Pseudo pet system

Abstract

To provide a pseudo pet system that does not make a user get bored easily.SOLUTION: A pseudo pet system 1 includes a pet type robot 10, a first tracker 20, a second tracker 30, a tracker detection device 40, an information processing device 50, and a control device 60. The information processing device 50 divides a space of a range in which the pet type robot 10 moves into a plurality of cells and defines them, calculates a first stress, a second stress, and a third stress about each cell, and calculates a cell in which the total stresses being the sum of the first stress, the second stress and the third stress becomes smallest as a cell of a movement destination of the pet type robot 10.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a virtual pet system. [Background technology]

[0002] Virtual pets such as pet-type robots have been known in the past. For example, Patent Document 1 discloses a system in which the behavior of a pet-type robot changes according to a “friendliness level” that is a parameter indicating the relationship with a user.

[0003] It is known that interacting with pet-type robots is effective in improving and preventing dementia, mental illness, etc. Activities to prevent mental illness by interacting with virtual pets such as pet-type robots are also called Robot Assisted Activity (RAA), and research is ongoing. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2001-51970 A Summary of the Invention [Problem to be solved by the invention]

[0005] If the behavior of a virtual pet were to change only according to the "friendliness level," the same behavior would continue once the "friendliness level" reached a certain level, causing the user to tire of the virtual pet. If the user tires of the virtual pet, it becomes difficult to maintain the user's interest in the virtual pet, resulting in a decrease in interaction between the user and the virtual pet.

[0006] SUMMARY OF THE PRESENT DISCLOSURE ... An object of the present invention, made in consideration of the above points, is to provide a virtual pet system that users are unlikely to become bored with. [Means for solving the problem]

[0007] A virtual pet system according to an embodiment of the present invention comprises: A pet robot, a first tracker attached by an owner; a second tracker worn by the user; and A tracker detection device that detects the position of the pet-type robot, detects the position of the owner by the first tracker, and detects the position and posture of the user by the second tracker; an information processing device that calculates a destination cell of the pet robot based on a position of the pet robot, a position of the owner, and a position and posture of the user; A control device that controls the operation of the pet robot based on a command obtained from the information processing device; Equipped with The information processing device includes: A space within which the pet robot moves is divided into a plurality of cells and defined; calculating a first stress, a second stress, and a third stress for each cell of the plurality of cells; calculating a cell for which a total stress, which is the sum of the first stress, the second stress, and the third stress, is the smallest as a destination cell for the pet robot; the first stress is a stress caused by moving away from the owner and is calculated based on a distance between the location of the owner and each of the cells; the second stress is a stress caused by a desire to interact with the user, and is calculated based on a distance between the position of the user and each of the cells and a number of interactions between the pet robot and the user; The third stress is a stress caused by a desire to explore the surrounding environment, and is calculated based on the distance between the position of the pet robot and each of the cells.

[0008] In addition, in the virtual pet system according to one embodiment of the present invention, The information processing device may calculate the movement speed of the pet-type robot when it moves to the destination cell based on the difference between the total stress value of the cell in which the pet-type robot is currently located and the total stress value of the destination cell.

[0009] In addition, in the virtual pet system according to one embodiment of the present invention, The information processing device includes: Calculating the differences between the first stress, the second stress, and the third stress of the cell in which the pet robot currently resides and the first stress, the second stress, and the third stress of the cell to which the pet robot is to move, Based on which of the first stress difference, the second stress difference, and the third stress difference is the largest, it may be determined which of the owner, the user, and the destination cell the pet robot will look at when moving to the destination cell.

[0010] In addition, in the virtual pet system according to one embodiment of the present invention, The information processing device includes: A circle is set with the owner's position as a center and the reference distance as a radius, The pet robot may be controlled so that, when the pet robot goes outside the circle, a force acts to return the pet robot to the inside of the circle.

[0011] In addition, in the virtual pet system according to one embodiment of the present invention, The information processing device may cause the pet-type robot to behave differently in response to an interaction from the user to the pet-type robot when the pet-type robot is in a cell in which the total stress value is the minimum and when the pet-type robot is in a cell in which the total stress value is not the minimum.

[0012] In addition, the virtual pet system according to one embodiment of the present invention comprises: A tracker worn by a user; a head mounted display worn by the user and displaying a virtual pet and a virtual owner; a tracker detection device for detecting the position and posture of the user by the tracker; an information processing device that calculates a destination cell of the virtual pet based on a position of the virtual pet, a position of the virtual owner, and a position and posture of the user; A control device that controls an action of the virtual pet displayed on the head mounted display based on a command obtained from the information processing device; Equipped with The information processing device includes: A virtual space displayed by the head mounted display is divided into a plurality of cells and defined; calculating a first stress, a second stress, and a third stress for each cell of the plurality of cells; calculating a cell for which a total stress, which is the sum of the first stress, the second stress, and the third stress, is the smallest as a destination cell for the virtual pet; The first stress is a stress caused by moving away from the virtual owner and is calculated based on a distance between a location of the virtual owner and each of the cells; the second stress is stress caused by a desire to interact with the user, and is calculated based on the distance between the user's position and each of the cells and the number of interactions between the virtual pet and the user; The third stress is stress caused by a desire to explore the surrounding environment, and is calculated based on the distance between the position of the virtual pet and each of the cells. Effect of the Invention

[0013] According to the present invention, it is possible to provide a virtual pet system that users are unlikely to get bored of. [Brief description of the drawings]

[0014] [Figure 1]1 is a diagram showing an example of the configuration of a virtual pet system according to an embodiment of the present invention; [Diagram 2] 1 is a diagram illustrating an example of a configuration of an information processing device according to an embodiment of the present invention. [Diagram 3] FIG. 1 is a diagram showing an example of how a space is divided into cells. [Figure 4] FIG. 2 is a diagram showing an example of a first stress, a second stress, and a third stress. [Diagram 5] FIG. 13 is a diagram showing an example of the configuration of a virtual pet system according to a modified example. [Figure 6] FIG. 1 is a diagram showing a state in which a virtual space is divided into cells. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] FIG. 1 is a diagram showing an example of the configuration of a virtual pet system 1 according to an embodiment of the present invention.

[0017] The pseudo pet system 1 includes a pet robot 10, a first tracker 20, a second tracker 30, a tracker detection device 40, an information processing device 50, and a control device 60.

[0018] The pet robot 10 is a robot modeled after an animal. For example, the pet robot 10 may be a robot modeled after a dog.

[0019] The pet robot 10 has a movement mechanism and can move. The pet robot 10 can change the direction of its face. That is, the pet robot 10 can change where its line of sight is directed by changing the direction of its face.

[0020] The pet robot 10 can detect an interaction from the user 3 and perform various actions according to the type of interaction. For example, the pet robot 10 can perform a behavior of lying down when stroked by the user 3.

[0021] The first tracker 20 is a device worn by an owner 2. The first tracker 20 may be divided into multiple parts. The second tracker 30 is a device worn by a user 3. The second tracker 30 may be divided into multiple parts.

[0022] Here, we will explain the owner 2 and the user 3. The owner 2 is a person who plays the role of the owner of the pet robot 10. The user 3 is a person who starts a relationship with the pet robot 10 as an unknown other person.

[0023] For example, when the virtual pet system 1 is used in a medical facility, the owner 2 may be a medical professional. Also, the user 3 may be a patient who is trying to prevent a mental illness or the like by interacting with the pet robot 10.

[0024] Also, for example, when the virtual pet system 1 is used in a home, someone in the family may act as the owner 2, and another person in the family may act as the user 3.

[0025] The first tracker 20 is a device worn by the owner 2, as described above. The first tracker 20 can detect the position and attitude of the owner 2 by being used in combination with the tracker detection device 40. The first tracker 20 can function as a motion capture device by being combined with the tracker detection device 40. The motion capture device can be any type of motion capture device, such as an optical type, an inertial sensor type, an image type, a mechanical type, or a magnetic type.

[0026] For example, when the first tracker 20 functions as an optical motion capture in combination with the tracker detection device 40, the first tracker 20 may be a number of markers that reflect infrared light.

[0027] Note that the combination of the first tracker 20 and the tracker detection device 40 does not need to detect the posture of the owner 2 as long as it can at least detect the position of the owner 2. When only the position of the owner 2 is detected, the combination of the first tracker 20 and the tracker detection device 40 does not need to function as a motion capture system, but only needs to function as a position detection system.

[0028] The second tracker 30 is a device worn by the user 3, as described above. The second tracker 30 can be used in combination with the tracker detection device 40 to detect the position and posture of the user 3. The second tracker 30 can function as a motion capture device in combination with the tracker detection device 40. The motion capture device can be any type of motion capture device, such as an optical type, an inertial sensor type, an image type, a mechanical type, or a magnetic type.

[0029] For example, when the second tracker 30 functions as optical motion capture in combination with the tracker detection device 40, the second tracker 30 may be a number of markers that reflect infrared light.

[0030] The tracker detection device 40 detects the position of the pet robot 10. The tracker detection device 40 may detect the position of the pet robot 10 by any configuration. For example, when detecting the position optically, the tracker detection device 40 detects the position of the pet robot 10 by emitting infrared rays and detecting the light reflected by a marker attached to the pet robot 10.

[0031] The tracker detection device 40 detects the position and orientation of the owner 2 by the first tracker 20. The tracker detection device 40 may detect the position and orientation of the owner 2 by any configuration. For example, when the combination of the first tracker 20 and the tracker detection device 40 functions as an optical motion capture device, the tracker detection device 40 detects the position and orientation of the owner 2 by emitting infrared rays and detecting the light reflected by the first tracker 20.

[0032] The tracker detection device 40 detects the position and posture of the user 3 by the second tracker 30. The tracker detection device 40 may detect the position and posture of the user 3 by any configuration. For example, when the combination of the second tracker 30 and the tracker detection device 40 functions as an optical motion capture device, the tracker detection device 40 detects the position and posture of the user 3 by emitting infrared rays and detecting the light reflected by the second tracker 30.

[0033] For example, when the pseudo pet system 1 is used in a room of a medical facility, the tracker detection device 40 may be installed near a wall of the room of the medical facility. Also, when the pseudo pet system 1 is used in a room of a house, the tracker detection device 40 may be installed near a wall of the room of the house. The tracker detection device 40 may be configured in multiple units and may be installed in multiple locations near the wall of the room.

[0034] The tracker detection device 40 is capable of communicating with the information processing device 50. The tracker detection device 40 transmits the position of the pet robot 10, the position and posture of the owner 2, and the position and posture of the user 3 to the information processing device 50.

[0035] The information processing device 50 may be a dedicated computer used in the virtual pet system 1, or may be a general-purpose PC (Personal Computer).

[0036] The information processing device 50 can communicate with the tracker detection device 40 and the control device 60. The information processing device 50 acquires the position of the pet robot 10, the position and posture of the owner 2, and the position and posture of the user 3 from the tracker detection device 40.

[0037] The information processing device 50 calculates a destination cell for the pet robot 10 based on the position of the pet robot 10, the position of the owner 2, and the position and posture of the user 3. The information processing device 50 transmits a command to the control device 60 to move the pet robot 10 to the calculated destination cell.

[0038] The configuration of the information processing device 50 will be described with reference to FIG.

[0039] The information processing device 50 includes a communication unit 51, a storage unit 52, an input unit 53, an output unit 54, and a control unit 55.

[0040] The communication unit 51 includes a communication module. For example, the communication unit 51 may include a communication module compatible with a LAN (Local Area Network). The information processing device 50 is connected to a network such as the Internet via the communication unit 51. The communication unit 51 transmits and receives various information via the network. The communication unit 51 is capable of communicating with the tracker detection device 40 and the control device 60 via the network.

[0041] The storage unit 52 is, for example, a semiconductor memory, a magnetic memory, an optical memory, or the like, but is not limited thereto. The storage unit 52 may function, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 52 stores any information used in the operation of the information processing device 50. For example, the storage unit 52 may store a system program, an application program, and various information received by the communication unit 51, and the like. The information stored in the storage unit 52 may be updateable, for example, with information received via the communication unit 51.

[0042] The input unit 53 includes one or more input interfaces that detect a user input and acquire input information based on a user operation. For example, the input unit 53 includes, but is not limited to, a physical key, a capacitive key, a touch screen that is integral with the display of the output unit 54, or a microphone that accepts voice input.

[0043] The output unit 54 includes one or more output interfaces that output information to notify the user. For example, the output unit 54 includes, but is not limited to, a display that outputs information as an image, a speaker that outputs information as sound, and the like.

[0044] The control unit 55 includes at least one processor, at least one dedicated circuit, or a combination of these. The processor is a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The dedicated circuit is, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The control unit 55 executes processes related to the operation of the information processing device 50 while controlling each unit of the information processing device 50.

[0045] The operation of the information processing device 50 will be described in detail later.

[0046] Returning to FIG. 1 again, the explanation will be continued.

[0047] The control device 60 acquires commands for controlling the operation of the pet type robot 10 from the information processing device 50. The control device 60 controls the operation of the pet type robot 10 based on the commands acquired from the information processing device 50.

[0048] In FIG. 1, the control device 60 is shown as a device separate from the information processing device 50, but the information processing device 50 and the control device 60 may be configured as an integrated device.

[0049] (Operation of information processing device) Next, the operation of the information processing device 50 will be described.

[0050] The control unit 55 of the information processing device 50 divides and defines the space within which the pet robot 10 moves into a plurality of cells. The space within which the pet robot 10 moves may be, for example, a room in a medical facility when the pseudo pet system 1 is used in a room in a medical facility. Also, the space within which the pet robot 10 moves may be, for example, a room in a house when the pseudo pet system 1 is used in a room in a house.

[0051] Fig. 3 shows an example of a state in which the space within which the pet robot 10 moves is divided into a plurality of cells. Fig. 3 shows an example in which the space within which the pet robot 10 moves is divided into 7 x 7 cells. Note that division into 7 x 7 cells is just an example, and the control unit 55 may define the space within which the pet robot 10 moves by dividing it into any number of cells.

[0052] In the example shown in Fig. 3, the position of the pet robot 10 is the cell in the third row and the fifth column. The position of the owner 2 is the cell in the first row and the fourth column. The position of the user 3 is the cell in the sixth row and the third column.

[0053] The control unit 55 calculates three types of stress, a first stress, a second stress, and a third stress, as stresses assumed to be felt by the pet robot 10, for each of the multiple cells.

[0054] The first stress is a stress assumed to be caused in the pet robot 10 by being separated from the owner 2. The control unit 55 calculates the first stress for each cell based on at least the distance between the position of the owner 2 and each cell.

[0055] The control unit 55 calculates the first stress S1 based on, for example, the following formula (1): ijIt should be noted that the following formula (1) is merely an example and is not intended to be limiting.

number

[0056] Anx in the above formula (1) is a parameter that indicates the degree of anxiety felt by the pet robot 10. The control unit 55 may calculate the degree of anxiety Anx based on, for example, the following formula (2). Note that the following formula (2) is an example and is not limited thereto.

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[0057] The intimacy degree Fam in the above formula (2) is a parameter that indicates the intimacy degree of the pet robot 10 with the user 3. The intimacy degree Fam is a parameter that gradually changes over time, and increases as the number of interactions between the pet robot 10 and the user 3 increases. Also, the intimacy degree Fam increases as the user 3 plays for a longer period of time.

[0058] The control unit 55 determines that an interaction has occurred between the pet robot 10 and the user 3 based on the position of the pet robot 10 and the position and posture of the user 3. For example, when the distance between the position of the pet robot 10 and the position of the user 3 is equal to or less than a predetermined distance and the control unit 55 detects from the posture of the user 3 that the user 3 is stroking the pet robot 10, the control unit 55 determines that an interaction has occurred between the pet robot 10 and the user 3.

[0059] An example of the first stress is shown in Fig. 4. The leftmost graph in Fig. 4 is a graph showing the first stress. In the leftmost graph in Fig. 4, the horizontal axis represents the distance between the position of the owner 2 and the cell, and the vertical axis represents the first stress S1.

[0060] The leftmost graph in FIG. 4 shows the cases where the anxiety level Anx is 1 and 3 in the above formula (1).

[0061] 4, it can be seen that the first stress S1 increases as the distance between the position of the owner 2 and the cell increases. Also, the larger the value of the anxiety level Anx is, the larger the first stress S1 is.

[0062] Next, the second stress will be described. The second stress is a stress assumed to be caused in the pet robot 10 due to a desire to interact with the user 3. The control unit 55 calculates the second stress for each cell based on at least the distance between the position of the user 3 and each cell, and the number of interactions between the pet robot 10 and the user 3.

[0063] The control unit 55 calculates the second stress S2 based on, for example, the following equation (3): ij It should be noted that the following formula (3) is merely an example and is not intended to be limiting.

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[0064] The intimacy degree Fam in the above formula (3) is a parameter that gradually changes over time, as described above, and increases as the number of interactions between the pet robot 10 and the user 3 increases. Also, the intimacy degree Fam increases as the user 3 plays for a longer period of time.

[0065] The likability rating Fav in the above formula (3) is a parameter that indicates the likability rating of the pet robot 10 for the user 3. While the intimacy rating Fam is a parameter that changes gradually over time, the likability rating Fav is a parameter that changes in a short period of time depending on the behavior of the user 3.

[0066] The likability rating Fav takes a positive value when the behavior of the user 3 is a positive behavior for the pet robot 10, and takes a negative value when the behavior of the user 3 is a negative behavior for the pet robot 10.

[0067] The favorability rating Fav may increase or decrease depending on various actions of the user 3.

[0068] For example, the likability rating Fav may increase when the user 3 directs his / her gaze at the pet robot 10, and decrease when the user 3 takes his / her gaze away from the pet robot 10. This is because directing the gaze of the user 3 at the pet robot 10 indicates that the user 3 is interested in the pet robot 10, and is considered to be a positive behavior.

[0069] Also, for example, the likability rating Fav may increase when the user 3 lowers his / her posture, and decrease when the user 3 raises his / her posture. This is because the user 3 lowering his / her posture indicates that the user 3 is trying to interact with the pet robot 10, and is considered to be a positive behavior. On the other hand, the user 3 raising his / her posture is considered to be a behavior that scares the pet robot 10, and is considered to be a negative behavior.

[0070] Also, for example, the likability Fav may increase when the user 3 interacts with the pet robot 10, such as by playing with the pet robot 10, and may decrease when the user 3 does not interact with the pet robot 10, such as by playing with the pet robot 10. This is because the user 3 interacting with the pet robot 10, such as by playing with the pet robot 10, is considered to be a positive behavior.

[0071] Also, for example, the likability rating Fav may increase when the user 3 approaches the pet robot 10 and decrease when the user 3 moves away from the pet robot 10. This is because the user 3 approaching the pet robot 10 indicates that the user 3 is interested in the pet robot 10 and is considered to be a positive behavior.

[0072] Also, for example, the favorability rating Fav may increase when the user 3 calls the name of the pet robot 10. This is because the user 3 calling the name of the pet robot 10 shows that the user 3 is interested in the pet robot 10, and is considered to be a positive behavior. When the favorability rating Fav is increased by the act of the user 3 calling the name of the pet robot 10, the pet robot 10 may be equipped with a microphone. The pet robot 10 recognizes the voice of the user 3 through the microphone, and when it is determined that the user 3 has called the name, it transmits information indicating that the user 3 has called the name to the tracker detection device 40 or the information processing device 50.

[0073] The control unit 55 may determine whether the user 3 has performed an action to increase or decrease the likability rating Fav, based on the position of the pet robot 10 and the position and posture of the user 3.

[0074] An example of the second stress is shown in Fig. 4. The graph in the middle of Fig. 4 is a graph showing the second stress. In the graph in the middle of Fig. 4, the horizontal axis represents the distance between the position of user 3 and the cell, and the vertical axis represents the second stress S2.

[0075] The graph in the middle of Figure 4 shows the relationship between Fav and β in the above formula (3). s The cases where Fam is 3, 1, -1, and -3 are shown. Thus, Fav+β s Fam can have both positive and negative values.

[0076] Referring to the graph in the middle of Figure 4, Fav+β s Behavior differs depending on whether Fam is positive or negative. Fav+β s When Fam is positive, the closer the distance between the position of the user 3 and the cell, the smaller the second stress S2. s When Fam is negative, the second stress S2 is larger when the distance between the position of the user 3 and the cell is shorter.

[0077] Next, the third stress will be described. The third stress is a stress assumed to be caused in the pet robot 10 due to a desire to explore the surrounding environment. The control unit 55 calculates the third stress for each cell based on at least the distance between the position of the pet robot 10 and each cell.

[0078] The control unit 55 calculates the third stress S3 based on, for example, the following equation (4): ij It should be noted that the following formula (4) is merely an example and is not intended to be limiting.

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[0079] The parameter E in the above formula (4) is a parameter that E=1 in an unsearched cell and E=0 in a searched cell. Here, an unsearched cell is a cell to which the pet robot 10 has not moved. A searched cell is a cell to which the pet robot 10 has moved before.

[0080] An example of the third stress is shown in Fig. 4. The rightmost graph in Fig. 4 is a graph showing the third stress. In the rightmost graph in Fig. 4, the horizontal axis represents the distance between the position of the pet robot 10 and the cell, and the vertical axis represents the third stress S3.

[0081] The rightmost graph in FIG. 4 shows the cases where the parameter E is 0 and 1 in the above equation (4).

[0082] 4, when the parameter E is 0, i.e., in the case of an already-searched cell, the value of the third stress S3 is constant regardless of the distance between the position of the pet robot 10 and the cell. When the parameter E is 1, i.e., in the case of an unsearched cell, the closer the distance between the position of the pet robot 10 and the cell, the smaller the third stress S3 becomes.

[0083] After calculating the first stress, the second stress, and the third stress, the control unit 55 calculates a total stress which is the sum of the first stress, the second stress, and the third stress.

[0084] The control unit 55 calculates the total stress S based on, for example, the following formula (5): ij may be calculated.

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[0085] The control unit 55 calculates the cell with the minimum total stress as the destination cell of the pet robot 10. The control unit 55 transmits information of the calculated destination cell to the control device 60 via the communication unit 51.

[0086] When the control device 60 acquires the information of the destination cell from the information processing device 50, it controls the operation of the pet robot 10 so that the pet robot 10 moves to the destination cell.

[0087] This allows the pet robot 10 to move to a cell where the total stress is the smallest.

[0088] <Movement speed> The control unit 55 of the information processing device 50 may calculate the movement speed when the pet robot 10 moves to the destination cell based on the difference between the total stress value of the cell in which the pet robot 10 is currently located and the total stress value of the destination cell.

[0089] For example, the control unit 55 may calculate the movement speed of the pet robot 10 when it moves to the destination cell so that the movement speed becomes faster as the difference between the total stress value of the cell in which the pet robot 10 is currently located and the total stress value of the destination cell becomes larger.

[0090] The control unit 55 may calculate the moving speed when the pet robot 10 moves to the destination cell, based on, for example, the following formula (6).

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[0091] As a result, the information processing device 50 can move the pet robot 10 at a high speed when the total stress value of the cell where the pet robot 10 currently resides is high and the total stress value of the destination cell is low. Also, the information processing device 50 can move the pet robot 10 slowly when the difference in the total stress value between the cell where the pet robot 10 currently resides and the destination cell is small.

[0092] <Pet robot's gaze direction> When the pet robot 10 moves to a destination cell, the control unit 55 of the information processing device 50 may determine where the pet robot 10 will look when moving, based on which of the first stress, the second stress, and the third stress contributes most to determining the destination cell.

[0093] In this case, the control unit 55 calculates the difference between the first stress of the cell where the pet robot 10 is currently located and the first stress of the destination cell. The control unit 55 calculates the difference between the second stress of the cell where the pet robot 10 is currently located and the second stress of the destination cell. The control unit 55 calculates the difference between the third stress of the cell where the pet robot 10 is currently located and the third stress of the destination cell.

[0094] The control unit 55 determines, based on which of the first stress difference, the second stress difference, and the third stress difference is the largest, which of the owner 2, the user 3, and the destination cell the pet robot 10 will look at when moving to the destination cell.

[0095] When the difference in the first stress is the largest, the control unit 55 determines that the pet robot 10 should turn its gaze toward the owner 2 when moving to the destination cell. This is because, when the difference in the first stress is the largest, being far from the owner 2 is considered to be the most important factor in determining the destination cell.

[0096] When the difference in the second stress is the largest, the control unit 55 determines that the pet robot 10 should turn its gaze toward the user 3 when moving to the destination cell. This is because, when the difference in the second stress is the largest, it is considered that the desire to interact with the user 3 contributes most to the determination of the destination cell.

[0097] When the third stress difference is the largest, the control unit 55 determines that the pet robot 10 should turn its gaze toward the destination cell when moving to the destination cell. This is because, when the third stress difference is the largest, it is considered that the desire to explore the surrounding environment contributes most to the determination of the destination cell.

[0098] When the control unit 55 determines whether the pet robot 10 will look at the owner 2, the user 3, or the destination cell when the pet robot 10 moves to the destination cell, the control unit 55 transmits information on the determined gaze to the control device 60 via the communication unit 51.

[0099] When the control device 60 acquires the line of sight information from the information processing device 50, it controls the operation of the pet robot 10 so that the pet robot 10 directs its gaze based on the acquired line of sight information when moving to a destination cell.

[0100] <Area of ​​action of pet robot> The control unit 55 of the information processing device 50 may determine the action range of the pet robot 10 so that the pet robot 10 does not stray too far from the periphery of the owner 2. This is in imitation of the usual action of a pet, which regards the periphery of the owner as a safe area.

[0101] In this case, the control unit 55 sets a circle with the position of the owner 2 as the center and the reference distance as the radius. When the pet robot 10 goes outside the set circle, the control unit 55 controls the pet robot 10 so that a force acts to return the pet robot 10 to the inside of the circle.

[0102] The control unit 55 calculates a force p that returns the pet robot 10 to the inside of the circle based on, for example, the following equation (7): o It should be noted that the following formula (7) is merely an example and is not intended to be limiting.

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[0103] The reference distance r in the above formula (7) o may depend on the anxiety level Anx shown in the above formula (1). In this case, the reference distance r o may be a distance that decreases as the anxiety level Anx increases.

[0104] The control unit 55 applies a force p to return the pet robot 10 to the inside of the circle. o When the pet robot 10 is moved to the inside of the circle, the speed at which it returns to the inside of the circle is expressed by the force p o may be made proportional to

[0105] <Behavior of pet robot> The control unit 55 of the information processing device 50 may cause the pet robot 10 to behave differently in response to an interaction from the user 3 to the pet robot 10 depending on whether the pet robot 10 is in a cell with the smallest total stress value or a cell with a non-smallest total stress value.

[0106] For example, when the pet robot 10 is in a cell with the smallest total stress value, the control unit 55 may cause the pet robot 10 to behave as if it lies down when the user 3 strokes the pet robot 10. Also, for example, when the pet robot 10 is in a cell with a non-smallest total stress value, the control unit 55 may not cause the pet robot 10 to behave as if it lies down even when the user 3 strokes the pet robot 10, and may prioritize the pet robot 10 moving to the cell with the smallest total stress value.

[0107] In this manner, in the virtual pet system 1 according to the present embodiment, the information processing device 50 defines the space in which the pet robot 10 moves by dividing it into a plurality of cells, calculates a first stress, a second stress, and a third stress for each of the plurality of cells, and calculates the cell in which the total stress, which is the sum of the first stress, the second stress, and the third stress, is the smallest as the cell to which the pet robot 10 moves. Here, the first stress is stress caused by moving away from the owner 2, and is calculated based on the distance between the position of the owner 2 and each cell. The second stress is stress caused by the desire to interact with the user 3, and is calculated based on the distance between the position of the user 3 and each cell, and the number of interactions between the pet robot 10 and the user 3. The third stress is stress caused by the desire to explore the surrounding environment, and is calculated based on the distance between the position of the pet robot 10 and each cell. In this way, the virtual pet system 1 according to this embodiment calculates the total stress as the sum of the three types of stress and moves the pet robot 10 to the cell where the total stress is the smallest, so that the virtual pet system 1 according to this embodiment can make the pet robot 10 behave in a complex manner based on the position of the pet robot 10, the position of the owner 2, the position of the user 3, the number of interactions between the pet robot 10 and the user 3, etc. Therefore, the virtual pet system 1 according to this embodiment is a system that the user 3 is unlikely to get bored of.

[0108] (Modification) FIG. 5 is a diagram showing an example of the configuration of a virtual pet system 1a according to a modified example.

[0109] The virtual pet system 1a according to the modified example includes a tracker detection device 40, an information processing device 50, a control device 60, a head mounted display (HMD) 70, and a tracker 80.

[0110] The virtual pet system 1a according to the modified example differs significantly from the virtual pet system 1 shown in FIG.

[0111] Regarding the virtual pet system 1a according to the modified example, differences from the virtual pet system 1 shown in FIG. 1 will be mainly described, and descriptions of commonalities or similarities with the virtual pet system 1 shown in FIG. 1 will be omitted as appropriate.

[0112] The head mounted display 70 can be worn on the head of the user 3. The head mounted display 70 displays a virtual space. The head mounted display 70 displays a virtual pet 5 and a virtual owner 4 in the virtual space. Fig. 6 shows an example of the head mounted display 70 displaying the virtual pet 5 and the virtual owner 4.

[0113] The tracker 80 is a device worn by the user 3. The tracker 80 may be divided into multiple parts. The tracker 80 is used in combination with the tracker detection device 40 to detect the position and posture of the user 3. The tracker 80 may function as a motion capture device in combination with the tracker detection device 40. The motion capture device may be any type of motion capture device, such as an optical type, an inertial sensor type, an image type, a mechanical type, or a magnetic type.

[0114] The configuration of the information processing device 50 is the same as the configuration of the information processing device 50 shown in Fig. 2. The control unit 55 of the information processing device 50 defines the virtual space displayed by the head mounted display 70 by dividing it into a plurality of cells. Fig. 6 shows an example of how the virtual space displayed by the head mounted display 70 is divided into a plurality of cells.

[0115] The control unit 55 calculates the destination cell of the virtual pet 5 based on the position of the virtual pet 5 , the position of the virtual owner 4 , and the position and posture of the user 3 .

[0116] Here, the position of the virtual pet 5 and the position of the virtual owner 4 refer to the position of the virtual pet 5 and the position of the virtual owner 4 in the virtual space displayed by the head mounted display 70.

[0117] The position of the user 3 means a position in the virtual space where the user 3 is assumed to be. The user 3 is not displayed in the virtual space displayed by the head mounted display 70, but is assumed to be in one of the cells in the virtual space.

[0118] The control device 60 controls the display displayed by the head mounted display 70. Note that the display displayed by the head mounted display 70 may be directly controlled by the information processing device 50 instead of the control device 60.

[0119] The control device 60 acquires commands for controlling the behavior of the virtual pet 5 from the information processing device 50. The control device 60 controls the behavior of the virtual pet 5 displayed on the head mounted display 70 based on the commands acquired from the information processing device 50.

[0120] The control unit 55 of the information processing device 50 calculates a first stress, a second stress, and a third stress for each of a plurality of cells in the virtual space, similarly to the virtual pet system 1 shown in FIG.

[0121] The control unit 55 calculates the cell where the total stress, which is the sum of the first stress, the second stress, and the third stress, is the smallest, as the cell to which the virtual pet 5 should move.

[0122] The control unit 55 transmits the calculated information on the destination cell to the control device 60 via the communication unit 51.

[0123] When the control device 60 acquires information about the destination cell from the information processing device 50, it controls the head mounted display 70 to move the virtual pet 5 displayed on the head mounted display 70 to the destination cell.

[0124] Since the virtual pet system 1a according to the modified example operates the virtual pet 5 in a virtual space displayed by the head mounted display 70, there is a high degree of freedom in terms of how the virtual pet 5 should look and how the virtual pet 5 should behave. Furthermore, since the virtual pet system 1a according to the modified example operates the virtual pet 5 by software, development is easy and low cost.

[0125] Although the present invention has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications and corrections based on the present disclosure. Therefore, it should be noted that these modifications and corrections are included in the scope of the present invention. For example, the functions included in each component, each step, etc. can be rearranged so as not to be logically contradictory, and multiple components or steps can be combined into one or divided. In addition, although the present invention has been described mainly in terms of an apparatus, the present invention can also be realized as a method including steps executed by each component of the apparatus. In addition, although the present invention has been described mainly in terms of an apparatus, the present invention can also be realized as a method, a program, or a storage medium on which a program is recorded, which are executed by a processor provided in the apparatus, and it should be understood that these are also included in the scope of the present invention.

[0126] For example, in the present embodiment, the pet robot 10 is a robot modeled after a dog, but the pet robot 10 may be a robot modeled after another animal. [Explanation of symbols]

[0127] 1, 1a Virtual pet system 2 Owner 3 Users 4 Virtual Owner 5. Virtual Pets 10 Pet Robot 20 The First Tracker 30 Second Tracker 40 Tracker detection device 50 Information processing device 51 Communications Department 52 Storage section 53 Input section 54 Output section 55 Control section 60 Control device 70 Head Mounted Display (HMD) 80 Tracker

Claims

1. A pet robot, a first tracker attached by an owner; a second tracker worn by the user; and a tracker detection device that detects a position of the pet-type robot, detects a position of the owner by the first tracker, and detects a position and a posture of the user by the second tracker; an information processing device that calculates a destination cell of the pet robot based on a position of the pet robot, a position of the owner, and a position and posture of the user; A control device that controls the operation of the pet robot based on a command obtained from the information processing device; Equipped with The information processing device includes: A space within which the pet robot moves is divided into a plurality of cells and defined; calculating a first stress, a second stress, and a third stress for each cell of the plurality of cells; calculating a cell for which a total stress, which is the sum of the first stress, the second stress, and the third stress, is the smallest as a destination cell for the pet robot; the first stress is a stress caused by moving away from the owner and is calculated based on a distance between the location of the owner and each of the cells; the second stress is stress caused by a desire to interact with the user, and is calculated based on a distance between the position of the user and each of the cells and a number of interactions between the pet robot and the user; In the pseudo-pet system, the third stress is stress caused by a desire to explore the surrounding environment, and is calculated based on the distance between the position of the pet robot and each of the cells.

2. 2. The virtual pet system according to claim 1, The information processing device calculates the movement speed of the pet robot when it moves to the destination cell based on the difference between the total stress value of the cell in which the pet robot is currently located and the total stress value of the destination cell, in a pseudo pet system.

3. 2. The virtual pet system according to claim 1, The information processing device includes: Calculating differences between the first stress, the second stress, and the third stress of the cell in which the pet robot currently resides and the first stress, the second stress, and the third stress of the cell to which the pet robot is to move, A pseudo pet system that determines whether the pet robot will look at the owner, the user, or the destination cell when the pet robot moves to the destination cell, based on which of the first stress difference, the second stress difference, and the third stress difference is the largest.

4. 2. The virtual pet system according to claim 1, The information processing device includes: A circle is set with the owner's position as a center and the reference distance as a radius, The pseudo pet system controls the pet robot so that, when the pet robot goes outside the circle, a force acts to return the pet robot to the inside of the circle.

5. 2. The virtual pet system according to claim 1, The information processing device is a pseudo-pet system in which the pet-type robot behaves differently in response to interaction from the user to the pet-type robot when the pet-type robot is in a cell where the total stress value is the minimum and when the pet-type robot is in a cell where the total stress value is not the minimum.

6. A tracker worn by a user; a head mounted display worn by the user and displaying a virtual pet and a virtual owner; a tracker detection device for detecting the position and posture of the user by the tracker; an information processing device that calculates a destination cell of the virtual pet based on a position of the virtual pet, a position of the virtual owner, and a position and posture of the user; A control device that controls an action of the virtual pet displayed on the head mounted display based on a command obtained from the information processing device; Equipped with The information processing device includes: A virtual space displayed by the head mounted display is divided into a plurality of cells and defined; calculating a first stress, a second stress, and a third stress for each cell of the plurality of cells; calculating a cell for which a total stress, which is the sum of the first stress, the second stress, and the third stress, is the smallest as a destination cell for the virtual pet; The first stress is a stress caused by moving away from the virtual owner and is calculated based on a distance between a location of the virtual owner and each of the cells; the second stress is stress caused by a desire to interact with the user, and is calculated based on a distance between the user's position and each of the cells and a number of interactions between the virtual pet and the user; In the virtual pet system, the third stress is stress caused by a desire to explore the surrounding environment, and is calculated based on the distance between the position of the virtual pet and each of the cells.

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