Robot, expression method, and program

Abstract

To express feeling of a living creature even while charging, despite its simple structure.SOLUTION: A robot 200 imitating a living creature is powered by a rechargeable battery 252, and includes a motion unit for making the robot perform motions imitating the living creature, and a control unit. The control unit executes: processing for making the robot perform a breathing motion that is a motion imitating the breathing of the living creature at a predetermined cycle; and processing for making control contents of the motion unit different between a breathing motion at the time of charging that is a breathing motion while the battery 252 is being charged, and a breathing motion at the time of non-charing that is a breathing motion while the battery 252 is not being charged.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Technologies have been developed to make robots feel more alive, so that they are more like familiar beings like friends or pets. For example, Patent Document 1 discloses a technology that expresses the feeling of being alive by performing a "charging performance" such as making the robot act as if it is sleeping while charging, and by outputting theme music and performing a "charging completion performance" when charging is complete, which shows that the robot has recovered its energy. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-123074 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in Patent Document 1, the charging station is provided with an additional function for maintaining the performance of the robot, allowing the robot to express a lifelike feeling even while charging. However, such charging stations have a complex structure and are expensive.

[0005] Therefore, the present invention has been made in consideration of the above circumstances, and aims to provide a robot, a robot control method, and a program that can express a lifelike appearance even while charging, despite having a simple configuration. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the robot according to the present invention is to A robot that mimics a living organism, Powered by a rechargeable battery, A motion unit for making the robot perform motions that mimic those of a living organism; A control unit; Equipped with The control unit: A process of making the robot perform a breathing motion that imitates breathing of a living organism at a predetermined cycle; A process of making the control contents of the operation unit different between a charging breathing action, which is the breathing action when the battery is being charged, and a non-charging breathing action, which is the breathing action when the battery is not being charged; Execute. Effect of the Invention

[0007] According to the present invention, it is possible to express a sense of life even during charging, despite the simple configuration. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing the appearance of a robot according to a first embodiment. [Diagram 2] 1 is a cross-sectional view perpendicular to the left-right direction of the robot according to embodiment 1. FIG. [Diagram 3] 1 is a cross-sectional view perpendicular to the up-down direction of the robot according to embodiment 1. FIG. [Figure 4] FIG. 2 is a block diagram showing the functional configuration of the robot according to the first embodiment. [Diagram 5] FIG. 3 is a diagram for explaining an example of an emotion map according to the first embodiment. [Figure 6] FIG. 4 is a diagram for explaining an example of a control content table according to the first embodiment. [Figure 7] 4 is a flowchart showing the flow of robot control processing of the robot according to the first embodiment. [Figure 8] 1 is a flowchart showing a flow of breathing mimicking processing of the robot according to the embodiment 1. [Figure 9] FIG. 2 is a diagram for explaining a breathing motion of the robot according to the first embodiment during non-charging. [Figure 10] FIG. 11 is another diagram for explaining the breathing motion of the robot according to embodiment 1 during non-charging. [Figure 11] FIG. 2 is a diagram for explaining a breathing motion during charging of the robot according to the first embodiment. [Figure 12] FIG. 11 is another diagram for explaining a breathing motion during charging of the robot according to embodiment 1. [Figure 13] 10 is a flowchart showing a flow of an operation process at the end of charging of a robot according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

[0010] (Embodiment 1) As shown in FIG. 1, the robot 200 according to the first embodiment is a pet robot that imitates a small animal. For ease of understanding, FIG. 1 shows front, rear, left and right directions, and these directions will be referred to as appropriate in the description. The robot 200 has two decorative parts 202 imitating eyes on the front side. As shown in FIGS. 2 and 3, the robot 200 has a housing 207 and a flexible exterior 201 that covers the housing 207. The exterior 201 imitates fur and has a large amount of fluffy hair 203. In FIGS. 2 and 3, hatching has been omitted in consideration of ease of viewing the drawings.

[0011] 2 and 3, the housing 207 of the robot 200 is composed of a head 204, a connecting portion 205, and a body portion 206, and the rear end of the head 204 and the front end of the body portion 206 are connected by the connecting portion 205. As shown in FIG. 2, the body portion 206 extends in the front-rear direction. The body portion 206 contacts a placement surface such as a floor or a table on which the robot 200 is placed via the exterior 201. As shown in FIG. 2, a twist motor 221 is provided at the front end of the body portion 206, and the head 204 is connected to the front end of the body portion 206 via the connecting portion 205. The connecting portion 205 is provided with an up-down motor 222. In FIG. 2, the twist motor 221 is provided in the body portion 206, but it may be provided in the connecting portion 205 or in the head 204.

[0012] The connecting portion 205 connects the body portion 206 and the head portion 204 to be rotatable (by the twist motor 221) about a first rotation axis that passes through the connecting portion 205 and extends in the front-rear direction of the body portion 206. The twist motor 221 can rotate the head portion 204 clockwise or counterclockwise about the first rotation axis relative to the body portion 206. Note that clockwise in this description refers to the clockwise direction when looking from the head portion 204 toward the body portion 206. Also, a clockwise rotation is also called a "twist rotation to the right" and a counterclockwise rotation is also called a "twist rotation to the left." The maximum angle at which head 204 is twisted and rotated to the right (clockwise) or left (counterclockwise) by twist motor 221 is arbitrary, but the angle of head 204 when head 204 is not twisted to the right or left is called the twist reference angle, and the left / right rotation angle of head 204 at this time is set to 0 degrees. Furthermore, the value of the left / right rotation angle of head 204 when head 204 is rotated to the right more than the twist reference angle is positive, and the value of the left / right rotation angle of head 204 when head 204 is rotated to the left more than the twist reference angle is negative.

[0013] Furthermore, the connecting part 205 connects the body part 206 and the head 204 so as to be rotatable (by the vertical motor 222) about a second rotation axis that passes through the connecting part 205 and extends in the width direction of the body part 206. The vertical motor 222 can rotate the head 204 up and down about the second rotation axis as shown by the arrow Y1. The maximum angle of upward or downward rotation is arbitrary, but the angle of the head 204 when it is not rotated upward or downward is called the vertical reference angle, and the vertical rotation angle of the head 204 at this time is set to 0 degrees. Furthermore, the value of the vertical rotation angle of the head 204 when it is rotated upward beyond the vertical reference angle is positive, and the value of the vertical rotation angle of the head 204 when it is rotated downward beyond the vertical reference angle is negative.

[0014] When head 204 rotates through the vertical reference angle or above the vertical reference angle by vertical rotation about the second rotation axis (when the vertical rotation angle of head 204 is 0 degree or more), head 204 can come into contact with a placement surface such as a floor or a table on which robot 200 is placed, via exterior 201. Note that, although an example in which the first rotation axis and the second rotation axis are perpendicular to each other is shown in FIG. 2, the first and second rotation axes do not have to be perpendicular to each other.

[0015] Furthermore, body 206 constituting a part of housing 207 has a rectangular parallelepiped shape that is long in the front-rear direction, and is placed on placement surface 101 such as a floor or a table via exterior 201 as shown in Fig. 2. Therefore, when body 206 is placed on placement surface 101, head 204 is connected to the front end of body 206 so as to be able to rotate around the connection position with body 206 (second rotation axis of coupling part 205) in a direction that changes the distance between the front end of head 204 and placement surface 101.

[0016] Head 204, which constitutes a part of housing 207, is a part corresponding to the head of robot 200 simulating a small animal. As shown in FIGS. 2 and 3, convex parts 271A are attached to the left and right sides of head 204 as first engaged parts that engage with first engaging parts (engagement plates 275A) provided on exterior 201. That is, the first engaged parts are located on the front side with respect to the connection position (second rotation axis of coupling part 205). In addition, exterior convex parts (convex parts 276) are provided on exterior 201 within a specific range of engaging plates 275A (for example, within 2 cm from engaging plates 275A), and head 204 is provided with head recesses (recesses 272) within a specific range of convex parts 271A (for example, within 2 cm from convex parts 271A).

[0017] As shown in FIGS. 2 and 3, the left and right side surfaces and the top surface of the body 206 are provided with convex parts 271B as second engaged parts similar to those provided on the head 204. As with the first engaged parts, the convex parts 271B as second engaged parts engage with a second engaging part (engaging plate 275B) provided on the exterior 201. In the following description, the first engaging part (engaging plate 275A) and the second engaging part (engaging plate 275B) are collectively referred to simply as engaging parts (engaging plate 275). In addition, the first engaged part (convex part 271A) and the second engaged part (convex part 271B) are collectively referred to simply as engaged parts (convex part 271).

[0018] As shown in Figures 1 and 2, exterior 201 is long in the front-rear direction and has a bag-like shape with elasticity that can accommodate housing 207 inside. As shown in Figures 1 to 3, the surface of exterior 201 has a large number of hairs 203 that imitate the hair of a small animal, which can be made of, for example, pile fabric. This allows the feel of the robot 200 to resemble the feel of the skin of a small animal.

[0019] 1, line fastener 208 is attached to the rear of exterior 201. With housing 207 housed inside exterior 201, slider 208a of line fastener 208 is slid to close line fastener 208, thereby maintaining housing 207 (FIG. 2) housed in exterior 201. On the other hand, housing 207 can be inserted or removed from exterior 201 by sliding slider 208a to open line fastener 208.

[0020] When housing 207 is accommodated in exterior 201, an engaging portion (engagement plate 275) and an engaged portion (convex part 271) of exterior 201 are engaged, and an exterior convex part (convex part 276) is inserted into a head recess (recess 272). By engaging an engaging portion (engagement plate 275) and an engaged portion (convex part 271) of exterior 201, exterior 201 is locked to housing 207 and follows the movement of housing 207. As a result, the upper side of exterior 201 is pulled or sagged in accordance with the movement of housing 207. Also, by inserting exterior convex part (convex part 276) into head recess (recess 272), the position of the exterior convex part of exterior 201 is fixed to the position of the head recess of housing 207, and the accuracy of exterior 201 following the movement of housing 207 is improved.

[0021] Then, exterior 201 moves following housing 207 in response to the movement of housing 207 caused by the driving of twist motor 221 and up-down motor 222. As exterior 201 moves following housing 207, the upper side of exterior 201 is pulled and sagged, and this movement imitates the movement of a small animal. Therefore, by controlling movable part 220, control unit 110 can cause robot 200 imitating a small animal to move as if it were alive.

[0022] In the past, in order to make the exterior 201 follow the movement of the housing 207 with high accuracy, it was necessary to provide a large number of engagement plates 275 and convex parts 271 (for example, nine of each). However, in this embodiment, the number of convex parts 271A of the head 204 can be reduced to one each on the left and right (two in total), and the number of convex parts 271B of the body 206 can be reduced to one each on the left and right and on the top surface (three in total). Even with a reduced number of parts, the housing 207 has the convex part 271 and the exterior 201 has the engagement plate 275 at appropriate positions where the exterior 201 is likely to be pulled or slackened during breathing, which will be described later. Furthermore, by providing the head recess and the exterior protrusion, the accuracy of the exterior 201 following the movement of the housing 207 is further improved. Furthermore, the reduced number of parts reduces the number of assembly steps and simplifies the installation of the exterior 201, making it possible to reduce costs. Furthermore, it is now easier for the user to attach and detach the exterior 201.

[0023] 2, the robot 200 is provided with a touch sensor 211 on the head 204, and the touch sensor 211 can detect when the user strokes or hits the head 204. The body 206 is also provided with a touch sensor 211, and the touch sensor 211 can detect when the user strokes or hits the body 206.

[0024] The robot 200 also includes an acceleration sensor 212 on the torso 206, which can detect the posture (direction) of the robot 200 and detect when the robot 200 is lifted up, turned around, or thrown by a user. The robot 200 also includes a gyro sensor 214 on the torso 206, which can detect when the robot 200 is rolling or rotating.

[0025] The robot 200 also includes a microphone 213 on the body 206 and can detect external sounds. The robot 200 also includes a speaker 231 on the body 206 and can emit sounds (sound effects) made by the robot 200.

[0026] The robot 200 also includes a power receiving unit 251 on the bottom surface of the torso 206. The robot 200 is driven by a rechargeable battery 252 included inside the housing 207, and receives power transmitted from a wireless charger at the power receiving unit 251 to charge the battery 252. The wireless charger is modeled after a pet cage (house) and includes a sheet-like power supply placement surface. When the robot 200 is placed on the power supply placement surface of the wireless charger, charging of the battery 252 begins.

[0027] In this embodiment, the acceleration sensor 212, the gyro sensor 214, the microphone 213, and the speaker 231 are provided in the body 206, but all or some of these may be provided in the head 204. In addition to the acceleration sensor 212, the gyro sensor 214, the microphone 213, and the speaker 231 provided in the body 206, all or some of these may also be provided in the head 204. In addition, the touch sensor 211 is provided in each of the head 204 and the body 206, but it may be provided in only one of the head 204 or the body 206. Furthermore, a plurality of each of these may be provided.

[0028] In this embodiment, since the housing 207 of the robot 200 is covered by the exterior 201, the head 204 and the torso 206 are indirectly in contact with a placement surface, such as a floor or a table, on which the robot 200 is placed, via the exterior 201. However, the present invention is not limited to this form, and the head 204 and the torso 206 may be in direct contact with the placement surface. For example, the lower part of the exterior 201 (the part that contacts the placement surface) may not exist, and the lower part of the housing 207 (the part that contacts the placement surface, for example, the bottom surface of the torso 206) may be exposed, or the exterior 201 may not exist at all, and the entire housing 207 may be exposed.

[0029] Next, the functional configuration of the robot 200 will be described. As shown in FIG. 4, the robot 200 includes an equipment control device 100, an external stimulus detection unit 210, a movable unit 220, a sound output unit 230, an operation input unit 240, and a power supply control unit 250. The equipment control device 100 includes a control unit 110, a storage unit 120, and a communication unit 130. In FIG. 4, the equipment control device 100, the external stimulus detection unit 210, the movable unit 220, the sound output unit 230, the operation input unit 240, and the power supply control unit 250 are connected via a bus line BL, but this is an example. The equipment control device 100, the external stimulus detection unit 210, the movable unit 220, the sound output unit 230, the operation input unit 240, and the power supply control unit 250 may be connected via a wired interface such as a Universal Serial Bus (USB) cable, or a wireless interface such as Bluetooth (registered trademark). The control unit 110 may be connected to the storage unit 120 and the communication unit 130 via a bus line BL.

[0030] The device control device 100 uses the control unit 110 and the storage unit 120 to control the operation of the robot 200 (movement by the movable unit 220, output of cries from the audio output unit 230, etc.).

[0031] The control unit 110 is composed of, for example, a CPU (Central Processing Unit) and executes various processes (robot control process, etc.) described later using programs stored in the storage unit 120. Note that the control unit 110 supports a multi-thread function that executes multiple processes in parallel, and therefore can execute various processes (robot control process, breathing simulation process, charging end operation process, etc.) described later in parallel. The control unit 110 also has a clock function and a timer function, and can measure the date and time, etc.

[0032] The storage unit 120 is composed of a ROM (Read Only Memory), a flash memory, a RAM (Random Access Memory), etc. The ROM stores programs executed by the CPU of the control unit 110 and data required in advance for executing the programs. The flash memory is a writable non-volatile memory, and stores data that should be retained even after the power is turned off. The RAM stores data that is created or changed during program execution.

[0033] The communication unit 130 includes a communication module compatible with wireless LAN (Local Area Network), Bluetooth (registered trademark), etc., and performs data communication with an external device such as a smartphone. The contents of the data communication include, for example, receiving a request for notification of the remaining battery level to display the remaining battery level of the robot 200 on a smartphone, etc., and transmitting information on the remaining battery level.

[0034] The external stimulus detection unit 210 includes the touch sensor 211, the acceleration sensor 212, the gyro sensor 214, and the microphone 213 described above. The control unit 110 acquires detection values ​​detected by the various sensors included in the external stimulus detection unit 210 as external stimulus data representing an external stimulus acting on the robot 200. The external stimulus detection unit 210 may include sensors other than the touch sensor 211, the acceleration sensor 212, the gyro sensor 214, and the microphone 213. By increasing the types of sensors included in the external stimulus detection unit 210, the types of external stimuli that the control unit 110 can acquire can be increased. Conversely, the external stimulus detection unit 210 does not necessarily need to include all of the sensors described above. For example, if it is not necessary to detect angular velocity, the external stimulus detection unit 210 does not need to include the gyro sensor 214.

[0035] The touch sensor 211 detects that some object has come into contact with the touch sensor 211. The touch sensor 211 is composed of, for example, a pressure sensor or a capacitance sensor. Based on the detection value from the touch sensor 211, the control unit 110 can detect that the robot 200 is being stroked or hit by the user.

[0036] The acceleration sensor 212 detects acceleration in three axial directions consisting of the front-back direction (X-axis direction), width (left-right) direction (Y-axis direction), and up-down direction (Z-axis direction) of the body 206 of the robot 200. The acceleration sensor 212 detects gravitational acceleration when the robot 200 is stationary, so the control unit 110 can detect the current posture of the robot 200 based on the gravitational acceleration detected by the acceleration sensor 212. Also, for example, when the user lifts or throws the robot 200, the acceleration sensor 212 detects acceleration accompanying the movement of the robot 200 in addition to the gravitational acceleration. Therefore, the control unit 110 can detect the movement of the robot 200 by removing the gravitational acceleration component from the detection value detected by the acceleration sensor 212.

[0037] The gyro sensor 214 detects the angular velocity when rotation is applied to the body 206 of the robot 200. Specifically, the gyro sensor 214 detects the angular velocity of three-axis rotation consisting of rotation about the axis in the front-back direction (X-axis direction) of the body 206, rotation about the axis in the width (left-right) direction (Y-axis direction), and rotation about the axis in the up-down direction (Z-axis direction). The control unit 110 can detect the movement of the robot 200 with higher accuracy by combining the detection values ​​detected by the acceleration sensor 212 and the detection values ​​detected by the gyro sensor 214.

[0038] The touch sensor 211, acceleration sensor 212, and gyro sensor 214 are synchronized, detect the strength of contact, acceleration, and angular velocity at the same timing, and output the detection values ​​to the control unit 110. Specifically, the touch sensor 211, acceleration sensor 212, and gyro sensor 214 detect the strength of contact, acceleration, and angular velocity at the same timing, for example, every 0.25 seconds.

[0039] The microphone 213 detects sounds around the robot 200. Based on the components of the sound detected by the microphone 213, the control unit 110 can detect, for example, whether the user is calling out to the robot 200 or clapping his hands.

[0040] The movable part 220 is for making the robot 200 move in a manner that imitates the movement of a living thing, and includes a twist motor 221 and an up-down motor 222. The movable part 220 (twist motor 221 and up-down motor 222) is driven by the control unit 110. The twist motor 221 and the up-down motor 222 are servo motors, and when the control unit 110 designates an operation time and an operation angle and instructs the rotation, the twist motor 221 and the up-down motor 222 operate to rotate to a position of the designated operation angle within the designated operation time. As a result, the robot 200 can express an operation such as lifting the head 204 with respect to the body part 206 (rotating it upward around the second rotation axis) or twisting it sideways (twisting and rotating it to the right or left around the first rotation axis). The motion data for driving the movable part 220 to express these operations is recorded in a control content table 124 described later.

[0041] When the twist motor 221 is rotated to a certain operating angle θ, the left / right rotation angle of the head 204 becomes θ. When the up / down motor 222 is rotated to a certain operating angle θ, the up / down rotation angle of the head 204 becomes θ.

[0042] The sound output unit 230 includes a speaker 231, and the control unit 110 inputs sound data to the sound output unit 230, which outputs sound from the speaker 231. The sound output by the sound output unit 230 is not limited to voice, and any sound can be output. For example, the control unit 110 inputs data on the cry of the robot 200 to the sound output unit 230, which causes the robot 200 to emit a pseudo cry (for example, a cry that imitates the cry of a living creature). The data on this cry is also recorded in the control content table 124 as sound effect data.

[0043] The movable unit 220 and the sound output unit 230 are both functional units for making the robot perform actions that imitate living creatures (including not only actions by physical movements but also actions that emit sounds, etc.), and are therefore collectively referred to as the operating unit. The robot 200 may further include additional functional units other than those mentioned above in order to make the robot perform actions that imitate living creatures, in which case the additional functional units are also referred to as the operating unit.

[0044] The operation input unit 240 is configured with, for example, an operation button, a volume knob, etc. The operation input unit 240 is an interface for receiving user operations such as turning on / off the power supply, adjusting the volume of the output sound, etc.

[0045] The power supply control unit 250 includes a sub-microcomputer, a charging IC (Integrated Circuit), a power supply control IC, a power receiving unit 251, etc., and charges the battery 252 of the robot 200, obtains the remaining charge of the battery 252, and controls the power supply of the robot 200.

[0046] In the robot 200, in order to express a feeling of life, the battery 252 is charged by wireless charging without connecting a charging cable or the like. Any method of wireless charging may be used, but in this embodiment, an electromagnetic induction method is used. When the robot 200 is placed on the power supply placement surface of the wireless charger, an induced magnetic flux is generated between the receiving antenna of the power receiving unit 251 provided on the bottom surface of the body 206 and the transmitting antenna of the external wireless charger, and the wireless charger performs a power supply operation for charging the battery 252, and the battery 252 is charged.

[0047] Next, out of the data stored in the storage unit 120 of the device control device 100, emotion data 121, emotion change data 122, growth days data 123, and control content table 124 will be described in order.

[0048] The emotion data 121 is data for making the robot 200 have a pseudo emotion, and is data (X, Y) showing coordinates on the emotion map 300. As shown in FIG. 5, the emotion map 300 is expressed in a two-dimensional coordinate system having an X-axis 311 representing a degree of security (anxiety) and a Y-axis 312 representing a degree of excitement (lethargy). The origin 310 (0, 0) on the emotion map represents a normal emotion. The positive X-coordinate value (X value) represents a higher absolute value, which indicates a higher degree of security, and the positive Y-coordinate value (Y value) represents a higher absolute value, which indicates a higher degree of excitement. The negative X-value represents a higher absolute value, which indicates a higher degree of anxiety, and the negative Y-value represents a higher absolute value, which indicates a higher degree of lethargy.

[0049] The emotion data 121 has two values, an X value (level of relief, level of anxiety) and a Y value (level of excitement, level of lethargy) that represent a plurality of different pseudo emotions (four in this embodiment), and a point on the emotion map 300 represented by the X value and the Y value represents the pseudo emotion of the robot 200. The initial value of the emotion data 121 is (0,0). The emotion data 121 is also called an emotion parameter because it is a parameter that represents the pseudo emotion of the robot 200. Note that, although the emotion map 300 is represented in a two-dimensional coordinate system in FIG. 5, the number of dimensions of the emotion map 300 is arbitrary. The emotion map 300 may be defined in one dimension, and one value may be set as the emotion data 121. In addition, the emotion map 300 may be defined in a coordinate system of three or more dimensions by adding other axes, and a value equal to the number of dimensions of the emotion map 300 may be set as the emotion data 121.

[0050] In this embodiment, the size of the emotion map 300 as the initial value is 100 for both the X value and the Y value, and -100 for both the minimum and maximum values. During the first period, each time the number of days of the simulated growth of the robot 200 increases by one day, both the maximum and minimum values ​​of the emotion map 300 are expanded by 2. Here, the first period is a period during which the robot 200 grows in a simulated manner, and is, for example, a period of 50 days from the simulated birth of the robot 200. The simulated birth of the robot 200 is the first time the robot 200 is started by the user after being shipped from the factory. When the number of days of growth reaches 25 days, the maximum and minimum values ​​of the X value and the Y value become 150 and -150, respectively, as shown in the frame 302 in FIG. 5. Then, when the first period (50 days in this example) has passed, the pseudo-growth of the robot 200 is deemed complete, and the size of the emotion map 300 is fixed, with the maximum X and Y values ​​both becoming 200 and the minimum -200, as shown in frame 303 in FIG. 5.

[0051] The emotion change data 122 is data that sets the amount of change by which each of the X value and Y value of the emotion data 121 is increased or decreased. In this embodiment, the emotion change data 122 corresponding to the X of the emotion data 121 includes DXP that increases the X value and DXM that decreases the X value, and the emotion change data 122 corresponding to the Y value of the emotion data 121 includes DYP that increases the Y value and DYM that decreases the Y value. That is, the emotion change data 122 consists of the following four variables. These variables are parameters that change the simulated emotions of the robot 200, and are therefore also called emotion change parameters. DXP: Ease of feeling at ease (the tendency for the X value on the emotion map to change in a positive direction) DXM: Tendency to become anxious (the tendency for the X value on the emotion map to change in the negative direction) DYP: Excitability (the tendency for the Y value on the emotion map to change in the positive direction) DYM: Tendency to become apathetic (the tendency for the Y value on the emotion map to change in the negative direction)

[0052] In this embodiment, as an example, the initial values ​​of these variables are all set to 10, and are increased up to a maximum of 20 by a process of learning emotion change data during the robot control process described below. Since the emotion change data 122 (i.e., the degree of emotion change) changes by this learning process, the robot 200 will have various personalities depending on how the user interacts with the robot 200. In other words, the personality of the robot 200 will be formed differently for each individual depending on how the user interacts with the robot.

[0053] Therefore, in this embodiment, each personality data (personality value) is derived by subtracting 10 from each emotion change data 122. That is, the personality value (cheerful) is obtained by subtracting 10 from DXP, which indicates the ease of feeling at ease, the personality value (shy) is obtained by subtracting 10 from DXM, which indicates the ease of feeling anxious, the personality value (active) is obtained by subtracting 10 from DYP, which indicates the ease of getting excited, and the personality value (spoiled) is obtained by subtracting 10 from DYM, which indicates the ease of becoming lethargic. In this way, the values ​​of the emotion change parameters (emotion change data 122) can be said to represent the pseudo personality of the robot 200.

[0054] The growth days data 123 has an initial value of 1, and is incremented by 1 each time a day passes. The growth days data 123 represents the pseudo number of days of growth (the pseudo number of days from birth) of the robot 200. Here, the period of the number of days of growth represented by the growth days data 123 is referred to as the second period.

[0055] 6, the control content table 124 stores control conditions and control data in correspondence with each other. When a control condition (e.g., some external stimulus is detected) is satisfied, the control unit 110 controls the movable part 220 and the sound output unit 230 based on the corresponding control data (motion data for expressing an action by the movable part 220 and sound effect data for outputting sound effects from the sound output unit 230).

[0056] 6, the motion data is a series of sequence data (in the order of "time (milliseconds): rotation angle (degrees) of up / down motor 222: rotation angle (degrees) of twist motor 221") for controlling movable part 220. For example, when the body is stroked, control unit 110 controls movable part 220 in such a way that the rotation angles of up / down motor 222 and twist motor 221 are initially set to 0 degrees (up / down reference angle and twist reference angle) (up / down reference angle and twist reference angle) at the beginning (0 seconds), head 204 is raised so that the rotation angle of up / down motor 222 becomes 60 degrees at 0.5 seconds, and head 204 is twisted so that the rotation angle of twist motor 221 becomes 60 degrees at 1 second.

[0057] In addition, in FIG. 6, sentences explaining each sound effect data are written for easy understanding, but in reality, the sound effect data itself (sampled sound data) explained in these sentences is stored as the sound effect data in the control content table 124.

[0058] In the control content table shown in FIG. 6, the control conditions do not include conditions related to emotions (represented by coordinates on emotion map 300). However, by including conditions related to emotions in the control conditions, the control data may be changed according to emotions.

[0059] Next, the robot control process executed by the control unit 110 of the device control device 100 will be described with reference to the flowchart shown in Fig. 7. The robot control process is a process in which the device control device 100 controls the movement and cry of the robot 200 based on the detection values ​​from the external stimulus detection unit 210, etc. When the user turns on the power of the robot 200, the robot control process starts.

[0060] First, the control unit 110 initializes various data such as the emotion data 121, emotion change data 122, and growth days data 123 (step S101). Note that, from the second time onwards when the robot 200 is started up, each value at the time when the power of the robot 200 was last turned off may be set in step S101. This can be realized by the control unit 110 saving the value of each data in a non-volatile memory (such as a flash memory) of the storage unit 120 when the power was last turned off, and then setting the saved value as the value of each data when the power is turned on.

[0061] Next, the control unit 110 acquires a detection value detected by the external stimulus detection unit 210 (step S102). Then, the control unit 110 determines whether or not an external stimulus has been present based on the acquired detection value (step S103).

[0062] If an external stimulus is present (step S103; Yes), the control unit 110 acquires emotion change data 122 according to the detection value of the external stimulus acquired in step S102 (step S104). Specifically, for example, when the touch sensor 211 of the head 204 detects that the head 204 has been stroked as an external stimulus, the robot 200 feels a pseudo sense of security, and the control unit 110 acquires DXP as emotion change data 122 to be added to the X value of the emotion data 121.

[0063] Then, control unit 110 sets emotion data 121 according to emotion change data 122 acquired in step S104 (step S105). Specifically, for example, if DXP has been acquired as emotion change data 122 in step S104, control unit 110 adds DXP of emotion change data 122 to the X value of emotion data 121.

[0064] In steps S104 and S105, it is possible to arbitrarily set what emotion change data 122 is acquired and emotion data 121 is set for each external stimulus, but here, an example is shown below.

[0065] Head 204 is stroked (feels safe): X=X+DXP Hit on the head 204 (feels anxious): X=X-DXM (These external stimuli can be detected by the touch sensor 211 on the head 204.) The torso 206 is stroked (excited): Y=Y+DYP Hitting the torso 206 (becoming lethargic): Y=Y-DYM (These external stimuli can be detected by the touch sensor 211 on the torso 206.) Being held with head up (happy): X=X+DXP, and Y=Y+DYP Hanging head down (sad): X=X-DXM, and Y=Y-DYM (These external stimuli can be detected by the touch sensor 211, the acceleration sensor 212, and the gyro sensor 214.) A gentle voice calls out to you (becomes peaceful): X=X+DXP, and Y=Y-DYM Being yelled at loudly (irritated): X=X-DXM and Y=Y+DYP (These external stimuli can be detected by microphone 213.)

[0066] However, if adding emotion change data 122 causes the value (X value, Y value) of emotion data 121 to exceed the maximum value of emotion map 300, the value of emotion data 121 is set to the maximum value of emotion map 300. On the other hand, if subtracting emotion change data 122 causes the value of emotion data 121 to be less than the minimum value of emotion map 300, the value of emotion data 121 is set to the minimum value of emotion map 300.

[0067] Next, the control unit 110 refers to the control content table 124 and acquires control data corresponding to the control condition that is satisfied by the acquired detection value of the external stimulus (step S106).

[0068] Then, the control unit 110 reproduces the control data acquired in step S106 (step S107), and the process proceeds to step S111.

[0069] On the other hand, if there is no external stimulus in step S103 (step S103; No), the control unit 110 judges whether or not to perform a spontaneous movement (such as a breathing movement that imitates the breathing of a living organism) (step S108). Although the method of judging whether or not to perform a spontaneous movement is arbitrary, in this embodiment, the judgment in step S108 becomes Yes every breathing cycle (for example, 2 seconds) and a breathing movement is performed.

[0070] If the robot 200 is not to perform a spontaneous movement (step S108; No), the control unit 110 proceeds to step S111. If the robot 200 is to perform a spontaneous movement (step S108; Yes), the control unit 110 executes a breathing imitation process (step S109) to perform a breathing movement that imitates the breathing of a living organism as the spontaneous movement, and proceeds to step S111. The breathing imitation process will be described in detail later. In this embodiment, the movement that the control unit 110 is instructed to perform as a spontaneous movement is only a breathing movement, but the robot 200 may perform other spontaneous movements instead of or in addition to the breathing movement.

[0071] Although not shown in FIG. 7, in step S109 as well, the control content of the spontaneous movement may be changed based on emotion data, similarly to when an external stimulus is present.

[0072] In step S111, the control unit 110 determines whether or not the date has changed by the clock function. If the date has not changed (step S111; No), the control unit 110 returns to step S102.

[0073] If the date has changed (step S111; Yes), the control unit 110 judges whether or not it is within the first period (step S112). If the first period is, for example, 50 days from the pseudo-birth of the robot 200 (for example, the first activation by the user after purchase), the control unit 110 judges that it is within the first period if the growth day data 123 is 50 or less. If it is not within the first period (step S112; No), the control unit 110 proceeds to step S115.

[0074] If it is during the first period (step S112; Yes), the control unit 110 performs learning of the emotion change data 122 (step S113). Learning of the emotion change data 122 is specifically a process of updating the emotion change data 122 by adding 1 to the DXP of the emotion change data 122 if the X value of the emotion data 121 has been set to the maximum value of the emotion map 300 even once in step S105 of that day, adding 1 to the DYP of the emotion change data 122 if the Y value of the emotion data 121 has been set to the maximum value of the emotion map 300 even once, adding 1 to the DXM of the emotion change data 122 if the X value of the emotion data 121 has been set to the minimum value of the emotion map 300 even once, and adding 1 to the DYM of the emotion change data 122 if the Y value of the emotion data 121 has been set to the minimum value of the emotion map 300 even once.

[0075] However, if each value of the emotion change data 122 becomes too large, the amount of change in one time of the emotion data 121 becomes too large, so each value of the emotion change data 122 is limited to a maximum value of, for example, 20 or less. Also, although 1 is added to each piece of emotion change data 122 here, the value added is not limited to 1. For example, the number of times each value of the emotion data 121 is set to the maximum or minimum value of the emotion map 300 may be counted, and if this number is large, the value added to the emotion change data 122 may be increased.

[0076] Returning to FIG. 7, next, control unit 110 expands emotion map 300 (step S114). Specifically, expanding the emotion map is a process in which control unit 110 expands emotion map 300 by 2 for both the maximum and minimum values. However, this expansion value of "2" is merely an example, and it may be expanded by 3 or more, or may be expanded by 1. Furthermore, the expansion value may be different for each axis of emotion map 300, and for the maximum and minimum values.

[0077] 7, the learning of the emotion change data 122 and the expansion of the emotion map 300 are performed after the control unit 110 determines that the date has changed in step S111, but they may be performed after determining that a reference time (for example, 9 p.m.) has been reached. The determination in step S111 may be based on a value accumulated by a timer function of the control unit 110 for the time that the robot 200 has been powered on, rather than on the actual date. For example, each time the accumulated time that the robot 200 has been powered on becomes a multiple of 24, the learning of the emotion change data 122 and the expansion of the emotion map 300 may be performed, assuming that the robot 200 has grown by one day.

[0078] 7, the control unit 110 adds 1 to the growth days data 123 (step S115), initializes both the X value and the Y value of the emotion data to 0 (step S116), and returns to step S102. If it is better for the robot 200 to carry over the simulated emotion of the previous day to the next day, the control unit 110 returns to step S102 without performing the process of step S116.

[0079] Next, the breathing imitation process executed in step S109 of the robot control process described above will be described with reference to Fig. 8. In the breathing imitation process, a variable RA0 for storing a reference angle and a variable RA1 for storing an intermediate angle are used as variables for storing two angles (an initial angle (reference angle) and an angle at which the movement turns back (intermediate angle)) that determine the range in which the up-down motor 222 is rotated when performing a breathing motion. When performing a breathing motion, the control unit 110 periodically performs a process of rotating the up-down motor 222 to the reference angle and a process of rotating the up-down motor 222 to the intermediate angle alternately in a predetermined cycle (for example, a breathing cycle).

[0080] First, control unit 110 sets a first reference angle (e.g., 0 degrees) in variable RA0 and a first intermediate angle (e.g., 10 degrees (upward)) in variable RA1 (step S201). Note that the first reference angle is also called a central reference angle because it is a central angle at which head 204 is not rotated upward or downward. Also, the first intermediate angle is also called an upward reference angle because it is an angle at which head 204 is rotated upward.

[0081] Then, the control unit 110 determines whether the robot 200 is placed on the power supply placement surface of the wireless charger (step S202). Note that the control unit 110 can determine whether the robot 200 is placed on the power supply placement surface of the wireless charger by determining whether the power receiving unit 251 is receiving power from the wireless charger.

[0082] In addition, the determination of whether or not the robot 200 is placed on the power supply mounting surface of the wireless charger may be made by providing a pressure sensor or a capacitance sensor under the housing 207, and determining that the robot 200 is placed on the power supply mounting surface of the wireless charger when the pressure sensor or the capacitance sensor detects contact or proximity between the housing 207 and the mounting surface.

[0083] When the robot 200 is placed on the power supply placement surface of the wireless charger, the power supply control unit 250 starts charging the battery 252, but ends the charging when the battery 252 is fully charged. However, even after charging ends, the robot 200 can receive power transmitted from the wireless charger at the power receiving unit 251 while the robot 200 is placed on the power supply placement surface of the wireless charger, so the battery 252 can operate with almost no drain on it, and can be recharged immediately after the battery 252 is drained.

[0084] If the robot 200 is not placed on the power supply placement surface of the wireless charger (step S202; No), the control unit 110 sets the variable RA0 to a second reference angle (for example, -10 degrees (downward)) and the variable RA1 to a second intermediate angle (for example, 0 degrees) (step S203), and proceeds to step S204. The second reference angle is an angle for bringing the front end of the body 206 into a state where it is lifted up by a first distance from the placement surface 101 by the head 204 pushing the placement surface 101, and is also called a downward reference angle because it is an angle at which the head 204 is rotated downward. The second intermediate angle is an angle for bringing the front end of the body 206 into a state where it is not lifted up from the placement surface 101 and the distance between the front end of the body 206 and the placement surface 101 is returned to a second distance that is shorter than the first distance, and is also called a central reference angle because it is a central angle at which the head 204 is not rotated either upward or downward.

[0085] If the robot 200 is placed on the power supply placement surface of the wireless charger (step S202; Yes), the process proceeds to step S204.

[0086] In step S204, the control unit 110 rotates the up-down motor 222 to rotate the head 204 to the angle set in the variable RA0 (the reference position for breathing movement).

[0087] Next, the control unit 110 waits for a first waiting time (for example, 700 milliseconds) by using a timer function (step S205). If the control unit 110 has a sleep function, the power consumption of the robot 200 may be reduced by setting the control unit 110 to wake up after the first waiting time and entering a sleep mode.

[0088] Then, the control unit 110 rotates the up-down motor 222 to rotate the head 204 to the angle set in the variable RA1 (the intermediate position of the breathing movement) (step S206).

[0089] Next, the control unit 110 waits for a second waiting time (e.g., 700 milliseconds) by using a timer function (step S207), and ends the breathing mimicking process. If the control unit 110 has a sleep function, the control unit 110 may also set the robot 200 to wake up after the second waiting time in step S207, and enter a sleep mode to reduce power consumption of the robot 200.

[0090] Although both the reference angle and the intermediate angle can be set to any angle, it is preferable to set the angle between the reference angle and the intermediate angle so that an angle of 0 degrees or more (upper and lower reference angles) is included. This is because, when the angle is set in this way, a time period occurs in which the entire bottom surface of the torso 206 contacts the placement surface 101 during breathing (this contact also includes indirect contact via the exterior 201). When the robot 200 is placed on the power supply placement surface 102 of the wireless charger, if the rotation angle of the head 204 is 0 degrees or more, the power supply control unit 250 can detect the wireless charger and can start charging the battery 252.

[0091] By the above-described breathing mimicking process, the robot 200 will perform different breathing movements depending on whether or not the robot 200 is placed on a wireless charger.

[0092] For example, when the robot 200 is not placed on a wireless charger (when power supply operation for charging the battery 252 is not being performed), first, the robot 200 rotates the head 204 to a downward reference angle as shown in FIG. 9 to lift the front end of the body 206 from the placement surface 101 (the distance to lift the head 204 can be expressed as natural breathing by setting the distance (first distance) to about 10% of the dimension of the body 206 in the height direction, for example). This movement of the robot 200 is called a first movement. The first movement can be said to be a movement of rotating the head 204 in a direction in which the distance between the front end of the head 204 and the placement surface 101 becomes shorter, or a movement of rotating the head 204 in a direction in which the distance between the front end of the head 204 and the body 206 becomes shorter.

[0093] Thereafter, as shown in FIG. 10, the head 204 is rotated to an intermediate reference angle so that the bottom surface of the body 206 comes into contact with the placement surface 101 via the exterior 201 (the distance between the bottom surface of the body 206 via the exterior 201 and the placement surface 101 is, for example, about 5 mm (a second distance shorter than the first distance), which is a distance at which the body 206 can receive power from the wireless charger). This operation of the robot 200 is called a second operation. The second operation can be said to be an operation of rotating the head 204 in a direction in which the distance between the front end of the head 204 and the placement surface 101 becomes longer, or an operation of rotating the head 204 in a direction in which the distance between the front end of the head 204 and the body 206 becomes longer. By performing the second operation, the bottom surface of the body 206 becomes parallel to the placement surface 101.

[0094] When the first action is performed, the first engaged portion moves to a position lower than the upper surface of head 204 above the connection position (second rotation axis of connecting portion 205), and the distance that exterior 201 travels from the first engaged portion, over the upper surface of head 204, to the second engaged portion becomes longer than when the second action is performed, causing the upper side of exterior 201 to be pulled.

[0095] Then, the control unit 110 of the robot 200 controls the movement of the movable unit 220 so as to alternately and periodically repeat the first and second actions at a predetermined cycle (e.g., a respiratory cycle). This control is called the first control. The first control can also be said to be a control that controls the movable unit 220 so as to change the state in which the head 204 presses the placement surface 101, thereby changing the distance between the front end of the body 206 and the placement surface 101 alternately between a first distance and a second distance.

[0096] 9 and FIG. 12 described later, what is shown by the dashed line is the position of the head 204' when the rotation angle of the up-down motor 222 is 0 degrees, and θ is the angle difference between RA0 and RA1 (for example, 10 degrees).

[0097] When the control unit 110 executes the first control, the robot 200 performs a breathing action that imitates the breathing of a living organism. The control unit 110 executes the first control when the battery 252 is not being charged, and therefore the breathing action that the robot 200 performs when the control unit 110 executes the first control is referred to as a breathing action during non-charging. In the breathing action during non-charging, the control unit 110 controls the movable unit 220 so that the distance between the power receiving unit 251 and the power supply placement surface 102 changes. That is, the control unit 110 moves the head 204 so that the distance between the front end of the body unit 206 and the placement surface 101 changes. Note that the first control includes a first action that lifts the front end of the body unit 206 off the placement surface 101, and since the proximity to the placement surface 101 is not maintained, it is also referred to as a non-proximity control.

[0098] Also, when the robot 200 is placed on the power supply placement surface 102 of the wireless charger (when a power supply operation for charging the battery 252 is being performed), the robot 200 rotates the head 204 to a central reference angle as shown in FIG. 11 so that the bottom surface of the torso 206 comes into contact with the power supply placement surface 102 of the wireless charger. This operation of the robot 200 is called a third operation. After that, as shown in FIG. 12, the head 204 is rotated to an upper reference angle so that the bottom surface of the torso 206 comes into contact with the power supply placement surface 102, and the head 204 faces upward. This operation of the robot 200 is called a fourth operation. Then, the control unit 110 of the robot 200 controls the movement of the movable unit 220 so that the third operation and the fourth operation are alternately performed periodically at a predetermined cycle (for example, a breathing cycle). This control is called a second control.

[0099] When the fourth action is performed, the first engaged portion moves to a higher position than when the third action is performed, and the distance that the exterior 201 travels from the first engaged portion, over the top surface of the head 204, to the second engaged portion becomes shorter than when the third action is performed, causing the upper side of the exterior 201 to become even more slack.

[0100] The control unit 110 also executes the second control, so that the robot 200 performs a breathing action that imitates the breathing of a living organism. The control unit 110 executes the second control when the battery 252 is being charged, and therefore the breathing action performed by the robot 200 when the control unit 110 executes the second control is referred to as a breathing action during charging. In the breathing action during charging, the control unit 110 controls the movable unit 220 so as to keep the power receiving unit 251 in close proximity to the power supply placement surface 102. That is, the control unit 110 moves the head 204 so that the distance between the front end of the body unit 206 and the placement surface 101 does not change. Note that the second control is also referred to as a proximity holding control, because the bottom surface of the body unit 206 is kept in close proximity to the placement surface 101.

[0101] By making the breathing motion that imitates the breathing of a living organism such as this, when the robot is not being charged (when the robot is not placed on the wireless charger), when the control unit 110 performs the first motion (at the reference position (FIG. 9)), the rear end of the body 206 remains close to the placement surface 101, and the front end of the body 206 is raised from the placement surface 101, and when the control unit 110 performs the second motion (at the intermediate position (FIG. 10)), the front end of the body 206 returns from the raised state to the non-raised state. In other words, in the breathing motion when not being charged, the central part of the robot 200 moves up and down at a predetermined cycle, so that the robot 200 covered with fur can be made to look as if it is breathing in a natural state. In addition, since the body 206 itself moves up and down, the breathing motion of a living organism can be stably imitated without being affected by the attachment state of the exterior 201, etc.

[0102] In this way, the breathing motion when not charging can mimic the breathing motion of a living organism apart from changes in the pulling state of the upper side of the exterior 201. In addition, the breathing motion of a living organism can also be mimicked by changes in the pulling state of the upper side of the exterior 201 as follows.

[0103] When control unit 110 performs a first action (at the reference position (FIG. 9)), the upper side of exterior 201 is pulled, causing the central portion of exterior 201 to become flat, and when control unit 110 performs a second action (at the intermediate position (FIG. 10)), the upper side of exterior 201 sags, causing the central portion of exterior 201 to bulge upward. In this way, the breathing action periodically changes both the height of the front end of body 206 and the pulling state of exterior 201 at a predetermined cycle, making it visually easy to see that robot 200 is breathing.

[0104] Furthermore, during charging (when placed on the wireless charger), the upper side of the exterior 201 becomes more slack when the control unit 110 performs the fourth operation (at the intermediate position (FIG. 12)) than when the upper side of the exterior 201 becomes slack when the control unit 110 performs the third operation (at the reference position (FIG. 11)), so that it can be seen that the robot 200 is breathing. As can be seen from FIG. 11 (reference position) and FIG. 12 (intermediate position), the entire bottom surface of the body 206 is always in contact with the power supply placement surface 102 during these operations (this contact includes indirect contact via the exterior 201), so that the power supply transmitting antenna 253 of the wireless charger and the power receiving unit 251 of the robot 200 are always in close proximity even during the breathing operation, enabling stable charging.

[0105] In this way, the control unit 110 executes a process of making the control contents of the movable unit 220 in the breathing action different between the breathing action when the battery 252 is being charged (breathing action during charging) and the breathing action when the battery 252 is not being charged (breathing action during non-charging), thereby making it possible to receive a stable power supply from the wireless charger during charging, and to express a more lifelike feeling by making the tension state of the exterior clear during non-charging. Note that, in the above explanation, the control contents in the breathing action have been mainly explained as the control contents of the movable unit 220, but they may be the control contents (i.e., the control contents of the operating unit) that control the sound output unit 230 instead of or in addition to the movable unit 220.

[0106] As described above, in steps S205 and S207, the control unit 110 may reduce the power consumption of the robot 200 by entering a sleep mode. In the sleep mode, the motors of the movable unit 220 are set in a free state, thereby reducing the power consumption of each motor. However, in this case, as the up / down motor 222 is set in a free state, it is subject to the effect of a force (gravity) that tends to bring the rotation angle of the up / down motor 222 closer to 0. To reduce this effect, it is preferable to set the difference between the reference angle and the intermediate angle to less than 10 degrees.

[0107] In addition, the first standby time and the second standby time do not need to be fixed values. For example, when the robot 200 receives an external stimulus such as being stroked, spoken to, being startled, or being turned over, the breathing cycle at the time of the determination in step S108 of the robot control process (FIG. 7) may be shortened, or the first standby time or the second standby time may be shortened, and then gradually returned to the original value. In this way, it is possible to imitate the state in which the breathing of the robot 200 becomes faster when the simulated emotion of the robot 200 becomes excited, and then gradually calms down.

[0108] Furthermore, in the above-mentioned breathing imitation process (FIG. 8), not only the first waiting time and the second waiting time may be changed, but also the control content of the movable part 220 may be changed according to the emotion data 121 and the emotion change data 122. For example, when the simulated emotion of the robot 200 tends to be calm, the head 204 may be moved slowly up and down, whereas when the simulated emotion tends to be irritated, the head 204 may be moved not only up and down but also left and right. The difference in the up and down rotation angle and the difference in the left and right rotation angle between the reference position and the intermediate position may be increased according to the magnitude of each value of the emotion data 121.

[0109] (Embodiment 2) When the robot 200 is placed on the power supply placement surface 102 of the wireless charger, the battery 252 is charged by the power supply control unit 250. The remaining battery level can be displayed on the wireless charger or on a smartphone or the like connected via the communication unit 130. The robot 200 may also be provided with a display unit such as an LED (Light Emitting Diode) to display the remaining battery level. However, in order to express a sense of life, it is desirable to be able to express the remaining battery level by the movement of the robot 200. Therefore, a second embodiment will be described in which the robot 200 performs an action (gesture) according to the remaining battery level when it is taken out of the power supply placement surface 102 of the wireless charger.

[0110] The functional configuration and structure of the robot 200 according to the second embodiment are similar to those of the first embodiment, and therefore will not be described.

[0111] When the robot 200 is placed on the power supply mounting surface 102 of the wireless charger, the battery 252 of the robot 200 is in a power supply state (a state in which charging is being performed by receiving power from the wireless charger). More specifically, when the robot 200 is placed on the power supply mounting surface 102, an induced magnetic flux is generated between the receiving antenna of the power receiving unit 251 provided on the bottom surface of the body 206 and the transmitting antenna provided on the power supply mounting surface 102 of the wireless charger. The power supply control unit 250 detects this induced magnetic flux and starts charging the battery 252.

[0112] Furthermore, when the robot 200 leaves the power supply placement surface 102, the battery 252 of the robot 200 enters a non-powered state (a state in which power is not being supplied from the wireless charger and charging is not being performed). More specifically, when the robot 200 leaves the power supply placement surface 102, the induced magnetic flux generated between the receiving antenna of the power receiving unit 251 and the transmitting antenna of the wireless charger disappears, and the power supply operation stops. The power supply control unit 250 detects the disappearance of the induced magnetic flux and ends the charging of the battery 252. Note that, in the case where the robot 200 is provided with a pressure sensor or a capacitance sensor in the lower part of the housing 207, the pressure sensor or the capacitance sensor may detect that the robot 200 has left the power supply placement surface 102 and end the charging. Furthermore, as described above, when the robot 200 is removed from the charger by a user operation, the power supply operation stops, but the power supply operation stops even if the battery 252 is fully charged regardless of the user operation.

[0113] When the power supply control unit 250 finishes charging the battery 252, the control unit 110 starts executing the charging end operation process. This charging end operation process will be described with reference to Fig. 13. However, the timing when the control unit 110 starts executing the charging end operation process is not limited to the time when the robot 200 leaves the power supply placement surface 102, and may be the time when the power supply operation stops.

[0114] First, the control unit 110 judges whether the remaining charge of the battery 252 is equal to or greater than a first threshold (e.g., 80%) (step S301). If the remaining charge of the battery 252 is equal to or greater than the first threshold (step S301; Yes), the control unit 110 controls the movable unit 220 and the sound output unit 230 to perform an action (first imitation action) that imitates an action of a living thing that indicates that it is lively, as a first post-charge action (step S302), and ends the charging end action process. The action that imitates an action of a living thing that indicates that it is lively is, for example, an action of outputting a lively cry from the sound output unit 230 and grooming (controlling the movable unit 220 to tilt the head 204, point it downward, and move it up and down a little). Note that the first imitation action is not limited to an action that imitates an action of a living thing that indicates that it is lively. For example, the movements may be those that imitate the movements of living creatures, such as "movements indicating contentment," "movements of looking around restfully because one is happy to be able to go outside," "movements of dancing because one is happy to be able to go outside," or "movements of grooming oneself in a contented manner."

[0115] On the other hand, if the remaining charge of the battery 252 is less than the first threshold (step S301; No), the control unit 110 determines whether the remaining charge of the battery 252 is equal to or less than a second threshold (for example, 60%) (step S303).

[0116] If the remaining charge of the battery 252 is equal to or less than the second threshold (step S303; Yes), the control unit 110 controls the movable unit 220 and the audio output unit 230 to perform an action (second imitation action) that imitates the action of a living thing that indicates that it is not in good spirits as the second post-charge action (step S304), and ends the charging end operation process. The action that imitates the action of a living thing that indicates that it is not in good spirits is, for example, an action of outputting a cry that indicates that it is displeased from the audio output unit 230 and performing a displeased gesture (controlling the movable unit 220 to shake the head 204 from side to side). Note that the second imitation action is not limited to an action that imitates the action of a living thing that indicates that it is not in good spirits. For example, it may be an action that imitates the action of a living thing such as "an action that indicates that it is not satisfied", "a displeased action by shaking its head", "a sad cry", etc.

[0117] On the other hand, if the remaining charge of the battery 252 exceeds the second threshold value (step S303; No), the control unit 110 does nothing and ends the charging end operation process.

[0118] By the above-described charging end operation process, when the user lifts the robot 200 from the power supply placement surface 102 of the wireless charger, the robot 200 operates according to the charging state (remaining charge) of the battery 252 at that time. In this way, when the robot 200 changes from a power supply state to a non-power supply state, the control unit 110 changes the control content of the operating unit according to the remaining charge of the battery 252 at that time, so that the robot 200 can notify the user of the remaining charge of the battery 252 while expressing a sense of life.

[0119] For example, when the robot 200 changes from a powered state to a non-powered state, if the remaining charge of the battery 252 is equal to or greater than a first threshold (e.g., 80%), the robot 200 performs a first post-charge action (a motion imitating the motion of an energetic living creature) indicating that the remaining charge is sufficient, and if the remaining charge of the battery 252 is equal to or less than a second threshold (e.g., 60%), the robot 200 performs a second post-charge action (a motion imitating the motion of a listless living creature) indicating that the remaining charge is insufficient. Thus, the robot 200 can notify the user of the remaining charge of the battery 252 while expressing a sense of life.

[0120] In the above-mentioned charging end operation process (FIG. 13), when the remaining amount of the battery 252 exceeds the second threshold and is less than the first threshold, the robot 200 performs a normal breathing operation during non-charging without performing any special operation. However, as an operation in this case, the control unit 110 may control the movable unit 220 and the audio output unit 230 to perform, for example, an operation indicating that the robot is in a fairly good condition (third post-charging operation). The operation indicating that the robot is in a fairly good condition is, for example, an operation of outputting a quiet cry from the audio output unit 230 and nodding (setting both the left / right rotation angle and the up / down rotation angle of the head 204 to 0 degrees, and then controlling the movable unit 220 to move the head 204 slightly up and down).

[0121] Moreover, these post-charge operations (first post-charge operation, second post-charge operation, third post-charge operation) do not have to be limited to two or three. The threshold value may be set more finely to define four or more post-charge operations, and the control unit 110 may control the movable unit 220 and the audio output unit 230 to perform one of the post-charge operations according to the remaining amount of the battery 252.

[0122] Furthermore, in each of the post-charge actions described above, control unit 110 may set (e.g., change) emotion data 121 according to the remaining charge of battery 252, and at the same time, perform a different post-charge action according to the changed emotion data 121. In this case, for example, the lower the remaining charge of battery 252, the stronger the degree of anxiety and lethargy, and the higher the remaining charge of battery 252, the stronger the degree of relief and excitement. Also, an action at the end of charging may be performed that emphasizes an emotion more than an action according to a normal emotion.

[0123] Moreover, each of the above-mentioned post-charging actions does not need to be a fixed action, and the control unit 110 may change the control contents of the movable unit 220 and the sound output unit 230 according to the emotion data 121 and the emotion change data 122. For example, as a lively cry or movement as the first post-charging action, the control unit 110 may make the robot 200 make a quiet cry or movement when the simulated emotion of the robot 200 tends to be lethargic, and may make the robot make an excited cry or movement when the simulated emotion of the robot 200 tends to be excited. Furthermore, the control unit 110 may make the cycle of the action faster or increase the amount of the action when the simulated emotion of the robot 200 tends to be excited. Furthermore, when the simulated emotion of the robot 200 tends to be happy, the control unit 110 may make the robot move with its head facing upward.

[0124] Similarly, as a cry or movement indicating dislike as the second post-charging action, the control unit 110 may cause the robot 200 to make a cry (for example, a lower-pitched voice with slow changes in pitch or volume) or move in a way that makes the robot feel sad when the simulated emotion of the robot 200 tends to be sad, and may cause the robot 200 to make a cry (for example, a higher-pitched voice with fast changes in pitch or volume) or move in a way that makes the robot feel irritated when the simulated emotion of the robot 200 tends to be irritated. Also, the control unit 110 may cause the robot 200 to move with its head facing down when the simulated emotion of the robot 200 tends to be sad.

[0125] Furthermore, not only when the charging state is changed to the non-charging state, but also during charging, the content of the breathing mimicking process (FIG. 8) may be changed according to the remaining amount of the battery 252. For example, when the remaining amount is low (e.g., less than 30%), the first intermediate angle may be increased (e.g., 25 degrees), and as the remaining amount increases, the first intermediate angle may be decreased accordingly (e.g., 20 degrees if the remaining amount is less than 60% and 30% or more, 15 degrees if the remaining amount is less than 80% and 60% or more, 10 degrees if the remaining amount is 80% or more, etc.).

[0126] In addition, in the above-described breathing motion, the left and right rotation angle of the head 204 is set to 0 degrees, but the control unit 110 does not necessarily have to set the left and right rotation angle of the head 204 to 0 degrees in the breathing motion.

[0127] In the breathing action during charging, if the entire bottom surface of the body 206 can be kept in contact with the power supply placement surface 102 at all times, the left and right rotation angle can be freely set within that range. For example, if the up and down rotation angle of the head 204 is set to a specific angle (e.g., 20 degrees) or more, the head 204 will not hit the power supply placement surface 102 even if the head 204 is rotated by twisting it left and right. In this case, the left and right rotation angle can be freely set. The control unit 110 may change the left and right rotation angle of the head 204 depending on the remaining charge of the battery 252.

[0128] In addition, in the non-charging breathing motion, the left and right rotation angle is arbitrary. However, it is desirable to create a time period in which the entire bottom surface of the torso 206 contacts the placement surface 101 between the reference position and the intermediate position in the breathing motion. In this time period, the transmitting antenna 253 of the wireless charger and the power receiving unit 251 of the robot 200 are close to each other, so that an induced magnetic flux is generated between the receiving antenna of the power receiving unit 251 and the transmitting antenna 253 of the wireless charger, and the power supply control unit 250 can detect this induced magnetic flux and start charging the battery 252.

[0129] (Modification) The present invention is not limited to the above-mentioned embodiment, and various modifications and applications are possible. For example, the first embodiment and the second embodiment may be combined. In this case, the robot 200 performs a breathing action to move the head 204 up and down while the entire bottom surface of the body 206 is in contact with the power supply placement surface 102 during charging, and when the user lifts the robot 200 off the power supply placement surface 102 to end charging, the robot 200 performs an action according to the remaining battery power at that time, and performs a breathing action to lift the connecting part 205 (or the rear end of the head 204 or the front end of the body 206) when not charging.

[0130] In the above embodiment, the robot 200 is configured to have the device control device 100 built in, but the device control device 100 does not have to be built in the robot 200. For example, the device control device 100 according to the modified example may be configured as a separate device (e.g., a server) without being built in the robot 200. In this modified example, the robot 200 also includes a communication unit 260, and is configured so that the communication unit 130 and the communication unit 260 can transmit and receive data to each other. The control unit 110 acquires the external stimulus detected by the external stimulus detection unit 210 via the communication unit 130 and the communication unit 260, and controls the movable unit 220 and the audio output unit 230 via the communication unit 130 and the communication unit 260.

[0131] In the above embodiment, the device control device 100 is a control device that controls the robot 200, but the device to be controlled is not limited to the robot 200. A wristwatch or the like can be considered as a device to be controlled. For example, if a wristwatch capable of outputting sound and equipped with an acceleration sensor and a gyro sensor is considered as a device to be controlled, an external stimulus can be an impact applied to the wristwatch detected by the acceleration sensor or the gyro sensor. Then, the emotion change data 122 and the emotion data 121 are updated in response to this external stimulus, and the sound effect data set in the control content table 124 is adjusted (changed) and output based on the emotion data 121 at the time when the user wears the wristwatch.

[0132] In this way, if the watch is handled roughly, it will emit a sad sound effect when the user wears it, and if the watch is handled gently, it will emit a happy sound effect when the user wears it. Furthermore, if emotion change data 122 is set for a first period (for example, 50 days), the watch will develop a personality (pseudo character) depending on how the user handles it during the first period. In other words, even if the watch has the same model number, if the user handles it gently, it will be a watch that is likely to make the user feel happy, and if the user handles it roughly, it will be a watch that is likely to make the user feel sad.

[0133] In this way, the device control device 100 can be applied to various devices, not just robots, and can provide the devices with simulated emotions and personalities. Furthermore, by applying the device control device 100 to various devices, the user can feel as if they are nurturing the devices in a simulated manner.

[0134] In the above embodiment, the operation program executed by the CPU of the control unit 110 has been described as being stored in advance in the ROM or the like of the storage unit 120. However, the present invention is not limited to this, and the operation program for executing the above-mentioned various processes may be implemented in an existing general-purpose computer or the like, so as to function as a device equivalent to the device control device 100 according to the above-mentioned embodiment.

[0135] Such programs may be provided in any manner; for example, they may be stored on a computer-readable recording medium (such as a flexible disk, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, an MO (Magneto-Optical Disc), a memory card, a USB memory, etc.) and distributed, or the programs may be stored in storage on a network such as the Internet and provided by downloading them.

[0136] Furthermore, when the above-mentioned processing is performed by sharing between an OS (Operating System) and an application program, or by cooperation between the OS and the application program, only the application program may be stored in a recording medium or storage. It is also possible to superimpose the program on a carrier wave and distribute it over a network. For example, the above-mentioned program may be posted on a bulletin board system (BBS) on a network and distributed over the network. The above-mentioned processing may be performed by starting up this program and executing it under the control of the OS in the same way as other application programs.

[0137] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for the purpose of explaining the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is indicated by the claims, not the embodiments. Various modifications made within the scope of the claims and the scope of the invention equivalent thereto are considered to be within the scope of the present invention. [Explanation of symbols]

[0138] 100...Device control device, 101...Placement surface, 102...Power supply placement surface, 110...Control unit, 120...Memory unit, 121...Emotion data, 122...Emotion change data, 123...Growth days data, 124...Control content table, 130, 260...Communication unit, 200...Robot, 201...Exterior, 202...Decorative parts, 203...Hur, 204, 204'...Head, 205...Connecting unit, 206...Torso, 207...Housing, 208...Line fastener, 208a...Slider, 210...External stimulus detection unit, 211...Touch sensor, 212...Acceleration sensor 213...microphone, 214...gyro sensor, 220...moving part, 221...twisting motor, 222...up and down motor, 230...audio output part, 231...speaker, 240...operation input part, 250...power supply control part, 251...power receiving part, 252...battery, 253...transmitting antenna, 271, 271A, 271B, 276...convex part, 272...concave part, 275, 275A, 275B...engagement plate, 300...emotion map, 301, 302, 303...frame, 310...origin, 311...X axis, 312...Y axis, BL...bus line

Claims

1. A robot that mimics a living organism, Powered by a rechargeable battery, A motion unit for making the robot perform motions that mimic those of a living organism; A control unit; Equipped with The control unit: A process of making the robot perform a breathing motion that imitates breathing of a living organism at a predetermined cycle; A process of making the control contents of the operation unit different between a charging breathing action, which is the breathing action when the battery is being charged, and a non-charging breathing action, which is the breathing action when the battery is not being charged; Execute robot.

2. A movable part for moving the robot is provided, The control unit controls the movable unit to cause the robot to perform the breathing action. The robot according to claim 1.

3. a power receiving unit that receives power for charging the battery by coming close to a power supply placement surface of the charger; The control unit is In the non-charging breathing action, the movable unit is controlled so that a distance between the power receiving unit and the power supply placement surface is changed; In the breathing action during charging, a proximity maintaining control is executed to control the movable part so as to maintain the state in which the power receiving part is close to the power supply placement surface. The robot according to claim 2.

4. A body portion and A head portion connected to a front end of the body portion; Equipped with the movable portion is a movable portion for moving the head relative to the torso portion, The control unit is In the non-charging breathing action, the head is moved so as to change a distance between a front end of the torso portion and the placement surface; In the breathing action during charging, the head is moved so that the distance between the front end of the body part and the placement surface does not change. The robot according to claim 3.

5. A body portion and A head portion connected to a front end of the body portion; an exterior that imitates fur and covers a housing including the head and the torso; Further equipped with The control unit is By executing the proximity holding control, the tension state of the exterior is periodically changed at a predetermined cycle while keeping the power receiving unit in proximity to the power supply placement surface. The robot according to claim 3 or 4.

6. The control unit is In the non-charging breathing action, a first control is executed to control the movable unit so as to alternately change a distance between a front end of the body portion and the placement surface between a first distance and a second distance by moving the head so as to change a state in which the head presses the placement surface; The robot according to claim 4.

7. The control unit is In the non-charging breathing action, the first control is executed by alternately and repeatedly executing in a predetermined cycle a first operation of rotating the head to a lower reference angle, which is an angle for causing the front end of the body to be raised from the placement surface by the first distance by the head pressing the placement surface, and a second operation of rotating the head to a central reference angle, which is an angle for causing the front end of the body to not be raised from the placement surface and for returning the distance between the front end of the body and the placement surface to the second distance, which is shorter than the first distance. The robot according to claim 6.

8. The control unit is Set emotion data that represents pseudo-emotions, changing the control content of the movable part based on the set emotion data; changing the emotion data according to the remaining charge of the battery; The robot according to any one of claims 2 to 4.

9. The exterior includes a first engagement portion and a second engagement portion, the head portion includes a first engaged portion that fixes the first engaging portion to the head portion, the body portion includes a second engaged portion that fixes the second engaging portion to the body portion, the first engaging portion engages with the first engaged portion, and the second engaging portion engages with the second engaged portion, whereby the exterior is engaged with the housing. The robot according to claim 5.

10. the exterior includes an exterior protrusion within a specific range of the first engagement portion, The head portion has a head recess within a specific range of the first engaged portion, The exterior protrusion is inserted into the head recess, so that the position of the exterior protrusion is fixed to the position of the head recess. The robot according to claim 9.

11. Further comprising an external stimulus detection unit for detecting an external stimulus, The control unit is setting emotion data indicating a pseudo emotion based on the external stimulus detected by the external stimulus detection unit; changing the predetermined period based on the set emotion data; The robot according to any one of claims 1 to 4.

12. A robot including an operating unit that is driven by a rechargeable battery and that causes the robot to perform actions that mimic those of a living organism, and a control unit, the control unit comprising: A process of making the robot perform a breathing motion that imitates breathing of a living organism at a predetermined cycle; A process of making the control contents of the operation unit different between a charging breathing action, which is the breathing action when the battery is being charged, and a non-charging breathing action, which is the breathing action when the battery is not being charged; Execute A method for controlling a robot.

13. A robot including an operating unit that is driven by a rechargeable battery and that performs actions that mimic those of a living organism, and a control unit, the control unit being provided with: A process of making the robot perform a breathing motion that imitates breathing of a living organism at a predetermined cycle; A process of making the control contents of the operation unit different between the charging breathing action, which is the breathing action when the battery is being charged, and the non-charging breathing action, which is the breathing action when the battery is not being charged; A program that executes the following.

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