Robot, control method, and program

Abstract

Provided is a technique for a robot to come into contact with a user in a warm state. The robot includes: an acquisition unit that acquires information relating to presence or proximity of a user and information relating to a surface temperature of the robot; and a behavior control unit that, when the presence or proximity of the user is detected, instructs execution of a behavior that temporarily avoids contact with the user when the surface temperature of the robot does not reach the target temperature.

Description

Technical Field

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

[0002] Conventionally, there is known a robot that is designed to come into contact with a user. Also known is a robot that provides healing by making the user feel the warmth of the robot.

[0003] Patent Document 1 discloses that when the temperature of the exterior portion heated by the heat generated inside the robot reaches a predetermined temperature or higher, an operation such as a biological rest is performed to reduce the heat generation.

[0004] <Prior Art Literature>

[0005] <Patent Documents>

[0006] Patent Document 1: Japanese Patent Application Publication No. 2009-104878 Summary of the invention

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

[0008] However, Patent Document 1 does not originally assume that the robot generates less heat. If the surface temperature of the robot is always controlled, there is a problem of increased power consumption. On the other hand, if the temperature control is turned on and off for energy saving, the robot will touch the user in a non-warm state and cannot provide treatment to the user.

[0009] The purpose of the technology of the present invention is to allow the robot to touch the user in a warm state.

[0010] <Methods used to solve the problem>

[0011] One embodiment of the present invention is a robot comprising: an acquisition unit that acquires information related to the presence or approach of a user and information related to the surface temperature of the robot; and a behavior control unit that instructs the execution of a behavior of temporarily avoiding contact with the user when the surface temperature of the robot does not reach a target temperature when the presence or approach of the user is detected.

[0012] <Effects of the Invention>

[0013] According to one aspect of the present invention, the robot can be brought into contact with the user in a warm state. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a perspective view of a robot according to one embodiment.

[0015] Figure 2 This is a side view of a robot according to one embodiment.

[0016] Figure 3 This is a cross-sectional view of the robot along the III-III cutting line according to one embodiment.

[0017] Figure 4 It is a diagram showing the structure of a life sensor according to one embodiment.

[0018] Figure 5 This is a block diagram showing a hardware configuration of a control unit according to one embodiment.

[0019] Figure 6 This is a block diagram showing a functional configuration of a control unit according to one embodiment.

[0020] Figure 7 This is a flowchart showing the processing of the control unit according to one embodiment. DETAILED DESCRIPTION

[0021] 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 duplicate descriptions are appropriately omitted.

[0022] The embodiments shown below illustrate 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 not intended to limit the scope of the present invention to these unless otherwise specified, but are intended to be illustrative. In addition, the sizes, positional relationships, and the like of the components shown in the drawings are sometimes exaggerated to make the description clearer.

[0023] <Overall Configuration Example of Robot 100>

[0024] Reference Figure 1 to Figure 3 , a structure of a robot 100 according to one embodiment will be described. Figure 1 It is a perspective view illustrating a robot 100 according to an embodiment. Figure 2 is a side view of the robot 100 . Figure 3 It is along Figure 2 Cross-sectional view along the III-III cutting line.

[0025] The robot 100 is a robot having an outer casing 10 and capable of being driven by supplied electric power. The robot 100 illustrated in the present embodiment is a communication robot of a doll type imitating a bear. The robot 100 is made in a size and weight suitable for a user to hold. Here, the user refers to the user of the robot 100. Representative examples of users include people living alone, elderly people whose children are independent, and frail elderly people who are the subject of home medical care. In addition, in addition to the user of the robot 100, the user may also include the manager of the robot 100 and other people who only come into contact with the robot 100.

[0026] The outer casing 10 has flexibility. For example, the outer casing 10 includes a soft raw material that gives a good touch when the user of the robot 100 touches the robot 100. The raw material of the outer casing 10 can be a raw material including an organic material such as polyurethane foam, rubber, resin, fiber, etc. 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.

[0027] In the present embodiment, the fabric of the outer casing 10 is constituted as a heater 19 having conductive fibers. The heater 19 is provided to cover the entire surface of the outer casing, but may also be provided to cover a portion of the surface of the outer casing. In addition, in other embodiments, when the outer casing 10 is not made of a heat-insulating polyurethane foam or the like but is made of a heat-conductive member, the heater 19 may also be provided to cover the entire inner surface of the outer casing 10 or a portion of the inner surface. For example, a portion of the inner surface of the outer casing or a portion of the surface where the heater 19 is provided is preferably a part that a user may touch (such as the head, arm, or torso).

[0028] In addition, the heater 19 is preferably composed of a PTC (Positive Temperature Coefficient) heater that can freely adjust the temperature regardless of the temperature of the air (ambient temperature) around the robot 100. Furthermore, the heater 19 may be configured as a heater that flexibly utilizes the heat dissipation inside the robot 100 by connecting a thermally conductive member that transfers heat from the battery 15 described later, the various sensors, or the control unit 13 described later.

[0029] As an example, the robot 100 includes a body 1, a head 2, an arm 3, and a leg 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 arm 3 includes a right arm 3a and a left arm 3b, and the leg 4 includes a right leg 4a and a left leg 4b. Here, the body 1 corresponds to the robot body. The head 2, the arm 3, and the leg 4 correspond to the driving bodies connected to the robot body in a manner that allows relative displacement.

[0030] 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, body, etc. in a manner of hugging the user. Through this action, the user feels close to the robot 100, so that the contact between the user and the robot 100 can be promoted. In addition, the so-called contact with 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] 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 is 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.

[0032] The robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a vital sensor 14, a battery 15, a first electrostatic capacitance sensor 21, and a second electrostatic capacitance sensor 31 inside the outer casing 10. In addition, the robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a vital sensor 14, and a battery 15 inside the outer casing 10 in the body 1. Furthermore, the robot 100 has a first electrostatic capacitance sensor 21 inside the outer casing 10 in the head 2, and has a second electrostatic capacitance sensor 31 inside the outer casing 10 in the arm 3.

[0033] In addition, the robot 100 has a display 24, a speaker 25, and a light 26 inside the outer casing 10 in the head 2. Furthermore, the robot 100 has a display 24 inside the outer casing 10 in the right eye 2a and the left eye 2b. In addition, the robot 100 has a speaker 25 inside the outer casing 10 in the mouth 2c, and a light 26 inside the outer casing 10 in the right cheek 2d and the left cheek 2e. In addition, the robot 100 has a temperature sensor 18 between the outer casing and the fabric of the outer casing 10 in the trunk 1, but it is preferable to preferentially arrange the temperature sensor 18 in a part (head, arm, trunk, etc.) that the user may touch.

[0034] In more detail, Figure 3As shown, the robot 100 has a body frame 16 and a body mounting platform 17 inside the exterior member 10 in the body 1. In addition, the robot 100 has a head frame 22 and a head mounting platform 23 inside the exterior member 10 in the head 2. Furthermore, the robot 100 has a right arm frame 32a and a right arm mounting platform 33 inside the exterior member 10 in the right arm 3a, and a left arm frame 32b inside the exterior member 10 in the left arm 3b. Furthermore, the robot 100 has a right leg frame 42a inside the exterior member 10 in the right leg 4a, and a left leg frame 42b inside the exterior member 10 in the left leg 4b.

[0035] 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 can be formed into a box shape including a plurality of plate-like members.

[0036] 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 so as to be relatively displaceable with respect to the body frame 16. When the right arm frame 32a is displaced, the right arm 3a is relatively displaced with respect to the body 1. The right arm connection mechanism 34a preferably has a speed reducer for increasing the output torque of the right arm servo motor 35a, for example.

[0037] 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 the connection mechanisms.

[0038] 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.

[0039] The left arm frame 32b is connected to the trunk frame 16 via the left arm connection mechanism 34b, and is driven by the left arm servo motor 35b so as to be relatively displaceable with respect to the trunk frame 16. The displacement of the left arm frame 32b causes the left arm 3b to be relatively displaced with respect to the trunk 16. The left arm connection mechanism 34b preferably has a speed reducer for increasing the output torque of the left arm servo motor 35b, for example.

[0040] 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 the connection mechanisms.

[0041] 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.

[0042] Since the arm 3 has a four-axis joint, the robot 100 can achieve more realistic movements. For example, if the temperature is not raised to the target temperature for providing warmth, the robot 100 can rotate the arm 3 to "shake its hand" to temporarily avoid contact with the user.

[0043] The head frame 22 is connected to the body frame 16 via the head connection mechanism 27, and is driven by the head servo motor 35c so as to be relatively displaceable with respect to the body frame 16. 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.

[0044] 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.

[0045] 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 perpendicular to the body frame 16. The face servo motor M2c rotates the face frame F2c around a rotation axis perpendicular to the rotation axis of the neck frame F1c.

[0046] Since the head 2 has a two-axis joint, the robot 100 can achieve more realistic movements. For example, when the temperature is not raised to the target temperature for providing warmth, the robot 100 can rotate the head 2 and the arm 3 to "dance", thereby making the user focus on the dancing movements and temporarily avoiding contact with the user.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Thus, the robot 100 can realize more realistic actions through the legs 4. For example, when the temperature of the robot 100 is not raised to the target temperature for providing warmth, the robot 100 can rotate the legs 4 and "shrink back" to temporarily avoid contact with the user.

[0051] The camera 11 is fixed to the body frame 16. 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 to which 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 necessarily 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 to which 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.

[0052] The first electrostatic capacitance sensor 21 is fixed to the head support 23, and the second electrostatic capacitance sensor 31 is fixed to the right arm support 33. The temperature sensor 18 is fixed in connection with or in contact with the heater 19 according to the sensing method. Alternatively, the temperature sensor 18 may be fixed separately from the heater 19. 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.

[0053] In addition, the camera 11, 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 temperature sensor 18, 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.

[0054] 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 is 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.

[0055] The control unit 13 is connected to the camera 11, the tactile sensor 12, 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 respectively by wired or wireless communication. In addition, the control unit 13 is also connected to the heater 19, the temperature sensor 18, the head servo motor 35c, the right leg servo motor 35d, and the left leg servo motor 35e respectively by wired or wireless 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 wired or wireless communication.

[0056] The camera 11 is an image sensor that outputs a captured image of the robot 100's surroundings to the control unit 13. In the present embodiment, the camera 11 is an example of a capturing unit that captures a user's image. The camera 11 includes a lens and an image capturing element that captures an image formed by the lens. The image capturing element can use a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor). The captured image can be either a still image or a moving image.

[0057] In addition, the camera 11 is preferably composed of a TOF (Time Of Flight) camera that outputs a distance image around the robot 100 to the control unit 13. Therefore, the captured image output from the camera 11 sometimes includes a three-dimensional captured image (distance image) in addition to or instead of the two-dimensional captured image. The captured image is used to detect the presence or approach of the user, detect the distance from the robot 100 to the user, authenticate the user, or infer the user's emotions or behaviors. The captured image is an example of information related to the presence or approach of the user. In addition, the robot 100 may also have a human sensing sensor such as an ultrasonic sensor, an infrared sensor, a millimeter wave radar, or LiDAR (light detection and ranging) in addition to or instead of the camera 11. The sensor information obtained by the human sensing sensor is also an example of information related to the presence or approach of the user.

[0058] 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 presence of the user 200 with respect to the robot 100.

[0059] The life sensor 14 is an example of an electromagnetic wave sensor that uses electromagnetic waves to obtain biological information of the user. Figure 4 Let me describe it in detail separately.

[0060] 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 between the user and 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 flexible sensor including a conductive thread or the like. The electrostatic capacitance signals output from the first electrostatic capacitance sensor 21 and the second electrostatic capacitance sensor 31 are used to detect the proximity or presence of the user relative to the robot 100.

[0061] The temperature sensor 18 is a sensor element that outputs a temperature detection signal related to the surface temperature of the robot 100 to the control unit 13. In the present embodiment, the temperature sensor 18 is configured as a circuit that outputs a temperature detection signal corresponding to a change in the resistance value of the PTC heater (a change in the current flowing through the heater 19) to the control unit 13. In addition, in other embodiments, the temperature sensor 18 may also be configured as a contact temperature sensor (such as a thermistor, a thermocouple, or a platinum temperature measuring resistor) that is fixed in contact with the heater 19 and outputs a temperature detection signal to the control unit 13. Alternatively, the temperature sensor 18 may also be configured by a non-contact temperature sensor (such as a radiation temperature sensor) that is fixed separately from the heater 19 and outputs a temperature detection signal to the control unit 13. The temperature detection signal output from the temperature sensor 18 is an example of information related to the surface temperature of the robot 100. The temperature detection signal is used to detect the surface temperature of the robot 100.

[0062] 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 instructions from the control unit 13. 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 are used to express the emotions of the robot 100. For example, when the robot 100 is not heated to the target temperature for providing warmth, an image such as a "thermometer" or an "hourglass" is displayed on the right eye display 24a or the left eye display 24b, thereby being able to temporarily avoid contact with the user.

[0063] The speaker 25 is a speaker unit that amplifies the sound signal from the control unit 13 and outputs the sound. The sound output from the speaker 25 is the speech or cry of the robot 100, and is used to express the emotion of the robot 100. For example, when the robot 100 is not heated to the target temperature for providing warmth, it can emit a sound such as "Wait a moment" or "It's still cold" from the speaker 25, thereby temporarily avoiding contact with the user.

[0064] The right cheek light 26a and the left cheek light 26b are light modules that flash or change color according to the on / off signal from the control unit 13. The right cheek light 26a and the left cheek light 26b are composed of, for example, LED (Light Emitting Diode) light modules. The flashing or color change of the right cheek light 26a and the left cheek light 26b is used to express the emotions of the robot 100. For example, when the robot 100 is not heated to the target temperature for providing warmth, the right cheek light 26a and the left cheek light 26b flash blue to indicate that it is still cool, thereby temporarily avoiding contact with the user.

[0065] 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 heater 19, the temperature sensor 18, 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.

[0066] In addition, various sensors such as the tactile sensor 12, the life sensor 14, the first electrostatic capacitance sensor 21, and the second electrostatic capacitance sensor 31 in the robot 100 are not essential components. The robot 100 only needs to have a camera 11 (or a human sensor) and a temperature sensor 18. Their installation positions can also be changed appropriately. Furthermore, various sensors such as the camera 11 (or a human sensor) and the temperature sensor 18 can also be arranged on the outside of the robot 100 to send necessary information to the robot 100 or an external device via wireless. For example, a learning device composed of a PC (Personal Computer) or a server is an example of an external device.

[0067] 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.

[0068] 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. 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 track system or a leg system.

[0069] 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 a mechanical arm of an industrial robot, etc., or in the form of a humanoid puppet. 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.

[0070] <Configuration example of the life sensor 14>

[0071] Figure 4 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.

[0072] The life sensor 14 generates a transmission wave Ms as a microwave from the inside of the exterior member 10 of the robot 100 toward the user 200 through the microwave transmitting unit 141. 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.

[0073] The life sensor 14 detects the minute displacements on the body surface caused by the heart beats of the user 200, etc., in a non-contact manner by using the Doppler effect based on the difference between the frequencies of the transmission wave Ms and the reflection wave Mr. The life sensor 14 can obtain information such as the heartbeat, respiration, pulse wave, blood pressure, etc., as biological information of the user 200, based on the detected minute displacements, and output the obtained biological information to the control unit 13.

[0074] However, 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 changes in the coupling 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 preferably has 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 the heartbeat (pulse), respiration, blood pressure, and body temperature.

[0075] In this embodiment, since the life sensor 14 is provided inside the outer casing 10, the user 200 cannot visually recognize the life sensor 14. Thus, the user 200's resistance to detecting biological information can be suppressed, and the biological information can be smoothly acquired. In addition, the life sensor 14 can acquire biological information in a non-contact manner, and thus, unlike a contact sensor that requires the user to contact the same place for a certain period of time, the biological information can be acquired even if the user moves to some extent.

[0076] Furthermore, by promoting contact between the user 200 and the robot 100 through the hugging action of the robot 100, the robot 100 is hugged by the user 200 and can acquire biological information while in contact or close to the user 200. Thus, the robot 100 can acquire highly reliable biological information with suppressed noise.

[0077] <Configuration Example of Control Unit 13>

[0078] (Hardware Configuration Example)

[0079] Figure 5 1 is a block diagram illustrating 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.

[0080] 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, images captured by the camera 11, biological information acquired by the life sensor 14, and detection information obtained by various sensors such as temperature detection signals acquired by the temperature sensor 18.

[0081] The device connection I / F 135 is an interface for connecting the control unit 13 to various external devices. The external devices here are the camera 11, the tactile sensor 12, the life sensor 14, the first electrostatic capacitance sensor 21, the second electrostatic capacitance sensor 31, the servo motor 35, and the battery 15. In addition, the external devices also include the temperature sensor 18, the heater 19, the display 24, the speaker 25, and the lamp 26.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] (Functional configuration example)

[0086] Figure 6 1 is a block diagram illustrating a functional configuration 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, an output unit 108, a detection unit 110, a temperature control unit 111, and a behavior control unit 112.

[0087] The control unit 13 can realize the functions of the acquisition unit 101 and the output unit 108 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 functions of the authentication unit 104, the start control unit 106, and the motor control unit 107 can be realized by the processor such as the CPU 131 executing the processing specified by the program stored in the non-volatile memory such as the ROM 132.

[0088] In addition, the functions of the detection unit 110, the temperature control unit 111, and the behavior control unit 112 can be realized by the processor such as the CPU 131 executing the processing specified by the program stored in the non-volatile memory such as the ROM 132. In addition, part of the above functions of the control unit 13 can also be realized by an external device such as a PC or a server, and can also be realized by distributed processing between the control unit 13 and the external device.

[0089] The acquisition unit 101 acquires the captured image Im 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 from the vital sensor 14 by controlling the communication between the control unit 13 and the vital sensor 14.

[0090] In addition, the acquisition unit 101 acquires the first electrostatic capacitance signal C1 from the first electrostatic capacitance sensor 21 by controlling the communication between the control unit 13 and the first electrostatic capacitance sensor 21. In addition, the acquisition unit 101 acquires the second electrostatic capacitance signal C2 from the second electrostatic capacitance sensor 31 by controlling the communication between the control unit 13 and the second electrostatic capacitance sensor 31. Furthermore, the acquisition unit 101 acquires the temperature detection signal T from the temperature sensor 18 by controlling the communication between the control unit 13 and the temperature sensor 18.

[0091] The communication control unit 102 controls communication with an external device 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 an external device (e.g., a learning device) via the communication network.

[0092] The storage unit 103 stores 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 biological information B from the life sensor 14. In addition, the storage unit 103 can continuously store information obtained based on the captured image Im of the camera 11, the tactile signal S of the tactile sensor 12, the first electrostatic capacitance signal C1 of the first electrostatic capacitance sensor 21, the second electrostatic capacitance signal C2 of the second electrostatic capacitance sensor 31, and the temperature detection signal T of the temperature sensor 18.

[0093] 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 109 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 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.

[0094] The start control unit 106 causes the life sensor 14 to start acquiring the biological information B. For example, when the detection unit 110 detects that the user 200 is in contact with or close 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.

[0095] The detection unit 110 detects the presence or approach of the user 200 around the robot 100 based on the captured image Im obtained by the camera 11 or the like. The detection unit 110 preferably detects the distance from the robot 100 to the user 200 based on the captured image Im (distance image) obtained by the camera 11. In addition, the detection unit 110 may detect the presence or approach of the user 200 relative to the robot 100 based on the first electrostatic capacitance signal C1 or the second electrostatic capacitance signal C2. Furthermore, the detection unit 110 detects the presence or contact of the user 200 relative to the robot 100 based on the tactile signal S from the tactile sensor 12.

[0096] The temperature control unit 111 controls the surface temperature of the robot 100. When the presence or approach of the user 200 is detected by the detection unit 110, the temperature control unit 111 detects the surface temperature of the robot 100 based on the temperature detection signal T. The temperature detection signal T may not directly indicate the surface temperature of the robot 100 depending on the arrangement and structure of the heater 19 or the temperature sensor 18. Therefore, the temperature control unit 111 estimates the surface temperature of the robot 100 based on the temperature detection signal T.

[0097] The temperature control unit 111 adjusts the temperature of the heater 19 so that the surface temperature of the robot 100 becomes the target temperature. The temperature control unit 111 adjusts the temperature of the entire surface or a part of the surface of the robot 100. In the case where the temperature of the heater 19 can be adjusted for each part of the robot 100 (for example, for each body part 1, head part 2, arm part 3, and leg part 4), the temperature control unit 111 may preferentially adjust the temperature of a part of the surface of the robot 100 (for example, the head part 2) that the user 200 wants to touch.

[0098] In addition, when the heater 19 is composed of a PTC heater that can autonomously adjust the temperature, the temperature control unit 111 only needs to switch the switch of the PTC heater to on during the period when the presence or approach of the user 200 is detected. When the heater 19 is composed of a general heater other than the PTC heater, the temperature control unit 111 adjusts the temperature of the heater 19 in such a way that the deviation between the surface temperature of the robot 100 and the target temperature approaches zero during the period when the presence or approach of the user 200 is detected. As the temperature control method, P control (proportional control), PI control (proportional integral control) or PID control (proportional integral differential control) or the like is preferably used.

[0099] Furthermore, during the temperature adjustment, the temperature control unit 111 can calculate the time it takes for the surface temperature of the robot 100 to reach the target temperature based on the rate of change (e.g., [°C / s]) of the surface temperature of the robot 100, and store the calculated time in the storage unit 103. In addition, the function of calculating the time to reach the target temperature can also be performed by an external device.

[0100] The storage unit 103 stores the target temperature of the robot 100. In order to make the user 200 feel warm, the target temperature of the robot 100 is preferably set to a temperature slightly higher than the temperature of human skin (for example, 35°C to 38°C). In addition, since the surface temperature of the robot 100 changes according to the ambient temperature around the robot 100, the target temperature of the robot 100 is preferably changed according to the ambient temperature. Furthermore, since the temperature that feels warm is different for each user 200, the setting value of the target temperature of the robot 100 is preferably changeable according to the user 200.

[0101] When the presence or approach of the user 200 is detected by the detection unit 110, the behavior control unit 112 instructs the execution of the behavior of temporarily avoiding contact with the user 200 when the surface temperature of the robot 100 has not reached the target temperature. In this way, time can be gained until the surface temperature of the robot 100 reaches the target temperature. When the robot 100 contacts the user 200 in a heated state, healing can be provided to the user 200.

[0102] In addition, the behavior of temporarily avoiding contact with the user 200 is not an act that the robot 100 hates contact with the user 200. The behavior of temporarily avoiding contact with the user 200 is an act of buying time for the surface temperature of the robot 100 to reach the target temperature for feeling warm before contact with the user 200. Therefore, the behavior of temporarily avoiding contact with the user 200 is an act of preparing for contact with the user 200 while inducing contact with the user 200.

[0103] For example, the behavior of avoiding contact with the user 200 preferably includes a behavior that makes the user 200 pay attention to the movement of the robot 100, such as "dancing" or "posing". In addition, the behavior of avoiding contact with the user 200 may also include a behavior that attracts the user 200's attention to a place different from the robot 100, such as "using a finger". In addition, "the behavior of attracting the user's 200's attention" also includes other behaviors such as stimulating the five senses of the user 200 to guide the user's attention to an object other than the robot 100, such as "making a sound of "look over there". In addition, the behavior of avoiding contact with the user 200 preferably includes a behavior that implies preparation, such as "rubbing hands" or "warming up". Furthermore, the behavior of avoiding contact with the user 200 may also include a behavior that directly notifies the avoidance of contact with the user 200, such as "displaying a thermometer" or making a sound of "wait a moment".

[0104] The storage unit 103 stores information related to the previously defined behavior an (n is an identification number of the behavior) of the robot 100. The information related to the behavior an of the robot 100 is managed, for example, by a table of a database. Table 1 below is an example of a behavior table TB1 related to the behavior an of the robot 100. The behavior table TB1 includes a behavior ID for identifying the behavior an of the robot 100, the behavior content of the robot 100, the instruction content of the behavior an, the behavior time per cycle, and an example of use.

[0105]

Table 1

[0106]

[0107] The symbols in the instruction content in Table 1 represent the symbols of the control object. In addition, the so-called teaching instruction is an action instruction that is taught in advance using a teaching method such as offline teaching, online teaching, or direct teaching. In addition, the so-called tracking instruction is an action instruction that tracks the position and posture of the user 200 based on various sensor information such as the captured image Im (range image).

[0108] In addition, the behavior control unit 112 preferably determines the behavior an of avoiding contact with the user 200 based on the distance from the robot 100 to the user 200 and instructs the execution of the behavior an. For example, when the distance from the robot 100 to the user 200 is relatively long (for example, more than 3 meters), the behavior control unit 112 instructs the execution of the behavior an such as "dancing" or "posing" to make the user 200 pay attention to the movement of the robot 100. Alternatively, the behavior control unit 112 may instruct the execution of the behavior an such as "moving around in place" or "warming up" with a long behavior time per cycle.

[0109] Furthermore, when the distance between the robot 100 and the user 200 is a relatively medium distance (e.g., 1 m or more and less than 3 m), the behavior control unit 112 instructs the execution of a behavior an indicating that the robot 100 is preparing, such as "rubbing hands" or "warming up." Alternatively, the behavior control unit 112 may instruct the execution of a behavior an that draws attention to a place different from the robot 100, such as "pointing."

[0110] Furthermore, when the distance between the robot 100 and the user 200 is relatively close (for example, less than 1 meter), the behavior control unit 112 instructs the execution of the behavior an that explicitly avoids contact with the user 200, such as issuing a voice of "wait a moment" or displaying a "thermometer". Alternatively, the behavior control unit 112 may instruct the execution of the behavior an with a short behavior time per cycle, such as "step back" or issuing a voice of "it's still cold".

[0111] In addition, the behavior control unit 112 may determine the behavior an of avoiding contact with the user 200 based on the time it takes for the surface temperature of the robot 100 to reach the target temperature and instruct the execution of the behavior an. In the case where the time it takes for the surface temperature of the robot 100 to reach the target temperature is relatively long (for example, more than 3 minutes), the behavior control unit 112 instructs the execution of the behavior an that makes the user 200 pay attention to the movement of the robot 100, such as "dancing" or "posing". Alternatively, the behavior control unit 112 may instruct the execution of the behavior an with a long behavior time per cycle, such as "moving around in place" or "warming up".

[0112] Furthermore, when the time required for the surface temperature of the robot 100 to reach the target temperature is a relatively medium time (e.g., 1 minute to less than 3 minutes), the behavior control unit 112 instructs the execution of a behavior an indicating that the robot 100 is preparing, such as "rubbing hands" or "warming up." Alternatively, the behavior control unit 112 may instruct the execution of a behavior an that draws attention to a place different from the robot 100, such as "pointing."

[0113] Furthermore, when the time required for the surface temperature of the robot 100 to reach the target temperature is relatively short (e.g., less than 1 minute), the behavior control unit 112 instructs the execution of the behavior an, such as issuing a voice "Wait a moment", to explicitly avoid contact with the user 200. Alternatively, the behavior control unit 112 may instruct the execution of the behavior an, such as "Back off" or issuing a voice "It's still cold", with a short behavior time per cycle.

[0114] By doing so, the time until the surface temperature of the robot 100 reaches the target temperature is obtained. In addition, the behavior of temporarily avoiding contact with the user 200 may be any combination of the multiple behaviors an shown in Table 1. For example, the behavior control unit 112 may also instruct the execution of multiple behaviors an according to a series of processes such as "dance" -> "warm up" -> "wait a moment".

[0115] In other embodiments, the behavior control unit 112 may instruct execution of the behavior at (t is time) of temporarily avoiding contact with the user 200 according to the state st (t is time) of the user 200 or randomly.

[0116] For example, the state st of the user 200 is a given combination of the emotion and behavior of the user 200 estimated based on the captured image Im of the user 200 and the biological information B of the user 200. The estimation of the emotion or behavior of the user 200 is preferably performed by machine learning or using a learning model that has been learned. As a learning method, reinforcement learning, supervised learning, unsupervised learning, or semi-supervised learning can be used. In addition, as a learning model, a behavior value table or a neural network can be used.

[0117] For example, even if the presence or approach of the user 200 in a state of anxious running is detected, the possibility that the user 200 does not touch the robot 100 is high. For such a user 200, for example, the behavior at displayed as "It's still cold" may make the user 200 feel uncomfortable in communication.

[0118] Therefore, the behavior control unit 112 preferably performs machine learning or uses a learning model that has been learned to determine the behavior at that matches the state st of the user 200 and instruct the execution of the behavior at. The behavior control unit 112 generates and updates the learning model that takes the state st of the user 200 as input and takes the value of the behavior at as output through machine learning. Alternatively, the behavior control unit 112 may randomly determine the behavior at and instruct the execution of the behavior at so that the user 200 does not get tired of the stereotyped behavior of the robot 100. In addition, the learning process and the determination process of the behavior at that matches the state st of the user 200 may also be performed by an external device that is communicatively connected to the robot 100.

[0119] The motor control unit 107 controls the driving of the servo motor 35 according to the instruction of the robot 100 to perform the behavior an from the behavior control unit 112. When the behavior content of the robot 100 is, for example, "dancing", the motor control unit 107 executes the action instruction such as "dancing" or "warming up" taught in advance.

[0120] The output unit 108 controls the communication between the control unit 13 and the display 24 according to the instruction of the execution of the behavior at of the robot 100 from the behavior control unit 112. When the behavior content of the robot 100 is, for example, the display of "It's still cold", the output unit 108 outputs the character string data of "It's still cold" to the right eye display 24a and the left eye display 24b. In addition, when the behavior content of the robot 100 is the display of "Thermometer", the output unit 108 outputs the image data of "Thermometer" to the right eye display 24a and the left eye display 24b.

[0121] In addition, the output unit 108 controls communication between the control unit 13 and the speaker 25 according to the instruction of the execution of the behavior at of the robot 100 from the behavior control unit 112. When the behavior content of the robot 100 is, for example, a voice output of "Wait a moment", the output unit 108 outputs a voice output signal of "Wait a moment" to the speaker 25.

[0122] Furthermore, the output unit 108 controls communication between the control unit 13 and the light 26 according to the instruction of the execution of the behavior at of the robot 100 from the behavior control unit 112. When the behavior content of the robot 100 is, for example, "flashing of cheeks", the output unit 108 turns on and off the switch elements of the right cheek light 26a and the left cheek light 26b at a given time interval.

[0123] <Processing Example of Control Unit 13>

[0124] Figure 7 It is a flowchart which illustrates the processing of the control unit 13. Figure 7The following process is shown in which the control unit 13 instructs the robot 100 to temporarily avoid contact with the user 200 when the surface temperature of the robot 100 does not reach the target temperature.

[0125] First, in step S10, the control unit 13 detects the presence or approach of the user 200 around the robot 100 based on various sensor information such as the captured image Im through the detection unit 110. In addition, when the captured image Im is a distance image, the control unit 13 preferably detects the distance from the robot 100 to the user 200 through the detection unit 110.

[0126] In step S10, the camera 11, the tactile sensor 12, the first capacitance sensor 21, and the second capacitance sensor 31 are supplied with power from the battery 15. However, in order to reduce the power consumption of the battery 15, the heater 19, the life sensor 14, the temperature sensor 18, the servo motor 35, the display 24, the speaker 25, and the lamp 26 are not supplied with power.

[0127] Next, in step S11 , the control unit 13 detects the surface temperature of the robot 100 through the temperature control unit 111 based on the temperature detection signal T, and determines whether the surface temperature of the robot 100 reaches the target temperature. The target temperature of the robot 100 is read from the storage unit 103 by the temperature control unit 111 .

[0128] When the surface temperature of the robot 100 does not reach the target temperature ("Yes" in step S11), in step S12, the control unit 13 adjusts the surface temperature of the robot 100 to the target temperature through the temperature control unit 111. The control unit 13 adjusts the temperature of the entire surface of the robot 100, but may preferentially adjust the temperature of a portion of the surface of the robot 100 (e.g., the head 2, etc.) that the user 200 may touch.

[0129] In addition, when the heater 19 is composed of a PTC heater that can autonomously adjust the temperature, the temperature control unit 111 only needs to switch on the PTC heater during the period when the presence or approach of the user 200 is detected. When the heater 19 is composed of a general heater other than the PTC heater, the temperature control unit 111 switches the switch of the heater 19 to turn on to adjust the temperature during the period when the presence or approach of the user 200 is detected.

[0130] Then, in step S13, the control unit 13 instructs the robot 100 to perform the behavior an of temporarily avoiding contact with the user 200 through the behavior control unit 112. The control unit 13 may also determine the behavior an of temporarily avoiding contact with the user 200 based on the distance between the robot 100 and the user 200 through the behavior control unit 112 and instruct the performance of the behavior an.

[0131] For example, when the distance from the robot 100 to the user 200 is relatively long (for example, more than 3 meters), the control unit 13 instructs the execution of a behavior an such as "dancing" or "posing" through the behavior control unit 112 so that the user 200 pays attention to the movement of the robot 100. Alternatively, the control unit 13 may instruct the execution of a behavior an such as "moving around in place" or "warming up" through the behavior control unit 112, which has a long behavior time per cycle.

[0132] Furthermore, when the distance from the robot 100 to the user 200 is a relatively medium distance (for example, 1 m or more and less than 3 m), the control unit 13 instructs the execution of a behavior an indicating that the robot 100 is preparing, such as "rubbing hands" or "warming up", through the behavior control unit 112. Alternatively, the behavior control unit 112 may instruct the execution of a behavior an that draws attention to a place different from the robot 100, such as "pointing".

[0133] Furthermore, when the distance between the robot 100 and the user 200 is relatively close (for example, less than 1 meter), the control unit 13 instructs the execution of the behavior an, such as issuing a voice "Wait a moment", to explicitly avoid contact with the user 200, through the behavior control unit 112. Alternatively, the control unit 13 may instruct the execution of the behavior an, such as "step back" or issuing a voice "It's still cold", with a shorter behavior time per cycle, through the behavior control unit 112.

[0134] Furthermore, in step S13 , the control unit 13 may determine the behavior an for avoiding contact with the user 200 based on the time it takes for the surface temperature of the robot 100 to reach the target temperature through the behavior control unit 112 and instruct execution of the behavior an.

[0135] When the time required for the surface temperature of the robot 100 to reach the target temperature is relatively long (for example, more than 3 minutes), the control unit 13 instructs the user 200 to perform a behavior an such as "dancing" or "posing" through the behavior control unit 112. Alternatively, the control unit 13 may instruct the user 200 to perform a behavior an such as "moving around in place" or "warming up" through the behavior control unit 112, which has a long behavior time per cycle.

[0136] Furthermore, when the time required for the surface temperature of the robot 100 to reach the target temperature is a relatively medium time (e.g., 1 minute to less than 3 minutes), the control unit 13 instructs the execution of a behavior an indicating that the robot 100 is preparing, such as "warming up," through the behavior control unit 112. Alternatively, the control unit 13 may instruct the execution of a behavior an that draws attention to a place different from the robot 100, such as "pointing," through the behavior control unit 112.

[0137] Furthermore, when the time required for the surface temperature of the robot 100 to reach the target temperature is relatively short (e.g., less than 1 minute), the control unit 13 instructs the behavior control unit 112 to execute the behavior an that explicitly avoids contact with the user 200, such as displaying "thermometer". Alternatively, the control unit 13 may instruct the behavior control unit 112 to execute the behavior an with a short behavior time per cycle, such as "shrinking back" or making a sound "it's still cold".

[0138] By doing so, the time required until the surface temperature of the robot 100 reaches the target temperature is gained. In addition, the behavior of temporarily avoiding contact with the user 200 may be a combination of a plurality of behaviors an shown in Table 1.

[0139] In addition, in other embodiments, the control unit 13 may also instruct the execution of the behavior at (t is the time) of temporarily avoiding contact with the user 200 according to the state st (t is the time) of the user 200 or randomly through the behavior control unit 112. For example, the control unit 13 determines the behavior at that matches the state st of the user 200 and instructs the execution of the behavior at by performing machine learning or using a learning model that has been learned through the behavior control unit 112. Alternatively, the control unit 13 randomly determines the behavior at and instructs the execution of the behavior at through the behavior control unit 112 so that the user 200 does not get tired of the stereotyped behavior of the robot 100.

[0140] In step S13, while the robot 100 performs the behavior of temporarily avoiding contact with the user 200, in step S11, the control unit 13 determines whether the surface temperature of the robot 100 reaches the target temperature through the temperature control unit 111. When the surface temperature of the robot 100 reaches the target temperature ("No" in step S11), the control unit 13 ends the temperature control by the temperature control unit 111 and ends the behavior of temporarily avoiding contact an by the behavior control unit 112.

[0141] As described above, when the surface temperature of the robot 100 does not reach the target temperature when the presence or approach of the user is detected, the control unit 13 performs processing to instruct execution of the action an of temporarily avoiding contact with the user 200 .

[0142] In addition, Figure 7 At the start of the process shown, the heater 19, the life sensor 14, the temperature sensor 18, the servo motor 35, the display 24, the speaker 25, and the lamp 26 may be in a standby state (sleep state) with the amount of power supplied being suppressed. That is, the control unit 13 can restore the various devices from the standby state with the amount of power supplied being suppressed as needed, thereby suppressing the power consumption of the battery 15.

[0143] <Function and Effect of the Present Embodiment>

[0144] As described above, the robot 100 includes the behavior control unit 112 , which instructs execution of the behavior an of temporarily avoiding contact with the user 200 when the surface temperature of the robot 100 does not reach the target temperature when the presence or approach of the user 200 is detected.

[0145] The robot 100 performs the behavior an of temporarily avoiding contact with the user 200, thereby buying time until the robot 100 is heated up, so that the robot 100 can contact the user 200 in a warm state. In addition, the robot 100 does not need to control the temperature all the time, so there are technical advantages such as reduced power consumption of the battery 15, reduced number of charging times, and reduced battery weight.

[0146] Furthermore, the behavior an of the robot 100 temporarily avoiding contact with the user 200 includes a behavior such as "dancing" that draws the user's attention to the movement of the robot 100, or a behavior such as "pointing" that draws the user's 200 attention to a place different from the robot 100. Therefore, the user 200 does not feel the pressure of waiting, but is more likely to receive a positive impression such as cuteness or fun from the robot 100.

[0147] In addition, the robot 100 may also determine the behavior an of temporarily avoiding contact with the user 200 based on the distance between the robot 100 and the user 200. For example, when the distance to the user 200 is relatively far, by performing a behavior that causes the user to pay attention to the movement of the robot 100, it is possible to induce contact with the user 200 while buying time until the robot 100 becomes warm. On the other hand, when the distance to the user 200 is relatively close, by performing a behavior of avoiding contact with the user 200 that directly notifies the user 200, it is possible to prevent the robot 100 from contacting the user 200 in a non-warm state.

[0148] Furthermore, the robot 100 may determine the behavior an of avoiding contact with the user 200 based on the time it takes for the surface temperature of the robot 100 to reach the target temperature. For example, when the time it takes for the surface temperature of the robot 100 to reach the target temperature is relatively long, by performing a behavior that causes the user to pay attention to the movement of the robot 100, it is possible to induce contact with the user 200 while gaining time until the temperature becomes warm. On the other hand, when the time it takes for the surface temperature of the robot 100 to reach the target temperature is relatively short, by performing a behavior of avoiding contact with the user 200 that directly notifies the user 200, it is possible to prevent the robot 100 from contacting the user 200 in a non-warm state.

[0149] In addition, the robot 100 may preferentially adjust the temperature of a portion of the surface of the robot 100 (eg, the head 2) that may be touched by the user 200. This prevents the robot 100 from touching the user 200 in a non-warm state.

[0150] As mentioned above, although the preferred embodiment was described in detail, it is not limited to the said embodiment, Various deformation|transformation and substitution can be added to the said embodiment without departing from the scope described in a claim.

[0151] 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.

[0152] The robot 100 of 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, the robot 100 is not limited to this purpose, and can be used to provide healing for various users.

[0153] The embodiments of the present invention are as follows, for example.

[0154] <1> A robot comprising: an acquisition unit that acquires information related to the presence or approach of a user and information related to the surface temperature of the robot; and a behavior control unit that instructs the execution of a behavior of temporarily avoiding contact with the user when the surface temperature of the robot does not reach a target temperature when the presence or approach of the user is detected.

[0155] <2> The robot according to <1> above, wherein the behavior of temporarily avoiding contact with the user includes an behavior of causing the user to pay attention to a movement of the robot, or includes an behavior of attracting the user's attention to a place different from the robot.

[0156] <3> The robot according to <1> or <2>, wherein the behavior of temporarily avoiding contact with the user includes a behavior that suggests that the robot is preparing, or includes a behavior that explicitly indicates avoidance of the contact.

[0157] <4> The robot according to any one of <1> to <3> above, wherein the behavior control unit determines a behavior of temporarily avoiding contact with the user based on a distance from the robot to the user and instructs execution of the behavior.

[0158] <5> The robot according to any one of <1> to <4> above, wherein the behavior control unit determines a behavior of temporarily avoiding contact with the user and instructs execution of the behavior based on a time until the surface temperature of the robot reaches the target temperature.

[0159] <6> The robot according to any one of <1> to <5>, wherein the behavior control unit instructs execution of a behavior of temporarily avoiding contact with the user according to a state of the user or randomly.

[0160] <7> The robot according to any one of <1> to <6>, further comprising a temperature control unit configured to preferentially adjust the temperature of a portion of the surface of the robot.

[0161] <8> The robot according to any one of <1> to <7>, further comprising a camera or a human sensing sensor that outputs a captured image for detecting the presence or approach of the user.

[0162] <9> The robot according to any one of <1> to <8>, further comprising: an exterior member configured as a PTC heater; and a temperature sensor that outputs a temperature detection signal corresponding to a change in a resistance value of the PTC heater.

[0163] <10> A method for controlling a robot, wherein the robot executes the following steps: a step of obtaining information related to the presence or approach of a user and information related to the surface temperature of the robot; and a step of temporarily avoiding contact with the user when the surface temperature of the robot does not reach a target temperature when the presence or approach of the user is detected.

[0164] <11> A program for causing a computer controlling a robot to execute the following steps: a step of obtaining information related to the presence or approach of a user and information related to the surface temperature of the robot; and a step of instructing the execution of an action to temporarily avoid contact with the user when the surface temperature of the robot does not reach a target temperature when the presence or approach of the user is detected.

[0165] <12> A robot including a behavior control unit that instructs execution of a behavior of temporarily avoiding contact with a user based on information related to the presence or approach of the user and information related to the surface temperature of the robot.

[0166] This application is based on Japanese Patent Application No. 2022-156763 filed with the Japan Patent Office on September 29, 2022, claims priority, and incorporates all the contents of the Japanese patent application.

[0167] Explanation of symbols

[0168] 1: Body

[0169] 2: Head

[0170] 2a: Right eye

[0171] 2b: Left eye

[0172] 2c: Mouth

[0173] 2d: right cheek

[0174] 2e: Left cheek

[0175] 3: Arm

[0176] 3a: Right arm

[0177] 3b: Left arm

[0178] 4: Legs

[0179] 4a: Right leg

[0180] 4b: Left leg

[0181] 10: Exterior components

[0182] 11: Camera

[0183] 12: Tactile sensor

[0184] 13: Control Department

[0185] 14: Life sensor (electromagnetic wave sensor)

[0186] 141: Microwave Transmitter

[0187] 142: Microwave receiving unit

[0188] 15: Battery

[0189] 16: Body frame

[0190] 17: Body loading platform

[0191] 18: Temperature sensor

[0192] 19: Heater

[0193] 21: First electrostatic capacitance sensor

[0194] 22: Head frame

[0195] 23: Head loading platform

[0196] 24: Display

[0197] 24a: Right eye display

[0198] 24b: Left eye display

[0199] 25: Speaker

[0200] 26: Lights

[0201] 26a: Right cheek light

[0202] 26b: Left cheek light

[0203] 27: Head connection mechanism

[0204] 31: Second electrostatic capacitance sensor

[0205] 32a: Right arm frame

[0206] 32b: Left arm frame

[0207] 33: Right arm support platform

[0208] 34a: Right arm connection mechanism

[0209] 34b: Left arm connection mechanism

[0210] 35: Servo motor

[0211] 35a: Right arm servo motor

[0212] 35b: Left arm servo motor

[0213] 35c: Head servo motor

[0214] 35d: Right leg servo motor

[0215] 35e: Left leg servo motor

[0216] 41a: Right leg wheel

[0217] 41b: Left leg wheel

[0218] 42a: Right leg frame

[0219] 42b: Left leg frame

[0220] 44a: Right leg connection mechanism

[0221] 44b: Left leg connection mechanism

[0222] 100: Robot

[0223] 101: Acquisition

[0224] 102: Communication control unit

[0225] 103: Preservation Department

[0226] 104: Certification Department

[0227] 105: Registration Department

[0228] 106: Start control department

[0229] 107: Motor control unit

[0230] 108: Output unit

[0231] 109: Registration information

[0232] 110: Inspection Department

[0233] 111: Temperature control department

[0234] 112: Behavior Control Department

[0235] 131: CPU

[0236] 132: ROM

[0237] 133: RAM

[0238] 134: HDD / SSD

[0239] 135: Device connection I / F

[0240] 136: Communication I / F

[0241] 200: User

[0242] A: System bus

[0243] B: Biological information

[0244] C1: First electrostatic capacitance signal

[0245] C2: Second electrostatic capacitance signal

[0246] F1a: Right shoulder frame

[0247] F2a: Right upper arm frame

[0248] F3a: Right elbow frame

[0249] F4a: Right forearm frame

[0250] F1b: Left shoulder frame

[0251] F2b: Left upper arm frame

[0252] F3b: Left elbow frame

[0253] F4b: Left forearm frame

[0254] F1c: Neck frame

[0255] F2c: Face framing

[0256] Im: Take an image

[0257] Ms: Emission wave

[0258] Mr: Reflection wave

[0259] M1a: Right shoulder servo motor

[0260] M2a: Right upper arm servo motor

[0261] M3a: Right elbow servo motor

[0262] M4a: Right forearm servo motor

[0263] M1b: Left shoulder servo motor

[0264] M2b: Left upper arm servo motor

[0265] M3b: Left elbow servo motor

[0266] M4b: Left forearm servo motor

[0267] M1c: Neck servo motor

[0268] M2c: Face servo motor.

Claims

1. A robot comprising: an acquisition unit that acquires information related to the presence or approach of the user and information related to the surface temperature of the robot; and The behavior control unit instructs execution of a behavior of temporarily avoiding contact with the user when the surface temperature of the robot does not reach a target temperature when the presence or approach of the user is detected.

2. The robot according to claim 1, wherein: The behavior of temporarily avoiding contact with the user includes an behavior of causing the user to pay attention to the movement of the robot, or includes an behavior of attracting the user's attention to a place different from the robot.

3. The robot according to claim 1 or 2, wherein: The behavior of temporarily avoiding contact with the user includes a behavior suggesting that the robot is preparing, or includes a behavior explicitly indicating avoidance of the contact.

4. The robot according to claim 1 or 2, wherein: The behavior control unit determines a behavior of temporarily avoiding contact with the user based on the distance between the robot and the user, and instructs execution of the behavior.

5. The robot according to claim 1 or 2, wherein: The behavior control unit determines a behavior of temporarily avoiding contact with the user based on a time until the surface temperature of the robot reaches the target temperature, and instructs execution of the behavior.

6. The robot according to claim 1 or 2, wherein: The behavior control unit instructs execution of a behavior of temporarily avoiding contact with the user according to the state of the user or randomly.

7. The robot according to claim 1 or 2, wherein: The robot further includes a temperature control unit that preferentially adjusts the temperature of a portion of the surface of the robot.

8. The robot according to claim 1 or 2, wherein: The robot further includes a camera or a human sensing sensor for acquiring a captured image for detecting the presence or approach of the user.

9. The robot according to claim 1 or 2, further comprising: an exterior member configured as a PTC heater; and A temperature sensor outputs a temperature detection signal corresponding to a change in a resistance value of the PTC heater.

10. A method for controlling a robot, the robot performing the following steps: The step of obtaining information related to the presence or proximity of a user and information related to the surface temperature of the robot; and When the surface temperature of the robot does not reach the target temperature when the presence or approach of the user is detected, a step of temporarily avoiding contact with the user is performed.

11. A program for causing a computer controlling a robot to execute the following steps: The step of obtaining information related to the presence or proximity of a user and information related to the surface temperature of the robot; and A step of instructing execution of an action of temporarily avoiding contact with the user, when the surface temperature of the robot does not reach a target temperature when the presence or approach of the user is detected.

12. A robot comprising a behavior control unit that instructs execution of a behavior of temporarily avoiding contact with a user based on information related to the presence or approach of the user and information related to the surface temperature of the robot.

Images