Robot

Abstract

The invention provides a robot capable of naturally acquiring highly reliable biological information. A robot according to one embodiment of the present invention is capable of acquiring biological information of a user in a state in which the robot is in contact with or in proximity to the user, and is provided with: an exterior member; a detection unit that acquires the biological information using electromagnetic waves; and a control unit that controls the operation of at least one of the robot and the detection unit such that at least one of the direction, position, and posture of the detection unit with respect to the user is changed on the basis of the biological information acquired by the detection unit.

Description

Technical Field

[0001] The invention relates to a robot. Background Art

[0002] Conventionally, there is known a robot equipped with a sensor to collect biological information of a user. The biological information collected by the robot is used for purposes such as understanding the physical state or psychological state of the user.

[0003] As the above-mentioned robot, a robot is disclosed as follows: in order to allow the user to continue to enjoy health assistance without being aware of the diagnosis, the robot does not request the user to touch the device, but obtains the user's biological information from the contact position based on the user's contact with the device (for example, refer to patent document 1).

[0004] <Prior Art Literature>

[0005] <Patent Documents>

[0006] Patent Document 1: Japanese Patent No. 6519560 Summary of the invention

[0007] <Problems to be Solved by the Invention>

[0008] However, in the robot described in Patent Document 1, since the biometric information is acquired by the user contacting the device, the user is constrained when acquiring the biometric information, and there is room for improvement from the perspective of naturally acquiring the biometric information. In addition, sometimes the biometric information with high reliability cannot be acquired due to the direction, position or posture of the biometric information acquisition unit relative to the user, or due to shielding objects such as clothes and carry-on luggage.

[0009] An object of the present invention is to provide a robot that can naturally acquire biological information with high reliability.

[0010] <Methods used to solve the problem>

[0011] A robot involved in one embodiment of the present invention is a robot that can obtain biological information of a user when in contact or proximity with the user, and comprises: an external component; a detection unit that obtains the biological information using electromagnetic waves; and a control unit that controls the movement of at least one of the robot and the detection unit in a manner that changes at least one of the direction, position and posture of the detection unit relative to the user based on the biological information obtained by the detection unit.

[0012] <Effects of the Invention>

[0013] According to the present invention, it is possible to provide a robot that can naturally acquire biological information with high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a perspective view illustrating a robot according to the embodiment.

[0015] Figure 2 yes Figure 1 Side view of the robot.

[0016] Figure 3 It is along Figure 2 A cross-sectional view taken along the III-III cutting line.

[0017] Figure 4 It is a diagram illustrating the structure of a camera according to an embodiment.

[0018] Figure 5 It is a diagram illustrating the structure of a life sensor according to an embodiment.

[0019] Figure 6 This is a block diagram illustrating a hardware configuration of a control unit according to the embodiment.

[0020] Figure 7 This is a block diagram illustrating a functional configuration of a control unit according to the embodiment.

[0021] Figure 8 This is a flowchart illustrating the processing of the control unit involved in the embodiment.

[0022] Fig. 9 It is a diagram showing a first example of a holding state of the robot according to the embodiment.

[0023] Fig.10 It is a diagram showing a second example of the holding state of the robot according to the embodiment. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each of the drawings, the same components are denoted by the same reference numerals, and repeated descriptions are appropriately omitted.

[0025] The embodiments shown below are examples of robots for embodying the technical concept of the present invention, and are not intended to limit the present invention to the embodiments shown below. The sizes, materials, shapes, and relative arrangements of the components described below are intended to be examples unless otherwise specified, and are not intended to limit the scope of the present invention to these. In addition, the sizes and positional relationships of the components shown in the drawings may be exaggerated to make the description clear.

[0026] <Overall Configuration Example of Robot 100>

[0027] Reference Figures 1 to 3, the structure of the robot 100 of the embodiment is described. Figure 1 It is a perspective view of the robot 100 according to the exemplary embodiment. Figure 2 is a side view of the robot 100 . Figure 3 It is along Figure 2 A cross-sectional view taken along the III-III cutting line.

[0028] The robot 100 is a robot having an outer casing 10 and capable of being driven by supplied power. The robot 100 illustrated in this specification is a communication robot of a doll type imitating a bear. The robot 100 is made according to a size and weight suitable for a user to hold. Here, the user refers to the user (user) of the robot 100. Representative examples of users include people living alone, elderly people whose children are already independent, and frail elderly people who are the objects of home medical treatment. In addition to the user of the robot 100, the user may also include the manager of the robot 100 and other persons who only come into contact with the robot 100. In addition, in this specification, the word "hold" may also be replaced by the word "hold".

[0029] In the present embodiment, the robot 100 can obtain the biological information of the user while in contact or proximity with the user. The user corresponds to a "person" who is in contact or proximity with the robot 100. The robot 100 obtains the biological information of the user in a non-contact state, i.e., in a state where the biological sensor and the user are not in contact, by using a life sensor (detection unit) that obtains biological information using electromagnetic waves. As a result, compared with the case where the biological information of the user is obtained in a state where the life sensor and the user are in contact, the robot 100 can reduce the sense of restraint and resistance felt by the user, and can naturally obtain the biological information of the user.

[0030] The life sensor may also be arranged on the inner side of the outer casing 10. This is because the life sensor is less likely to be damaged compared to the case where the life sensor is exposed from the surface of the robot 100, and the skin touch of the robot 100 will also be better. As a result, the user is more likely to secrete oxytocin by contact with the robot 100. In addition, the so-called contact between the robot 100 and the user refers to the action (contact action) of the user and the robot 100 touching each other, such as rubbing, patting (touching) and hugging (embracing).

[0031] On the other hand, when the distance between the life sensor and the user is close, when acquiring biological information in a non-contact manner, if the direction, position and posture of the life sensor relative to the user are not in an appropriate state, the robot 100 may not be able to acquire appropriate biological information. The appropriate state, in other words, is a state in which the deviation of the direction, position and posture of the life sensor relative to the user from a given state is small. The appropriate biological information, in other words, is biological information with high reliability. For example, when acquiring biological information from the chest of the user, and when acquiring biological information from the abdomen of the user, the dominance of the respiratory component changes, so the ratio of respiration to heartbeat changes, and it is sometimes impossible to acquire biological information with high reliability.

[0032] In this embodiment, when the robot 100 cannot obtain highly reliable biological information during the period of contact with the user, the robot 100 and at least one of the life sensors are controlled so that highly reliable biological information can be obtained. For example, the robot 100 performs an action to prompt the user to correct the holding state of the robot 100, and continues to attract attention of the action until the user's holding state of the robot 100 becomes a state in which highly reliable biological information can be obtained. The robot 100 can naturally obtain highly reliable biological information by the user correcting the holding state of the robot 100 according to the action of the robot 100.

[0033] The outer casing 10 may have flexibility. For example, the outer casing 10 includes a soft raw material that feels good when the user of the robot 100 touches the robot 100. The outer casing 10 may also have flexibility by including at least one of an elastomer and a porous body. Specifically, as the raw material of the outer casing 10, raw materials including organic materials such as polyurethane foam, rubber, resin, and fiber can be used. The outer casing 10 is preferably composed of an outer casing such as a polyurethane foam material having heat insulation properties, and a soft cloth covering the outer surface of the outer casing. The outer casing 10 has flexibility by including at least one of an elastomer and a porous body, for example, so that the user can feel the softness of the robot 100. As a result, the sense of restraint and resistance can be reduced, thereby promoting communication between the user and the robot 100.

[0034] As an example, the robot 100 includes a body 1, a head 2, arms 3, and legs 4. The head 2 includes a right eye 2a, a left eye 2b, a mouth 2c, a right cheek 2d, and a left cheek 2e. The arms 3 include a right arm 3a and a left arm 3b, and the legs 4 include a right leg 4a and a left leg 4b. Here, the body 1 corresponds to the robot body.

[0035] The head 2, the arm 3, and the leg 4 correspond to a driving body connected to the robot body so as to be relatively displaceable. The driving body in this embodiment includes the arm 3 connected to the robot body in the robot 100 so as to be relatively displaceable.

[0036] In the present embodiment, the arm 3 is configured to be displaceable relative to the body 1. For example, when the robot 100 is hugged by the user, the right arm 3a and the left arm 3b are displaced to contact the user's head or body in a manner of hugging the user. This action makes the user feel close to the robot 100, so that contact between the user and the robot 100 can be promoted.

[0037] The body 1, the head 2, the arms 3, and the legs 4 are all covered by the outer casing 10. The outer casing in the body 1 is integrated with the outer casing in the arms 3, and the outer casing in the head 2 and the legs 4 are separated from the outer casing in the body 1 and the arms 3. However, it is not limited to these structures, and for example, only the parts of the robot 100 that are easily contacted by the user may be covered by the outer casing 10. In addition, at least one of the outer casing 10 in each of the body 1, the head 2, the arms 3, and the legs 4 may be separated from the other outer casings. In addition, the parts of the head 2, the arms 3, and the legs 4 that do not displace may not include components such as sensors on their inner sides and may be composed only of the outer casing 10.

[0038] The robot 100 has a camera 11, a touch sensor 12, a control unit 13, a life sensor 14, a battery 15, a variable mechanism 18, a first capacitance sensor 21, and a second capacitance sensor 31 inside the exterior member 10. In addition, the robot 100 has a touch sensor 12, a control unit 13, a life sensor 14, a battery 15, and a variable mechanism 18 inside the exterior member 10 in the body portion 1. Furthermore, the robot 100 has a camera 11 and a first capacitance sensor 21 inside the exterior member 10 in the head portion 2, and has a second capacitance sensor 31 inside the exterior member 10 in the arm portion 3.

[0039] In addition, the robot 100 has a display 24, a speaker 25, and a light 26 inside the exterior member 10 in the head 2. Furthermore, the robot 100 has a display 24 inside the exterior member 10 in the right eye 2a and the left eye 2b. In addition, the robot 100 has a speaker 25 inside the exterior member 10 in the mouth 2c, and a light 26 inside the exterior member 10 in the right cheek 2d and the left cheek 2e.

[0040] In more detail, Figure 3As shown, the robot 100 has a body frame 16 and a body mounting platform 17 inside the outer casing 10 in the body 1. In addition, the robot 100 has a head frame 22 and a head mounting platform 23 inside the outer casing 10 in the head 2. Furthermore, the robot 100 has a right arm frame 32a and a right arm mounting platform 33 inside the outer casing 10 in the right arm 3a, and a left arm frame 32b inside the outer casing 10 in the left arm 3b. In addition, the robot 100 has a right leg frame 42a inside the outer casing 10 in the right leg 4a, and a left leg frame 42b inside the outer casing 10 in the left leg 4b.

[0041] The trunk frame 16, the head frame 22, the right arm frame 32a, the left arm frame 32b, the right leg frame 42a, and the left leg frame 42b are structures formed by combining a plurality of columnar members. The trunk mounting platform 17, the head mounting platform 23, and the right arm mounting platform 33 are plate-like members having a mounting surface. The trunk mounting platform 17 is fixed to the trunk frame 16, the head mounting platform 23 is fixed to the head frame 22, and the right arm mounting platform 33 is fixed to the right arm frame 32a. In addition, the trunk frame 16, the head frame 22, the right arm frame 32a, the left arm frame 32b, the right leg frame 42a, and the left leg frame 42b may also be formed in a box shape including a plurality of plate-like members.

[0042] The right arm frame 32a is connected to the body frame 16 via the right arm connection mechanism 34a, and is driven by the right arm servo motor 35a to be relatively displaced with respect to the body frame 16. The right arm frame 32a is displaced, so that the right arm 3a is relatively displaced with respect to the body 1. The right arm connection mechanism 34a preferably has a speed reducer that increases the output torque of the right arm servo motor 35a, for example.

[0043] In this embodiment, the right arm frame 32a is composed of a multi-joint robot including a plurality of frame members and a plurality of connection mechanisms. For example, the right arm frame 32a includes a right shoulder frame F1a, a right upper arm frame F2a, a right elbow frame F3a, and a right forearm frame F4a. The trunk frame 16, the right shoulder frame F1a, the right upper arm frame F2a, the right elbow frame F3a, and the right forearm frame F4a are connected to each other via connection mechanisms.

[0044] The right arm servo motor 35a is a general term for a plurality of servo motors. For example, the right arm servo motor 35a includes a right shoulder servo motor M1a, a right upper arm servo motor M2a, a right elbow servo motor M3a, and a right forearm servo motor M4a. The right shoulder servo motor M1a rotates the right shoulder frame F1a around a rotation axis that is perpendicular to the trunk frame 16. The right upper arm servo motor M2a rotates the right upper arm frame F2a around a rotation axis that is perpendicular to the rotation axis of the right shoulder frame F1a. The right elbow servo motor M3a rotates the right elbow frame F3a around a rotation axis that is perpendicular to the rotation axis of the right upper arm frame F2a. The right forearm servo motor M4a rotates the right forearm frame F4a around a rotation axis that is perpendicular to the rotation axis of the right elbow frame F3a.

[0045] The left arm frame 32b is connected to the body frame 16 via the left arm connection mechanism 34b, and is driven by the left arm servo motor 35b to be relatively displaced with respect to the body frame 16. The left arm 3b is relatively displaced with respect to the body 1 by the displacement of the left arm frame 32b. The left arm connection mechanism 34b preferably has a speed reducer that increases the output torque of the left arm servo motor 35b, for example.

[0046] In this embodiment, the left arm frame 32b is composed of a multi-joint robot including a plurality of frame members and a plurality of connection mechanisms. For example, the left arm frame 32b includes a left shoulder frame F1b, a left upper arm frame F2b, a left elbow frame F3b, and a left forearm frame F4b. The trunk frame 16, the left shoulder frame F1b, the left upper arm frame F2b, the left elbow frame F3b, and the left forearm frame F4b are connected to each other via connection mechanisms.

[0047] The left arm servo motor 35b is a general term for a plurality of servo motors. For example, the left arm servo motor 35b includes a left shoulder servo motor M1b, a left upper arm servo motor M2b, a left elbow servo motor M3b, and a left forearm servo motor M4b. The left shoulder servo motor M1b rotates the left shoulder frame F1b around a rotation axis that is perpendicular to the trunk frame 16. The left upper arm servo motor M2b rotates the left upper arm frame F2b around a rotation axis that is perpendicular to the rotation axis of the left shoulder frame F1b. The left elbow servo motor M3b rotates the left elbow frame F3b around a rotation axis that is perpendicular to the rotation axis of the left upper arm frame F2b. The left forearm servo motor M4b rotates the left forearm frame F4b around a rotation axis that is perpendicular to the rotation axis of the left elbow frame F3b.

[0048] As described above, the arm 3 has a four-axis joint, so that the robot 100 can achieve highly realistic movements. The so-called highly realistic movements refer to movements that are relatively natural as the movements of animals including humans. In this embodiment, the highly realistic movements correspond to the movements that are relatively natural for the robot 100 as a bear.

[0049] The head frame 22 is connected to the body frame 16 via the head connection mechanism 27, and can be relatively displaced with respect to the body frame 16 by being driven by the head servo motor 35c. The head 2 is relatively displaced with respect to the body 1 by the displacement of the head frame 22. The head connection mechanism 27 preferably has a speed reducer that increases the output torque of the head servo motor 35c, for example.

[0050] In this embodiment, the head frame 22 includes a neck frame F1c and a face frame F2c. The body frame 16, the neck frame F1c, and the face frame F2c are connected to each other via a connection mechanism.

[0051] The head servo motor 35c is a general term for a plurality of servo motors. For example, the head servo motor 35c includes a neck servo motor M1c and a face servo motor M2c. The neck servo motor M1c rotates the neck frame F1c around a rotation axis that is perpendicular to the body frame 16. The face servo motor M2c rotates the face frame F2c around a rotation axis that is perpendicular to the rotation axis of the neck frame F1c. By having the head 2 having a two-axis joint, the robot 100 can achieve a more realistic action.

[0052] The right leg frame 42a is connected to the trunk frame 16 via the right leg connection mechanism 44a, and has a right leg wheel 41a on the bottom side. In order to stabilize the posture of the robot 100, the robot 100 preferably has two right leg wheels 41a in the front-to-back direction of the right leg frame 42a. The right leg wheel 41a is driven by the right leg servo motor 35d and can rotate around a rotation axis perpendicular to the front-to-back direction of the right leg frame 42a. The robot 100 becomes able to travel by rotating the right leg wheel 41a. The right leg connection mechanism 44a, for example, preferably has a reducer that increases the output torque of the right leg servo motor 35d.

[0053] The left leg frame 42b is connected to the trunk frame 16 via the left leg connection mechanism 44b, and has a left leg wheel 41b on the bottom side. In order to stabilize the posture of the robot 100, the robot 100 preferably has two left leg wheels 41b in the front-to-back direction of the left leg frame 42b. The left leg wheel 41b is driven by the left leg servo motor 35e and can rotate around a rotation axis perpendicular to the front-to-back direction of the left leg frame 42b. The robot 100 becomes able to travel by rotating the left leg wheel 41b. The left leg connection mechanism 44b, for example, preferably has a reducer that increases the output torque of the left leg servo motor 35e.

[0054] In this embodiment, the robot 100 moves forward or backward by turning the right leg wheel 41a and the left leg wheel 41b forward or backward at the same time. The robot 100 turns right or left by braking one of the right leg wheel 41a and the left leg wheel 41b and turning the other forward or backward. As described above, the robot 100 can realize a more realistic movement through the legs 4.

[0055] The tactile sensor 12, the control unit 13, the vital sensor 14, and the battery 15 are fixed to the body mounting platform 17. The control unit 13 and the battery 15 are fixed to the side of the body mounting platform 17 opposite to the side where the tactile sensor 12 and the vital sensor 14 are fixed. In addition, the arrangement of the control unit 13 and the battery 15 here is determined according to the space that can be arranged on the body mounting platform 17, and is not limited to the above arrangement. However, when the battery 15 is fixed to the side of the body mounting platform 17 opposite to the side where the tactile sensor 12 and the vital sensor 14 are fixed, the center of gravity of the robot 100 is lowered because the battery 15 is heavier than other components. When the center of gravity of the robot 100 is lower, at least one of the position and posture of the robot 100 is stabilized, and at least one of charging and replacing the battery 15 becomes easy, so it is preferable.

[0056] The first electrostatic capacitance sensor 21 is fixed to the head mounting platform 23, and the second electrostatic capacitance sensor 31 is fixed to the right arm mounting platform 33. The display 24 includes a right eye display 24a and a left eye display 24b. The right eye display 24a, the left eye display 24b and the speaker 25 are fixed to the head frame 22. The light 26 includes a right cheek light 26a and a left cheek light 26b. The right cheek light 26a and the left cheek light 26b are fixed to the head frame 22.

[0057] In addition, the tactile sensor 12, the control unit 13, the life sensor 14, the battery 15, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, etc. can be fixed by screw members or adhesive members, etc. In addition, the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, the left cheek light 26b, etc. can also be fixed by screw members or adhesive members, etc.

[0058] The materials of the body frame 16, the body mounting platform 17, the head frame 22, the head mounting platform 23, the right arm frame 32a, the right arm mounting platform 33 and the left arm frame 32b are not particularly limited, and resin materials or metal materials can be used. However, from the viewpoint of ensuring the strength during driving, metal materials such as aluminum are preferably used for the body frame 16, the right arm frame 32a and the left arm frame 32b. On the other hand, as long as the strength can be ensured, in order to make the robot 100 lightweight, resin materials are preferably used for the materials of these parts. The materials of the body mounting platform 17, the head frame 22, the head mounting platform 23, the right arm mounting platform 33 and the left arm frame 32b are not particularly limited, and resin materials or metal materials can be used, but from the viewpoint of making the robot 100 lightweight, resin materials are preferably used.

[0059] The control unit 13 controls the overall movement of the robot 100. In the present embodiment, in particular, the control unit 13 controls the movement of at least one of the robot 100 and the life sensor 14 in such a manner that at least one of the direction, position, and posture of the life sensor 14 relative to the user changes based on the biological information obtained by the life sensor 14. For example, the control unit 13 can control the movement of the robot 100 in such a manner that it reports to the user that at least one of the direction, position, and posture of the life sensor 14 relative to the user deviates from a given state. Here, in the report to the user based on the movement of the robot 100, in addition to explicitly reporting a message using the display 24, the speaker 25, etc., it also includes implicitly reporting by shaking the arm 3, the leg 4, etc., or tapping the user with the arm 3.

[0060] The control unit 13 is connected to the camera 11, the tactile sensor 12, the vital sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the right arm servo motor 35a, and the left arm servo motor 35b respectively by wire or wireless so as to enable communication. In addition, the control unit 13 is also connected to the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e respectively by wire or wireless so as to enable communication. Furthermore, the control unit 13 is also connected to the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, and the left cheek light 26b respectively by wire or wireless so as to enable communication.

[0061] The camera 11 is an image sensor that outputs the captured image of the robot 100's surroundings to the control unit 13. The camera 11 is an example of a camera unit that captures the user. The camera 11 is disposed at a position corresponding to the bear's nose 5 on the inner side of the exterior member 10. The camera 11 can be fixed by an adhesive member or the like. Figure 4 Details will be given separately.

[0062] The tactile sensor 12 is a sensor element that detects information sensed by the tactile sense possessed by a human hand or the like, converts the information into a tactile signal as an electrical signal, and outputs the information to the control unit 13. For example, the tactile sensor 12 converts information on pressure and vibration generated by contact between the user and the robot 100 into a tactile signal through a piezoelectric element, and outputs the tactile signal to the control unit 13. The tactile signal output from the tactile sensor 12 is used to detect contact or proximity of the user with respect to the robot 100.

[0063] The life sensor 14 is an example of a detection unit that uses electromagnetic waves to obtain biological information of the user. The life sensor 14 is supported by a variable mechanism 18. The variable mechanism 18 is fixed to the body mounting table 17 by a screw member, an adhesive member, etc. In addition, the structure of the life sensor 14 and the variable mechanism 18 will be referred to. Figure 5 Details will be given separately.

[0064] The first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are sensor elements that output electrostatic capacitance signals to the control unit 13 for detecting contact or proximity of the user with the robot 100 based on changes in electrostatic capacitance. From the perspective of stabilization of the exterior member 10, the first electrostatic capacitance sensor 21 is preferably a rigid sensor without flexibility. Since the arm 3 is a part that the user easily touches, from the perspective of providing a good touch, the second electrostatic capacitance sensor 31 is preferably a sensor that includes conductive threads and has flexibility. The electrostatic capacitance signals output from the first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are used to detect contact or proximity of the user with respect to the robot 100.

[0065] The right eye display 24a and the left eye display 24b are display modules that display character strings or images such as characters, numbers, and symbols according to the command from the control unit 13. The right eye display 24a and the left eye display 24b are examples of display units respectively provided in the eyes of the robot 100. The right eye unit 2a and the left eye unit 2b correspond to the eyes of the robot 100. The right eye display 24a and the left eye display 24b are composed of, for example, liquid crystal display modules. The character strings or images displayed by the right eye display 24a and the left eye display 24b can be used for the emotional expression of the robot 100, etc.

[0066] The speaker 25 is a speaker unit that amplifies the sound signal from the control unit 13 and outputs the sound. The speaker 25 is an example of a sound generating unit provided in the robot 100. The sound output from the speaker 25 is the speech (speech) of the robot 100 or a non-speech cry or voice, and can be used for the robot 100 to express emotions, etc.

[0067] The right cheek light 26a and the left cheek light 26b are examples of light emitting parts provided in the head 2 of the robot 100. The right cheek light 26a and the left cheek light 26b are light modules that change at least one of the flashing speed, the brightness of the light, and the color of the light. The right cheek light 26a and the left cheek light 26b are composed of, for example, LED (Light Emitting Diode) light modules.

[0068] The battery 15 is a power source that supplies power to the camera 11, the tactile sensor 12, the control unit 13, the life sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the right arm servo motor 35a, and the left arm servo motor 35b. In addition, the battery 15 also supplies power to the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e. Furthermore, the battery 15 also supplies power to the right eye display 24a, the left eye display 24b, the speaker 25, the right cheek light 26a, and the left cheek light 26b. The battery 15 can use various secondary batteries such as lithium ion batteries and lithium polymer batteries.

[0069] In addition, the installation positions of various sensors such as the tactile sensor 12, the first electrostatic capacitance sensor 21, and the second electrostatic capacitance sensor 31 in the robot 100 can be changed appropriately. In addition, various sensors such as the tactile sensor 12, the first electrostatic capacitance sensor 21, and the second electrostatic capacitance sensor 31 can also be arranged outside the robot 100 to send necessary information to the robot 100 or an external device via wireless.

[0070] The robot 100 does not necessarily need to include the control unit 13 inside the exterior member 10, and the control unit 13 may communicate with each device via wireless from outside the exterior member 10. The battery 15 may supply power to each component from outside the exterior member 10.

[0071] In this embodiment, the structure in which the head 2, the arm 3, and the leg 4 can be displaced is illustrated, but it is not limited to this, and at least one of the head 2, the arm 3, and the leg 4 can be displaced. In addition, the arm 3 is composed of a 4-axis multi-joint robot arm, but it can also be composed of a 6-axis multi-joint robot arm. Furthermore, the arm 3 is preferably capable of connecting an end effector such as a hand. In addition, the leg 4 is composed of a wheel system, but it can also be composed of a crawler system or a leg system.

[0072] The structure and shape of the robot 100 are not limited to those illustrated in this embodiment, and can be appropriately changed according to the user's preference, the usage form of the robot 100, etc. For example, the robot 100 may not be in the form of a bear but in the form of other creatures, or in the form of a puppet such as a human, etc. In addition, the robot 100 may be in the form of a mobile device such as a drone or a vehicle having at least one of an arm, a display, a speaker, and a light.

[0073] <Configuration Example of Camera 11>

[0074] Figure 4 2 is a diagram showing an example of the structure of the camera 11. The camera 11 includes a light source 201 for imaging, a wavelength filter 202, a lens 203, and an imaging element 204. The camera 11 is concealed so as to be difficult to be visually recognized from the outside of the robot 100, and is arranged near the surface of the robot 100.

[0075] The shooting light source 201 irradiates the irradiation light L of a given peak wavelength to the user 200. There is no particular limitation on the given peak wavelength, but from the viewpoint of making the irradiation light difficult to be visually recognized, the given peak wavelength is preferably a peak wavelength of non-visible light such as near-infrared light. The wavelength filter 202 is an optical element that allows light having a wavelength near the peak wavelength in the irradiation light L from the shooting light source 201 to pass through. The lens 203 uses the reflected light R obtained by the irradiation light L from the shooting light source 201 being reflected by the user 200, etc. to form an image of the user 200, etc. on the imaging surface of the imaging element 204. The imaging element 204 outputs the captured image Im obtained by capturing the image formed by the lens 203 to the control unit 13. The imaging element can use a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor), etc. The captured image can be either a static image or a dynamic image.

[0076] In the camera 11, by arranging the wavelength filter 202, the lens 203 and the imaging element 204 are concealed in a manner that is not easily visually recognized from the outside of the robot 100. The camera 11 uses the light from the light source 201 for photographing that is reflected by the user 200 and passes through the wavelength filter 202 to photograph the user 200. In addition, the nose 5 is a part that is less likely to be touched by the user 200 than the trunk 1, the head 2, the arm 3, etc. Therefore, by arranging the camera 11 at the nose 5, the user 200 is less likely to touch the camera 11. As a result, when the user 200 touches the robot 100, the discomfort of touch caused by the surface of the camera 11 being harder than the surface of the exterior member 10 can be reduced. Even if the user 200 touches the nose 5, even if the nose 5 is different in touch from the trunk 1, the head 2, the arm 3, etc., it will not be too unnatural, so the discomfort of touch can be reduced.

[0077] The position where the camera 11 is arranged is not limited to the nose 5, and may be other parts such as the mouth and eyes, as long as it can achieve the same effect as the above-mentioned arrangement on the nose 5. In addition, the camera 11 is not limited to being arranged on the inner side of the outer casing 10, and may be arranged on the outer side of the outer casing 10. When the camera 11 is arranged on the outer side of the outer casing 10, it is not necessary to conceal the camera 11 so that it is not easily visually recognizable, so the camera 11 may not have the wavelength filter 202 for concealment.

[0078] The camera 11 can also be used as a detection unit that obtains biological information using electromagnetic waves. In this case, the irradiated light L and the reflected light R correspond to electromagnetic waves for obtaining biological information. In addition, in this case, the direction, position, and posture of the camera 11 relative to the user 200 correspond to the "direction, position, and posture of the detection unit relative to the user".

[0079] The camera 11 may also be constituted by a TOF (Time Of Flight) camera that outputs a distance image of the robot 100's surroundings to the control unit 13. Therefore, the captured image Im output from the camera 11 sometimes includes a three-dimensional captured image (distance image) in addition to the two-dimensional captured image, or includes a three-dimensional captured image (distance image) instead of the two-dimensional camera image. The captured image Im may also be used to detect the presence or approach of the user 200, detect the distance from the robot 100 to the user 200, authenticate the user 200, or infer the emotion or behavior of the user 200. The robot 100 may also have a plurality of cameras 11 at a plurality of locations of the robot 100 according to the purpose. In addition, the robot 100 may also have, in addition to the camera 11, a human sensor such as an ultrasonic sensor, an infrared sensor, a millimeter wave radar, or a LiDAR (light Detection And Raging).

[0080] <Configuration example of the life sensor 14>

[0081] Figure 5 14 is a diagram illustrating a configuration of a life sensor 14. The life sensor 14 is a microwave Doppler sensor having a microwave transmitting unit 141 and a microwave receiving unit 142. Microwaves are an example of electromagnetic waves.

[0082] The life sensor 14 transmits a transmission wave Ms as a microwave toward the user 200 through the microwave transmitting unit 141 from the inside of the exterior member 10. In addition, the life sensor 14 receives a reflected wave Mr resulting from the transmission wave Ms being reflected by the user 200 through the microwave receiving unit 142.

[0083] The life sensor 14 detects the micro displacement on the body surface caused by the heart beat of the user 200, etc., in a non-contact manner by using the Doppler effect based on the difference between the frequency of the transmission wave Ms and the frequency of the reflected wave Mr. The life sensor 14 can obtain the heartbeat, respiration, pulse wave, blood pressure, pulse pressure and other information of the user 200 as biological information based on the detected micro displacement, and output them to the control unit 13. The biological information includes at least one of the pulse, blood pressure, heartbeat and respiration. The respiratory information includes the respiratory rate, rhythm, breathing depth and the like. The pulse wave includes the pulse, pulse interval RR, pulse waveform, pulse wave propagation speed and the like.

[0084] The life sensor 14 is not limited to a microwave Doppler sensor, and may be a life sensor that detects tiny displacements generated on the body surface by using the coupling change between the human body and the antenna, or may be a life sensor that uses electromagnetic waves other than microwaves such as near-infrared light. In addition, the life sensor 14 may also be a millimeter wave radar, a microwave radar, etc. Furthermore, the life sensor 14 is preferably a non-contact thermometer that detects infrared rays emitted from the user 200 in addition to the Doppler sensor. In this case, the life sensor 14 detects biological information of the user 200 including information related to at least one of heartbeat (pulse), respiration, blood pressure, and body temperature. In addition, the life sensor 14 may also include a plurality of life sensors that can detect a variety of biological information such as heartbeat, respiration, pulse wave, blood pressure, pulse pressure, etc. by type, and detect a variety of biological information.

[0085] The life sensor 14 is provided inside the outer casing 10, so that the user 200 cannot visually recognize the life sensor 14. Thus, the user 200 can reduce the resistance to the detected biological information, and can smoothly obtain the biological information. In addition, since the life sensor 14 can obtain the biological information in a non-contact manner, it is different from a contact sensor that requires the user 200 to keep contact at the same place for a certain period of time, even if the user 200 moves to some extent, the biological information can be obtained.

[0086] Furthermore, by embracing the robot 100, the user 200 and the robot 100 are encouraged to come into contact with each other, so that the robot 100 is embraced by the user 200 and can acquire biological information while in contact or close to the user 200. Thus, the robot 100 can acquire biological information with reduced noise and high reliability.

[0087] The variable mechanism 18 supports the life sensor 14 so that the direction, position and posture of the life sensor 14 can be changed. The variable mechanism 18 includes a linear motion mechanism 181, a rotation mechanism 182 and a mechanism driving unit 183. The variable mechanism 18 places the life sensor 14 on the placement surface.

[0088] The direct-acting mechanism 181 is a mechanism part that can change the position of the life sensor 14 in the three-axis direction by direct-acting the life sensor 14 placed on the placement surface along the three-axis directions that are orthogonal to each other. As the direct-acting mechanism 181, a direct-acting table that can direct-act in the three-axis directions can be used. The rotating mechanism 182 is a mechanism part that can change the direction and posture of the life sensor 14 by rotating the life sensor 14 placed on the placement surface around the three axes that are orthogonal to each other. As the rotating mechanism 182, a rotating table that can rotate around the three axes can be used. The mechanism driving unit 183 drives the direct-acting mechanism 181 and the rotating mechanism 182 respectively according to the mechanism control signal from the control unit 13. As the mechanism driving unit 183, a motor can be used. In addition, the variable mechanism 18 does not need to direct-actuate the life sensor 14 in all three-axis directions, and does not need to rotate the life sensor 14 around all three axes. The variable mechanism 18 only needs to be able to change at least one of the direction, position, and posture of the life sensor 14.

[0089] <Configuration Example of Control Unit 13>

[0090] (Hardware Configuration Example)

[0091] Figure 6 1 is a block diagram showing an example of the hardware structure of the control unit 13. The control unit 13 is constructed by a computer and has a CPU (Central Processing Unit) 131, a ROM (Read Only Memory) 132, and a RAM (Random Access Memory) 133. In addition, the control unit 13 has a HDD / SSD (Hard Disk Drive / Solid State Drive) 134, a device connection I / F (Interface) 135, and a communication I / F 136. These are connected via a system bus A so as to be able to communicate with each other.

[0092] The CPU 131 performs control processing including various calculation processing. The ROM 132 stores programs such as IPL (Initial Program Loader) for driving the CPU 131. The RAM 133 is used as a work area for the CPU 131. The HDD / SSD 134 stores various information such as programs, camera images obtained by the camera 11, biological information obtained by the life sensor 14, and detection information obtained by various sensors such as tactile signals obtained by the tactile sensor 12.

[0093] The device connection I / F 135 is an interface for connecting the control unit 13 to various external devices. The external devices here include the camera 11, the touch sensor 12, the life sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the servo motor 35, the battery 15, the variable mechanism 18, the lamp 26, etc. In addition, the external devices also include Figure 1 Shown are a display 24, a speaker 25, etc.

[0094] Here, the servo motor 35 is a generic term for the right arm servo motor 35a, the left arm servo motor 35b, the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e. In addition, the display 24 is a generic term for the right eye display 24a and the left eye display 24b. Furthermore, the light 26 is a generic term for the right cheek light 26a and the left cheek light 26b.

[0095] The communication I / F 136 is an interface for communicating with an external device via a communication network, etc. For example, the control unit 13 is connected to the Internet via the communication I / F 136 and communicates with an external device via the Internet.

[0096] In addition, at least a part of the functions implemented by the CPU 131 may be implemented by an electric circuit or an electronic circuit.

[0097] (Functional configuration example)

[0098] Figure 7 1 is a block diagram showing an example of the functional structure of the control unit 13. The control unit 13 includes an acquisition unit 101, a communication control unit 102, a storage unit 103, an authentication unit 104, a registration unit 105, a start control unit 106, a motor control unit 107, a proximity detection unit 108, and an output unit 109. Furthermore, the control unit 13 includes a deviation amount information acquisition unit 110, a variable mechanism control unit 111, a display control unit 112, a sound control unit 113, and a light emission control unit 114. In addition, the control unit 13 may also include functional structural units other than the above-mentioned units.

[0099] The control unit 13 can realize the functions of the acquisition unit 101 and the output unit 109 through the device connection I / F 135 and the like, and can realize the function of the communication control unit 102 through the communication I / F 136 and the like. In addition, the control unit 13 can realize the functions of the storage unit 103 and the registration unit 105 through the non-volatile memory such as the HDD / SSD 134. Furthermore, the control unit 13 can realize the functions of the authentication unit 104, the start control unit 106, the motor control unit 107, and the proximity detection unit 108 by executing the processing specified by the program stored in the non-volatile memory such as the ROM 132 through the processor such as the CPU 131.

[0100] In addition, the control unit 13 can realize the functions of the deviation amount information acquisition unit 110, the variable mechanism control unit 111, the display control unit 112, the sound control unit 113, and the light emission control unit 114 by executing the processing specified by the program stored in the non-volatile memory such as the ROM 132 through the processor such as the CPU 131. In addition, part of the above functions of the control unit 13 can also be realized by an external device such as a PC (Personal Computer) or a server, or can be realized by distributed processing between the control unit 13 and the external device.

[0101] The acquisition unit 101 acquires the captured image Im of the user 200 from the camera 11 by controlling the communication between the control unit 13 and the camera 11. In addition, the acquisition unit 101 acquires the tactile signal S from the tactile sensor 12 by controlling the communication between the control unit 13 and the tactile sensor 12. Furthermore, the acquisition unit 101 acquires the biological information B of the user 200 from the life sensor 14 by controlling the communication between the control unit 13 and the life sensor 14.

[0102] The acquisition unit 101 acquires the first capacitance signal C1 from the first capacitance sensor 21 by controlling the communication between the control unit 13 and the first capacitance sensor 21. The acquisition unit 101 acquires the second capacitance signal C2 from the second capacitance sensor 31 by controlling the communication between the control unit 13 and the second capacitance sensor 31.

[0103] The communication control unit 102 controls communication with external devices via a communication network, etc. For example, the communication control unit 102 can send the captured image Im obtained by the camera 11, the biological information B obtained by the life sensor 14, the tactile signal S obtained by the tactile sensor 12, etc. to the external device via the communication network.

[0104] The storage unit 103 stores highly reliable information among the biological information B acquired by the life sensor 14. The storage unit 103 continuously stores the acquired biological information B while the acquisition unit 101 acquires the highly reliable biological information B from the life sensor 14. In addition, the storage unit 103 can also store information obtained based on the captured image Im acquired by the camera 11, the tactile signal S from the tactile sensor 12, the first electrostatic capacitance signal C1 from the first electrostatic capacitance sensor 21, and the second electrostatic capacitance signal C2 from the second electrostatic capacitance sensor 31. In addition, the storage unit 103 can also store the following pre-deviation amount information 151, pre-activity amount information 152, first threshold value information, second threshold value information, etc.

[0105] The authentication unit 104 performs personal authentication on the user 200 based on the captured image Im of the user 200 acquired by the camera 11. For example, the authentication unit 104 performs facial authentication based on the captured image Im including the face of the user 200 captured by the camera 11, referring to the registration information 150 of the facial image pre-registered in the registration unit 105. In this way, the user 200 who is currently in contact with or close to the robot 100 can be associated with the pre-registered personal information, and the biometric information B acquired by the life sensor 14 can be associated with the personal information. In addition, the control unit 13 may control to stop the start of acquisition of the biometric information by the life sensor 14 when the facial image included in the captured image Im is not registered in the registration unit 105.

[0106] The start control unit 106 causes the life sensor 14 to start acquiring the biological information B. For example, when the proximity detection unit 108 detects contact or proximity of the user 200 with respect to the robot 100, the start control unit 106 turns on a switch that supplies power from the battery 15 to the life sensor 14. Thus, the start control unit 106 causes the life sensor 14 to start acquiring the biological information B.

[0107] The proximity detection unit 108 detects the contact or approach of the user 200 with respect to the robot 100 based on the captured image Im obtained by the camera 11 or the like. The proximity detection unit 108 may also detect the distance from the robot 100 to the user 200 based on the captured image Im obtained by the camera 11. In addition, the proximity detection unit 108 may also detect the contact or approach of the user 200 with respect to the robot 100 based on the first electrostatic capacitance signal C1 or the second electrostatic capacitance signal C2. Furthermore, the proximity detection unit 108 may also detect the contact or approach of the user 200 with respect to the robot 100 based on the tactile signal S from the tactile sensor 12.

[0108] The deviation information acquisition unit 110 acquires deviation information M1, which is information related to the deviation of at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 from a given state. The deviation information M1 includes information indicating the deviation from the given state and information related to the deviation from the given state.

[0109] For example, the life sensor 14 outputs a first signal u1 related to the heart rate of the user 200 and a second signal u2 related to the respiration of the user 200 to the control unit 13. The deviation information acquisition unit 110 obtains the first deviation information related to the heart rate by comparing a predetermined first threshold value related to the heart rate with the signal strength of the first signal u1. In addition, the deviation information acquisition unit 110 obtains the second deviation information related to the respiration by comparing a predetermined second threshold value related to the respiration with the signal strength of the second signal u2. In addition, the biological information B may be information including the first signal u1 and the second signal u2, or may be the information itself indicated by the first signal u1 and the second signal u2. In addition, the biological information B may also be information obtained by processing at least one of the first signal u1 and the second signal u2.

[0110] When the direction, position, and posture of the life sensor 14 do not deviate from the given state, the deviation information acquisition unit 110 outputs the biological information B to the external device via the output unit 109. The external device here is a PC, a display device, a storage device, an external server, etc. provided outside the control unit 13. In addition, the deviation information acquisition unit 110 may output the biological information B and store it in the storage unit 103. On the other hand, when at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 deviates from the given state, the deviation information acquisition unit 110 outputs the deviation information M1 including the first deviation information and the second deviation information to the motor control unit 107.

[0111] The above-mentioned given state refers to a state in which the direction, position and posture of the life sensor 14 relative to the user 200 are appropriate so that highly reliable biological information can be obtained through the life sensor 14. For example, the given state refers to a state in which the first signal u1 is below the first threshold and the second signal u2 is below the second threshold.

[0112] In addition, the robot 100 may be configured to use the camera 11 as a detection unit, and the control unit 13 may obtain the biological information B based on the captured image Im obtained by the camera 11. For example, the control unit 13 may obtain the biological information B through rPPG (remote photoplethysmography) based on the captured image Im. The so-called rPPG refers to a technology that estimates heart rate and breathing by analyzing changes in skin color caused by blood flow. When the camera 11 is used as a detection unit, the deviation information acquisition unit 110 obtains the deviation information M1 based on the captured image Im obtained by the camera 11. However, in order to simplify the description below, the case where the life sensor 14 is used as a detection unit is described as an example.

[0113] The motor control unit 107 controls the operation of the servo motor 35 based on the deviation information M1 from the deviation information acquisition unit 110 so as to notify the user 200 that at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 has deviated from a given state. The motor control unit 107 can control the operation of the servo motor 35 by controlling the operation of the servo motor 35. Figure 1 The movement of the arm 3 shown in the figure.

[0114] For example, when the life sensor 14 deviates from the user 200, the motor control unit 107 outputs a command N1 for causing the arm 3 to "shake" to the servo motor 35 via the output unit 109. The motor control unit 107 can report the deviation to the user 200 by causing the arm 3 to "shake" via the servo motor 35. After a given time has passed since the shaking action of the arm 3 began, the motor control unit 107 stops the shaking action. The user 200 recognizes that the holding state of the robot 100 is inappropriate through the shaking of the arm 3, and corrects at least one of the direction, position, and posture of the robot 100. As the direction, position, and posture of the robot 100 are corrected, the direction, position, and posture of the life sensor 14 relative to the user 200 are corrected.

[0115] The motor control unit 107 may control the movement of the arm 3 in such a manner that the smaller the deviation of the life sensor 14 from the user 200 is, the smaller the amount of activity of the arm 3 accompanying the shaking is. This is because the user 200 can recognize that the above-mentioned deviation is decreasing and the correction of the direction, position and posture of the robot 100 relative to the user 200 is correct. For example, when the sum of the first deviation and the second deviation is smaller than the sum of the last first deviation and the second deviation indicated by the pre-deviation amount information 151 stored in the storage unit 103, the motor control unit 107 sets the amount of activity of the shaking of the arm 3 to be smaller than the last amount of activity indicated by the pre-activity amount information 152 stored in the storage unit 103. The amount of reduction in the amount of activity may be predetermined and stored in the storage unit 103, etc. In addition, the motor control unit 107 may be configured to shorten the shaking time as the deviation of the life sensor 14 from the user 200 is smaller. In addition, in this specification, the sum of the first deviation and the second deviation is exemplified as the deviation, but it is not limited to this. The larger of the first deviation and the second deviation may be used as the deviation, or the average of the first deviation and the second deviation may be used as the deviation.

[0116] On the other hand, the motor control unit 107 may control the movement of the arm 3 in such a manner that the larger the deviation is, the larger the amount of activity of the arm 3 accompanying the shaking is. This is because it allows the user 200 to recognize that the deviation is increasing and that the correction of the direction, position and posture of the robot 100 relative to the user 200 is wrong. For example, when the sum of the first deviation and the second deviation is greater than the sum of the first deviation and the second deviation of the last time shown in the pre-deviation amount information 151 stored in the storage unit 103, the motor control unit 107 sets the amount of activity of the shaking of the arm 3 to be greater than the amount of activity of the last time shown in the pre-activity amount information 152 stored in the storage unit 103. The amount of increase in the amount of activity may be predetermined and stored in the storage unit 103, etc. In addition, it may be configured so that the motor control unit 107 makes the shaking time longer as the deviation of the life sensor 14 relative to the user 200 is greater.

[0117] Through the above, the robot 100 can assist the user 200 in correcting the holding state of the robot 100 , and can reduce the deviation of the life sensor 14 relative to the user 200 .

[0118] The motor control unit 107 may also report to the user 200 that the life sensor 14 is offset from the user 200 by actions other than shaking the arm 3. For example, the motor control unit 107 may control the action of the robot 100 by shaking the leg 4 or moving the head 2 forward, backward, left, and right.

[0119] The motor control unit 107 may also control the robot 100 itself to change its direction, position, and posture, in addition to the control of notifying the user 200 that the vital sensor 14 is deviated from the user 200. That is, the motor control unit 107 may change at least one of the direction, position, and posture of the vital sensor 14 relative to the user 200 by changing at least one of the direction, position, and posture of the robot 100. For example, the motor control unit 107 may control the movement of the robot 100 in such a manner that the robot 100 moves its arm 3 or leg 4 from the state of being held by the user 200, the robot 100 itself crawls on the body of the user 200, or the robot 100 itself changes its direction or posture. In this case, the robot 100 can also reduce the deviation of the vital sensor 14 relative to the user 200.

[0120] The deviation amount information acquisition unit 110 may also output the deviation amount information M1 to the display control unit 112. For example, when at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 deviates from a given state, the display control unit 112 may output a command N2 for displaying an image expressing a negative emotion such as "embarrassed eyes" or "angry eyes" to the display 24 via the output unit 109. The display control unit 112 can report the deviation from the given state to the user by causing the display 24 to display an image expressing a negative emotion. The display control unit 112 stops the display after a given time has passed since the display of the image expressing the negative emotion started. The user 200 recognizes that the holding state of the robot 100 is inappropriate by visually recognizing the image displayed on the display 24, and corrects at least one of the direction, position, and posture of the robot 100. As the direction, position, and posture of the robot 100 are corrected, the direction, position, and posture of the life sensor 14 relative to the user 200 are corrected. When the direction, position and posture of the life sensor 14 relative to the user 200 are in a given state, the display control unit 112 may cause the display 24 to display an image expressing positive emotions such as “smiling eyes” to notify the user that the given state has been reached.

[0121] The deviation amount information acquisition unit 110 may also output the deviation amount information M1 to the sound control unit 113. For example, when at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 deviates from a given state, the sound control unit 113 may also output to the speaker 25 an instruction N3 for outputting a sound corresponding to the deviation from the given state. The sound control unit 113 can report the deviation from the given state to the user by outputting the sound from the speaker 25. The sound control unit 113 stops the output of the sound after a given time has passed since the output of the sound corresponding to the deviation from the given state starts. The user 200 recognizes that the holding state of the robot 100 is inappropriate by listening to the sound output from the speaker 25, and corrects at least one of the direction, position, and posture of the robot 100. As the direction, position, and posture of the robot 100 are corrected, the direction, position, and posture of the life sensor 14 relative to the user 200 are corrected. When the direction, position and posture of the life sensor 14 relative to the user 200 become a given state, the sound control unit 113 may also output a sound corresponding to the given state to the speaker 25 to report the situation to the user. In addition, the sound control unit 113 may assist the user 200 in correcting the holding state of the robot 100 by outputting a louder sound as the deviation of the life sensor 14 relative to the user 200 increases, or outputting a softer sound as the deviation decreases.

[0122] The deviation amount information acquisition unit 110 may also output the deviation amount information M1 to the light control unit 114. For example, when the life sensor 14 deviates from a given state in at least one of the direction, position, and posture relative to the user 200, the light control unit 114 may also output a command N4 to the right cheek light 26a and the left cheek light 26b to change the light emission state of the right cheek light 26a and the left cheek light 26b. The light control unit 114 can report to the user that the given state has been deviated from by the change in the light emission state of the right cheek light 26a and the left cheek light 26b. For example, the light control unit 114 can report to the user that the given state has been deviated from by flashing the light of the light 26, or by making it darker than the brightness when it is not deviated, or by changing the color relative to the color when it is not deviated. The light control unit 114 stops the light emission state change action after a given time has passed since the start of the light emission state change action. The user 200 recognizes that the holding state of the robot 100 is inappropriate by observing the lighting state of the lamp 26, and thus corrects at least one of the direction, position, and posture of the robot 100. As the direction, position, and posture of the robot 100 are corrected, the direction, position, and posture of the life sensor 14 relative to the user 200 are corrected. When the direction, position, and posture of the life sensor 14 relative to the user 200 become a given state, the lighting control unit 114 can also report to the user that it has not deviated from the given state through the lighting state of the lamp 26. In addition, the lighting control unit 114 can also assist the user 200 in correcting the holding state of the robot 100 by making the lighting darker as the deviation of the life sensor 14 relative to the user 200 increases, or making the lighting brighter as the deviation decreases.

[0123] The robot 100 may also report to the user 200 that at least one of the direction, position, and posture of the life sensor 14 is deviated by controlling the operation of at least one of the display 24 , the light 26 , the arm 3 , and the speaker 25 .

[0124] The deviation amount information acquisition unit 110 may also output the deviation amount information M1 to the variable mechanism control unit 111. For example, when the life sensor 14 is deviated from the user 200, the variable mechanism control unit 111 outputs a command N5 for controlling the operation of the variable mechanism 18 to the variable mechanism 18 via the output unit 109. The command N5 corresponds to the mechanism control signal. The variable mechanism control unit 111 may also change at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 by controlling the operation of the variable mechanism 18. In this case, the robot 100 can also reduce the deviation of the life sensor 14 relative to the user 200.

[0125] In addition to the above, you can also adjust Figure 5The mechanism for determining the transmission direction of the transmission wave Ms or the reception direction of the reflected wave Mr is built into the life sensor 14. The control unit 13 can also control the operation of the above-mentioned mechanism in the life sensor 14 in such a way that at least one of the direction, position and posture of the life sensor 14 relative to the user 200 changes. The control unit 13 can change the detection direction of the biological information by the life sensor 14 by controlling the operation of the above-mentioned mechanism. Therefore, in this specification, "the direction, position and posture change of the life sensor 14" includes "the detection direction of the biological information by the life sensor 14 changes". In this specification, the deviation information M1 includes information on the deviation of the detection direction of the life sensor 14 relative to the user 200 from a given state.

[0126] <Processing Example of Control Unit 13>

[0127] Figure 8 It is a flowchart which illustrates the processing of the control unit 13. Figure 8 FIG. 1 shows an example of processing of the control unit 13 in the robot 100 for acquiring biological information from the user 200 through the life sensor 14. When the control unit 13 detects contact or approach of the user 200 with respect to the robot 100 through the proximity detection unit 108, the control unit 13 starts Figure 8 Below, please refer to Figure 7 The functional structure diagram is used to illustrate this.

[0128] First, in step S81 , the control unit 13 obtains, through the deviation information obtaining unit 110 , the intensity information of the first signal u1 related to the heart rate detected by the life sensor 14 .

[0129] Next, in step S82, the control unit 13 obtains the intensity information of the second signal u2 related to breathing detected by the vital sensor 14 through the deviation information acquisition unit 110. The processing of step S81 and step S82 may be performed in a different order as appropriate, or both may be performed simultaneously.

[0130] Next, in step S83 , the control unit 13 determines, through the deviation amount information acquisition unit 110 , whether the intensity of the first signal u1 is equal to or greater than the first threshold value and whether the intensity of the second signal u2 is equal to or greater than the second threshold value.

[0131] When it is determined in step S83 that the intensity of the first signal u1 is not greater than the first threshold and the intensity of the second signal u2 is not greater than the second threshold (step S83, "No"), in step S84, the control unit 13 calculates the first deviation between the intensity of the first signal u1 and the first threshold and the second deviation between the intensity of the second signal u2 and the second threshold through the deviation information acquisition unit 110. The deviation information acquisition unit 110 outputs the deviation information M1 including the information of the first deviation and the information of the second deviation to the motor control unit 107.

[0132] Next, in step S85, the control unit 13 determines, through the motor control unit 107, whether the pre-deviation amount is in the initial state, that is, whether it is in the Figure 8 In the processing, the sum of the first deviation amount and the second deviation amount is calculated for the first time to make a judgment.

[0133] If it is determined in step S85 that the state is in the initial state (step S85, YES), the control unit 13 sets the predetermined initial value of the activity amount as the shaking activity amount through the motor control unit 107. Thereafter, the process proceeds to step S89.

[0134] On the other hand, when it is determined in step S85 that it is not the initial state (step S85, "No"), in step S86, the control unit 13 determines through the motor control unit 107 whether the sum of the first deviation amount and the second deviation amount is greater than the sum of the previous first deviation amount and the second deviation amount shown in the pre-deviation amount information 151 stored in the storage unit 103.

[0135] When it is determined in step S86 that the sum of the first deviation amount and the second deviation amount is not greater than the sum of the first deviation amount and the second deviation amount of the previous time (step S86, "No"), in step S87, the control unit 13 sets the shaking activity amount to be smaller than the previous activity amount through the motor control unit 107. Thereafter, the control unit 13 transfers the processing to step S89.

[0136] On the other hand, when it is determined in step S86 that the sum of the first deviation and the second deviation is greater than the sum of the previous first deviation and the second deviation (step S86, "yes"), in step S88, the control unit 13 sets the shaking activity amount to be greater than the previous activity amount through the motor control unit 107.

[0137] Next, in step S89, the control unit 13 outputs a command N1 for “shaking” the arm 3 to the servo motor 35 via the output unit 109 through the motor control unit 107. The motor control unit 107 notifies the user 200 of the presence of deviation by “shaking” the arm 3 via the servo motor 35. The motor control unit 107 stops the shaking of the arm 3 after a given time has passed since the shaking motion of the arm 3 started.

[0138] Next, in step S90 , the control unit 13 stores the sum of the first deviation amount and the second deviation amount as the preliminary deviation amount information 151 via the storage unit 103 .

[0139] Next, in step S91, the control unit 13 stores the shaking activity as pre-activity information 152 via the storage unit 103. After that, the control unit 13 performs the processing after step S81 again. In addition, the processing of step S89 to step S91 can be appropriately changed in order, or both can be performed simultaneously.

[0140] On the other hand, when it is determined in step S83 that the intensity of the first signal u1 is above the first threshold and the intensity of the second signal u2 is above the second threshold (step S83, "yes"), in step S92, the control unit 13 outputs the biological information B including the heart rate and breathing characteristics to the external device via the output unit 109 through the deviation information acquisition unit 110.

[0141] Next, in step S93, the control unit 13 determines whether to terminate the process. For example, the control unit 13 may determine that the process is terminated when a predetermined time has passed, and determine that the process is not terminated when the predetermined time has not passed. Alternatively, the control unit 13 may determine that the process is terminated when it is detected that the user 200 is neither in contact with nor in proximity to the robot 100, and determine that the process is not terminated when it is detected that the user 200 is in contact with or in proximity to the robot 100. However, the method for determining whether to terminate the process may be other than the above-mentioned method.

[0142] If it is determined in step S93 that the process is not to be terminated (step S93, "No"), the control unit 13 performs the process from step S81 onwards again. On the other hand, if it is determined in step S93 that the process is to be terminated (step S93, "Yes"), the control unit 13 terminates the process. When terminating the process, the control unit 13 may replace the pre-deviation amount information 151 and the pre-activity amount information 152 with the initial values, or may update the initial values ​​by using the pre-deviation amount information 151 and the pre-activity amount information 152 at the end as the initial values.

[0143] As described above, the control unit 13 can execute the process of acquiring biological information from the user 200 through the life sensor 14 in the robot 100. In addition, the control of shaking the arm 3 is exemplified here, but in the process of controlling the operation of the display 24, the speaker 25, the light 26 or the variable mechanism 18, the process of the motor control unit 107 can also be replaced by the process of the display control unit 112, the sound control unit 113, the light control unit 114 or the variable mechanism control unit 111. Figure 8 Flowchart of the process.

[0144] <Example of the state in which the user 200 holds the robot 100>

[0145] Fig. 9 and Fig.10 2 is a diagram illustrating a holding state of the robot 100 . Fig. 9 Indicates the first example, Fig.10 Indicates the second example.

[0146] exist Fig. 9 In the figure, the user 200 holds the robot 100 so that the abdomen 191 of the robot 100 is located near the user's chest P1. The measurement site where the life sensor 14 obtains biological information from the user 200 is mainly near the user's chest P1. The transmission wave Ms is mainly transmitted to the user's chest P1.

[0147] On the other hand, Fig.10 In the figure, the user 200 holds the robot 100 so that the abdomen 191 of the robot 100 is located near the user's abdomen P2. The measurement site where the life sensor 14 obtains biological information from the user 200 is mainly near the user's abdomen P2. The transmission wave Ms is mainly transmitted to the user's abdomen P2.

[0148] The following Table 1 shows Fig. 9 The state of the first example shown and Fig.10 The states of the first signal u1 related to the heart rate and the second signal u2 related to the breathing in the state of the second example shown. "◎" indicates that the signal state is optimal, "○" indicates that the signal state is good, and "△" indicates that the signal state is average. As shown in Table 1, in the first example, the first signal u1 related to the heart rate and the second signal u2 related to the breathing are both in good condition. In the second example, since the biological information is mainly obtained from the user's abdomen P2 of the user 200, the signal strength of the second signal u2 related to the breathing becomes high, and the signal state reaches the best. On the contrary, the signal strength of the first signal u1 related to the heart rate becomes low, and the signal state becomes average, so post-processing of the signal is required.

[0149]

Table 1

[0150] first case Second example Measurement site Chest abdomen Heart rate 〇 △ breathe 〇 ◎

[0151] As described above, since the biological information obtained varies depending on the measurement site, it is preferable to consider the application scenario of the robot 100 and devise a design to arrange the life sensor 14 in the robot 100. For example, assuming that the user 200 holds the robot 100 on the knees where it is easy to hold, it is preferable to adopt a design such as arranging the life sensor 14 on the head of the robot 100 so that the biological information can be easily obtained from the user's chest P1 of the user 200. Alternatively, it is preferable to adopt a design such as arranging the life sensor 14 to be suitable for two holding states, namely, the approaching direction and the forward direction.

[0152] <Main functions and effects of robot 100>

[0153] As described above, the robot 100 includes an exterior member 10, a life sensor 14 (detection unit), and a control unit 13. The control unit 13 controls the operation of at least one of the robot 100 and the life sensor 14 in such a manner that at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 is changed based on the biological information B obtained by the life sensor 14. Since the biological information of the user is obtained in a non-contact manner using electromagnetic waves, the sense of restraint and resistance felt by the user 200 can be reduced, so that the biological information can be obtained naturally. In addition, in the present embodiment, in the case where the direction, position, or posture of the life sensor 14 relative to the user 200 is inappropriate and the biological information with high reliability cannot be obtained, or in the case where the biological information with high reliability cannot be obtained due to the presence of shielding objects such as the user's clothes and luggage, the direction, position, and posture of the life sensor 14 relative to the user 200 are changed so that the biological information with high reliability can be obtained. As a result, in the present embodiment, a robot 100 that can naturally obtain biological information with high reliability can be provided. In addition, the reliability of biological information can be determined by setting a given threshold for the signal related to the biological information in advance and judging whether the signal related to the biological information exceeds the threshold. In this case, the threshold can be set for example based on the peak intensity of the signal waveform or the S / N (Signal / Noise) ratio.

[0154] In addition, in the present embodiment, the control unit 13 controls the action of the robot 100 in such a manner as to report to the user 200 that at least one of the direction, position, and posture of the life sensor 14 relative to the user 200 has deviated from a given state. The user corrects the holding state of the robot 100 according to the action of the robot 100, whereby the robot 100 can naturally obtain highly reliable biological information. In addition, in the present embodiment, the information of heart rate and respiration is mainly exemplified as biological information, but the present embodiment can also be applied to biological information other than heart rate and respiration.

[0155] As mentioned above, although the preferred embodiment was described in detail, it is not limited to the above-mentioned embodiment, and various deformation|transformation and substitution can be made to the above-mentioned embodiment without departing from the scope described in the claims.

[0156] In addition, the numbers such as ordinal numbers and quantities used in the description of the above-mentioned embodiments are all illustrative for the purpose of specifically describing the technology of the present invention, and the present invention is not limited to the illustrative numbers. In addition, the connection relationship between the constituent elements is the connection relationship illustrative for the purpose of specifically describing the technology of the present invention, and the connection relationship for realizing the functions of the present invention is not limited thereto.

[0157] The robot involved in this embodiment is particularly suitable for the following purposes: promoting the secretion of oxytocin and providing healing (sense of security or self-affirmation) for people living alone, elderly people whose children have become independent, and frail elderly people who are the objects of home medical treatment. However, it is not limited to this purpose and can be used to provide healing for various users.

[0158] The embodiments of the present invention are as follows, for example.

[0159] <1> A robot capable of acquiring biological information of a user while in contact with or in proximity to the user, the robot comprising: an exterior member; a detection unit that acquires the biological information using electromagnetic waves; and a control unit that controls the movement of at least one of the robot and the detection unit in such a way that the detection unit changes at least one of a direction, a position, and a posture relative to the user, based on the biological information acquired by the detection unit.

[0160] <2> The robot according to <1> above, wherein the control unit controls the operation of the robot so as to report to the user that at least one of the direction, position, and posture of the detection unit relative to the user deviates from a given state.

[0161] <3> The robot according to <2> above, wherein the control unit controls the movement of the robot in such a manner that the smaller the deviation of at least one of the direction, position and posture of the detection unit relative to the user from the given state is, the smaller the activity of the robot is.

[0162] <4> The robot according to <2> above, wherein the control unit controls the movement of the robot in such a manner that the greater the deviation of at least one of the direction, position and posture of the detection unit relative to the user from the given state, the greater the activity of the robot.

[0163] <5> A robot according to any one of <1> to <4> above, wherein the control unit controls the action of at least one of a display unit, a light emitting unit, a driving body and a sound generating unit, the display unit is arranged at the eye of the robot, the light emitting unit is arranged at the head of the robot, the driving body includes an arm of the robot connected to the robot body in a manner capable of relative displacement, and the sound generating unit is arranged at the robot.

[0164] <6> The robot according to any one of <1> to <5> above, wherein the biological information includes at least one of pulse, blood pressure, heartbeat, and respiration.

[0165] <7> The robot according to any one of <1> to <6> above, wherein the control unit changes at least one of the direction, position and posture of the detection unit relative to the user by changing at least one of the direction, position and posture of the robot.

[0166] <8> The robot according to any one of <1> to <7> above has a variable mechanism, which supports the detection unit in a manner capable of changing at least one of the direction, position and posture of the detection unit, and the control unit changes at least one of the direction, position and posture of the detection unit relative to the user by controlling the action of the variable mechanism.

[0167] This application claims priority based on Japanese Patent Application No. 2022-156761 filed with the Japan Patent Office on September 29, 2022, and incorporates all the contents of the Japanese patent application.

[0168] Explanation of symbols

[0169] 1: Body

[0170] 2: Head

[0171] 2a: Right eye

[0172] 2b: Left eye

[0173] 2c: Mouth

[0174] 2d: right cheek

[0175] 2e: Left cheek

[0176] 3: Arm

[0177] 3a: Right arm

[0178] 3b: Left arm

[0179] 4: Legs

[0180] 4a: Right leg

[0181] 4b: Left leg

[0182] 5: Nose

[0183] 10: Exterior components

[0184] 11: Camera (an example of a detection unit)

[0185] 12: Tactile sensor

[0186] 13: Control Department

[0187] 14: Life sensor (an example of a detection unit)

[0188] 141: Microwave Transmitter

[0189] 142: Microwave receiving unit

[0190] 15: Battery

[0191] 16: Body frame

[0192] 17: Body loading platform

[0193] 18: Variable mechanism

[0194] 181: Direct-acting mechanism

[0195] 182: Rotation mechanism

[0196] 183: Mechanism drive department

[0197] 21: First electrostatic capacitance sensor

[0198] 22: Head frame

[0199] 23: Head loading platform

[0200] 24: Display

[0201] 24a: Right eye display

[0202] 24b: Left eye display

[0203] 25: Speaker (an example of a sound generating unit)

[0204] 26: Lamp (an example of a light-emitting part)

[0205] 26a: Right cheek light

[0206] 26b: Left cheek light

[0207] 27: Head connection mechanism

[0208] 31: Second electrostatic capacitance sensor

[0209] 32a: Right arm frame

[0210] 32b: Left arm frame

[0211] 33: Right arm support platform

[0212] 34a: Right arm connection mechanism

[0213] 34b: Left arm connection mechanism

[0214] 35: Servo motor

[0215] 35a: Right arm servo motor

[0216] 35b: Left arm servo motor

[0217] 35c: Head servo motor

[0218] 35d: Right leg servo motor

[0219] 35e: Left leg servo motor

[0220] 41a: Right leg wheel

[0221] 41b: Left leg wheel

[0222] 42a: Right leg frame

[0223] 42b: Left leg frame

[0224] 44a: Right leg connection mechanism

[0225] 44b: Left leg connection mechanism

[0226] 100: Robot

[0227] 101: Acquisition

[0228] 102: Communication control unit

[0229] 103: Preservation Department

[0230] 104: Certification Department

[0231] 105: Registration Department

[0232] 106: Start control department

[0233] 107: Motor control unit

[0234] 108: Proximity detection unit

[0235] 109: Output

[0236] 110: Deviation amount information acquisition unit

[0237] 111: Variable mechanism control unit

[0238] 112: Display control unit

[0239] 113: Sound Control Department

[0240] 114: Lighting control unit

[0241] 131: CPU

[0242] 132: ROM

[0243] 133: RAM

[0244] 134: HDD / SSD

[0245] 135: Device connection I / F

[0246] 136: Communication I / F

[0247] 150: Registration information

[0248] 151: Pre-deviation information

[0249] 152: Pre-activity information

[0250] 191: Abdomen

[0251] 200: User

[0252] 201: Light source for shooting

[0253] 202: Wavelength filter

[0254] 203: Lens

[0255] 204: Camera Components

[0256] A: System bus

[0257] B: Biological information

[0258] C1: First electrostatic capacitance signal

[0259] C2: Second electrostatic capacitance signal

[0260] F1a: Right shoulder frame

[0261] F2a: Right upper arm frame

[0262] F3a: Right elbow frame

[0263] F4a: Right forearm frame

[0264] F1b: Left shoulder frame

[0265] F2b: Left upper arm frame

[0266] F3b: Left elbow frame

[0267] F4b: Left forearm frame

[0268] F1c: Neck frame

[0269] F2c: Face framing

[0270] Im: Take an image

[0271] L: Irradiation light

[0272] Ms: Emission wave

[0273] Mr: Reflection wave

[0274] M1: Deviation information

[0275] M1a: Right shoulder servo motor

[0276] M2a: Right upper arm servo motor

[0277] M3a: Right elbow servo motor

[0278] M4a: Right forearm servo motor

[0279] M1b: Left shoulder servo motor

[0280] M2b: Left upper arm servo motor

[0281] M3b: Left elbow servo motor

[0282] M4b: Left forearm servo motor

[0283] M1c: Neck servo motor

[0284] M2c: Face servo motor

[0285] N1~N5:Instructions

[0286] P1: User's chest

[0287] P2: User's abdomen

[0288] R: reflected light

[0289] S: Tactile signal

[0290] u1: first signal

[0291] u2: second signal.

Claims

1. A robot capable of acquiring biological information of a user while in contact with or close to the user, comprising: Exterior components; a detection unit that uses electromagnetic waves to obtain the biological information; and A control unit controls the operation of at least one of the robot and the detection unit in such a manner that at least one of the direction, position, and posture of the detection unit relative to the user is changed based on the biological information acquired by the detection unit.

2. The robot according to claim 1, wherein: The control unit controls the operation of the robot so as to report to the user that at least one of the direction, position, and posture of the detection unit relative to the user deviates from a predetermined state.

3. The robot according to claim 2, wherein: The control unit controls the motion of the robot such that the smaller the deviation of at least one of the direction, position, and posture of the detection unit relative to the user from the given state is, the smaller the amount of movement of the robot is.

4. The robot according to claim 2, wherein: The control unit controls the motion of the robot such that the greater the deviation of at least one of the direction, position, and posture of the detection unit relative to the user from the given state, the greater the activity of the robot.

5. The robot according to claim 1 or 2, wherein: The control unit controls the action of at least one of a display unit, a light emitting unit, a driving body, and a sound generating unit. The display unit is arranged at the eye of the robot, the light emitting unit is arranged at the head of the robot, the driving body includes an arm of the robot connected to the robot body in a manner capable of relative displacement, and the sound generating unit is arranged at the robot.

6. The robot according to claim 1 or 2, wherein: The biological information includes at least one of pulse, blood pressure, heartbeat, and respiration.

7. The robot according to claim 1 or 2, wherein: The control unit changes at least one of the direction, position, and posture of the robot to thereby change at least one of the direction, position, and posture of the detection unit relative to the user.

8. The robot according to claim 1 or 2, wherein: The robot has a variable mechanism that supports the detection unit in a manner that enables at least one of the direction, position, and posture of the detection unit to be changed. The control unit changes at least one of the direction, position, and posture of the detection unit relative to the user by controlling the operation of the variable mechanism.

9. A robot capable of acquiring biological information of a user while in contact with or close to the user, comprising: Exterior components; a detection unit that uses electromagnetic waves to obtain the biological information; and A control unit that controls the action of at least one of the robot and the detection unit in a manner that causes at least one of the robot and the detection unit to change at least one of the direction, position and posture of the user relative to the user when the reliability of the biological information obtained through the detection unit is less than a given threshold.

Images