Feature data setting device, robot, terminal device, and feature data setting method

Abstract

To provide a technology to cause a robot to have personality recognized by human perception.SOLUTION: A feature data setting system 200 includes a robot group 202 including a plurality of robots 100, a terminal device 204 capable of communicating with the robots 100, and a server 206 capable of communicating with the terminal device 204, and sets, to the robots 100, feature data recognized by human perception by being output from the robots 100. The feature data setting system 200 sets, to an object robot 100A, feature data unique to the object robot 100A in the robot group 202 including the plurality of robots 100.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a feature data setting device, a robot, a terminal device, and a feature data setting method.

Background Art

[0002] In recent years, the development of devices capable of interacting with humans has been progressing. As such a device, for example, a robot that autonomously acts to function as a substitute for a pet can be mentioned.

[0003] Robots that substitute for pets are required to have rich expressiveness. Patent Document 1 discloses a technique for enhancing the expressiveness of a robot's eyes by arranging a monitor at the position of the robot's eyes to display an eye image and expressing various movements of the eye image.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Actual pets such as dogs and cats have their own unique personalities. Personalities appear as characteristics on the inside such as character and nature, and as characteristics on the outside. As one of the characteristics on the outside, taking appearance as an example, even for the same dog breed, ears, eyes, nose, mouth, coat color, etc., although they look similar, each is unique, and there is no dog that has the same appearance as one. On the other hand, robots manufactured as industrial products generally have no difference in appearance if they are of the same model.

[0006] An object of the present invention is to provide a technique for giving a robot a personality recognized by human perception.

Means for Solving the Problems

[0007] The feature data device of the present invention sets, for the target robot, the feature data unique to the target robot in a robot group including a plurality of the robots, among the feature data indicating the features of the robot output in a form perceptible to the user from an output device.

[0008] This configuration sets feature data indicating the features of the robot output in a form perceptible to the user from an output device. Feature data is information recognized by human perception, for example, information that can be recognized by the five human senses (vision, hearing, touch, taste, and smell), and more specifically, image data, sound information, tactile information, taste information, and odor information, etc. And according to this configuration, since the feature data unique to the target robot is set for the target robot in a robot group including a plurality of robots, it is possible to give the robot a personality recognized by human perception.

[0009] The feature data device of the present invention may use the feature data as image data indicating a predetermined image to be displayed on an image display device. According to this configuration, a predetermined image that can be recognized by a person visually can be made unique to the robot.

[0010] The feature data device of the present invention may use the image data as eye image feature data indicating the eyes of the robot. According to this configuration, the eyes of the robot can be made unique to the robot.

[0011] The feature data device of the present invention may be configured such that the predetermined image is composed by combining a plurality of images. According to this configuration, the range of expression by the predetermined image can be expanded.

[0012] The feature data device of the present invention may be configured such that the predetermined image is composed of a combination of a still image and a moving image. According to this configuration, the range of expression by the predetermined image can be expanded.

[0013] The characteristic data device of the present invention may include output means for outputting to the output device, in a form perceptible to the user, candidates for the characteristic data that are different from the characteristic data being set for the other robots included in the robot group. This configuration outputs candidates for characteristic data to the output device corresponding to the robot, for example, when the robot is first activated or when the user desires automatic setting of characteristic data. According to this configuration, the user can easily set characteristic data unique to the target robot.

[0014] The characteristic data device of the present invention includes acquisition means for acquiring the characteristic data selected by the user. When the characteristic data acquired by the acquisition means is set in other robots, the output means may output to the output device the characteristic data within a predetermined similarity range with respect to the characteristic data. According to this configuration, even if the characteristic data selected by the user is being set in other robots, the user can easily set characteristic data unique to the target robot.

[0015] The characteristic data device of the present invention may be such that the output means outputs to the output device the characteristic data within a predetermined similarity range with respect to the characteristic data being set in the robots used by other users. According to this configuration, the user can easily set, for the target robot, characteristic data similar to the characteristic data being set in the robots used by other users.

[0016] The characteristic data device of the present invention may be such that the output means outputs to the output device the characteristic data based on user-related information related to the user who uses the target robot. The user-related information in this configuration is, for example, biometric information of the user, the user's preferences, property information indicating the properties of the user such as the user's age, gender, and date of birth. According to this configuration, characteristic data corresponding to the user's information can be output.

[0017] The feature data device of the present invention may include a generation means for generating new feature data that can be set for the target robot based on the feature data being set in the first robot and the feature data being set in the second robot. According to this configuration, new feature data generated from the feature data being set in two robots can be set for the target robot.

[0018] In the feature data device of the present invention, the generation means may generate the new feature data when the first robot and the second robot satisfy a predetermined condition. According to this configuration, new feature data is generated only when the condition is satisfied.

[0019] The feature data device of the present invention may set, for the target robot, feature data different from the feature data set in the second robot located within a predetermined area including the position where the first robot is located. According to this configuration, the feature data being set in another robot located within a predetermined area including the position where the target robot is located becomes feature data that cannot be set for the target robot.

[0020] In the feature data device of the present invention, the width within which the feature data can be set in proximity to the feature data being set in other robots may be determined according to the number of robots included in the robot group. According to this configuration, the width of the feature data that can be set changes according to the number of robots.

[0021] The feature data device of the present invention may be such that the feature data is sound data indicating sound output from a speaker. According to this configuration, the sound that a person can recognize by hearing can be made unique to the robot.

[0022] In the feature data device of the present invention, the sound data may be voice feature data indicating the voice of the robot. According to this configuration, the voice output from the robot can be made unique to the robot.

[0023] In the feature data device of the present invention, value information indicating a value based on a setting state of the feature data may be associated with the feature data. With this configuration, a concept of value can be imparted to the feature data being set for the robot.

[0024] The feature data device of the present invention may be configured such that one of the robots performs an action related to the other robot in accordance with the intimacy level with the other robot, and the intimacy level is higher when the features of the one robot and the features of the other robot are similar than when the features of the one robot and the features of the other robot are dissimilar. With this configuration, a user of one robot can learn of the existence of another robot with which his or her robot has become intimate.

[0025] In the feature data device of the present invention, the feature data may be data showing a change in a feature of the target robot. With this configuration, the change in the feature of the robot can be made into a feature of the robot.

[0026] In the feature data device of the present invention, a part or all of the feature data may change according to a predetermined rule over time after the feature data is set. With this configuration, the user can be given the sensation that the robot is a living thing (a feeling of life).

[0027] The feature data device of the present invention may not allow the user of the target robot to change the feature data before a predetermined condition is satisfied, and may allow the user of the target robot to change a part or all of the feature data after the predetermined condition is satisfied. With this configuration, the user can be given the impression that the features of the robot are features that the robot 100 has acquired either innately or acquiredly.

[0028] In the feature data device of the present invention, a range of the feature data that can be set for the target robot may be determined according to an attribute of a user of the target robot. With this configuration, the feature data that can be set for the robot can be made different depending on the attribute of the user.

[0029] The feature data device of the present invention may be data in which the feature data includes time-dependent elements. According to this configuration, it is possible to give a time-dependent change to the feature data.

[0030] The robot of the present invention includes an output device, and outputs the features to the output device based on the feature data unique to itself in a robot group including a plurality of robots, among the feature data indicating its own features output in a form perceptible to the user from the output device. According to this configuration, it is possible to give the robot a personality recognized by human perception.

[0031] The terminal device of the present invention transmits the feature data unique to the robot in a robot group including a plurality of the robots to the robot and sets it among the feature data indicating the features of the robot output in a form perceptible to the user from the output device. According to this configuration, the feature data set in the robot can be made unique to the robot.

[0032] In the terminal device of the present invention, the feature data may be image data of the eyes of the robot, is specified by at least one of shape and color, and at least one of the shape and the color may be made unique to the target robot. According to this configuration, the user can easily make the image of the robot's eyes unique to the robot.

[0033] The terminal device of the present invention may be set by transmitting decorative image data indicating a decorative image to be superimposed on the image data of the eyes to the robot. According to this configuration, the user can give more uniqueness to the image of the robot's eyes.

[0034] The feature data setting method of the present invention transmits the feature data unique to itself in a robot group including a plurality of robots to the robot and sets it among the feature data indicating its own features output in a form perceptible to the user from the output device. According to this configuration, it is possible to give the robot a personality recognized by human perception.

Brief Description of the Drawings

[0035]

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Embodiments for Carrying Out the Invention

[0036] Hereinafter, a feature data setting device, a robot, a terminal device, and a feature data setting method according to an embodiment of the present invention will be described with reference to the drawings. In the following embodiments, the feature data will be described as an eye image of a robot as an example.

[0037] (First Embodiment) The first embodiment of the present invention will be described. FIG. 1 is an external view of the robot 100 of this embodiment, and FIG. 1(a) is a front external view of the robot 100. FIG. 1(b) is a side external view of the robot 100.

[0038] The robot 100 of this embodiment is an autonomous mobile robot that determines actions and gestures based on the external environment and internal state. The external environment is recognized by various sensors such as cameras and thermosensors. The robot 100 has, for example, the interior of a house as its operating range.

[0039] The body 104 of the robot 100 has an overall rounded shape and includes an outer skin formed of a soft and elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed in clothes. By making the body 104 round, soft, and pleasant to the touch, the robot 100 provides the user with a sense of security and a comfortable tactile sensation. The total weight of the robot 100 is 15 kilograms or less, preferably 10 kilograms or less, and more preferably 5 kilograms or less.

[0040] Robot 100 is equipped with three wheels for three-wheel driving. As shown in the figure, it includes a pair of front wheels, the left wheel 102a and the right wheel 102b (when not distinguishing between the left wheel 102a and the right wheel 102b, it is referred to as the front wheel 102), and one rear wheel 103. The front wheels 102 are drive wheels, and the rear wheel 103 is a driven wheel. The front wheels 102 do not have a steering mechanism but can be individually controlled in terms of rotational speed and direction. The rear wheel 103 consists of a so-called omnidirectional wheel and is rotatable to move the robot 100 forward, backward, left, and right. By increasing the rotational speed of the right wheel 102b compared to the left wheel 102a, the robot 100 can turn left or rotate counterclockwise. By increasing the rotational speed of the left wheel 102a compared to the right wheel 102b, the robot 100 can turn right or rotate clockwise.

[0041] The front wheels 102 and the rear wheel 103 can be completely housed in the body 104 by a drive mechanism (a rotating mechanism, a link mechanism). Even during driving, most of each wheel is hidden by the body 104, but when each wheel is completely housed in the body 104, the robot 100 becomes in a non-movable state. That is, as the wheels are housed, the body 104 descends and sits on the floor surface F. In this seated state, the flat seating surface 108 (grounding bottom surface) formed at the bottom of the body 104 abuts against the floor surface F.

[0042] Robot 100 has two arms 106. The arms 106 do not have the function of gripping objects. The arms 106 can perform simple operations such as raising, waving, and vibrating. The two arms 106 can also be individually controlled.

[0043] The eyes 110 can display images using liquid crystal elements or organic EL elements. The eyes 110 of this embodiment are subjected to an anti-reflection treatment by attaching an anti-reflection film on a flat monitor equipped with organic EL elements. A convex lens with an anti-reflection treatment can also be attached on the monitor. The robot 100 is equipped with various sensors such as a microphone array capable of specifying the sound source direction and an ultrasonic sensor. It also has a built-in speaker and can emit simple sounds.

[0044] The horn 112 is attached to the head of the robot 100. Since the robot 100 is lightweight as described above, the user can also lift the robot 100 by grasping the horn 112. An omnidirectional camera is attached to the horn 112, and it is possible to image the entire upper area of the robot 100 at once.

[0045] Figure 2 is a hardware configuration diagram of the robot 100. The robot 100 includes an internal sensor 128, a communication unit 126, a storage device 124, a processor 122, a drive mechanism 120, and a battery 118. Each unit is connected to each other by a power line 130 and a signal line 132. The battery 118 supplies power to each unit via the power line 130. Each unit transmits and receives control signals via the signal line 132. The battery 118 is a lithium-ion secondary battery and is the power source of the robot 100.

[0046] The internal sensor 128 is an aggregate of various sensors built into the robot 100. Specifically, it includes a camera (omnidirectional camera), a microphone array, a distance measurement sensor (infrared sensor), a thermosensor, a touch sensor, an acceleration sensor, a smell sensor, etc. The touch sensor is installed between the outer skin and the body frame of the robot 100 to detect the user's touch. The smell sensor is a known sensor that applies the principle that the electrical resistance changes due to the adsorption of molecules that are the source of the smell.

[0047] The communication unit 126 is a communication module that performs wireless communication with various external devices such as the user's mobile device. The storage device 124 is composed of a non-volatile memory and a volatile memory, and stores computer programs and various setting information. The processor 122 is a means for executing computer programs. The drive mechanism 120 is an actuator that controls the internal mechanism. In addition, a display, a speaker, etc. are also installed.

[0048] Processor 122 makes action selections for robot 100. Various external information obtained by internal sensor 128 also affects the action selections. Drive mechanism 120 mainly controls the wheels (front wheels 102) and the head (head frame). Drive mechanism 120 changes the moving direction and speed of robot 100 by changing the rotational speed and direction of each of the two front wheels 102. Further, drive mechanism 120 can also raise and lower the wheels (front wheels 102 and rear wheels 103). When the wheels are raised, the wheels are completely housed in body 104, and robot 100 abuts against floor surface F at seating surface 108 and assumes a seated state. Also, drive mechanism 120 controls hand 106 via wire 134.

[0049] Speaker 171 outputs sounds such as the voice of robot 100.

[0050] Further, processor 122 also controls the virtual line of sight of robot 100 (hereinafter, appropriately referred to as the "line of sight of robot 100"). Various external information obtained by internal sensor 128 also affects the control of the line of sight of robot 100. The line of sight of robot 100 may be a line of sight corresponding to the action selection of robot 100 (for example, a line of sight directed in the moving direction), or may be a line of sight corresponding to various external information obtained by internal sensor 128 (for example, a line of sight directed at a specific object indicated by the external information).

[0051] The monitor 170 is an image display device that is arranged at the position of the face of the robot 100 and displays an eye image 174 that is displayed as the eyes 110 of the robot 100. The eye image 174 is formed by overlapping a plurality of elements of the eye. Each element is, for example, the sclera, iris, pupil, highlight, eyelid, etc., and the eye image 174 is generated by overlapping them. The robot 100 has a plurality of parameters indicating its internal state constantly fluctuating in response to various stimuli obtained from the internal sensor 128. The plurality of parameters indicating the internal state are, for example, curiosity, fear, desire for approval, etc., and the change of these parameters is one of the factors determining the behavior of the robot 100. This internal state can be said to be the mood of the robot 100, and it is constantly fluctuating according to the passage of time and the external environment. On the other hand, in living organisms, in addition to the role of seeing objects, the eyes also have the role of conveying emotions through eye gaze and eyelid movements. People can observe the mind from the eyes and communicate without using words. In anticipation of such communication, the robot 100 dynamically generates the eye image 174 in conjunction with its internal state, and can move its line of sight in the direction in which the robot 100 is interested, or close, open, or deform the eyelids according to joy or sadness. That is, the eyes 110 are output devices that reflect the internal state, and function as a means of communication by displaying the eye image 174 dynamically generated in conjunction with the internal state.

[0052] Figure 3 is an external view of the eye image 174. In the present embodiment, the eye image 174 is generated by overlapping five images: a sclera image, an iris image, a pupil image, a highlight image, and a reflection image. Also, an eyelid image is overlapped on these five images. (L1) Sclera image The sclera image is the bottommost image and corresponds to the sclera part (peripheral image 168) of the eye image 174. The sclera image is a fixed image that does not follow the movement of the line of sight of the robot 100. (L2) Iris image The iris image is an image that is superimposed on the white-eye image. The iris image corresponds to the iris region 162 of the eye image 174. The iris image moves vertically, horizontally, and diagonally in the eye image 174 as the line of sight of the robot 100 moves. (L3) Pupil image The pupil image is superimposed on the iris image. The pupil image corresponds to the pupil region 158 of the eye image 174. The pupil image moves vertically, horizontally, and diagonally in the eye image 174 as the line of sight of the robot 100 moves. (L4) Highlight image The highlight image is superimposed on the pupil image. The highlight image corresponds to the catchlight 166 of the eye image 174. The highlight image does not follow the movement of the line of sight of the robot 100. When the orientation of the robot 100 changes, the processor 122 adjusts the position of the catchlight 166 by moving the highlight image in accordance with the light incident direction. (L5) Reflection image The reflection image is superimposed on the highlight image. The reflection image is the reflection in the pupil. The processor 122 corrects distortion and the like of the captured image in front of the robot 100 and then superimposes the reflection image on the highlight image. The reflection image does not follow the movement of the line of sight of the robot 100. When the orientation of the robot 100 changes, the processor 122 changes the reflection image in accordance with the captured image.

[0053] In summary, the white-eye image is fixed as the "background" of the eye image 174. The pupil image and the iris image move in accordance with the line-of-sight direction of the robot 100. The highlight image and the reflection image move in accordance with the orientation of the robot 100 regardless of the line-of-sight direction of the robot 100. Also, the pupil image and the iris image move in the same direction, but the amount of movement does not have to be the same. In this embodiment, when the iris image is moved by a first amount of movement in a first direction, the pupil image is moved by a second amount of movement in the first direction. At this time, the second amount of movement is a value larger than the first amount of movement. By creating a slight deviation between the movement of the pupil and the movement of the iris, the biological feeling and realistic feeling of the eye image 174 can be further enhanced.

[0054] Each element image that forms the eye image 174 is image data having shape and color information, and can be either a raster image or a vector image. For each element image, a plurality of images with different combinations of shape and color are prepared. An arbitrary image is selected for each element image, and by overlapping these element images in a predetermined order, various types of characteristic eye images 174 are formed. Even when the eye image 174 is generated reflecting the internal state, the process of moving and overlapping each element image does not change, so various-looking eye images 174 are dynamically generated. The eye image 174 thus generated changes according to the direction of the line of sight and the like, but the visual characteristics created by the combination of color and shape are maintained.

[0055] For example, as white eye images, images of "white" and "pink" are prepared, and as iris images, images of "black" and "blue" are prepared. As a white eye image, "white" may be selected, and as an iris image, "blue" may be selected to form the eye image 174, or as a white eye image, "pink" may be selected, and as an iris image, "black" may be selected to form the eye image 174. The eye image 174 formed in this way is distinguishable using human vision and becomes a characteristic of each individual of the robot 100. Since the eye image 174 is formed by overlapping a plurality of element images, by adjusting the type of each element image or the number of element images forming the eye image 174, a large number of visually different types of eye images 174 can be formed, and it becomes possible to form an almost infinite number of eye images 174.

[0056] FIG. 4 is an overall view of the feature data setting system 200 of the present embodiment. The feature data setting system 200 causes each robot 100 in a robot group 202 including a plurality of robots 100 to display an eye image 174 unique to each robot 100. The robot group 202 may be one or may be plural based on a predetermined condition. Each robot 100 can display a unique eye image 174 that does not overlap in the robot group 202 to which it belongs. As the saying goes, "The eyes are the mirror of the heart," and the eyes are considered an important element for knowing that person. Even if the communication target is the robot 100, if the robot 100 has eyes, people will unconsciously look at those eyes and try to realize communication with the robot 100. In this way, in communication, by displaying a unique eye on a device that expresses the eyes that are particularly noticeable, the robot 100 manufactured as an industrial product can be given an intuitive personality. As a result, it is expected that the user will be aware of it as a special existence and that the formation of attachment to the robot 100 will be promoted in the same way as for pets such as dogs and cats.

[0057] The feature data setting system 200 includes a robot group 202 including a plurality of robots 100A, 100B, 100C, 100D, a terminal device 204 communicable with the robots 100, and a server 206 communicable with the terminal devices 204A, 204B, 204C, and sets feature data output from the robots 100A, 100B, 100C, 100D and recognized by human perception in the robots 100A, 100B, 100C, 100D.

[0058] In the following description, when distinguishing the robots 100A, 100B, 100C, 100D, any one of A to D is attached to the end of the reference sign, and when not distinguishing each of the robots 100A, 100B, 100C, 100D, A to D are omitted. Also, in the following description, when distinguishing the terminal devices 204A, 204B, 204C, any one of A to C is attached to the end of the reference sign, and when not distinguishing the terminal devices 204A, 204B, 204C, A to D are omitted. Also, the number of robots 100 included in the robot group 202 shown in FIG. 4 is an example and is not limited thereto.

[0059] Note that the server 206 is capable of communicating with each robot 100. Also, each robot 100 is capable of communicating with other robots 100 existing in the vicinity.

[0060] The users of the robots 100 are each given identification information (hereinafter referred to as "identification ID") for identifying them. As an example, the identification ID is a combination of a plurality of alphabets and numbers. The identification ID is associated with the robot 100, and whether changes to the settings of the associated robot 100 or viewing the state of the robot 100 are permitted or not is registered. More specifically, as an example, the identification ID is distinguished by authority such as a first authority that allows all settings of the robot 100 to be changed, a second authority that allows some settings to be changed, and a third authority that does not allow settings to be changed. Note that in this embodiment, all identification IDs are allowed to view the state of the robot 100. In this embodiment, the change of the feature data described below is possible with the identification ID for which the first authority is registered.

[0061] Also, changes to the settings of the robot 100, viewing the state, etc. are performed via the terminal device 204. That is, the user can access the robot 100 associated with the identification ID by inputting the identification ID given to the user into the terminal device 204 via the terminal device 204. Then, the user changes the settings of the robot 100, views the state, etc. via this terminal device 204. In the example of FIG. 4, the terminal device 100A has the identification ID associated with the robot 100A inputted and is a terminal device 204 that can access the robot 100A. Similarly, the terminal device 204B can access the robot 100B, and the terminal device 204C can access the robot 100C. Also, the terminal device 204 of this embodiment is capable of inputting a plurality of identification IDs and can access one or a plurality of robots 100. For example, the terminal device 204C shown in FIG. 4 can selectively switch and access the robot 100C and the robot 100D.

[0062] Here, the feature data is information recognized by human perception, for example, information that can be recognized by the five senses of a human (vision, hearing, touch, taste, and smell), and more specifically, it is image data, sound data, tactile data, taste data, and odor data, etc.

[0063] And the feature data setting system 200 of the present embodiment sets, for the feature data indicating the features of the robot 100 output in a form perceptible to the user from the output device, the feature data unique to the target robot (hereinafter referred to as "target robot") 100A in the robot group 202 including a plurality of robots 100. In other words, the feature data of the target robot 100A is unique and different from those of other robots 100B, 100C, 100D. Thereby, the feature data setting system 200 can make the feature data of the target robot 100A unique to the target robot 100A that does not overlap with those of other robots 100B, 100C, 100D, and endow the robot 100 with individuality recognized by human perception. In the following description, when distinguishing other robots 100B, 100C, 100D, any one of B to D is attached to the end of the reference sign, and when not distinguishing other robots 100B, 100C, 100D, B to D are omitted and simply referred to as other robots 100.

[0064] Note that the feature data of the robot 100 is made unique within the range of the robot group 202 that the robot 100 belongs to. Here, the server 206 manages the feature data being set for the robots 100 included in the robot group 202. In other words, the robot group 202 is a group of robots 100 managed by the server 206.

[0065] The robot group 202 only needs to be composed of at least two robots 100. The range of the robots 100 included in the robot group 202 is arbitrarily determined by, for example, the manufacturing company of the robots 100 and is determined based on objective conditions. For example, the robots 100 included in the robot group 202 may be all the manufactured robots 100, may be specified in the area where the robots 100 exist, may be specified by the model of the robots 100, the manufacturing date within a predetermined range, items of the robots 100 such as the color and type of the clothes worn by the robots 100 detected by the sensors of the robots 100, or other set values for giving individuality to the robots 100 such as the gender set for the robots 100.

[0066] And, as an example, the feature data of this embodiment is the feature data of the image that forms the basis of the eye image 174 displayed on the monitor 170 of the robot 100. That is, the eye image 174 is generated based on the feature data of the image (a set of parameters indicating each feature of the image). As shown in the enlarged view of the eye image 174 in FIG. 4 (the eye image 174 within the dashed-dotted line), the eye images 174 of the respective robots 100 included in the robot group 202 are made to be different from each other. Also, the monitor 170 corresponds to an example of the "output device" of the present invention. Also, the eye image 174 corresponds to an example of the "features of the robot" of the present invention. Also, as described above, the features of the robot can be generated based on the feature data.

[0067] Also, as described above, the eye image 174 of this embodiment is composed of a combination of a plurality of images, and parameters are set for each of these images.

[0068] The parameters are numerical values for specifying, for example, the shape, color, saturation, and brightness of the eye image 174. More specifically, the eye image 174 is composed of, as an example, five images (layers), namely, a white eye image, an iris image, a pupil image, a highlight image, and a reflection image, as described above. One or more types of parameters are set for each of these images (layers), and each image is generated according to the set parameters. Note that the one or more parameters set for each image are also collectively referred to as a parameter set. That is, the eye image feature data for generating the eye image 174 in the present embodiment is generated by five parameter sets (from the first parameter set to the fifth parameter set). Note that a parameter set consists of one or more types of parameters. And that different parameter sets from each other means that the values of at least one type of parameter included therein are different from each other.

[0069] As described above, the feature data setting system 200 of the present embodiment sets a combination of a plurality of parameter sets set for generating the eye image 174 for the target robot 100A to be a unique combination different from any combination of parameter sets of other robots 100 belonging to the same robot group 202 as the target robot 100A. Specifically, when the terminal device 204A communicates with the server 206, the server 206 determines whether the combination of parameter sets of the setting candidates is different from any combination of parameter sets set for other robots 100 belonging to the same robot group 202 as the robot group 202 to which the target robot 100A belongs. When the determination result is affirmative (i.e., different from any), the terminal device 204A sets the eye image feature data generated by the combination of the parameter sets for the target robot 100A and transmits the set combination of the parameter sets to the server 206.

[0070] In addition, the eye image 174 generated from the eye image feature data is composed of a combination of a still image and a moving image, and parameter sets may be set for each of the still image and the moving image. For example, an eyelid image is displayed overlaid on the eye image 174 on the monitor 170 of the robot 100, and the opening and closing of the eyelids are represented by a moving image. Then, parameters such as the shape, color, opening and closing speed, and opening and closing interval of the eyelids can be set by the parameter set.

[0071] As described above, by means of a mechanism that ensures that the eye image 174 of the robot 100 is a unique eye image 174 for each robot 100, the robot 100 becomes a unique existence, and the user can feel the robot 100 as a special existence only for himself / herself. Thereby, for example, when the user brings his / her own robots 100 together and compares the robots 100 used by each of them, the user can actually feel the external differences, and recognizing the differences in appearance becomes an opportunity to try to find the internal differences of each individual. And the user's focusing of consciousness on the robot 100 helps to form love and attachment to the robot 100.

[0072] Next, the terminal device 204 and the server 206 that constitute the feature data setting system 200 will be described in detail.

[0073] The terminal device 204 is associated with one or more robots 100. For this reason, an application program (hereinafter referred to as a "robot app") for performing various settings on the associated robot 100 and displaying the state of the associated robot 100 on the display is installed in the terminal device 204. Note that the terminal device 204 is, as an example, a mobile terminal device such as a smartphone having a touch panel display 210 as the display, but is not limited to a smartphone as long as it is an information processing device capable of communicating with the robot 100, and other information processing devices such as a laptop computer or a desktop computer may also be used.

[0074] Server 206 transmits and receives various data related to robot 100 to and from terminal device 204. Then, server 206 stores various data transmitted from terminal device 204, executes processing based on the data received from terminal device 204, and transmits the generated various data to terminal device 204.

[0075] Note that terminal device 204 and server 206 are each composed of, for example, a processor such as a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a computer-readable storage medium. A series of processes for realizing various functions are stored, for example, in a storage medium in the form of a program. The CPU reads this program into the RAM or the like and executes information processing and arithmetic operations, thereby realizing various functions.

[0076] FIG. 5 is a functional block diagram of feature data setting system 200. Each function of feature data setting system 200 is realized by the CPU of terminal device 204 and server 206 and the processor 122 of robot 100 executing a program.

[0077] In addition to the above-described touch panel display 210, terminal device 204 includes a communication unit 212, a storage unit 214, an image display control unit 216, an input operation reception unit 218, and an eye image setting instruction unit 220.

[0078] Communication unit 212 is a communication module that transmits and receives various data to and from the target robot 100A, server 206, and other information processing devices registered in advance.

[0079] Storage unit 214 is a computer-readable storage medium that stores robot applications and various information related to robot 100.

[0080] The image display control unit 216 controls the touch panel display 210 to display an image (for example, the app image 260, the details of which will be described later) based on the image data.

[0081] The input operation reception unit 218 receives an input operation to the terminal device 204 by the user. Specifically, the input operation reception unit 218 receives the input of the eye image feature data set by the user for the robot 100 via the app image displayed on the touch panel display 210. The eye image feature data received by the input operation reception unit 218 is transmitted to the server 206 via the communication unit 212. Then, as will be described in detail later, the server 206 determines whether the eye image feature data is being set in another robot 100, that is, whether it can be the eye image feature data unique to the target robot 100A.

[0082] The eye image setting instruction unit 220 transmits the eye image feature data unique to the target robot 100A to the robot 100 via the communication unit 212.

[0083] The server 206 includes a communication unit 230, a storage unit 232, an eye image determination unit 234, a selected eye image acquisition unit 236, and an eye image output unit 238.

[0084] The communication unit 230 is a communication module that performs transmission and reception of various data with the terminal device 204 and other information processing devices.

[0085] The storage unit 232 is a computer-readable storage medium that stores various types of information regarding the robot 100 and the user of the robot 100 transmitted from the terminal device 204. The server 206 receives the eye image feature data being set for each robot 100 included in the robot group 202 from the terminal device 204 and stores it in the storage unit 232. Note that the eye image feature data that is no longer set for the robot 100 may be deleted from the storage unit 232 of the server 206, or the usage status of the eye image feature data may be managed by associating a flag indicating that the eye image feature data is not being set. Further, the storage unit 232 may accumulate the usage history of the eye image feature data. For example, the storage unit 232 records, for each eye image feature data, the date and time when it was set for the robot 100, the identification ID for identifying the robot 100, and the date and time when the setting was released from the robot 100. By accumulating the usage history of the eye image feature data in the storage unit 232, it is possible to total the period during which the eye image feature data was set for each robot 100, and statistically infer the tendency of users who prefer the eye image feature data from the attributes of the users who own the robot 100, etc.

[0086] The eye image determination unit 234 determines whether the eye image feature data to be set for the target robot 100A is unique eye image feature data that is different from any of the eye image feature data being set for other robots 100 belonging to the same robot group 202. Specifically, the eye image determination unit 234 determines whether the eye image feature data (selected eye image feature data) that the user attempts to set for the target robot 100A is different from any of the eye image feature data being set for other robots 100 stored in the storage unit 232.

[0087] The selected eye image acquisition unit 236 acquires the eye image feature data (hereinafter referred to as "selected eye image feature data") selected by the user using the terminal device 204. Note that the acquisition of the eye image feature data means the acquisition of the parameters for generating the eye image feature data.

[0088] The eye image output unit 238 outputs candidates for eye image feature data (hereinafter referred to as "candidate eye image feature data") that are different from any of the eye image feature data being set for other robots 100 included in the robot group 202 to an output device that can be perceived by the user. That is, the eye image output unit 238 generates candidate eye image data, transmits the candidate eye image feature data to the terminal device 204 to which the identification ID of the target robot 100A is input via the communication unit 230, and outputs the candidate eye image feature data to the user via the touch panel display 210 of the terminal device 204. That is, in the present embodiment, the output device that can be perceived by the user is the touch panel display 210 of the terminal device 204.

[0089] The eye image output unit 238 outputs candidates for eye image feature data to the touch panel display 210, for example, when the robot 100 is first activated, when the expiration date of the eye image feature data is approaching a predetermined period, or when an instruction to manually set the user eye image feature data is received via the touch panel display 210 of the terminal device 204. Thereby, the user can easily set the eye image feature data. Also, the eye image output unit 238 may output a plurality of different candidate eye image feature data to the user at once. When a plurality of candidate eye image feature data are output, the user selects one of the plurality of candidate eye image feature data as the eye image feature data to be set for the robot 100.

[0090] Note that when the eye image feature data acquired by the selected eye image acquisition unit 236 is set in another robot 100, the eye image output unit 238 may output eye image feature data within a predetermined similarity range with respect to the eye image feature data. According to this, when the eye image feature data selected by the user is already being set in another robot 100, the eye image output unit 238 can output other candidate eye image feature data that is assumed to be preferred by the user.

[0091] The eye image feature data within the similarity range may be, for example, the eye image feature data of (1) below, or the eye image feature data of (2) below. (1) When the eye image feature data is represented by continuous or intermittent parameters such as RGB, numerically close eye image feature data. More specifically, eye image feature data within a predetermined range (for example, within ±5%) with respect to the parameters representing the selected eye image feature data. When the eye image feature data is represented by a plurality of parameters, the eye image feature data in which some parameters are within the predetermined range with respect to the corresponding parameters of the selected eye image feature data and the remaining parameters are the same parameters may be used, or the eye image feature data in which all parameters are within the predetermined range with respect to the corresponding parameters of the selected eye image feature data may be used. (2) When the similarity with the selected eye image feature data is determined using a model that takes two different eye image feature data as inputs and outputs the similarity of the two eye image feature data, eye image feature data with a similarity equal to or higher than a predetermined similarity.

[0092] In other words, (1) can be said to be eye image feature data in which the components of the eye image feature data, that is, the parameters representing the eye image feature data, are in a similar range, and (2) can be said to be eye image feature data in which the evaluation by a person of the eye image feature data itself is in a similar range when, for example, a model that has learned the similarity evaluated by a person as teacher data is used.

[0093] In addition, when the eye image output unit 238 generates eye image feature data similar to the selected eye image feature data selected by the user as candidate eye image feature data, the eye image feature data may be set in proximity to the eye image feature data being set in other robots 100 according to the number of robots 100 included in the robot group 202 (hereinafter also referred to as the "proximity range"). The number of robots 100 is, for example, the number of shipped robots 100 or the number of activated robots 100. It may be predetermined such that the proximity range of the eye image feature data expands as the number of robots 100 increases, or it may be predetermined such that the proximity range of the eye image feature data narrows as the number of robots 100 increases. In other words, the eye image feature data being set in other robots 100 is the selected eye image feature data selected by the user of the target robot 100A. Also, the proximity range may be the same range as the above-described similarity range, or may be a range narrower than the similarity range. When the above proximity range expands, when the selected eye image feature data is being set in other robots 100, the number of candidate eye image feature data that can be output by the eye image output unit 238 increases, and the range of selection of the candidate eye image feature data by the user expands.

[0094] In addition, the eye image output unit 238 may output eye image feature data within a predetermined similarity range with respect to the eye image feature data being set in other robots 100 used by other users predetermined or specified by the user. The other user is, for example, a famous user, and the eye image output unit 238 can output the eye image feature data set by the other user to the touch panel display 210.

[0095] In addition, the eye image output unit 238 may output the eye image feature data to the touch panel display 210 based on user-related information related to the user who uses the target robot 100A. The user-related information is, for example, the user's biometric information, preference information indicating the user's preferences, and property information indicating the properties of the user such as the user's age, gender, and date of birth.

[0096] For example, the eye image output unit 238 may output to the touch panel display 210 eye image feature data that is within a similar range of the eye image feature data of the robot 100B used by a user whose partial user-related information related to the user using the target robot 100A is the same or within a predetermined range.

[0097] Specifically, when the user-related information of the user using the target robot 100A stored in the storage unit 232 (user-related information associated with the identification ID of the robot 100A) is information indicating 40 years old and male, the eye image output unit 238 searches the storage unit 232 for user-related information on the condition of being 40 years old and male. The eye image output unit 238 recognizes the identification ID of the robot 100 associated with the searched user-related information. The eye image output unit 238 recognizes the eye image feature data associated with the identification ID of the robot 100. The eye image output unit 238 outputs, as candidate eye image feature data, eye image feature data that is within a similar range of the recognized eye image feature data to the touch panel display 210.

[0098] Also, the eye image output unit 238 may estimate the eye image feature data preferred by the user using the target robot 100A based on the usage record of the eye image feature data stored in the storage unit 232, and output, as candidates for the eye image feature data, the eye image feature data that meets the estimation conditions.

[0099] In addition to the above-described storage device 124, communication unit 126, and monitor 170, the robot 100 includes an eye image setting unit 250.

[0100] The eye image setting unit 250 sets the eye image feature data transmitted from the terminal device 204 as the eyes 110. As a result, a unique eye image 174 of the target robot 100A is displayed on the monitor 170 that displays the eyes 110.

[0101] FIG. 6 is an example of an application image related to the setting of the eye image 174 displayed on the touch panel display 210 of the terminal device 204. Note that the configuration of the application image shown in FIG. 6 and the method of setting the eye image 174 using the application image are merely examples and are not limited thereto. Also, in each application image, the eye image 174 set for the target robot 100A is appropriately previewed. Further, input operations by the user on various buttons and the like are received by the input operation reception unit 218 provided in the terminal device 204 via the touch panel display 210.

[0102] FIG. 6(a) is an application image 260A displayed on the touch panel display 210 when the robot application is started and the eye image 174 is set. By pressing various buttons included in the application image 260A, other application images 260B, 260C, 260D, 260E corresponding to each button are displayed on the touch panel display 210. Note that a preview image 262A showing the entire face of the robot 100 including the eye image 174 currently set for the target robot 100A is displayed in the application image 260A.

[0103] FIG. 6(b) shows an app image 260B that is displayed when a preset button 264 of the app image 260A is pressed. In the app image 260B, the user selects one of the predetermined shapes of the eye image 174. In other words, the user selects a parameter indicating the shape of the eye image 174 via the app image 260B. The shape of the eye image 174 selected by the user is displayed as a preview image 262B. More specifically, a plurality of shape images 267 indicating the shape of the eye image 174 are displayed in the app image 260B, and the user selects one of the plurality of shape images 267. Note that in the app image 260B of FIG. 6(b), a new shape image 267 that has not been displayed until then is displayed when the user performs a scroll operation on the touch panel display 210. Also, when the user selects a button 268 marked "leave it to me", the shape of the eye image 174 is randomly determined. When a button 269 marked "Next" is pressed after the shape of the eye image 174 is selected by the user, the app image 260B changes to an app image 260C shown in FIG. 6(c).

[0104] The app image 260C displays a preview image 262C of the eye image 174 with a color added to the shape selected by the user in the app image 260B. Then, when the user presses the determination button 270, the eye image 174 displayed in the preview image 262C is set in the target robot 100A.

[0105] The eye image 174 previewed on the app image 260C is an eye image 174 of a unique color automatically generated by the feature data setting system 200 that has not been set for other robots 100. The eye image output unit 238 selects a parameter set indicating the color of the eye image 174 and combines it with the parameter set of the shape selected by the user to generate candidate eye image feature data. Also, the shape of the eye image 174 selectable in the app image 260B and the eye image 174 output as the app image 260C may be determined according to items of the robot 100 such as the clothes worn by the target robot 100A. Items of the robot 100 such as the clothes worn by the target robot 100A are identified, for example, when a sensor provided on the target robot 100A reads a tag unique to the item. Also, items of the robot 100 such as the clothes worn by the target robot 100A may be identified by analyzing the color of the robot 100 from an image captured by a camera or the like.

[0106] When the user presses the button 271 labeled "Create Again", the automatic generation of the eye image 174 is newly performed, and a preview image 262C of the new eye image 174 is displayed on the app image 260C. The case where the user presses the button 271 is when an eye image 174 preferred by the user is not generated. Also, when the user presses the button 272 labeled "View on Robot", the eye image 174 shown in the preview image 262C is displayed on the monitor 170 of the target robot 100A. Then, when the user sets the eye image 174 to the target robot 100A after pressing the button 271 or the button 272, the user presses the determination button 270.

[0107] Figure 6(d) shows the application image 260D displayed when the color combo button 266 of the application image 260A is pressed. A color contact is a decorative image that is superimposed on the preset eye image 174 at a predetermined transmittance. Note that the color contact is decorative image data (hereinafter referred to as "color contact data") indicating the decorative image selected by the user in the application image 260D, which is transmitted to the target robot 100A, and the decorative image is superimposed on the set eye image 174 and displayed at a predetermined transmittance. The transmittance may be arbitrarily set by the user. The lower the transmittance, the lighter the color of the color contact is superimposed on the eye image 174. The color contact in the present embodiment is, as an example, a color formed of a single color or a plurality of colors, but is not limited thereto, and may be an image such as a pattern or a star shape. By setting the color contact for the eye image 174 in this way, the user can make the eye image 174 of the target robot 100A more unique.

[0108] Note that a plurality of color contact images 273 indicating the color of the color contact are displayed in the application image 260D shown in Figure 6(d). In the application image 260D, a new color contact image 273 that has not been displayed until now is displayed when the user performs a scroll operation on the touch panel display 210. Further, when the user selects the button 274 marked "None", the color contact is not set. When the user presses the button 275 marked "OK", the color contact image 273 corresponding to the user's selection is set for the target robot 100A.

[0109] Here, an example of whether the preset and the color contact can be changed will be described. Note that "unchangeable" means that, for example, once the initial setting is made at the first startup after the target robot 100A is shipped from the factory, the setting of the eye image 174 cannot be changed until a certain period of time has elapsed or the factory shipment state is reset. Note that the eye image 174 of the target robot 100A is not unique but a common eye image 174 (hereinafter referred to as "default eye image") at the time of factory shipment, that is, in the initial state. That is, the default eye image is an eye image 174 that allows duplication with other robots 100 and cannot be occupied.

[0110] The eye image feature data set by the preset may, for example, be set at the first startup of the target robot 100A and may not be changeable, or only some parameters such as the shape of the eye image 174 may not be changeable, while other parameters may be changeable. On the other hand, the colored contact lenses may be arbitrarily changeable by the user.

[0111] Also, the eye image 174 set by the preset may be specific to the target robot 100A, while the colored contact lenses may be allowed to be the same as those of other robots 100, or the colored contact lenses may also be specific to the target robot 100A, different from the colors of the colored contact lenses of other robots 100.

[0112] Also, the eye image 174 (hereinafter referred to as the "preset eye image") set by the preset of the present embodiment is displayed on the monitor 170 of the target robot 100A without delay after being set, but is not limited thereto. For example, it may gradually change from the currently set eye image 174 to the preset eye image. More specifically, when the default eye image is displayed on the monitor 170, the default eye image changes to the preset eye image over a predetermined period (for example, one day). Also, when a specific eye image 174 is already displayed on the monitor 170, the specific eye image 174 changes to the preset eye image over a predetermined period. Since the eye image 174 during the change to the preset eye image is temporarily displayed as the eye image 174 of the robot 100, it may include the same as the eye image 174 being set in other robots 100, or may not include the same as the eye image 174 being set in other robots 100.

[0113] Furthermore, the eye image 174 during the change may change based on, for example, user-related information. For example, when the user's preference information includes information on the color the user likes, the change may be such that the color is emphasized, or the change may be such that a color that reminds one of the season corresponding to the user's date of birth (for example, white if the user was born in winter) is emphasized.

[0114] Figure 6(e) shows the application image 260E that is displayed when the history button 276 of the application image 260A is pressed. A plurality of eye images 174 set by the user in the past are listed and displayed in the application image 260E. That is, the feature data setting system 200 (the terminal device 204 or the server 206) stores the history of the eye image feature data set by the user in the past. Then, the user can set one piece of eye image feature data (selected eye image feature data) selected from the history of the eye image feature data set in the past for the target robot 100A via the application image 260E.

[0115] In the application image 260E shown in Figure 6(e), a plurality of past setting eye images 278 indicating the eye images 174 of the eye image feature data set in the past are displayed. In the application image 260E, when the user performs a scroll operation on the touch panel display 210, the past setting eye image 278 that has not been displayed until then is displayed. Then, when the user presses the button 277 labeled "Determine", the past setting eye image 278 corresponding to the user's selection is set for the target robot 100A. Note that the numbers displayed below the past setting eye image 278 (in the example of Figure 6(e), "3", "6", "7" from the left) are the numbers displayed below the shape image 267 set by the application image 260B, that is, they correspond to the shapes of the eye images 174.

[0116] The selected eye image feature data indicating the past setting eye image 278 selected by the user via the application image 260E is determined by the eye image determination unit 234 as to whether it is eye image feature data that is not being set for other robots 100 in the robot group 202 that includes the target robot 100A. That is, even if it is stored eye image feature data, the eye image feature data being set by other robots 100 cannot be set for the target robot 100A. According to this, even if it is eye image feature data memorized by the user, as long as it is not being set, it is allowed to be set by other robots 100, so the range of selection of eye image feature data by the users of other robots 100 is not restricted.

[0117] Also, when the selected eye image feature data selected by the user is being set in another robot 100, the feature data setting system 200 causes the eye image output unit 238 to output eye image feature data that is within the similar range of the selected eye image feature data and has not been set in the other robot 100, and presents it to the user via the app image 260E.

[0118] Also, the feature data setting system 200 may be able to store a plurality of eye images 174 (eye image feature data) when a predetermined condition (hereinafter referred to as "plurality of storage conditions") is satisfied. The plurality of storage conditions are, for example, obtaining a predetermined point or charging a predetermined amount. Also, the number of eye images 174 (stock number) that can be stored may increase as points or the like increase.

[0119] FIG. 7 is a flowchart showing an example of the flow of the eye image setting process of the present embodiment. The eye image setting process is executed, for example, when the user starts the robot app on the terminal device 204 and displays the app image 260 on the touch panel display 210.

[0120] First, in step S100, the input operation reception unit 218 determines whether a preset has been selected by pressing the preset button 264. If the preset button 264 has been pressed, the process proceeds to step S102. If the preset button 264 has not been pressed, the process proceeds to step S112.

[0121] In the next step S102, the input operation reception unit 218 receives the shape of the eye image 174 selected by the user via the app image 260B. Then, a parameter set indicating the shape of the eye image 174 selected by the user is transmitted to the server 206 via the communication unit 212, and the selected eye image acquisition unit 236 acquires the shape of the eye image 174.

[0122] In the next step S104, the eye image output unit 238 generates one or more candidate eye image feature data with colors added to the shape of the eye image 174 selected by the user, and outputs the data to the touch panel display 210 of the terminal device 204. In this way, the candidate eye image feature data is presented to the user by being displayed on the application image 260C. Also, the candidate eye image feature data output to the touch panel display 210 may be not only one but also plural. Note that the parameter set for generating the output candidate eye image feature data is locked so as not to be set by other robots 100 during the output. This lock is released when the user determines the candidate eye image data to be set for the target robot 100.

[0123] In the next step S106, the input operation reception unit 218 determines whether or not the user has selected the candidate eye image feature data presented by being displayed on the output (application image 260C) to the touch panel display 210. When the user selects the candidate eye image feature data, the process proceeds to step S108. On the other hand, when the user does not select the candidate eye image feature data, the process returns to step S104, and the input operation reception unit 218 outputs other candidate eye image feature data to the touch panel display 210 (displayed on the application image 260C). Note that the case where the user does not select the candidate eye image feature data is the case where the user presses the button 271 of the application image 260C.

[0124] In step S108, the candidate eye image feature data selected by the user is set for the target robot 100A. Specifically, the eye image setting instruction unit 220 provided in the terminal device 204 transmits the eye image feature data to the target robot 100A via the communication unit 212. When the target robot 100A receives the eye image feature data, the eye image setting unit 250 sets the eye image feature data as the eyes 110 of the robot 100, and displays the eye image 174 on the monitor 170.

[0125] In the next step S110, when the terminal device 204 transmits the eye image feature data being set for the target robot 100A to the server 206 and the server 206 stores the eye image feature data in the storage unit 232, this eye image setting process ends.

[0126] On the other hand, in step S112 which is entered when the preset is not selected in step S100, the input operation reception unit 218 determines whether or not a colored contact lens has been selected by the pressing of the colored contact lens button 266. If the determination is affirmative, the process proceeds to step S114; if the determination is negative, the process returns to step S100.

[0127] In step S114, the input operation reception unit 218 receives the color of the colored contact lens selected by the user via the application image 260D.

[0128] In the next step S116, the colored contact lens selected by the user is set for the target robot 100A. Specifically, the eye image setting instruction unit 220 transmits the colored contact lens data to the target robot 100A via the communication unit 212. When the target robot 100A receives the colored contact lens data, the eye image setting unit 250 displays on the monitor 170 an eye image 174 in which the colored contact lens data is superimposed on the eye image feature data.

[0129] (Second Embodiment) Next, a second embodiment of the present invention will be described. Note that the configuration of the feature data setting system 200 of this embodiment is the same as that of the feature data setting system 200 of the first embodiment, so the description thereof will be omitted.

[0130] In the first embodiment, after the user selects the shape of the eyes 110 of the robot 100, the form in which the user selects from the candidate eye image feature data output by the eye image output unit 238 by preset has been described. However, in this embodiment, the form in which the user selects a parameter set for generating the eye image feature data by himself / herself and determines whether or not the selected eye image feature data generated thereby is set in another robot 100 will be described.

[0131] FIG. 8 is a flowchart showing an example of the flow of the eye image setting process according to the present embodiment. Note that the eye image setting process of the present embodiment is executed, for example, when the user activates the robot application on the terminal device 204 and selects the manual setting of the eye image 174. That is, in the robot application of the present embodiment, in addition to the above-described presets and contact lens settings, manual setting can be selected.

[0132] First, in step S200, the selection of the eye image feature data by the user is received. Note that on the touch panel display 210 of the terminal device 204 of the present embodiment, selection images such as a slide bar for the user to select the shape of the eye image 174, the white eye image, the iris image, the pupil image, and the color of the highlight image are displayed. The user selects the shape and color of the eye image 174 by operating the selection images displayed on the touch panel display 210, specifically, by adjusting the position of the slide bar.

[0133] In the next step S202, the selection eye image acquisition unit 236 of the server 206 acquires the selected eye image feature data selected by the user of the target robot 100A using the terminal device 204. This selected eye image feature data is composed of a parameter set such as the shape and color of the eye image 174 selected by the user.

[0134] In the next step S204, the eye image determination unit 234 determines whether the acquired selected eye image feature data is being set in another robot 100.

[0135] In the next step S206, if it is determined that the selected eye image feature data is being set in another robot 100, the process proceeds to step S208, and if it is determined by the eye image determination unit 234 that the selected eye image feature data is not set in another robot 100, the process proceeds to step S212.

[0136] In step S208, the eye image output unit 238 generates candidate eye image feature data and outputs it to the touch panel display 210 of the terminal device 204.

[0137] In the next step S210, the input operation receiving unit 218 determines whether or not the user has selected the candidate eye image feature data output to the touch panel display 210. If the user has selected the candidate eye image feature data, the process proceeds to step S212. On the other hand, if the user has not selected the candidate eye image feature data, the process returns to step S200, and the selected eye image acquisition unit 236 acquires the selected eye image feature data newly selected by the user.

[0138] In step S212, the selected eye image feature data determined not to be set by another robot 100 in step S206 or the candidate eye image feature data selected by the user in step S210 is set in the target robot 100A. Specifically, the eye image setting instruction unit 220 provided in the terminal device 204 transmits the eye image feature data to the target robot 100A via the communication unit 212. When the target robot 100A receives the eye image feature data, the eye image setting unit 250 sets the eye image feature data as the eyes 110 of the robot 100 and displays the eye image 174 on the monitor 170.

[0139] In the next step S214, when the terminal device 204 transmits the eye image feature data being set in the target robot 100A to the server 206 and the server 206 stores the eye image feature data in the storage unit 232, this eye image setting process ends.

[0140] Note that the eye image feature data set in this embodiment is reflected when the target robot 100A closes and then opens its eyelids. That is, before closing the eyelids, although the previous eye image 174 before the new setting is displayed on the monitor 170, after closing and then opening the eyelids, the newly set eye image 174 is displayed on the monitor 170. When closing the eyelids to switch the eye image 174, it may be accompanied by a movement different from simply closing the eyelids for a blink (hereinafter referred to as "switching motion"). For example, as the switching motion, the eyelids may open and close when the target robot 100A turns its face from a downward-facing state to a front-facing state. By incorporating the switching motion into a series of motions, it is possible to realize a unique function of the robot 100, in which the state of the eyes changes in a way that does not occur in general organisms, without sacrificing the biological feel.

[0141] Also, the motion that the target robot 100A can select may differ according to the impression felt from the newly set design of the eye image 174. When a person visually recognizes a design formed by combining colors, shapes, etc., they often intuitively have some impression of that design. For example, a person who visually recognizes a robot 100 with a large round eye image 174 often has an impression of being young and energetic for that robot 100. Also, a person who visually recognizes an eye image 174 that is elliptical and slightly drooping often has an impression of being gentle and kind for that robot 100. Also, a person often has some impression from the motion of the robot 100. For example, if the robot 100 moves with quick and large movements, they often have an impression of being energetic for that robot 100. If the robot 100 moves with slow movements, they often have an impression of being calm for that robot 100. If the impression felt by a person through perceiving features of the robot 100 such as the eye image 174 deviates from the impression felt from the motion of the robot 100, there is a risk of having a sense of discomfort with that robot 100. It is preferable that the eye image 174 and the motion corresponding to it are adjusted so that the impression felt from features of the robot 100 such as the eye image 174 does not deviate from the impression felt from the motion, so that people can unconsciously accept it. In view of this, corresponding motions may be associated with the eye image feature data in advance, or an attribute value indicating the impression of the eye image feature data is associated with the eye image feature data, and an attribute value indicating the impression may be associated with the motion. For example, the attribute value is a value indicating an impression such as "energetic", "relaxed", "kind", etc., and each motion suitable for that impression may be associated with each of them.

[0142] (Third Embodiment) The third embodiment of the present invention will be described. FIG. 9 is a functional block diagram of the feature data setting system 200 of the present embodiment. As shown in FIG. 9, in addition to the communication unit 230, the storage unit 232, the eye image determination unit 234, the eye image output unit 238, and the selected eye image acquisition unit 236, the server 206 includes a mixed eye image generation unit 240.

[0143] The mixed-eye image generation unit 240 generates new eye image feature data (hereinafter referred to as "mixed-eye image feature data") that can be set for the target robot 100A based on the eye image feature data being set in the target robot 100A and the eye image feature data being set in other robots 100. That is, the mixed-eye image generation unit 240 generates new eye image feature data from two different eye image feature data being set in the two robots 100. The new eye image feature data generated from the eye image feature data being set in the two robots 100 can be set for the target robot 100A. Furthermore, there is a possibility that eye image feature data not expected by the user is generated thereby. Note that the generated mixed-eye image feature data is transmitted as candidate eye image feature data to the terminal device 204 via the communication unit 230 and output to the touch panel display 210 of the terminal device 204.

[0144] As a method for generating the mixed-eye image feature data, for example, the server 206 receives, via the terminal device 204, the eye image feature data being set in the target robot 100A and the eye image feature data being set in other robots 100. Then, the mixed-eye image generation unit 240 calculates new parameters by performing an operation using a predetermined arithmetic expression with the parameters representing the two received eye image feature data as variables, and generates the eye image feature data represented by these parameters as the mixed-eye image feature data. Note that the mixed-eye image feature data is made to be unique and not set in any of the robots 100. For this reason, when the generated mixed-eye image feature data becomes the same as the eye image feature data being set in other robots 100, it is regenerated using a different arithmetic expression (for example, an arithmetic expression with different coefficients). Also, not limited to arithmetic expressions, for example, the mixed-eye image feature data may be generated by AI. Furthermore, while gradually changing the mixed-eye image feature data by morphing, it may be displayed on the touch panel display 210 of the terminal device 204, and the user may select the mixed-eye image feature data that the user likes from among the changing mixed-eye images.

[0145] In addition, the mixed eye image feature data may inherit the features of the two eye image feature data. Specifically, the mixed eye image feature data may be generated by maintaining the visually most characteristic parts for the two eye image feature data and newly setting other parameter sets. The visually most characteristic part is, for example, the shape, which is a preset part. Thereby, a genetic concept can be given to the generation of the mixed eye image feature data.

[0146] In addition, as an example of the inherited features, the mixed eye image feature data may be generated such that the influence of the eye image data with a longer setting period among the two eye image feature data becomes greater. That the influence is greater means that the generated mixed eye image feature data is similar to the eye image data with a longer setting period. Note that the present invention is not limited to this, and the mixed eye image feature data may be generated such that the influence of the eye image feature data with a shorter setting period becomes greater.

[0147] In addition, as an example of the inherited features, for images with a relatively low similarity in the two eye image feature data, the mixed eye image feature data may be generated such that the features of both images are reflected. The image with a relatively low similarity among the two eye image feature data is, for example, an image with a relatively low similarity to the corresponding image among the white eye image, iris image, pupil image, and highlight image that make up one eye image feature data among the white eye image, iris image, pupil image, and highlight image that make up the other eye image feature data (for example, the image with the lowest similarity among the white eye image, iris image, pupil image, and highlight image). For example, when the similarity of the white eye images among the two eye image feature data is the lowest, an image intermediate between the two white eye images is used as the white eye image of the mixed eye image feature data, and the other images (iris image, pupil image, highlight image) may be randomly selected from the respective images included in the two eye image feature data. Note that the present invention is not limited to this, and for images with a relatively high similarity in the two eye image feature data, the mixed eye image feature data may be generated such that the features of both images are reflected.

[0148] The mixed-eye image feature data generated in this way may be set only in one of the two robots 100, or may be set in both of the two robots 100. Moreover, not limited to this, the mixed-eye image feature data may be set in a robot 100 different from the two robots 100. In this case, the robot 100 in which the mixed-eye image feature data is set will have the concept of a parent-child relationship where the two robots 100 are the parents and it is the child.

[0149] In addition, the mixed-eye image generation unit 240 generates mixed-eye image feature data when the target robot 100A and another robot 100 satisfy a predetermined condition (hereinafter referred to as the "mix trigger condition"). According to this, new mixed-eye image feature data is generated only when the mix trigger condition is satisfied. Furthermore, new mixed-eye image feature data can be set at an arbitrary timing of the user. The mix trigger condition is, for example, when it is detected from an imaging image or the like that the target robot 100A and another robot 100 have approached within a predetermined distance (for example, 30 cm), or when it is detected from a contact sensor or the like that a predetermined part (stomach, forehead) of the target robot 100A has come into contact with a predetermined part (stomach, forehead) of another robot 100. Also, it may be a condition that the users of the target robot 100A and another robot 100 that generate the mixed-eye image feature data are different users.

[0150] Also, when the intimacy level between two robots 100 reaches a predetermined value or more, this can be set as a mixed trigger condition, and mixed eye image feature data may be generated based on the two eye image feature data being set in these two robots 100. The intimacy level, as an example, is improved by the robots 100 performing data transmission and reception through short-range wireless communication. For example, the data transmitted and received is the identification ID set in the robot 100. Also, when an operation command is sent from one robot 100 to the other robot 100, a probability determination is made as to whether the other robot 100 executes the operation command. When the other robot 100 executes the operation command, the intimacy level between the two robots 100 may be improved more than when the other robot 100 does not execute the operation command. Note that the operation command is, for example, an instruction for the behavior of the other robot 100, such as the other robot 100 lining up behind one robot 100.

[0151] (Fourth Embodiment) The fourth embodiment of the present invention will be described. In this embodiment, voice feature data indicating the sound output by the speaker 171 provided in the robot 100 is set in the target robot 100A as feature data unique to the target robot 100A. In this embodiment, the voice feature data used as the feature data is the voice feature data for generating the voice output from the robot 100. That is, the voice output from the speaker 171 of the target robot 100A generated from this voice feature data is a voice unique to the target robot 100A that does not overlap with other robots 100. Thereby, the voice output from the robot 100 and recognizable by human hearing can be made unique to the robot 100. The speaker 171 corresponds to an example of the "output device" of the present invention. Also, the voice output from the speaker 171 corresponds to an example of the "features of the robot" of the present invention.

[0152] Note that the eye image setting instruction unit 220 shown in FIG. 5 of the first embodiment functions as a voice setting instruction unit, the eye image determination unit 234 functions as a voice determination unit, the selected eye image acquisition unit 236 functions as a selected voice acquisition unit, the eye image output unit 238 functions as a voice output unit, and the eye image setting unit 250 functions as a voice setting unit.

[0153] FIG. 10 is an example of an app image 280 related to voice setting displayed on the terminal device 204 of this embodiment. Note that the configuration of the app image 280 shown in FIG. 10 and the voice setting method using the app image 280 are merely examples and are not limited thereto.

[0154] FIG. 10(a) is an app image 280A displayed on the touch panel display 210 when the robot app is launched to perform voice setting. When the user presses a button 281 labeled "Select Voice", a plurality of types (four types in this embodiment) of voice feature data with randomly selected parameters are automatically generated. All the generated voice feature data are voice feature data that do not overlap with the voice feature data being set in other robots 100. When the button 281 is pressed by the user and a plurality of types (four types in this embodiment) of voices are generated, the app image 280A changes to the app image 280B shown in FIG. 10(b). Note that the parameters (parameter sets) constituting the voice feature data will be described later.

[0155] Also, when the user presses a button 282 labeled "Current Voice" displayed on the app image 280A, the user can confirm the voice generated based on the currently set voice feature data for the target robot 100A. This confirmation voice is output from the speaker 171 of the target robot 100A, which is an output device perceivable by the user.

[0156] In the app image 280B shown in FIG. 10(b), voice selection buttons 283A to 283D from which the user can select one of the generated plurality of voice feature data are displayed. When any one of the voice selection buttons 283A to 283D is pressed and selected by the user, the corresponding voice is output. Thereby, the user can confirm the voice he / she likes. When the user presses the button 284 labeled "Determine" while any one of the voice selection buttons 283A to 283D is selected, the voice feature data selected by the user is set in the target robot 100A.

[0157] Note that a button for regenerating voice feature data (hereinafter referred to as "regeneration button") may be displayed on the app image 280B. The case where the user presses the regeneration button is when the voice feature data for generating the voice the user likes is not generated. When the user presses the regeneration button, the generation of voice feature data is newly performed, and the newly generated voice feature data is associated with the voice selection buttons 283A to 283D.

[0158] FIG. 10(c) is an app image 280C displayed when the history button 285 of the app image 280A is pressed. In the app image 280C, voice selection buttons 286 for the user to select a plurality of voice feature data set in the past are displayed in a list. That is, the feature data setting system 200 (terminal device 204 or server 206) stores a history of voice feature data set by the user in the past. Note that, as an example, the maximum number of selectable past voice feature data is determined in advance.

[0159] The voice selection button 286 is marked with the date when the voice feature data was set for the target robot 100A. This allows the user to recognize the differences in the voices corresponding to the voice selection buttons 286. Also, when the user performs a scroll operation on the touch panel display 210, the voice selection buttons 286 corresponding to the voice feature data set in the past that were not previously displayed are shown. Then, when the user presses the button 287 marked "Determine", the voice feature data corresponding to the voice selection button 286 selected by the user is set for the target robot 100A.

[0160] In addition, it is determined whether the voice feature data selected by the user via the app image 280C is voice feature data that is not currently being set for other robots 100 in the robot group 202 that includes the target robot 100A. That is, even if it is stored voice feature data, voice feature data that is currently being set by other robots 100 cannot be set for the target robot 100A.

[0161] FIG. 11 is an app image 280D displayed on the terminal device 204 when the user customizes the voice output from the target robot 100A. The app image 280D is displayed so that the user can select voice feature data (a combination of values of multiple parameters) for generating voice. As an example, the user selects the value of the parameter by moving the slide bars 288A to 288F corresponding to each parameter left and right. That is, the user manually generates the voice according to their preference instead of automatically generating the voice to be set for the target robot 100A.

[0162] In the example of FIG. 11, as parameters that can be selected by the user, speed, pitch, pitch width, brightness, lip vibration, and vocal cord length are set. These multiple parameters are treated as one parameter set, and a parameter set of voice that is not being set in other robots 100 can be set as the voice of the target robot 100A. Note that this parameter set is the same as the parameters of the voice feature data generated when the user presses the button 281 of the above-described application image 280A.

[0163] Speed is the speaking speed per unit of sound. In language, the unit of sound is a syllable. The higher this value, the faster the speaking speed.

[0164] Pitch is the height of the average pitch. The higher this value, the higher the pitch.

[0165] The pitch width is the width of the pitch that can be pronounced. The higher this value, the wider the pitch range.

[0166] Brightness is a parameter indicating the brightness of the voice (sound). By changing a part of the frequency components of the sound to be pronounced (for example, the harmonic components), the brightness of the sound can be changed. The higher this value, the easier it is to give the impression that the voice (sound) is bright.

[0167] Lip vibration is the degree of lip vibration in the pronunciation structure imitating the human vocal structure (mouth). The higher this value, the greater the sound reflectivity within the human vocal structure.

[0168] Vocal cord length is a parameter indicating the length of the vocal cords in the pronunciation structure imitating the human vocal structure (mouth). The higher this value, the more low-frequency components of the sound, and the voice becomes more adult-like.

[0169] Also, when the user presses the button 289 labeled "Try listening with the robot", the voice generated from the selected voice feature data (parameter set) is output from the speaker 171 provided in the target robot 100A. Then, when a pressing operation of the determination button 290 is detected, the selected parameter set is set in the target robot 100A. Note that the voice feature data manually generated is also set to a voice that does not overlap with the voice feature data being set in other robots 100. Specifically, the server 206 acquires the voice feature data (parameter set) selected by the user from the terminal device 204, determines whether the voice feature data overlaps with the voice feature data set in other robots 100, and transmits the determination result to the terminal device 204. And in a state where the voice feature data (parameter set) that overlaps with other robots 100 is selected, the terminal device 204 invalidates the determination button 290 and outputs a display indicating that it is being used in other robots to the touch panel display 210. In this case, the server 206 may generate voice feature data similar to the voice feature data selected by the user, and a button for reproducing the generated voice feature data may be displayed on the touch panel display 210.

[0170] Also, the customization of the voice using the app image 280D may be enabled for users who satisfy predetermined conditions. The predetermined conditions are, for example, users whose usage period of the robot 100 exceeds a predetermined period, users who have acquired a predetermined number of points, or users who have been charged a predetermined amount.

[0171] (Modification Example 1) The feature data setting system 200 may associate value information indicating the value based on the setting state of the eye image feature data with the eye image feature data. According to this, a concept of value can be given to the eye image feature data being set in the robot 100. In the above-described embodiment, a mechanism for occupying the eye image feature data was described, but the length of the occupation period changes depending on the user's impression of the eye image 174. If the user likes the robot 100 having the eye image 174, the user will continue to use the eye image 174 for a long time, and if not, it is expected that the user will change it immediately. The eye image 174 that the user wants to use for a long time is a so-called "favorite", and it is highly likely that a plurality of people will often feel the same eye image 174 as their favorite. By providing a mechanism for occupying the eye image feature data, the market principle works and value is born in the eye image feature data.

[0172] The value information includes setting period information indicating the period during which the eye image feature data is being set, user-related information related to the user using the robot 100, parameters set by a relatively large number of users (some of the plurality of parameters representing the eye image feature data (for example, parameters related to shape)), etc., but is not limited to this, and other information may be used as long as it can give a concept of value. For example, eye image feature data with a long setting period, eye image feature data set by a famous designer, and parameters with a large number of setting users are considered to have high value. Also, eye image feature data set by a celebrity admired by many fans is considered to have high value for the fans.

[0173] In addition, eye image feature data with a longer setting period may be evaluated as having higher value. Also, when the user-related information satisfies a predetermined condition (for example, when the user is a famous user or the number of common items with the user-related information of the user of the target robot 100A is equal to or more than a predetermined number), the eye image feature data associated with the user-related information may be evaluated as having higher value than when it does not satisfy the predetermined condition. Also, parameters with a larger number of users who have used them may be evaluated as having higher value.

[0174] When the feature data setting system 200 updates the eye image feature data of the target robot 100A, it may present the user of the target robot 100A with eye image feature data having the same value as the value of the eye image feature data previously set for the target robot 100A or a value within a predetermined range. As an example, when the value is determined based on the length of the occupancy period, eye image feature data that has been occupied for approximately the same length of time as the eye image feature data of the target robot 100A is extracted and output to the touch panel display 210. That is, the current eye image feature data and the eye image feature data that has been similarly favored are presented to the user.

[0175] Also, a mechanism may be provided to exchange the available eye image feature data for something having a monetary value such as points.

[0176] (Modification Example 2) The eye image feature data being set in the robot 100 may be made ineligible for continued setting if the set period information exceeds a predetermined period. According to this, since it is suppressed to continue setting the same eye image feature data beyond the predetermined period, it is possible to prompt the user to set new eye image feature data. Note that even for eye image feature data whose set period information exceeds the predetermined period, the same eye image feature data may be made continuously settable under predetermined conditions (such as point acquisition or charging).

[0177] (Modification Example 3) The feature data setting system 200 may be able to set the eye image feature data for the target robot 100A even if it is eye image feature data being set by another robot 100, provided that permission is received from the user of the other robot 100. According to this, even if it is eye image feature data being set by another robot 100, it can be set for the target robot 100A. Note that the eye image feature data being set in the other robot 100 that has given permission may be made ineligible for continued setting, or may be made eligible for continued setting. If it is made eligible for continued setting, the same eye image feature data will be set in a plurality of robots 100.

[0178] (Modification Example 4) The eye image feature data may increase the types selectable by the user according to the increase in the number of robots 100 included in the robot group 202. For example, when the number of robots 100 included in the robot group 202 exceeds a predetermined number, the types of shapes and colors of the eye images 174 that the user can select increase. According to this, the more the number of robots 100 increases, the more the types of eye image feature data that the user can set increase.

[0179] (Modification Example 5) The feature data setting system 200 may set different feature data for the target robot 100A from the feature data set for other robots 100 located within a predetermined area including the location where the target robot 100A exists. Therefore, the feature data being set in other robots 100 located within a predetermined area including the location where the target robot 100A exists becomes feature data that cannot be set for the target robot 100A. Here, the predetermined area is, for example, a region such as a prefecture, city, town, or village, or a predetermined range based on the installation location of a device such as the server 206. Therefore, even if the same eye image feature data as the eye image feature data selected by the user is being set in other robots 100, if the other robots 100 are located outside the predetermined area, the selected eye image feature data can be set for the target robot 100A, so the range of selection of eye image feature data that can be set for the target robot 100A expands.

[0180] The location where the robot 100 exists may be determined, for example, by a GPS provided in the robot 100, or may be determined by the location of the charging device of the robot 100.

[0181] The charging device is installed indoors where the robot 100 moves. When the charging rate of the battery 118 of the robot 100 drops below a predetermined value, the robot 100 moves itself to the charging device and charges the battery 118 at a predetermined position of the charging device. Further, the charging device has the function of an information processing device and is communicable with the robot 100, the terminal device 204, and the server 206. And, for example, the position of the charging device specified from the IP address assigned to the charging device may be the position where the robot 100 exists.

[0182] (Modification Example 6) The charging device of the robot 100 may be provided with functions such as the eye image determination unit 234, the selected eye image acquisition unit 236, the eye image output unit 238, and the mixed eye image generation unit 240 that the server 206 has.

[0183] In this modification example, when the server 206 receives the eye image feature data being set from other robots 100 included in the robot group 202, the server 206 transmits the eye image feature data to the charging device. Thereby, the charging device can grasp the eye image feature data being set by other robots 100. And when the terminal device 204 sets the eye image feature data for the target robot 100A, it communicates with the charging device to set the eye image feature data unique to the target robot 100A.

[0184] (Modification Example 7) The feature data setting system 200 does not include a server 206. Feature data being set by the robot 100 (hereinafter, eye image feature data as an example) is transmitted and received between the terminal devices 204, so that other robots 100 can accumulate the eye image feature data being set by the terminal device 204 or the robot 100, and different eye image feature data from the accumulated eye image feature data being set may be set for the target robot 100A. The set of eye image feature data in which other robots 100 have accumulated the eye image feature data being set is called an "eye image list". That is, the terminal device 204 or the robot 100 holds the eye image list, and the terminal device 204 or the robot 100 has the same function as the server 206. Thereby, since the terminal device 204 or the robot 100 grasps the eye image feature data being set by other robots 100, the server 206 is not required in the configuration of the feature data setting system 200.

[0185] Also, robots 100 belonging to the same robot group 202 may autonomously change the eye image feature data so as to avoid duplication of the eye image feature data. For example, the target robot 100A avoids duplication of the eye image feature data with other robots 100 that have transmitted and received its own eye image feature data. Thereby, duplication of the eye image feature data in the living area of the target robot 100A (the user's living area) can be avoided. The "user's living area" is the range or area where the user acts in daily life, and is expressed by physical location information and time information in daily life, such as stores frequently visited and time zones. That is, even people living in the same area can be said to have different living areas if they use different stores.

[0186] When the feature data setting system 200 does not include the server 206, the robot group 202 to which the target robot 100A belongs is formed by actually encountering other robots 100 in the user's living area. That is, in order for the target robot 100A to form the robot group 202, it is gradually formed by being taken by the user to move to a place and recognizing other robots 100 at the destination. Generally, a person's living area is generally fixed, and after a certain period of time, the robots 100 existing in the user's living area can be grasped. The robot group 202 formed in this way is determined based on subjective conditions. By forming the robot group 202 on the condition of existing in the user's living area, duplication of the eye image feature data can be avoided within the robot group 202. In other words, in the user's living area, the target robot 100A will have a unique eye image 174. The robot group 202 formed in this way is centered around the target robot 100A, and even for robots 100 existing in the same area, if the user's living areas are different, they will belong to different robot groups 202.

[0187] The robot 100 can be made to change the eye image feature data, for example, after a certain period of time has elapsed since the power was turned on and the robot group 202 has been constructed. Thereby, the probability of duplication of the eye image feature data can be lowered. For the certain period of time, only the default eye image may be set, and the eye image 174 may be made changeable when the certain period of time has elapsed. Also, in addition to the certain period of time, it may be assumed that the robot group 202 is constructed when the number of times the user has been taken to another place exceeds a predetermined number of times, or it may be assumed that the robot group 202 is constructed when the number of other robots 100 registered in the robot group 202 exceeds a predetermined number. Also, robots 100 that have approached within a predetermined distance may exchange the eye image lists they each hold.

[0188] (Modification Example 8)

[0189] Robot 100 may have a higher degree of intimacy among robots 100 with similar feature data such as eye image feature data and voice feature data. The increase in the degree of intimacy in this case may be set higher than the increase in the degree of intimacy by transmitting and receiving identification IDs as described above. As a result, the degree of intimacy between robots 100 having similar eye image feature data will rapidly increase.

[0190] In addition, according to the degree of intimacy of one robot 100 with respect to another robot 100, the motion of the one robot 100 related to the other robot may be configured to change. For example, when the degree of intimacy between robots 100 becomes equal to or higher than a predetermined value and the robot 100 detects the presence of its own user, the robot 100 notifies its own user of the other robot 100 whose degree of intimacy has become equal to or higher than the predetermined value or the user of the other robot 100. As a result, the user of the robot 100 can know the presence of the other robot 100 with which his / her own robot 100 has become intimate or the user of the other robot 100. This creates an opportunity for users to communicate with each other.

[0191] The case where the robot 100 detects the presence of its own user is, for example, when the camera provided in the robot 100 images its own user, when the voice of its own user is input to the microphone provided in the robot 100, when the communication unit 126 provided in the robot 100 receives the ID output from the terminal device 204 used by its own user, and the like.

[0192] In addition, as a method of notifying the user of the robot 100 of the other robot 100 whose degree of intimacy has become equal to or higher than the predetermined value or the user of the other robot 100, there are a predetermined gesture by the robot 100 and transmission of predetermined information to the terminal device 204 used by the user of the robot 100.

[0193] The predetermined gesture is, for example, the robot 100 traveling around the other robot 100, or the robot 100 moving the hand 106 toward the other robot 100. Also, the transmission of the predetermined information is, for example, displaying a face photo of the user of the other robot 100, or displaying the eye image 174 unique to the other robot 100. Data indicating the face photo of the user of the other robot 100 and the eye image 174 unique to the other robot 100 are shared among the robots 100 whose intimacy level is equal to or higher than a predetermined value.

[0194] Also, as an example, the introduction operation of the robot 100 has the following modes.

[0195] First introduction operation: The robot 100 performs a predetermined gesture to the other robot 100. The predetermined gesture in this case is, for example, the robot 100 traveling around the other robot 100.

[0196] Second introduction operation: The robot 100 performs a predetermined gesture to the user of the other robot 100. The predetermined gesture in this case is, for example, the robot 100 traveling around the user of the other robot 100. Also, the robot 100, for example, acquires image data showing the face of the user of the other robot 100 from the other robot 100, and identifies the user of the other robot 100 by face authentication based on the image data captured by the camera. Alternatively, the other robot 100 transmits the position information of the terminal device 204 held by its user to the robot 100, and the robot 100 identifies the user of the other robot 100 based on the position information.

[0197] Third introduction operation: The robot 100 performs a predetermined gesture to its own user and the other robot 100. The predetermined gesture in this case is, for example, alternately changing the direction toward its own user and the other robot 100.

[0198] Fourth introduction operation: The robot 100 performs a predetermined gesture for its own user and the users of other robots 100. The predetermined gesture in this case is, for example, to alternately turn the direction toward the user with confidence and the users of other robots 100.

[0199] Also, when the features of the robot 100 and the features of other robots 100 are similar, the increase in intimacy means, for example, that the intimacy between robots 100 with similar feature data such as eye image feature data and voice feature data increases. The increase in intimacy in this case may be set higher than the increase in intimacy by sending and receiving identification IDs as described above. As a result, the intimacy between robots 100 having similar eye image feature data rapidly increases.

[0200] Furthermore, the degree of improvement of the intimacy changes according to the degree of similarity of the features. That is, the intimacy improves more as the similarity is higher, and does not change when the similarity is low (dissimilar).

[0201] (Modification Example 9) The feature data may be not only eye image feature data generated by parameters (parameter sets), but also eye image feature data generated by AI. Even if the feature data is generated by AI, the feature data is specified by parameters.

[0202] Also, the feature data is not limited to eye image feature data and voice feature data, and may be data including time-dependent elements. The data including time-dependent elements is, for example, the behavior (operation) of the robot 100, and a combination of motion parameter sets indicating the actions of the robot 100 at 0 seconds, 1 second, 2 seconds,... after the start timing of the behavior may be used as the feature data. Note that the data including time-dependent elements of the robot 100 is not limited to the behavior of the robot 100, and may be other time-dependent changes such as the movement of the eyelids of the robot 100 or the facial expression when the face of the robot 100 is displayed on the display.

[0203] In this case, the front wheels, rear wheels that operate according to the behavior, and the drive mechanism and the like that operate these correspond to the "output device" of the present invention.

[0204] Furthermore, the feature data may be composed of tactile data composed of control parameters indicating the touch (tactile sensation) of the robot 100, habit data composed of control parameters indicating the movement habits of the robot 100, voice feature data generated from the robot 100 generated by phoneme parameters, taste data composed of control parameters indicating the taste output by the robot 100, and odor data composed of control parameters indicating the odor output by the robot 100. Note that the touch of the robot 100 is reproduced by, for example, piezoelectric elements arranged on the surface of the robot 100, the taste of the robot 100 is reproduced by food generated by a 3D printer capable of manufacturing food, and the odor of the robot 100 is an odor reproduced by an olfactory display.

[0205] (Modification Example 10) The device for which the feature data is made unique may be a device other than the robot 100. The device is, for example, a terminal device 204 that displays an icon image of the robot 100 on a display. The icon image is assigned, for example, for each identification information (ID) indicating the user of the robot 100 or for each terminal device 204. The uniquely characterized data is, for example, the eye image 174 of the icon indicating the robot 100. Also, the design of the virtual character displayed on the display of the terminal device 204 (such as the color and shape of the eyes, the color and shape of the clothes, the hairstyle, and the contour of the face, and combinations of at least one of these) may be uniquely characterized data. Furthermore, the design of the virtual character displayed on the 3D hologram display device may be uniquely characterized data.

[0206] (Modification Example 11) The setting of the feature data may be performed by a device other than the terminal device 204. For example, the robot 100 may be provided with an input device such as a touch panel display, and the feature data may be set by an input operation on the touch panel display.

[0207] (Modification Example 12) The characteristic data may be data indicating a changing pattern of the characteristics of the robot 100. For example, the characteristic data may be a value (for example, a value indicating the difference in hue over a certain period) based on the changing pattern of the parameters (for example, hue) constituting the eyes of the robot 100 over a certain period.

[0208] (Modification Example 13) The characteristic data setting system 200 may change part or all of the characteristic data of the robot 100 according to a predetermined rule as time elapses after the setting of the characteristic data. For example, when the characteristic is the eyes, the characteristic data setting system 200 may reduce the iris image of the robot 100 intermittently or continuously as the time elapsed after the setting of the characteristic data is longer. Also, when the characteristic is voice, the characteristic data setting system 200 may increase the pitch of the robot 100 intermittently or continuously as the time elapsed after the setting of the characteristic data is longer. By changing the characteristics of the robot 100 according to a predetermined rule as time elapses, if the user recognizes the tendency of the change in the characteristics of the robot accompanying the change in time, the user can be made to feel as if the robot 100 were a living thing (a sense of living thing).

[0209] In this case, the characteristic data setting system 200 may be able to set characteristic data that is not the same as or similar to the changed characteristic data of one robot 100 and that is the same as or similar to the characteristic data of the one robot 100 before the change for a robot 100 different from the one robot 100.

[0210] Also, it is preferable that the range of existence of the characteristic data at the time when time has not elapsed (start time) is a range that is partially or entirely different from the range of existence of the characteristic data after a certain period of time has elapsed.

[0211] By doing so, as time passes, the occupation of the feature data at the start time is released, so that while enhancing the biological feeling of the robot 100, the feature data can be set for the new robot 100.

[0212] Also, when changing the feature data, it may be changed so as not to deviate from a similar range, or it may be changed so as to deviate from a similar range. When changing the feature data so as to deviate from a similar range, it preferably takes a predetermined period until deviating from the similar range, and the feature data is changed step by step. For example, it may take one year until deviating from the similar range, and for the parameter to be changed, "a value obtained by dividing the amount until deviating from the similar range by the number of unit periods (for example, 365 if the number of days) included in the predetermined period" may be used as the change amount per unit period (for example, one day).

[0213] Also, a pseudo age may be set for the robot 100, and the settable feature data may change according to the pseudo age. That is, the range of parameters that can be set may differ according to the age of the robot 100. As an example, the pseudo age is added according to the elapsed time since the robot 100 was activated. In this case, for example, the age of the robot 100 may be incremented by one every three months, and the actual passage of time and the passage of the age of the robot 100 do not have to match.

[0214] When the age of the robot 100 is incremented, for example, the settable voice feature data changes from a high sound to a low sound. As a result, it becomes easier to release the occupation of the feature data of the robot 100 with a long usage period, and the number of feature data that can be used by the new robot 100 (the robot 100 with a young age) increases. Note that when the robot 100 reaches old age, the settable eye image 174 may change so that the eyelids of the robot 100 droop.

[0215] (Modification Example 14) The feature data setting system 200 may change the feature data so as to be a feature that is easy for the elderly to recognize.

[0216] For example, as a person ages, their vision tends to decline, making it difficult to recognize certain colors such as yellow. In view of this, when the eyes are a feature, the feature data setting system 200 may change the feature data so that the iris image or pupil image becomes larger. As a result, when the user uses the robot 100 for a long time, the iris image or pupil image of the eye image 174 displayed on the robot 100 becomes relatively larger over time. Thus, even if the user's vision has declined due to aging, the eye image 174 of the robot 100 can become an easy-to-see image for the user.

[0217] Also, for example, as a person ages, it becomes increasingly difficult to hear high-frequency sounds. In view of this, when voice is a feature, the feature data setting system 200 may change the feature data so that the frequency of the voice being pronounced becomes lower. As a result, when the user uses the robot 100 for a long time, the voice generated from the robot 100 becomes a relatively low-frequency voice over time. Thus, even if the user has difficulty hearing high-frequency sounds due to presbycusis associated with aging, the voice of the robot 100 can become an easy-to-hear voice for the user.

[0218] (Modification Example 15) After the characteristics of the robot 100 are output, the feature data setting system 200 may change the feature data of the robot 100 based on the information acquired by sensors such as cameras, microphones, and contact sensors so that the user's reaction is a positive reaction. For example, after the characteristics of the robot 100 are output, the feature data setting system 200 classifies the user's reaction into three types: positive, neutral, and negative based on the information acquired by sensors such as cameras, microphones, and contact sensors. Positive, neutral, and negative are classified by, for example, at least one of the number of times and duration of the user's contact with the robot 100, the number of times and duration of the user's conversation with the robot 100, and the number of times and duration of the user's eye contact within a predetermined time after the robot 100 outputs the characteristics. As an example, it is considered that the more times of contact with the robot 100 by the user or the longer these durations are, the more positive the user's reaction is. Also, positive, neutral, and negative may be classified based on the user's facial expression, feature quantities of the user's voice (such as pitch), and the like.

[0219] Thereafter, the feature data setting system 200 changes the feature data based on the feature quantity space so that the user's reaction is positive, for example. The feature quantity space is a space based on the values of the parameters of the feature data and has regions of positive, negative, and neutral (hereinafter referred to as "reaction regions"). This reaction region is determined according to the past reactions of the user to the feature data set for the target robot 100A. Then, the feature data setting system 200 changes the feature data so as to approach the center of the positive region. Not limited to this, the feature data setting system 200 may change the feature data for which the user's reaction was negative so as to deviate from the negative region, that is, to be included in the positive or neutral region.

[0220] Note that the reaction area in the feature space changes dynamically according to the set feature data and the user's reaction thereto. That is, the feature data setting system 200 can obtain more user reactions to the feature data as the number of pieces of feature data set in the target robot 100A increases, and accordingly changes the reaction area. As a result, the reaction area becomes more in line with the user's preferences as the number of pieces of feature data set in the target robot 100A increases.

[0221] (Modification Example 16) Before a predetermined condition is satisfied, the feature data setting system 200 may not allow the user to change the feature data, and after the predetermined condition is satisfied, part or all of the feature data may be changeable by the user. The feature data that the user can change preferably does not overlap with the feature data that automatically changes as described above. The predetermined condition is, for example, that a predetermined time has elapsed since the user started using the robot 100, or that the user has acquired a predetermined number of points or paid a predetermined amount.

[0222] By thus limiting the range of feature data that the user can change, it is possible to give the user an impression that the features of the robot 100 can be easily changed by the user, and furthermore, an impression that the features are innate or acquired by the robot 100.

[0223] (Modification Example 17) The feature data setting system 200 may limit the feature data that can be set in the robot 100 according to the user's attributes such as age, gender, and residential area. For example, if the age of the user of the robot 100 is a predetermined age or older, the feature data setting system 200 may prohibit setting in the robot 100 feature data indicating features that are difficult for people of the same age as the user to recognize. When there are a plurality of users, the feature data setting system 200 may prohibit setting in the robot 100 feature data indicating features that are difficult for any of the plurality of users to recognize.

[0224] In this case, the feature data setting system 200 may limit the feature data that can be set for the robot 100 by referring to a database that associates user attributes such as age, gender, and residential area with the feature data that can be set for the robot 100. For example, the feature data setting system 200 may recognize, for each user attribute, a frequency band that the user tends to like or dislike, and output information to the terminal device 204 or the like that encourages the setting of feature data such that the frequency of the generated voice is included in or deviates from the frequency band.

[0225] (Modification Example 18) The features of the robot 100 are features that are generated according to a predetermined rule based on the feature data and are perceptible by a person, such as the eye image 174, voice, behavior, and expression described above, but may further have the following properties.

[0226] · A feature generated in consideration of the output of a function with time as a variable in addition to the feature data. Here, examples of the output of a function with time as a variable are data indicating the internal state of the robot 100 at a certain point in time (preference for people, excitement level of the robot 100, gaze point, etc.) or data output from a sensor provided in the robot 100 at a certain point in time.

[0227] Since this feature is generated in consideration of the output of a function with time as a variable, it can change over time. However, since the features generated from the same feature data have a certain commonality, they can give the same or almost the same impression to the person who perceives the features. For example, the eye image 174 generated from the same eye image feature data may change in the position and shape of the iris image according to the line of sight (or gaze point) of the robot 100. However, for example, if there is a commonality such that the inner image is darker in color than the outer image among a plurality of generated eye images 174, it can give the same or almost the same impression to the person who visually recognizes the plurality of eye images 174.

[0228] As a result, it is possible to give an impression unique to the robot 100 to a person who perceives the features generated from the feature data unique to the robot 100.

[0229] As described above, the present invention has been described using the above embodiments and modification examples. However, the technical scope of the present invention is not limited to the scope described in the above embodiments and modification examples. Various changes or improvements can be made to the above embodiments and modification examples without departing from the gist of the invention, and the forms to which such changes or improvements are made are also included in the technical scope of the present invention.

Industrial Applicability

[0230] The present invention is useful, for example, when setting data in devices such as robots.

Explanation of Signs

[0231] 100 Robot 100A Target robot (target robot) 100B Other robot 100C Other robot 100D Other robot 171 Speaker 174 Eye image (predetermined image) 200 Feature data setting system (feature data setting device) 204 Terminal device 236 Selection eye image acquisition unit (acquisition means) 238 Eye image output unit (output means) 240 Mixed eye image generation unit (generation means)

Claims

1. A feature data setting device that sets, to a target robot, feature data unique to the target robot in a robot group including a plurality of the robots, among feature data indicating the characteristics of the robot that is output from an output device in a form perceivable by a user.

2. 2. The characteristic data setting device according to claim 1, wherein the characteristic data is image data representing a predetermined image to be displayed on an image display device.

3. 3. The characteristic data setting device according to claim 2, wherein the image data is eye image characteristic data indicating an eye of the robot.

4. 4. The characteristic data setting device according to claim 2, wherein the predetermined image is formed by combining a plurality of images.

5. 5. The device according to claim 2, wherein the predetermined image is a combination of a still image and a moving image.

6. 6. The feature data setting device according to claim 1, further comprising an output means for outputting to the output device in a form perceptible by a user, the feature data candidates being different from the feature data being set to the other robots included in the robot group.

7. An acquisition means for acquiring feature data selected by a user, 7. The feature data setting device according to claim 6, wherein, when the feature data acquired by the acquisition means is set in another robot, the output means outputs to the output device the feature data that is within a predetermined range of similarity to the feature data acquired by the acquisition means.

8. 8. The characteristic data setting device according to claim 6, wherein said output means outputs to said output device said characteristic data within a predetermined similarity range to said characteristic data being set for said robot used by another user.

9. 9. The characteristic data setting device according to claim 6, wherein the output means outputs, to the output device, the characteristic data based on user-related information related to a user who uses the target robot.

10. 10. The characteristic data setting device according to claim 1, further comprising a generating means for generating new characteristic data that can be set in the target robot, based on the characteristic data being set in the first robot and the characteristic data being set in the second robot.

11. 11. The characteristic data setting device according to claim 10, wherein the generating means generates the new characteristic data when the first robot and the second robot satisfy a predetermined condition.

12. 12. The characteristic data setting device according to claim 1, further comprising: a control unit for controlling a target robot that controls the target robot to have characteristic data different from the characteristic data set for the second robot located within a predetermined area including the position of the first robot.

13. 13. The feature data setting device according to claim 1, wherein a range in which the feature data can be set close to the feature data being set for other robots is determined depending on the number of the robots included in the robot group.

14. 14. The characteristic data setting device according to claim 1, wherein the characteristic data is sound data representing a sound output from a speaker.

15. 15. The characteristic data setting device according to claim 14, wherein the sound data is voice characteristic data indicating a voice of the robot.

16. 16. The characteristic data setting device according to claim 1, wherein the characteristic data is associated with value information indicating a value based on a setting state of the characteristic data.

17. The feature data setting device according to any one of claims 1 to 16, characterized in that a robot selects a motion related to another robot in accordance with the degree of intimacy with the other robot, and is configured such that when the features of the robot and the features of the other robot are similar, the degree of intimacy of the robot with the other robot is improved compared to when the features of the robot and the features of the other robot are dissimilar.

18. 18. The characteristic data setting device according to claim 1, wherein the characteristic data is data indicating a change in a characteristic of the target robot.

19. A feature data setting device as described in any one of claims 1 to 18, characterized in that part or all of the feature data of the target robot is changed according to a predetermined rule over time after the feature data is set.

20. A feature data setting device as described in any one of claims 1 to 19, characterized in that a user of the target robot cannot change the feature data before a specified condition is satisfied, and the user of the target robot can change part or all of the feature data after the specified condition is satisfied.

21. 21. The feature data setting device according to claim 1, wherein a range of feature data that can be set for the target robot is determined according to attributes of a user of the target robot.

22. 22. The device according to claim 1, wherein the feature data is data including a time-dependent element.

23. An output device is provided, A robot that outputs to the output device characteristic data indicating its own characteristics, the characteristic data being output from the output device in a form perceivable by a user, based on characteristic data that is unique to the robot in a robot group including a plurality of robots.

24. A terminal device that transmits to a robot characteristic data indicating the characteristics of the robot, which is output from an output device in a form perceivable by a user, characteristic data that is unique to the robot in a robot group including a plurality of the robots, and causes the robot to set the characteristic data.

25. The terminal device according to claim 24 , wherein the feature data is image data of the robot's eyes and is identified by at least one of a shape and a color, and at least one of the shape and the color is unique to the target robot.

26. The terminal device according to claim 25, wherein the decorative image data indicating a decorative image to be superimposed on the image data of the eye is transmitted and set.

27. A feature data setting method for transmitting and setting to a robot, among feature data indicating the robot's own features that is output from an output device in a form that can be perceived by a user, feature data that is unique to the robot in a robot group including multiple robots.

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