Vehicle system

Abstract

To improve entertainability of a vehicle system equipped with a robot and a control unit.SOLUTION: A vehicle system 1 is provided, comprising a seat 10 equipped with electric devices (electric height mechanism 30, electric reclining mechanism RC, and electric sliding mechanism 50), a robot 20 disposed at a position visible from a user seated on the seat 10, and a control unit 100. The control unit 100 performs linking processing for linking motion of the robot 20 to operation of the electric devices.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle system including a seat, a robot, and a control unit.

Background Art

[0002] Conventionally, as a vehicle system, there is known one including a robot disposed on a dashboard, a detection unit that detects the operation modes of objects existing inside and outside the vehicle, and a control unit that causes the robot to execute related operations related to the operation modes (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prior art, since only the robot moves, the entertainment value is insufficient.

[0005] Therefore, an object of the present invention is to enhance the entertainment value in a vehicle system including a robot and a control unit.

Means for Solving the Problems

[0006] To solve the above problems, a vehicle system according to the present invention includes a seat having an electric device, a robot disposed at a position visible to a user seated on the seat, and a control unit. The control unit executes an interlocking process for interlocking the operation of the robot and the operation of the electric device.

[0007] According to this configuration, since the robot and the electric device of the seat are interlocked, the entertainment value can be enhanced as compared with a configuration in which only the robot moves.

[0008] Also, in the interlocking process, the control unit may operate the electric device according to the operation of the robot.

[0009] According to this configuration, when the electric device of the seat operates according to the operation of the robot, the user can also experience the action operation performed by the robot together, so the entertainment property can be enhanced.

[0010] Also, the vehicle system further includes an operation unit for operating the electric device, and the control unit may execute the interlocking process based on the information acquired from the operation unit.

[0011] According to this configuration, since the robot imitates the operation of the seat, a sense of familiarity can be felt, so the entertainment property can be enhanced.

[0012] Also, the seat has a sensor for detecting that the user has touched the seat, and the control unit may execute the interlocking process based on the information acquired from the sensor.

[0013] According to this configuration, when the user touches the seat and the seat and the robot move, the user can feel that they are communicating with the robot through the seat, so the entertainment property can be enhanced.

[0014] Also, the sensor may be disposed at a position avoiding the seating surface of the seat.

[0015] Also, the seat has a second electric device different from the electric device, and a second sensor for detecting that the user has touched the seat, the second sensor being disposed at a position different from the sensor, and the control unit operates the robot in a first action and operates the electric device based on the information from the sensor, and operates the robot in a second action different from the first action and operates the second electric device based on the information from the second sensor.

[0016] According to this configuration, since the robot and the seat move with an operation corresponding to the position where the user touches the seat, the entertainment value can be enhanced.

[0017] Further, the vehicle system may further include a voice acquisition unit that acquires voice, and the control unit may execute an interlocking process based on an operation command from the user acquired by the voice acquisition unit.

[0018] Further, the robot has a display unit that displays a seat image imitating the seat, and the control unit may move the seat image in the interlocking process.

[0019] According to this configuration, the operation of the seat can be easily understood by the user via the seat image.

[0020] Further, the vehicle system includes a plurality of seats. When the control unit executes an interlocking process for a predetermined seat among the plurality of seats, the control unit may move the robot, direct the display unit toward the predetermined seat, and then execute the interlocking process.

[0021] According to this configuration, when the interlocking process is executed for a predetermined seat, the display unit faces the predetermined seat, so that the user sitting on the predetermined seat can easily view the seat image, and the user sitting on the predetermined seat can obtain a feeling of communicating with the robot.

[0022] Further, the vehicle system may further include an acceleration sensor that detects the acceleration in the longitudinal direction of the vehicle. The robot is tiltable in the longitudinal direction, the electric device is an air cell that moves a part of the surface of the seat on the user side, and the control unit may tilt the robot in the longitudinal direction and activate the air cell based on the acceleration acquired from the acceleration sensor.

[0023] According to this configuration, since the user can feel the acceleration in the longitudinal direction of the vehicle by the tilting of the robot and the activation of the air cell, the user can feel a sense of unity with the vehicle.

[0024] The vehicle system further includes an acceleration sensor that detects the lateral acceleration of the vehicle. The robot is tiltable in the lateral direction. The electric device is an air cell that moves a part of the user side surface of the seat. The seat has a seating surface that supports the user, and protruding portions that are located on the left and right of the seating surface and protrude from the seating surface. The protruding portions have air cells. The control unit may tilt the robot in the lateral direction and activate the air cells based on the acceleration acquired from the acceleration sensor.

[0025] According to this configuration, since the user can feel the lateral acceleration of the vehicle by the tilting of the robot and the activation of the air cells, the user can feel a sense of unity with the vehicle.

[0026] The vehicle system further includes a collision detection unit provided in the vehicle. When the control unit predicts a vehicle collision based on the information acquired from the collision detection unit, the control unit may move the robot and the electric device.

[0027] According to this configuration, when there is a possibility of a vehicle collision, the movement of the robot and the electric device can notify the user of the possibility of the vehicle collision, thereby improving safety.

Advantages of the Invention

[0028] According to the present invention, since the robot and the electric device of the seat are interlocked, the entertainment property can be enhanced.

[0029] Moreover, by adopting a configuration in which the electric device of the seat operates according to the operation of the robot, the user can also experience the action operation performed by the robot together, so that the entertainment property can be enhanced.

[0030] In addition, when adopting a configuration in which an interlock process is executed based on the information acquired from the operation unit, since a sense of familiarity is felt when the robot imitates the operation of the seat, the entertainment property can be enhanced.

[0031] In addition, by adopting a configuration in which the seat and the robot move when the user touches the seat, the user can feel as if they are communicating with the robot through the seat, thus enhancing the entertainment value.

[0032] In addition, by adopting a configuration in which the robot and the seat move with an operation corresponding to the position where the user touches the seat, the entertainment value can be enhanced.

[0033] In addition, by adopting a configuration in which the seat image moves in the interlocking process, the operation of the seat can be easily understood by the user through the seat image.

[0034] In addition, when the interlocking process is executed for a predetermined seat, by adopting a configuration in which the display unit faces the predetermined seat, the user sitting on the predetermined seat can easily view the seat image, and the user sitting on the predetermined seat can feel as if they are communicating with the robot.

[0035] In addition, based on the acceleration in the front-rear direction, by adopting a configuration in which the robot is tilted in the front-rear direction and the air cell is actuated, the user can feel the acceleration of the vehicle in the front-rear direction due to the tilting of the robot and the actuation of the air cell, so that the user can feel a sense of oneness with the vehicle.

[0036] In addition, based on the acceleration in the left-right direction, by adopting a configuration in which the robot is tilted in the left-right direction and the air cell is actuated, the user can feel the acceleration of the vehicle in the left-right direction due to the tilting of the robot and the actuation of the air cell, so that the user can feel a sense of oneness with the vehicle.

[0037] In addition, when there is a possibility of a vehicle collision, by adopting a configuration in which the robot and the electric device move, the safety can be improved.

Brief Description of the Drawings

[0038]

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Mode for Carrying Out the Invention

[0039] [First Embodiment] Hereinafter, the first embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the vehicle system 1 includes a seat 10, a robot 20, and a control unit 100. The seat 10 and the robot 20 are interior members arranged at positions facing the passenger compartment. In the present embodiment, the seat 10 is a driver's seat.

[0040] The seat 10 includes a seat body 10A, an electric height mechanism 30, an electric reclining mechanism RC, and an electric slide mechanism 50 as an example of an electric device, and a height switch 64, a reclining switch 61, and a slide switch 62 as an example of an operation unit.

[0041] The seat body 10A is a member having a seating surface for supporting a user. The seat body 10A includes a seat cushion 11, a seat back 12, and a headrest 13. The seat cushion 11, the seat back 12, and the headrest 13 each have a metal frame constituting a skeleton, a pad covering the frame, and a skin covering the pad. The pad is made of urethane foam or the like. The skin is made of synthetic leather, fabric, or the like. The upper surface of the seat cushion 11 serves as the seating surface. The front surfaces of the seat back 12 and the headrest 13 serve as the seating surface.

[0042] The electric height adjustment mechanism 30 is a mechanism for moving the seat body 10A up and down. The electric height adjustment mechanism 30 includes a motor that operates by being energized.

[0043] The electric reclining mechanism RC is a mechanism for tilting the seat back 12. The electric reclining mechanism RC includes a motor that operates by being energized.

[0044] The electric slide mechanism 50 is a device for moving the seat 10 in the front-rear direction. Here, the seat 10 is supported by a slide rail SR so as to be movable in the front-rear direction. The electric slide mechanism 50 includes a motor that operates by being energized.

[0045] The height switch 64 is an operation unit for operating the electric height adjustment mechanism 30. The height switch 64 is, for example, slidable in the vertical direction. When the height switch 64 is slid upward, it outputs an upward movement command for moving the seat body 10A upward to the control unit 100. When the height switch 64 is slid downward, it outputs a downward movement command for moving the seat body 10A downward to the control unit 100.

[0046] The reclining switch 61 is an operating part for operating the electric reclining mechanism RC. The reclining switch 61 is tiltable, for example, in the front-rear direction. When the reclining switch 61 is tilted forward, it outputs a forward tilt command for tilting the seat back 12 forward to the control unit 100. When the reclining switch 61 is tilted rearward, it outputs a rearward tilt command for tilting the seat back 12 rearward to the control unit 100.

[0047] The slide switch 62 is an operating part for operating the electric slide mechanism 50. The slide switch 62 is slidable, for example, in the front-rear direction. When the slide switch 62 is slid forward, it outputs a forward movement command for moving the seat 10 forward to the control unit 100. When the slide switch 62 is slid rearward, it outputs a backward movement command for moving the seat 10 backward to the control unit 100.

[0048] The robot 20 is arranged at a position visible to the user sitting on the seat 10. In the present embodiment, the robot 20 is arranged on the dashboard D. Specifically, as shown in FIG. 2, the robot 20 is arranged at the center in the left-right direction of the dashboard D.

[0049] As shown in FIG. 3, the robot 20 has a robot body 21, two arms 22, and a screen 23 as an example of a display unit. The robot body 21 has a body case 21A, two arm driving devices 21B, and a vibration device 21C.

[0050] The body case 21A is made of resin, metal, or the like. The body case 21A is formed in a substantially hemispherical shape (see FIG. 4(d)). The arm driving device 21B is a device that rotates the arm 22 up and down by energization. The vibration device 21C is a device that vibrates by energization.

[0051] Each arm 22 is rotatably supported by the main body case 21A. Each arm 22 extends upward from the left and right side portions of the main body case 21A. As shown in FIG. 4(a), each arm 22 is rotatable between a first arm position with its tip facing upward and a second arm position with its tip facing outward in the left - right direction from the first arm position by an arm driving device 21B.

[0052] On the screen 23, images showing the eyes and mouth of the robot 20 can be displayed.

[0053] The robot 20 is supported by a robot support device RM. The robot support device RM includes a rotation mechanism RM1 that rotatably supports the robot body 21, a lifting mechanism RM2 that moves the rotation mechanism RM1 in the vertical direction, and a front - rear movement mechanism RM3 that moves the lifting mechanism RM2 in the front - rear direction.

[0054] As shown in FIG. 4(c), the rotation mechanism RM1 has a function of tilting the robot 20 in the left - right direction. Also, as shown in FIG. 4(d), the rotation mechanism RM1 has a function of tilting the robot 20 in the front - rear direction. Further, the rotation mechanism RM1 has a function of rotating the robot 20 around a vertical axis (see FIG. 12(a)).

[0055] As shown in FIG. 4(b), the lifting mechanism RM2 has a function of moving the robot 20 in the vertical direction by moving the rotation mechanism RM1 in the vertical direction. As shown in FIG. 4(d), the front - rear movement mechanism RM3 has a function of moving the robot 20 and the rotation mechanism RM1 in the front - rear direction by moving the lifting mechanism RM2 in the front - rear direction.

[0056] The control unit 100 includes a CPU, ROM, RAM, rewritable non - volatile memory, etc. (not shown) and executes a program stored in advance. The control unit 100 is connected to each electric device and each operation unit on the sheet 10 and the robot 20. Note that the control unit 100 may be provided on the sheet 10 or on a member other than the sheet 10.

[0057] The control unit 100 has a function of executing an interlocking process for interlocking the operation of the robot 20 and the operation of the electric device. The control unit 100 executes the interlocking process based on the information acquired from the operation unit.

[0058] Specifically, as shown in FIG. 5, when the user operates the reclining switch 61, the control unit 100 activates the electric reclining mechanism RC to tilt the seat back 12 in the front-rear direction, and activates the rotation mechanism RM1 to tilt the robot 20 in the front-rear direction. Further, as shown in FIG. 6, when the user operates the slide switch 62, the control unit 100 activates the electric slide mechanism 50 to move the seat 10 in the front-rear direction, and activates the front-rear movement mechanism RM3 to move the robot 20 in the front-rear direction.

[0059] Furthermore, as shown in FIG. 7, when the user operates the height switch 64, the control unit 100 activates the electric height mechanism 30 to move the seat main body 10A in the vertical direction, and activates the lifting mechanism RM2 to move the robot 20 in the vertical direction.

[0060] Specifically, the control unit 100 moves the robot 20 based on the operation command and the map shown in FIG. 8. Here, the operation command is a command for operating the seat 10, and refers to a forward tilt command, a backward tilt command, a forward movement command, a backward movement command, an upward movement command, or a downward movement command output from any of the plurality of switches (61, 62, 64) described above. Note that the operations of the respective electric devices of the seat 10 for the operation command are well-known, and thus the description thereof is omitted.

[0061] When the operation command is a forward tilt command, the control unit 100 tilts the robot 20 forward. Here, the forward tilt of the robot 20 means that the robot 20 tilts so that the screen 23 of the robot 20 gradually faces downward. That is, the forward tilt of the robot 20 means that, as viewed from the user sitting on the seat 10, the robot 20 tilts toward the rear side (user side) of the vehicle.

[0062] When the operation command is a backward tilt command, the control unit 100 tilts the robot 20 backward. Here, the backward tilt of the robot 20 means that the robot 20 tilts so that the screen 23 of the robot 20 gradually faces upward. That is, the backward tilt of the robot 20 means that, as seen from the user seated on the seat 10, the robot 20 tilts in the forward direction of the vehicle (the direction away from the user).

[0063] When the operation command is a forward movement command, the control unit 100 moves the robot 20 forward. Here, the forward movement of the robot 20 means that, as seen from the user seated on the seat 10, the robot 20 moves in the rear direction of the vehicle (the user side).

[0064] When the operation command is a backward movement command, the control unit 100 moves the robot 20 backward. Here, the backward movement of the robot 20 means that, as seen from the user seated on the seat 10, the robot 20 moves in the forward direction of the vehicle (the direction away from the user).

[0065] When the operation command is a rising command, the control unit 100 raises the robot 20. When the operation command is a lowering command, the control unit 100 lowers the robot 20.

[0066] The control unit 100 repeatedly executes the process of FIG. 9. In the process of FIG. 9, the control unit 100 first determines whether there is an operation command (S1). If it is determined in step S1 that there is no operation command (No), the control unit 100 ends this process.

[0067] If it is determined in step S1 that there is an operation command (Yes), the control unit 100 operates the electric device of the seat 10 corresponding to the operation command with the operation corresponding to the operation command (S2). After step S2, the control unit 100 operates the vibration device 21C of the robot 20 (S3).

[0068] After step S3, the control unit 100 moves the robot 20 based on the operation command and the map in FIG. 8 (S4). After step S4, the control unit 100 ends this process.

[0069] Next, a specific example of the operation of the control unit 100 will be described. As shown in FIG. 5, when the user tilts the reclining switch 61 backward, a backward tilt command is output from the reclining switch 61 to the control unit 100. When the control unit 100 acquires the backward tilt command, it operates the electric reclining mechanism RC to tilt the seat back 12 backward.

[0070] In addition, the control unit 100 operates the vibration device 21C (see FIG. 3) to vibrate the robot 20 and operates the rotation mechanism RM1 to tilt the robot 20 backward. As a result, the user who observes the movement of the robot 20 can feel that the movement of the seat 10 is imitated by the robot 20, so that a sense of familiarity with the robot 20 is generated.

[0071] As described above, according to the present embodiment, the following effects can be obtained. Since the robot 20 and the electric device of the seat 10 are interlocked, the entertainment property can be enhanced as compared with a configuration in which only the robot moves.

[0072] By adopting a configuration in which the control unit 100 executes an interlock process based on the information acquired from the operation unit, the user feels that the robot 20 imitates the movement of the seat 10 and a sense of familiarity with the robot 20 is generated, so that the entertainment property can be enhanced.

[0073] In the first embodiment, in the interlock process, after moving the seat 10, the robot 20 is moved. Conversely, in the interlock process, after moving the robot 20, the seat 10 may be moved. In this case, the process of step S2 in the process of FIG. 9 may be moved after step S4. Further, in the interlock process, the operation of the robot 20 and the operation of the seat 10 may be started simultaneously.

[0074] When the robot 20 is moved before the seat 10 in the interlocking process, the control unit 100 will operate the electric device according to the operation of the robot 20 in the interlocking process. In the configuration where the electric device of the seat 10 operates according to the operation of the robot 20 in this way, since the user can also experience the action operation performed by the robot 20 together, the entertainment property can be enhanced. Note that in the configuration where the electric device of the seat 10 operates according to the operation of the robot 20, for example, the control unit 100 may move the seat 10 according to the operation of the robot 20 after moving the robot 20 under conditions different from the operation command.

[0075] [Second Embodiment] Next, the second embodiment of the present invention will be described in detail with appropriate reference to the drawings. Note that since this embodiment is a modification of a part of the configuration of the vehicle system 1 according to the first embodiment described above and a part of the operation of the control unit 100, the same reference numerals will be given to the same configurations and processes as those in the first embodiment, and the description thereof will be omitted.

[0076] As shown in FIG. 10, the vehicle system 601 according to the second embodiment includes a seat 610 having a somewhat different structure from that of the first embodiment. The seat 610 includes a seat body 610A having substantially the same configuration as the seat body 10A of the first embodiment, and further includes a vibration device 70, an air cell 80, a first sensor 41, a second sensor 42, and a mode changeover switch 63 that are not provided in the first embodiment. In this embodiment, the vibration device 70 corresponds to an electric device, and the air cell 80 corresponds to a second electric device different from the electric device.

[0077] The seat cushion 11 has a base portion 11A disposed at the left - right center and overhanging portions 11B disposed on both outer sides of the base portion 11A. The base portion 11A has a seating surface F that contacts and supports the user's buttocks and thighs from below. The overhanging portion 11B protrudes toward the user from the seating surface F of the base portion 11A to support the sides of the user's thighs and buttocks.

[0078] Similarly, the seat back 12 also has a base portion 12A disposed at the left and right center, and overhanging portions 12B disposed on both outer sides of the base portion 12A. The base portion 12A has a seating surface F that contacts the user's back and supports the back from behind. The overhanging portion 12B protrudes toward the user from the seating surface F of the base portion 12A to support the side portions of the user's upper body.

[0079] The vibration device 70 is a device that vibrates the seating surface F of the seat 610. In the present embodiment, the vibration device 70 is provided in the base portion 12A of the seat back 12. The vibration devices 70 are provided, for example, one each on the left side and the right side of the base portion 12A. The vibration device 70 is disposed at a position corresponding to the back of the user seated on the seat 610.

[0080] The air cell 80 is an electric device that moves the seating surface F of the seat 610. In the present embodiment, the air cell 80 is provided in the base portion 12A of the seat back 12.

[0081] The air cell 80 includes an inflatable and contractible bag 81, a pump (not shown), and a tube. The pump has a function of sending air into the bag 81 or sucking air out of the bag 81, and operates when energized. The tube connects the bag 81 and the pump.

[0082] The bag 81 is embedded in the pad. The pump is fixed to the frame of the seat 610, for example. The bag 81 is disposed at a position corresponding to the waist of the user seated on the seat 610. The bag 81 is located below the vibration device 70.

[0083] The seat cushion 11 has a first sensor 41. The headrest 13 has a second sensor 42.

[0084] The first sensor 41 and the second sensor 42 are sensors that detect when a user touches the seat 610. Specifically, the first sensor 41 and the second sensor 42 are pressure sensors that detect pressure from the user. The first sensor 41 and the second sensor 42 are arranged at positions avoiding the seating surface F, that is, positions away from the seating surface F.

[0085] Specifically, one first sensor 41 is provided on each of the left and right protruding portions 11B of the seat cushion 11. The second sensor 42 is arranged at a position different from that of the first sensor 41. Specifically, one second sensor 42 is provided on each of the left and right side surfaces of the headrest 13. The first sensor 41 and the second sensor 42 are each located between the skin and the pad.

[0086] The mode changeover switch 63 is a switch for switching the mode of the control unit 100 between a first mode and a second mode. Here, the first mode is a mode for executing interlocking processing. Also, the second mode is a mode for not executing interlocking processing. The mode changeover switch 63 is, for example, a push-button type switch. Each time the mode changeover switch 63 is pressed by the user, it alternates between an ON state and an OFF state. In the present embodiment, the mode is set to the second mode when the mode changeover switch 63 is in the OFF state, and the mode is set to the first mode when the mode changeover switch 63 is in the ON state.

[0087] The control unit 100 according to the second embodiment has a function of executing interlocking processing based on information acquired from the first sensor 41 or the second sensor 42. Specifically, as shown in FIG. 11, when the control unit 100 acquires information from the first sensor 41, based on the information from the first sensor 41, it operates the robot 20 in a first action and activates the vibration device 70 of the seat 610. In the present embodiment, the first action is an action in which each arm 22 of the robot 20 opens and closes, that is, an action in which each arm 22 moves up and down. The control unit 100 opens and closes each arm 22 by operating each arm driving device 21B.

[0088] As shown in FIG. 12, when the control unit 100 acquires information from the second sensor 42, based on the information from the second sensor 42, it operates the robot 20 in a second action different from the first action and operates the air cell 80 of the seat 610. In the present embodiment, the second action is an action in which the robot 20 rotates around the vertical axis. The control unit 100 rotates the robot 20 by operating the rotation mechanism RM1.

[0089] The control unit 100 according to the second embodiment repeatedly executes the process of FIG. 13. In the process of FIG. 13, the control unit 100 first determines whether the mode switch 63 is ON (S21). If it is determined in step S21 that the mode switch 63 is not ON (No), the control unit 100 sets the mode to the second mode (S27) and ends this process.

[0090] If it is determined in step S21 that the mode switch 63 is ON (Yes), the control unit 100 sets the mode to the first mode (S22). After step S22, the control unit 100 determines whether there is an input to the second sensor 42 (S23). The determination of whether there is an input to the second sensor 42 may be made, for example, by determining whether the pressure acquired from the second sensor 42 is equal to or greater than a second threshold value.

[0091] If it is determined in step S23 that there is an input to the second sensor 42 (Yes), the control unit 100 operates the vibration device 21C of the robot 20 (S24). After step S24, the control unit 100 rotates the robot 20 (S25).

[0092] After step S25, the control unit 100 repeatedly expands and contracts the bag 81 of the air cell 80 of the seat 10 at a predetermined cycle for a predetermined time (S26). After step S26, the control unit 100 ends this process.

[0093] If it is determined in step S23 that there is no input to the second sensor 42 (No), the control unit 100 determines whether there is an input to the first sensor 41 (S28). Note that the determination as to whether there is an input to the first sensor 41 may be made, for example, by determining whether the pressure acquired from the first sensor 41 is equal to or greater than a first threshold value.

[0094] If it is determined in step S28 that there is an input to the first sensor 41 (Yes), the control unit 100 activates the vibration device 21C of the robot 20 (S29). After step S29, the control unit 100 opens and closes the arm 22 of the robot 20 (S30).

[0095] After step S30, the control unit 100 activates the vibration device 70 of the seat 10 for a predetermined time (S31). Note that as a method of operating the vibration device 70 in step S31, for example, at least one of the left and right vibration devices 70 may be activated. For example, the left and right vibration devices 70 can be vibrated simultaneously or the left and right vibration devices 70 can be vibrated alternately.

[0096] After step S31, the control unit 100 ends this process. Also, if it is determined in step S27 that there is no input to the first sensor 41 (No), the control unit 100 ends this process.

[0097] Next, a specific example of the operation of the control unit 100 will be described. As shown in FIG. 11(b), when the user presses the inner surface of the protruding portion 11B of the seat cushion 11 and a pressure equal to or greater than the first threshold value is input to the first sensor 41, the control unit 100, as shown in FIG. 11(a), opens and closes the arm 22 of the robot 20 and activates the vibration device 70 of the seat 10 to vibrate the seat back 12.

[0098] As shown in FIG. 12(b), when a user presses the side surface of the headrest 13 and a pressure equal to or higher than a second threshold value is input to the second sensor 42, the control unit 100 rotates the robot 20 around the vertical axis and expands and contracts the bag 81 of the air cell 80 of the seat 10 as shown in FIG. 12(a).

[0099] As described above, according to the second embodiment, the following effects can be obtained. When the user touches the seat 10 and the seat 10 and the robot 20 move, the user can feel that he / she is communicating with the robot 20 via the seat 10, so that the entertainment property can be enhanced.

[0100] Since the robot 20 and the seat 10 move in an operation corresponding to the position where the user touches the seat 10, the entertainment property can be enhanced.

[0101] [Third Embodiment] Next, a third embodiment of the present invention will be described in detail with appropriate reference to the drawings. In this embodiment, since a part of the configuration of the vehicle system 1 according to the first embodiment and a part of the operation of the control unit 100 are changed, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

[0102] As shown in FIG. 14(a), a vehicle system 701 according to the third embodiment includes a plurality of seats 10 similar to those in the first embodiment, and further includes an audio acquisition unit 720. In this embodiment, the two seats 10 are the driver's seat and the passenger seat, but the number of seats 10 may be three or more.

[0103] The audio acquisition unit 720 has a function of acquiring audio. The audio acquisition unit 720 is, for example, a microphone. The audio acquisition unit 720 is built in the robot 20. Note that the audio acquisition unit 720 may be provided in a member other than the robot 20, such as the seat 10 or the dashboard.

[0104] The control unit 100 according to the third embodiment has a function of executing an interlocking process based on an operation command by voice from the user acquired by the voice acquisition unit 720. The control unit 100 has a function of selecting a seat 10 that is a target for executing the interlocking process from among the plurality of seats 10 based on the operation command.

[0105] When the control unit 100 executes an interlocking process for a predetermined seat 10, as shown in FIG. 14(b), it has a function of moving the robot 20 and then executing the interlocking process after turning the screen 23 of the robot 20 toward the predetermined seat 10. As shown in FIG. 14(c), the control unit 100 has a function of displaying a seat image imitating the seat 10 on the screen 23 of the robot 20. As shown in FIG. 14(d), the control unit 100 has a function of moving the seat image in the interlocking process.

[0106] The control unit 100 according to the third embodiment repeatedly executes the process of FIG. 15. In the process of FIG. 15, the control unit 100 first determines whether there is an operation command by voice based on the information acquired from the voice acquisition unit 720 (S51). Here, the operation command includes information on the seat position, the part of the seat 10 that is the operation target, the operation direction, and the operation amount.

[0107] The seat position is information indicating the driver's seat or the passenger seat. The part of the seat 10 is, for example, information indicating the seat back 12 when the user reclines the seat 10. The operation direction is, for example, information indicating forward or backward when the user reclines the seat 10. The operation amount is, for example, information indicating the angle of the seat back 12 when the user reclines the seat 10.

[0108] In step S51, the control unit 100 determines that there is an operation command when it has acquired all of the above-described information. If it is determined in step S51 that there is no operation command, that is, if all the information is not complete (No), the control unit 100 ends this process.

[0109] If it is determined in step S51 that there is an operation instruction, that is, if all information is available (Yes), the control unit 100 activates the rotation mechanism RM1 to rotate the robot 20 so that the screen 23 of the robot 20 faces the seat 10 corresponding to the seat position (S52). After step S52, the control unit 100 displays the seat image and the image corresponding to the operation instruction on the screen 23 (S53).

[0110] After step S53, the control unit 100 activates the arm drive device 21B corresponding to the seat position among the two arm drive devices 21B to open the arm 22 on the seat position side of the robot 20, that is, to rotate the arm 22 so that the tip of the arm 22 turns from the state where it faces upward to the state where it faces outward in the left - right direction (S54). After step S54, the control unit 100 moves the seat image with the operation corresponding to the operation instruction. For example, when the user reclines the seat 10, the control unit 100 rotates the seat back portion of the seat image.

[0111] After step S55, the control unit 100 activates the electric device of the seat 10 corresponding to the seat position based on the seat position, operation target, operation direction, and operation amount included in the operation instruction (S56). For example, when the user reclines the passenger seat, the control unit 100 activates the electric reclining mechanism RC of the passenger seat and rotates the seat back 12 until it reaches the posture corresponding to the operation instruction. After step S56, the control unit 100 ends this process.

[0112] Next, a specific example of the operation of the control unit 100 will be described. As shown in Fig. 14(b), when a user sitting in the passenger seat gives an operation instruction by voice to the robot 20, such as "Tilt the seat back of the passenger seat 20° backward.", the robot 20 rotates so that the screen 23 of the robot 20 faces the passenger seat. Then, as shown in Fig. 14(c), the control unit 100 displays on the screen 23 the seat image and an image of an arrow indicating tilting the seat back backward.

[0113] After that, as shown in FIG. 14(b), the control unit 100 opens the arm 22 on the passenger seat side of the robot 20 and displays on the screen 23 a video in which the seat back portion of the seat image rotates 20° backward. After that, the control unit 100 rotates the seat back 12 of the actual seat 10 (passenger seat) 20° backward from the current position.

[0114] Note that the operation command may be a command to move the seat 10 in the front-rear direction or a command to move the seat body 10A in the vertical direction.

[0115] According to the third embodiment, the following effects can be obtained. Since the seat image moves in the interlocking process, the operation of the seat 10 is easily understood by the user via the seat image.

[0116] When the interlocking process is executed for a predetermined seat 10, the screen 23 faces the predetermined seat 10, so that the user sitting on the predetermined seat 10 can easily view the seat image, and the user sitting on the predetermined seat 10 can feel as if communicating with the robot 20.

[0117] [Fourth Embodiment] Next, the fourth embodiment of the present invention will be described in detail with appropriate reference to the drawings. Note that since this embodiment is a modification of a part of the configuration of the vehicle system 601 according to the second embodiment and a part of the operation of the control unit 100, the same reference numerals are given to the same configurations and processes as those in the second embodiment, and the description thereof will be omitted.

[0118] As shown in FIG. 16, a vehicle system 801 according to the fourth embodiment includes a seat 810 having a somewhat different structure from that of the second embodiment and an acceleration sensor 820. The seat 810 includes a seat body 810A having substantially the same configuration as the seat body 610A of the second embodiment, a plurality of air cells 80, 90, and a blower BL.

[0119] The air cell 80 is an air cell having substantially the same size as the bag 81 in the second embodiment. The air cell 90 is an air cell having a bag 91 smaller than the bag 81 in the second embodiment.

[0120] The seat back 12 has one air cell 80 and two air cells 90. The bag 81 of the air cell 80 in the seat back 12 is located at the same position as in the second embodiment.

[0121] The air cells 90 of the seat back 12 are respectively provided one by one on the left and right projecting portions 12B of the seat back 12. The air cells 90 of the seat back 12 move a part of the inner surface F2 located on the inner side in the left - right direction of the projecting portion 12B.

[0122] The seat cushion 11 has one air cell 80 and two air cells 90. The bag 81 of the air cell 80 in the seat cushion 11 is arranged at a position corresponding to the buttocks of the user sitting on the seat 810. The air cell 80 of the seat cushion 11 moves a part of the seating surface F of the seat cushion 11.

[0123] The air cells 90 of the seat cushion 11 are respectively provided one by one on the left and right projecting portions 11B of the seat cushion 11. The air cells 90 of the seat cushion 11 move a part of the inner surface F2 located on the inner side in the left - right direction of the projecting portion 11B.

[0124] The two air cells 80 are located at the center in the left - right direction of the seat 810. The four air cells 90 are respectively located on the left or right side of the air cell 80. In the following description, the air cell 80 is also referred to as the "central air cell 80", and the air cell 90 is also referred to as the "left - hand air cell 90 or right - hand air cell 90".

[0125] The blower BL is provided in the seat cushion 11. The air blown from the blower BL passes through the passage formed in the pad of the seat cushion 11 and is then discharged through the skin toward the user.

[0126] The acceleration sensor 820 is a sensor that detects the acceleration in the longitudinal direction of the vehicle and the acceleration in the lateral direction of the vehicle. The acceleration in the longitudinal direction and the acceleration in the lateral direction detected by the acceleration sensor 820 are output to the control unit 100. Note that the acceleration sensor 820 may be provided in the vehicle, or may be provided in the robot 20 or the seat 810.

[0127] The control unit 100 has a function of tilting the robot 20 in the lateral direction and operating either the left and right air cells 90 based on the acceleration in the lateral direction acquired from the acceleration sensor 820. As shown in FIG. 17, the control unit 100 has a function of tilting the robot 20 in the longitudinal direction and operating the central air cell 90 based on the acceleration in the longitudinal direction acquired from the acceleration sensor 820.

[0128] The control unit 100 repeatedly executes the process of FIG. 18. In the process shown in FIG. 18, the control unit 100 first determines whether the acceleration in the left direction is equal to or greater than a threshold value based on the information acquired from the acceleration sensor 820 (S61).

[0129] If it is determined in step S61 that the acceleration in the left direction is equal to or greater than the threshold value (Yes), the control unit 100 tilts the robot 20 to the left (S62). After step S62, the control unit 100 inflates the right air cell 90 (S63).

[0130] In step S63, at least one of the two air cells 90 on the right side of the seat 810 may be inflated. After step S63, the control unit 100 ends this process.

[0131] If it is determined in step S61 that the leftward acceleration is not greater than or equal to the threshold value (No), the control unit 100 determines whether the rightward acceleration is greater than or equal to the threshold value based on the information acquired from the acceleration sensor 820 (S64). If it is determined in step S64 that the rightward acceleration is greater than or equal to the threshold value (Yes), the control unit 100 tilts the robot 20 to the right (S65). After step S65, the control unit 100 inflates the left air cell 90 (S66).

[0132] Note that in step S66, at least one of the two air cells 90 on the left side of the seat 810 may be inflated. After step S66, the control unit 100 ends this process.

[0133] If it is determined in step S64 that the rightward acceleration is not greater than or equal to the threshold value (No), the control unit 100 determines whether the forward acceleration is greater than or equal to the threshold value based on the information acquired from the acceleration sensor 820 (S67). If it is determined in step S67 that the forward acceleration is greater than or equal to the threshold value (Yes), the control unit 100 tilts the robot 20 backward (S68).

[0134] After step S68, the control unit 100 contracts the central air cell 80 (S69). Note that in step S69, at least one of the two air cells 80 at the center in the left - right direction of the seat 810 may be contracted.

[0135] After step S69, the control unit 100 operates the blower BL for a predetermined time (S70) and ends this process. Note that the threshold values in steps S61, S64, and S67 may be different values or the same value. Also, at the end of this process, the control unit 100 returns the posture of the robot 20 to the original posture and returns the air cell 90 or the air cell 80 to the reference size.

[0136] Next, a specific example of the operation of the control unit 100 will be described. When the vehicle turns left and the leftward acceleration detected by the acceleration sensor 820 becomes equal to or greater than the threshold value, the control unit 100 tilts the robot 20 to the left as viewed from the user, as shown in FIG. 16(a). Thereafter, as shown in FIG. 16(b), the control unit 100 expands, for example, the two right air cells 90 to move the right inner surface F2 inward in the left-right direction.

[0137] As a result, the user receives pressure from the overhanging portions 11B and 12B on the right side of the seat 810, and the user's body is tilted to the left. Therefore, the movement of the robot 20 and the movement of the user's body are synchronized, so that the user can feel as if turning left together with the robot 20, and the entertainment property can be improved.

[0138] Also, when the vehicle accelerates and the forward acceleration detected by the acceleration sensor 820 becomes equal to or greater than the threshold value, the control unit 100 tilts the robot 20 backward (forward as viewed from the user), as shown in FIG. 17(a). Thereafter, as shown in FIG. 17(b), the control unit 100 contracts, for example, the two central air cells 80 to move each seating surface F of the seat cushion 11 and the seat back 12 in a direction away from the user. Further, the control unit 100 operates the blower BL to flow the air from the blower BL toward the user.

[0139] As a result, the user's body sinks into the seat 810 and the user feels the wind. Therefore, the user can feel the acceleration of the vehicle from the movement of the robot 20, and can feel that the user's body sinks into the seat 810 due to the acceleration of the vehicle and that the wind is generated due to the acceleration of the vehicle, so that the entertainment property can be improved.

[0140] As described above, according to the fourth embodiment, the following effects can be obtained. Since the user can feel the acceleration in the longitudinal direction of the vehicle by the tilting of the robot 20 and the operation of the air cells 80, the user can feel a sense of unity with the vehicle.

[0141] Since the lateral acceleration of the vehicle can be felt by the user through the tilting of the robot 20 and the operation of the air cells 90, the user can feel a sense of unity with the vehicle.

[0142] When the vehicle turns left, the right air cells 90 expand, so the user can be supported by the right overhang portions 11B, 12B from being moved to the right by centrifugal force. Similarly, when the vehicle turns right, the user can be supported by the left overhang portions 11B, 12B.

[0143] In addition, when inflating one of the left and right air cells, the other air cell may be deflated. Further, the control unit may inflate one of the left and right air cells (the same side as the direction in which the robot tilts) after tilting the robot to one of the left and right. That is, the left and right tilting of the robot and the operation of the left and right air cells may be reversed from the fourth embodiment.

[0144] [Fifth Embodiment] Next, the fifth embodiment of the present invention will be described in detail with appropriate reference to the drawings. Since this embodiment is a modification of a part of the configuration of the vehicle system 1 according to the first embodiment and a part of the operation of the control unit 100, the same components and processes as those in the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted.

[0145] As shown in FIG. 19, the vehicle system 901 according to the fifth embodiment further includes a camera CM as an example of a collision detection unit and a vibration device DV as an example of an electric device.

[0146] The camera CM is a camera that captures the front of the vehicle. The image information captured by the camera CM is output to the control unit 100. The camera CM is provided, for example, on the ceiling of the vehicle.

[0147] The vibration device DV is a device that vibrates the seating surface of the seat 10. In the present embodiment, the vibration device DV is provided on the seat back 12. The vibration device DV is provided, for example, one on each of the left and right sides of the seating surface of the seat back 12.

[0148] The control unit 100 has a function of predicting a vehicle collision based on the information acquired from the camera CM. When the control unit 100 predicts a vehicle collision, it has a function of moving the robot 20 and the vibration device 70 in an operation pattern for notifying the user of the possibility of the vehicle collision.

[0149] The control unit 100 repeatedly executes the process of FIG. 20. In the process of FIG. 20, the control unit 100 determines whether there is a possibility of a vehicle collision based on the information acquired from the camera CM (S91). If it is determined in step S91 that there is no possibility of a collision (No), the control unit 100 ends this process.

[0150] If it is determined in step S91 that there is a possibility of a collision (Yes), the control unit 100 operates the vibration device 21C of the robot 20 (S92). The vibration pattern of the vibration device 21C in step S92 may be, for example, a pattern in which vibration is continuously performed for a relatively long first time, or a pattern in which vibration is performed for a relatively short second time and the operation of stopping vibration is performed multiple times for a relatively short third time.

[0151] After step S92, the control unit 100 operates the vibration device DV of the seat 10 (S93) and ends this process. The vibration pattern of the vibration device DV in step S93 may be, for example, the same pattern as the vibration pattern of the vibration device 21C of the robot 20 or a different pattern.

[0152] As described above, according to the fifth embodiment, the following effects can be obtained. When there is a possibility of a vehicle collision, the robot 20 and the seat 10 vibrate to notify the user of the possibility of a vehicle collision, thereby improving safety.

[0153] When it is determined that there is a possibility of a collision, the intensity of the vibration may be made greater than the intensity of the vibration when it is determined that there is no possibility of a collision. For example, when the control unit 100 in the fifth embodiment can also execute the process of FIG. 9, the intensity of the vibration in step S3 may be set as the first intensity, and the intensity of the vibration in step S92 may be set as the second intensity, which is greater than the first intensity. Note that, as a vibration device whose vibration intensity can be changed, for example, a type of vibration device that changes the frequency and amplitude of the vibration to change the intensity of the vibration can be adopted.

[0154] Note that the movement of the robot and the movement of the electric device of the seat when there is a possibility of a vehicle collision are not limited to the fifth embodiment, and it is desirable that the robot and the electric device move in an operation pattern for notifying the user of the possibility of a vehicle collision.

[0155] Specifically, as the operation of the robot, for example, an operation of opening and closing each arm 22 of the robot 20 as shown in FIG. 11(a) may be performed, or an operation of rotating the robot 20 around the vertical axis as shown in FIG. 12(a) may be performed. As the movement of the electric device of the seat, for example, an operation of expanding and contracting the air cell a plurality of times may be performed.

[0156] In the process of FIG. 20, instead of the collision possibility determination (S91), another determination process may be provided. Examples of the other determination process include the following processes. · A process of determining whether the vehicle has entered a highway, and a process of shifting to step S92 when it is determined that the vehicle has entered the highway. · A process of determining whether a predetermined time has elapsed after boarding, and a process of shifting to step S92 when it is determined that the predetermined time has elapsed. · A process of determining whether the distance between the vehicle and the destination is less than or equal to a predetermined value using a navigation system, and if it is determined that the distance is less than or equal to the predetermined value, the process proceeds to step S92.

[0157] The trigger for the robot to start operating can be arbitrarily set. For example, the control unit may move the robot at a predetermined time, or may move the robot based on the biometric information of the occupant or the external information of the vehicle. Also, the robot may operate autonomously.

[0158] The operation of the robot and the operation of the electric devices of the seat are not limited to the above embodiment, and may be the following operations. · When the robot waves its hand, the armrest of the seat moves. Specifically, when the robot rotates one of the left and right arms a plurality of times, the mechanism for rotating the armrest operates. · When the robot moves its arm a plurality of times, the vibration device of the seat operates. · The reclining tilts in accordance with the operation of the robot trying to rest. Specifically, when the robot tilts backward, the electric reclining mechanism operates so that the seat back falls backward. · When the robot moves its arm a plurality of times, the air cell operates.

[0159] The sensor may be a capacitance type touch sensor. The touch sensor may be provided, for example, at the front end of the seat cushion, the protruding portion of the seat cushion, the protruding portion of the seat back, and the side surface of the headrest.

[0160] The seat is not limited to the structure of the above embodiment. For example, as shown in FIG. 21, the seat 200 may have a seat cushion 210, a seat back 220, and a headrest 230, and may also have an ottoman 240 and an armrest 250. Also, a console box 300 may be provided next to the seat 200.

[0161] In the form of FIG. 21, the seat back 220 has a first member 221 rotatably supported by the seat cushion 210, and a second member 222 rotatably supported on the upper part of the first member 221 and having a headrest 230 provided on the upper part.

[0162] In this case, the sensor 40 that outputs a signal for starting the interlocking process can be arranged at at least one of the following parts. · The left and right protruding parts 211 of the seat cushion 210 · The front end face of the seat cushion 210 · The left and right protruding parts 221A of the first member 221 · The left and right protruding parts 222A of the second member 222 · The left and right side faces or the back face of the seat back 220 · The left and right side faces, the lower face or the back face of the headrest 230 · The front end face, the upper face, the left and right inner side faces or the left and right outer side faces of the armrest 250 · The left and right side faces of the ottoman 240 · The left and right inner side faces or the left and right outer side faces of the console box 300

[0163] Also, as shown in FIG. 22, the sensor 40 may be provided on the steering ST as shown by dot hatching in the figure.

[0164] As shown in FIG. 23, the sensor 40 may be provided on the center console box 401, dashboard 402, inner panel 403 such as a door or vehicle side wall, etc. located between the driver's seat and the passenger seat as shown by dot hatching in the figure. Note that the sensor 40 may be provided inside the cylindrical blower 404. The cylindrical blower 404 has an air outlet for blowing air into the vehicle interior on its cylindrical body.

[0165] Also, as shown in FIG. 24, the sensor 40 may be provided in a member (seat cushion, seat back, headrest) that constitutes at least one of the first-row sheet 411, the second-row sheet 412, or the third-row sheet 413, as indicated by dot hatching in the figure. Further, the sensor 40 may be provided in the roof 414, the lid 415 for opening and closing the sunroof, the assist grip 416, the upper part of the back of the seat back, the upper surface of the dashboard 402, above the meter hood, etc. The sensor 40 may be integrated inside the interior member or may be arranged to protrude from the interior member.

[0166] As shown in FIG. 25, the sensor may be a tactile sensor 500 that detects displacement in three-dimensional directions. The tactile sensor 500 has an operation part 510 made of sponge and a substrate 520 that detects the displacement of the operation part 510. The tactile sensor 500 can detect displacement in the X direction, displacement in the Y direction orthogonal to the X direction, and displacement in the Z direction orthogonal to the X and Y directions.

[0167] In this case, the control unit 100 may move the robot based on the direction of the displacement acquired from the tactile sensor 500. For example, when the tactile sensor 500 is operated to draw a circle, the control unit 100 may rotate the robot.

[0168] Also, the sponge-type tactile sensor may be embedded in a stuffed toy modeled after a character such as a cat. The control unit may recognize the roll-pitch-yaw directions corresponding to the six-axis directions based on the information from the tactile sensor.

[0169] The electric device may be the device shown below. · A reclining device that tilts the seat back · A height mechanism that moves the seat in the vertical direction · A slide device that moves the seat back and forth · A movable device that deforms the seat shape by driving a bag body (air cell) that operates by inflowing air or a plate member · A side frame front end lifting mechanism that switches between an up position where the front end of the side frame of the seat cushion is lifted and a down position where it is lowered · A tilt mechanism that moves the cushion pan of the seat cushion up and down · A middle fold mechanism that tilts the upper part of the seat back forward and backward (a mechanism that tilts the second member 222 in FIG. 21 with respect to the first member 221) · A rotation mechanism that rotates the seat about a vertical axis · A cushion front - rear adjustment mechanism that adjusts the length of the front end of the seat cushion · A mechanism that rotates the ottoman up and down · A mechanism that rotates the armrest up and down · A mechanism that expands and contracts the armrest · A mechanism that switches between a state where the armrest is extended and a state where it is bent · Lighting · A headrest speaker (the headrest speaker may rotate or operate in at least one direction among front - rear, left - right, up - down). · A heater provided on the seat back or the seat cushion · A seat blower which is a seat air - conditioning device that makes the air on the surfaces of the seat cushion and the seat back flow

[0170] The vibration device may be any device such as one having a motor and a harness that generates vibration, one having an eccentric motor, or one having a linear motor. The vibration device may be provided on the seat cushion, the headrest, etc. The vibration device may also be provided on the left - right overhang portions of the seat cushion or the seat back.

[0171] The vehicle is not limited to an automobile and may be other vehicles such as motorcycles, trains, etc.

[0172] The collision detection unit may be an inter - vehicle distance sensor that detects the distance between the own vehicle and the vehicle in front.

[0173] Examples of the method for manufacturing a vehicle system include the following methods. A vehicle system manufacturing method comprising a seat having an electric device, a robot disposed at a position visible to a user seated on the seat, and a control unit, wherein the control unit executes an interlocking process for interlocking the operation of the robot and the operation of the electric device, the method comprising: a step of attaching the electric device to the seat; a step of attaching the seat, the robot, and the control unit to the vehicle; and a step of connecting the electric device and the robot to the control unit.

[0174] The robot may be capable of outputting sound. The rotation of the robot about the vertical axis and the rotation of the seat about the vertical axis may be interlocked.

[0175] The vibration of the vibration device on the dashboard and the vibration of the vibration device on the seat may be interlocked.

[0176] Each element described in the above embodiments and modifications may be implemented in any combination.

Explanation of Reference Numerals

[0177] 1 Vehicle system 10 Seat 20 Robot 30 Electric height mechanism 50 Electric slide mechanism 100 Control unit RC Electric reclining mechanism

Claims

1. A seat having an electric device; A robot disposed in a position visible to a user seated on the seat; A control unit, The vehicle system is characterized in that the control unit executes a linkage process for linking an operation of the robot with an operation of the electric device.

2. The vehicle system according to claim 1 , wherein the control unit, in the interlocking process, operates the electric device in response to a movement of the robot.

3. An operation unit for operating the electric device is further provided, The vehicle system according to claim 1 , wherein the control unit executes the interlocking process based on information acquired from the operation unit.

4. The sheet has a sensor that detects when a user touches the sheet, The vehicle system according to claim 1 , wherein the control unit executes the interlocking process based on information acquired from the sensor.

5. 5. The vehicle system according to claim 4, wherein the sensor is disposed at a position avoiding a seating surface of the seat.

6. The sheet is A second electric device different from the electric device; a second sensor that detects that a user has touched the sheet, the second sensor being disposed at a position different from the first sensor; The control unit is Based on the information from the sensor, the robot is caused to perform a first action and the electric device is operated; The vehicle system according to claim 4 , further comprising: based on information from the second sensor, causing the robot to perform a second action different from the first action and activating the second electric device.

7. A voice acquisition unit for acquiring voice is further provided, The vehicle system according to claim 1 , wherein the control unit executes the interlocking process based on an operation command from the user acquired by the voice acquisition unit.

8. the robot has a display unit that displays a sheet image that resembles the sheet, The vehicle system according to claim 1 , wherein the control unit moves the seat image in the interlocking process.

9. A plurality of the sheets are provided, The vehicle system according to claim 8, characterized in that, when the control unit executes the interlocking process for a specific seat among a plurality of seats, the control unit moves the robot to point the display unit toward the specific seat, and then executes the interlocking process.

10. An acceleration sensor is further provided to detect acceleration in a forward / rearward direction of the vehicle. The robot is tiltable in a forward and backward direction, the electrically powered device is an air cell that moves a portion of a surface of the seat facing a user, 2. The vehicle system according to claim 1, wherein the control unit tilts the robot in a forward / rearward direction and activates the air cell based on the acceleration obtained from the acceleration sensor.

11. An acceleration sensor is further provided to detect acceleration in a left-right direction of the vehicle, The robot can tilt left and right, the electrically powered device is an air cell that moves a portion of a surface of the seat facing a user, The sheet is a seating surface for supporting a user; The seating surface has a protruding portion located on the left and right sides thereof and protruding from the seating surface, The protruding portion has the air cell, 2. The vehicle system according to claim 1, wherein the control unit tilts the robot in left and right directions and activates the air cell based on the acceleration obtained from the acceleration sensor.

12. The vehicle further includes a collision detection unit, The vehicle system according to claim 1 , wherein the control unit, when predicting a vehicle collision based on the information acquired from the collision detection unit, moves the robot and the electric device.

Images