is omitted, when a month or a year is selected as the target period by switching between the labels T1 to T3, the number of times the person is loved and the number of times the person is disliked on each week of the past month or each month of the past year are displayed. Thus, the user can confirm the history of events that occurred during the target period.

[0181] Fig.16 An example in which the total information of the number of occurrences of events by trigger is displayed in the main area R0 is shown in FIG. Fig.16 The number of times the trigger event occurs is equivalent to Fig.15 The number of times a trigger is liked (the number of times the first type of event occurs) is shown in the figure, but the number of times a trigger is disliked (the number of times the second type of event occurs) can also be displayed. Fig.16 In order to avoid complexity, only "being touched", "being talked to" and "being hugged" are displayed, but details other than these can also be displayed.

[0182] The display control unit 514 displays the details of the number of times the user was pampered during the target period using a bar graph. When a week is selected as the target period, the display control unit 514 displays the details of the number of times the user was pampered during each day of the past week. Although not shown in the figure, when a month or year is selected as the target period by switching between the labels T1 to T3, the details of the number of times the user was pampered during each week of the past month or each month of the past year are displayed. This allows the user to confirm the history of events that occurred during the target period in more detail.

[0183] Fig.17 , an example of a case where total information on sleep time is displayed in the main area R0 is shown. The display control unit 514 displays the transition of sleep time during the target period with a bar graph, and displays the average value of sleep time during the target period with a dotted line. When a week is selected as the target period, the display control unit 514 displays the sleep time in each day of the past week and the average value of sleep time in the past week. Moreover, although the illustration is omitted, when a month is selected as the target period by switching between the labels T1 to T3, the display control unit 514 displays the sleep time in each week of the past month and the average value of sleep time in the past month. In addition, when a year is selected as the target period, the display control unit 514 displays the sleep time in each month of the past year and the average value of sleep time in the past year.

[0184] Thus, the user can check the progress of the sleep time of the robot 200. In particular, when the robot 200 goes into virtual sleep triggered by the darkening of the room, the sleep time of the robot 200 can be regarded as equivalent to the sleep time of the user. Therefore, the user can use the sleep time total screen to check the progress of his / her own sleep time.

[0185] Next, refer to Fig.18 To explain the flow of robot control processing. Fig.18 The robot control process shown is executed by the control unit 110 of the control device 100 when the user turns on the power of the robot 200. The robot control process is an example of a method for controlling a robot.

[0186] When the robot control process is started, the control unit 110 sets the state parameter 122 (step S101). When the robot 200 is initially started (when it is first started by the user after being shipped from the factory), the control unit 110 sets each parameter of the emotional parameter, personality parameter, and growth days to an initial value (e.g., 0). On the other hand, when the robot is started for the second or subsequent times, the control unit 110 reads the value of each parameter saved in step S106 described later in the previous robot control process and sets it to the state parameter 122. However, the emotional parameters may all be initialized to 0 each time the power is turned on.

[0187] When the state parameter 122 is set, the control unit 110 communicates with the terminal device 50 and acquires the behavior information 121 created based on the user's operation from the terminal device 50 (step S102). If the behavior information 121 is already stored in the storage unit 120, step S102 may be skipped.

[0188] When the behavior information 121 is acquired, the control unit 110 determines whether any one of the triggers of the plurality of behaviors defined in the behavior information 121 has been established (step S103 ).

[0189] When any trigger is established (step S103; Yes), the control unit 110 executes the behavior control process to make the robot 200 execute the behavior corresponding to the established trigger (step S104). The details of the behavior control process in step S104 will be referred to in detail. Fig.19 Step S104 is an example of a control step.

[0190] When it started Fig.19 During the behavior control processing shown, the control unit 110 updates the state parameter 122 (step S201). Specifically, when the trigger established in step S103 is caused by an external stimulus, the control unit 110 derives the emotion change amount corresponding to the external stimulus. Then, the control unit 110 updates the emotion parameter by adding or subtracting the derived emotion change amount from the current emotion parameter. Moreover, in the childhood period, the control unit 110 calculates each personality value of the personality parameter from the emotion change amount updated in step S108 according to the above (Formula 1). On the other hand, in the adult period, the control unit 110 calculates each personality value of the personality parameter from the emotion change amount updated in step S108 and the personality correction value according to the above (Formula 2).

[0191] When the state parameter 122 is updated, the control unit 110 refers to the behavior information 121 to obtain the behavior control parameter of the behavior corresponding to the established trigger (step S202). Specifically, the control unit 110 obtains the combination of actions or chirping sounds that are elements constituting the behavior corresponding to the established trigger, the start timing of each element, and the action parameters or chirping sound parameters from the behavior information 121.

[0192] When the behavior control parameter is obtained, the control unit 110 corrects the behavior control parameter based on the current state of the robot 200 indicated by the state parameter 122 updated in step S201 (step S203). Specifically, the control unit 110 determines the correction coefficient corresponding to the current state of the robot 200 from the coefficient table 124, and corrects the behavior control parameter based on the determined correction coefficient.

[0193] When the behavior control parameter is corrected, the control unit 110 executes the behavior corresponding to the established trigger (step S204). Specifically, the control unit 110 drives the driving unit 220 or outputs sound from the speaker 231 according to the behavior control parameter corrected in step S203. Fig.19 The behavior shown controls the processing.

[0194] Return to Fig.18 In step S103, when any of the triggers of the plurality of behaviors is not established (step S103; No), the control unit 110 skips step S104.

[0195] Next, the control unit 110 determines whether to terminate the process (step S105). For example, if the operation unit 240 receives an instruction from the user to turn off the power of the robot 200, the process is terminated. In the case of terminating the process (step S105; yes), the control unit 110 saves the current state parameter 122 to the non-volatile memory of the storage unit 120 (step S106), and the process is terminated. Fig.18 The robot control process shown.

[0196] If the process is not terminated (step S105; No), the control unit 110 updates the log information 123 (step S107). Specifically, when the generation timing of the log information 123 is reached (for example, every 10 minutes), the control unit 110 records the latest values ​​of each parameter such as the emotion parameter, personality parameter, the number of occurrences of the triggered event, the remaining battery level, and the sleep information at that time in the log information 123.

[0197] When the log information 123 is updated, the control unit 110 determines whether the transmission timing of the log information 123 has arrived (step S108). If the transmission timing of the log information 123 has arrived (step S108; yes), the control unit 110 transmits the log information 123 updated in step S107 to the terminal device 50 (step S109).

[0198] When the transmission timing of the log information 123 has not arrived (step S108 ; No), the control unit 110 skips step S109 .

[0199] Next, the control unit 110 determines whether the date has changed by the clock function (step S110). If the date has not changed (step S110; No), the process returns to step S103.

[0200] When the date has changed (step S110; yes), the control unit 110 updates the state parameter 122 (step S111). Specifically, when the child is in the childhood (e.g., 50 days from birth), the control unit 110 changes the values ​​of the emotion change amounts DXP, DXM, DYP, and DYM according to whether the emotion parameter has reached the maximum value or the minimum value of the emotion map 300. In addition, when the child is in the childhood, the control unit 110 increases the maximum value and the minimum value of the emotion map 300 by a predetermined increase (e.g., 2). In contrast, when the child is in the adult stage, the control unit 110 adjusts the personality correction value.

[0201] When the state parameter 122 is updated, the control unit 110 adds 1 to the number of days of growth (step S112), and returns to step S103. Then, as long as the robot 200 is operating normally, the control unit 110 repeats the processing from step S103 to step S112.

[0202] Next, refer to Fig. 20 The flow of the display processing executed in the terminal device 50 will be described. Fig. 20 The display process shown is executed by the control unit 510 of the terminal device 50 when the user inputs an operation to display the diary screen to the terminal device 50. The display process is an example of a display method.

[0203] When the display process is started, the control unit 510 acquires the log information 123 transmitted from the control device 100 of the robot 200 in step S108 (step S301 ).

[0204] When the log information 123 is obtained, the control unit 510 updates the total information in the plurality of target periods based on the obtained log information 123 (step S302). Specifically, the control unit 510 generates the latest total information of each parameter of the emotion parameter, personality parameter, sleep time, number of occurrences of events by type, number of occurrences of events by trigger, and friendship score in each target period of the week, month, and year.

[0205] When the total information is updated, the control unit 510, for example, Fig.10 The display unit 540 shown displays a diary screen (step S303).

[0206] When the diary screen is displayed, the control unit 510 determines whether an operation to display the total screen has been received (step S304). Specifically, the control unit 510 determines whether the user has selected the icon A1 of "record of parenting" on the diary screen.

[0207] When an operation to display the total screen is not received (step S304 ; No), the control unit 510 stays at step S304 and continues to display the diary screen.

[0208] When receiving an operation to display the total screen (step S304; Yes), the control unit 510, for example, Fig.11 The total screen shown is displayed on the display unit 540 (step S305).

[0209] When the total screen is displayed, the control unit 510 determines whether any one of the six sub-regions R1 to R6 is selected (step S306). If any one of the sub-regions is selected (step S306; yes), the control unit 510 displays the total information of the selected sub-region in the main region R0 (step S307). On the other hand, if no sub-region is selected (step S306; yes), the control unit 510 skips step S307.

[0210] Next, the control unit 510 determines whether a target period different from the current target period is selected in the total information displayed in the main region R0 (step S308). Specifically, the control unit 510 determines whether an operation of switching the target period by selecting the tabs T1 to T3 is received from the user.

[0211] When another target period is selected (step S308; Yes), the control unit 510 displays the total information in the selected target period in the main region R0 (step S309). In other words, the control unit 510 switches the total information displayed in the main region R0 to the total information of the selected target period. On the other hand, when another target period is not selected (step S308; No), the control unit 510 skips step S309.

[0212] After that, the control unit 510 returns the process to step S306. Then, the control unit 510 repeats the process of steps S306 to S309 while continuing to display the total screen. In addition, when receiving an operation from the user to end the display of the diary screen or the total screen, the control unit 510 ends the process. Fig. 20 The display process shown.

[0213] As described above, the terminal device 50 according to the first embodiment acquires the log information of the parameters related to the robot 200, generates the summary information of the parameters during the target period based on the acquired log information, and displays the generated summary information on the display screen. In this way, by generating and displaying the summary information of the parameters during the target period, it is possible to visually display the information of the parameters that have changed according to a plurality of events that occurred in the past, and it is possible to allow the user to easily confirm the record of the events related to the robot 200.

[0214] In particular, the terminal device 50 according to the first embodiment generates summary information of parameters in each of a plurality of target periods of different time lengths, and displays the summary information in a target period selected by a user among the plurality of target periods on a display screen. In this way, the user can select a target period for which summary information is to be displayed from among the plurality of target periods, and thus the user can easily switch and confirm records of events in different target periods.

[0215] (Variation Example)

[0216] The above description is about the embodiment of the present disclosure, which is an example, and the application scope of the present disclosure is not limited thereto. That is, the embodiment of the present disclosure can be applied in various ways, and all the embodiments are included in the scope of the present disclosure.

[0217] For example, in the above embodiment, the totaling unit 513 generates total information of emotion parameters, personality parameters, sleep time, number of event occurrences by type, number of event occurrences by trigger, and friendship score as total information displayed on the totaling screen. However, this is an example, and the totaling unit 513 may generate total information of only part of these, or may generate total information other than these.

[0218] In the above embodiment, the totaling unit 513 generates total information by taking the past week, past month, and past year from the current time point as the target period. However, the target period is not limited to such a period of time, and may be a period of any time length at any time point in the past.

[0219] Furthermore, the totaling unit 513 may generate total information for each period of each past week, each period of each past month, and each period of each past year as the target period. In other words, the totaling unit 513 may generate total information for each of a plurality of target periods of a week, a plurality of target periods of a month, and a plurality of target periods of a year, and the display control unit 514 switches these plurality of target periods in the totaling screen for display.

[0220] In the above embodiment, the terminal device 50 as an example of the display control device includes a display unit 54, which is another device independent of the robot 200. However, the terminal device 50 may not include the display unit 540, and the above-mentioned diary screen and total screen may be displayed by an external display unit. In addition, the display control device and the display unit may also be provided in the robot 200. In other words, the robot 200 may include a display unit such as a liquid crystal display or a projector, and the above-mentioned diary screen and total screen may be displayed on the display unit.

[0221] In the above embodiment, the control device 100 is built into the robot 200, but the control device 100 may not be built into the robot 200, but may be an independent device (such as a server). In the case where the control device 100 exists outside the robot 200, the control device 100 communicates with the robot 200 via the communication unit 130 to send and receive data to each other, and controls the robot 200 as described in the above embodiment.

[0222] In the above embodiment, the outer shell 201 is formed in a straight cylindrical shape from the head 204 to the trunk 206, and the robot 200 is set in a prone position. However, the robot 200 is not limited to imitating a creature in a prone position. For example, the robot 200 can also be set to have hands and feet to simulate a creature walking on four legs or walking on two legs.

[0223] Furthermore, the robot is not limited to the robot 200 that simulates a living being. For example, the robot may be any device that can express its personality by performing various behaviors, and may be a robot that simulates a watch, stationery, a camera or other imaging device, a projector, etc. Even robots other than the robot 200 can be described in the same manner as the above-mentioned embodiment by having the same configuration and functions as the above-mentioned robot 200.

[0224] In the above-mentioned embodiment, in the control unit 110, by executing the program stored in the ROM by the CPU, the functions of the various units such as the state parameter acquisition unit 112 are performed. In addition, in the control unit 510, by executing the program stored in the ROM by the CPU, the functions of the various units such as the log information acquisition unit 512 are performed. However, in the present disclosure, the control units 110 and 510 may be equipped with dedicated hardware such as ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or various control circuits to replace the CPU, and the dedicated hardware may function as the various units such as the state parameter acquisition unit 112. In this case, the functions of each unit may be implemented by independent hardware, or the functions of each unit may be summarized and implemented by a single hardware. In addition, part of the functions of each unit may be implemented by dedicated hardware, and the other part may be implemented by software or firmware.

[0225] Furthermore, it is of course possible to provide a robot 200 or terminal device 50 pre-equipped with a configuration for realizing the functions involved in the present disclosure, and by applying a program, an existing information processing device or the like can also function as the robot 200 or terminal device 50 involved in the present disclosure. That is, by applying a program for realizing each functional configuration of the robot 200 or terminal device 5 illustrated in the above embodiment in a manner that can be executed by a CPU or the like that controls an existing information processing device or the like, it can function as the robot 200 or terminal device 50 involved in the present disclosure.

[0226] In addition, the application method of such a program is arbitrary. The program can be applied by storing it in a computer-readable storage medium such as a floppy disk, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, and a memory card. Moreover, the program can be superimposed on a carrier and applied via a communication medium such as the Internet. For example, the program can also be announced and published on a bulletin board (BBS: Bulletin Board System) on a communication network. Furthermore, the program can be started and executed like other applications under the control of an OS (Operating System), thereby being configured to be able to perform the above-mentioned processing.

[0227] Although preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and various modifications and substitutions may be made to the above embodiments without departing from the scope of the claims.

Claims

1. A display control device, characterized in that: It has one or more control units, wherein the control unit acquiring information of a parameter, the parameter being a parameter related to a robot that performs a behavior corresponding to an event and being a parameter that changes according to the event, Based on the acquired information of the parameter, generating summary information of the parameter during the target period, The generated total information is displayed on a display unit.

2. The display control device according to claim 1, characterized in that: The control unit generating summary information of the parameter in each of a plurality of target periods of different time lengths, The total information in a target period selected by a user among the plurality of target periods is displayed on the display unit.

3. The display control device according to claim 1 or 2, characterized in that: The parameters include the number of occurrences of the event. The control unit generates, as the total information, a value indicating a relationship between a user and the robot based on the number of occurrences of the event during the target period.

4. The display control device according to claim 3, characterized in that: The value indicating the relationship between the user and the robot increases as the number of occurrences of the event in which the robot has the first emotion which is a virtual predetermined emotion increases during the target period. The value indicating the relationship between the user and the robot decreases as the number of occurrences of the event in which the robot has a virtual second emotion different from the first emotion during the target period increases.

5. The display control device according to claim 1 or 2, characterized in that: The parameters include the number of occurrences of the event. The control unit Information indicating the number of occurrences of the event during the target period by type is generated as the total information.

6. The display control device according to claim 5, characterized in that: The control unit generates the number of occurrences of events in which the robot has a first emotion as a virtual prescribed emotion during the target period and the number of occurrences of events in which the robot has a second emotion that is virtual and different from the first emotion during the target period as the total information.

7. The display control device according to claim 1 or 2, characterized in that: The parameters include emotion parameters representing virtual emotions of the robot, The control unit generates information indicating the virtual emotion of the robot during the target period as the total information.

8. The display control device according to claim 1 or 2, characterized in that: The parameters include personality parameters representing the virtual personality of the robot, The control unit generates information indicating the virtual personality of the robot during the target period as the total information.

9. The display control device according to claim 1 or 2, characterized in that: The parameters include information related to the virtual sleep of the robot, The control unit generates information indicating the duration of the virtual sleep of the robot during the target period as the total information.

10. A display control system, characterized in that: A display control device according to claim 1 or 2 and the robot are provided.

11. A display method, characterized in that: acquiring information of a parameter, the parameter being a parameter related to a robot that performs a behavior corresponding to an event and being a parameter that changes according to the event, Based on the acquired information of the parameter, generating summary information of the parameter during the target period, The generated total information is displayed on a display unit.

12. A program, characterized in that Make the computer acquiring information of a parameter, the parameter being a parameter related to a robot that performs a behavior corresponding to an event and being a parameter that changes according to the event, Based on the acquired information of the parameter, generating summary information of the parameter during the target period, The generated total information is displayed on a display unit.

Images