Heater module and robot

Abstract

To provide a heater module capable of reducing transfer of heat generated by a heater to a protection object when the heater is disposed at a periphery of the protection object.SOLUTION: A heater module comprises: a protection object; a heater which is disposed at a periphery of the protection object and includes a conductive fiber generating heat in response to applied voltage or applied current; and a heat insulation member which is disposed between the protection object and the heater.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a heater module and a robot. [Background technology]

[0002] 2. Description of the Related Art Heaters that generate heat in response to an applied voltage or current are known.

[0003] As the fabric heater, one that is made up of fabric formed by knitting conductive yarn and electrode yarn has been disclosed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6018600 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a heater such as the fabric heater described in Patent Document 1 is placed around an object to be protected, such as an electric circuit, the heat generated by the heater may be transferred to the object to be protected, causing damage or malfunction of the object. In particular, when a fabric heater is applied to a robot, the robot has heat sources such as a control device, servo motor, and battery inside, and this, combined with the "surface heating" caused by the fabric heater, increases the risk of the object to be protected being damaged or malfunctioning.

[0006] An object of the present invention is to provide a heater module and a robot that can reduce the transmission of heat from a heater to an object to be protected when the heater is placed around the object to be protected. [Means for solving the problem]

[0007] A heater module according to one aspect of the present invention comprises an object to be protected, a flexible heater arranged around the object to be protected and generating heat in response to an applied voltage or current, and an insulating member arranged between the object to be protected and the heater. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a heater module and a robot that can reduce the heat generated by a heater when the heater is disposed around an object to be protected. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view illustrating a robot including a heater module according to an embodiment; [Figure 2] FIG. 2 is a side view of the robot of FIG. 1. [Figure 3] FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 2. [Figure 4] 1A and 1B are diagrams illustrating a configuration of a heater module according to an embodiment. [Figure 5] FIG. 1 is a diagram illustrating a configuration of a camera according to an embodiment. [Figure 6] FIG. 1 is a diagram illustrating a configuration of a vital sensor according to an embodiment. [Figure 7] FIG. 2 is a block diagram illustrating a hardware configuration of a control unit according to the embodiment. [Figure 8] FIG. 2 is a block diagram illustrating a functional configuration of a control unit according to the embodiment. [Figure 9] 10 is a flowchart illustrating a process performed by a control unit according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating the configuration of a heater module according to a first modified example. [Figure 11] FIG. 10 is a diagram illustrating the configuration of a heater module according to a second modified example. [Figure 12] FIG. 10 is a diagram illustrating the configuration of a heater module according to a third modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same components are given the same reference numerals, and duplicated descriptions will be omitted as appropriate.

[0011] The embodiments described below exemplify heater modules and robots for embodying the technical concepts of the present disclosure, and are not intended to limit the present disclosure to the following embodiments. The dimensions, materials, shapes, relative positions, and other details of the components described below are intended for illustrative purposes only, unless otherwise specified. Furthermore, the sizes and positional relationships of components shown in the drawings may be exaggerated for clarity.

[0012] <Example of overall configuration of robot 100> The configuration of a robot 100 having a heater module 300 according to an embodiment will be described with reference to Figures 1 to 3. Figure 1 is a perspective view illustrating the robot 100 according to the embodiment. Figure 2 is a side view of the robot 100. Figure 3 is a cross-sectional view taken along the line III-III in Figure 2.

[0013] The robot 100 has an exterior member 10 and is powered by supplied power. The robot 100 can come into contact with a user as a "person." The robot 100 can interact with the user to provide comfort to the user. The robot 100 exemplified in this specification is a doll-type communication robot modeled after a bear cub. The robot 100 is manufactured with a size and weight suitable for a user to hold. Here, the term "user" refers to the user (operator) of the robot 100. Typical examples of users include working adults living alone, seniors whose children have become independent, and frail elderly people who are the recipients of home medical care. Note that the user may include not only the user of the robot 100, but also those who simply come into contact with the robot 100, such as the manager of the robot 100.

[0014] The robot 100 includes a camera 11 that outputs information regarding a user's contact with or approach to the robot 100, and a heater 19 that varies the surface temperature of the robot 100. The robot 100 also includes a control unit 13 that controls the operation of the heater 19 based on the output of the camera 11. For example, the control unit 13 turns on the heater 19 when the camera 11 acquires information regarding a user's contact with or approach to the robot 100, and turns off the heater 19 when the camera 11 does not acquire information regarding a user's contact with or approach to the robot 100. This allows the heater 19 to be turned on only when a user has contacted or approached the robot 100, thereby reducing the power consumption of the robot 100.

[0015] Furthermore, for example, when information that a user has touched or approached the robot 100 is output from the camera 11, the control unit 13 causes the heater 19 to start an operation of varying the surface temperature of the robot 100. This allows the surface temperature of the robot 100 to be controlled before the user touches the robot 100, and the surface temperature of the robot 100 can be set to a predetermined temperature when the user touches the robot 100. The predetermined temperature may include a temperature that stimulates the user's thermoreceptors. Thermoreceptors refer to tactile receptors in the skin. When stimulated by warmth, thermoreceptors provide the user with a sense of comfort, relaxation both physically and mentally, and stress reduction. The predetermined temperature may be between 32°C and 43°C. By setting the surface temperature of the robot 100 to this temperature, the thermoreceptors of the user who is touching or approaching the robot 100 are stimulated, providing comfort to the user. The predetermined temperature may also be between 32°C and 40°C. By lowering the upper limit temperature, it is possible to provide comfort to the user, reduce power consumption, and prevent the user from suffering from low-temperature burns when the user comes into contact with the robot 100 for a long period of time.

[0016] In this embodiment, the heater module 300 of the robot 100 includes an exterior member 10. The exterior member 10 has a heater 19 and a heat insulating member 50. In this specification, the heater 19 is a flexible fabric heater that is disposed around the object to be protected and includes conductive fibers that generate heat in response to an applied voltage or current. The heat insulating member 50 is disposed between the object to be protected and the heater 19. The configuration of the heater module 300 will be described in detail later with reference to FIG. 4.

[0017] The control unit 13 may use the heater 19 to control the surface temperature of at least one of the abdomen 191, back 192, armpits 193, head 2, and buttocks 194 of the robot 100. The abdomen 191, back 192, armpits 193, head 2, and buttocks 194 are parts of the robot 100 that are easily touched by the user when the user interacts with the robot 100. Therefore, by controlling the operation of the heater 19 so that the surface temperatures of these parts reach a temperature that stimulates the user's thermoreceptors, the robot 100 can more easily provide comfort to the user.

[0018] The robot 100, for example, has a torso 1, a head 2, arms 3, and legs 4. The head 2 has a right eye 2a, a left eye 2b, a mouth 2c, a right cheek 2d, and a left cheek 2e. The arms 3 include a right arm 3a and a left arm 3b, and the legs 4 include a right leg 4a and a left leg 4b. Here, the torso 1 corresponds to the robot main body. The head 2, arms 3, and legs 4 each correspond to a driver that is connected to the robot main body so as to be displaceable relative to the robot main body.

[0019] In this embodiment, the arms 3 are configured to be displaceable relative to the torso 1. For example, when the robot 100 is held by a user, the right arm 3a and the left arm 3b are displaced and come into contact with the neck, torso, etc. of the user as if embracing the user. This movement makes the user feel a sense of closeness to the robot 100, thereby encouraging interaction between the user and the robot 100. Note that interaction with the user refers to an action of the user and the robot 100 touching each other (an action of coming into contact), such as stroking, tapping (touching), and hugging (embracing).

[0020] The torso 1, head 2, arms 3, and legs 4 are all covered with an exterior member 10. The exterior member of the torso 1 and the exterior member of the arms 3 are integrated, and the exterior members of the head 2 and legs 4 are separate from the exterior members of the torso 1 and arms 3. However, this configuration is not limited to this, and for example, only the parts of the robot 100 that are likely to be touched by the user may be covered with the exterior member 10. Furthermore, at least one of the exterior members 10 of the torso 1, head 2, arms 3, and legs 4 may be separate from the other exterior members. Furthermore, the parts of the head 2, arms 3, and legs 4 that do not move may not include components such as sensors inside them and may be composed only of the exterior member 10.

[0021] The robot 100 has a camera 11, a tactile sensor 12, a control unit 13, a vital sensor 14, a battery 15, a first capacitance sensor 21, and a second capacitance sensor 31 inside the exterior member 10. The robot 100 also has the tactile sensor 12, the control unit 13, the vital sensor 14, and the battery 15 inside the exterior member 10 in the torso 1. The robot 100 also has a camera 11 and a first capacitance sensor 21 inside the exterior member 10 in the head 2, and a second capacitance sensor 31 inside the exterior member 10 in the arm 3.

[0022] The robot 100 also has a display 24, a speaker 25, and a light 26 inside the exterior member 10 of the head 2. The robot 100 also has a display 24 inside the exterior member 10 at the right eye 2a and the left eye 2b. In addition, the robot 100 has a speaker 25 inside the exterior member 10 at the mouth 2c, and a light 26 inside the exterior member 10 at the right cheek 2d and the left cheek 2e.

[0023] The robot 100 also has a robot temperature sensor 18 and a user temperature sensor 20. The robot temperature sensor 18 is disposed between the exterior of the exterior member 10 and the fabric material of the torso 1. The robot temperature sensor 18 is preferably disposed preferentially in areas likely to be touched by the user. For example, areas likely to be touched by the user include the abdomen 191, back 192, armpits 193, head 2, and buttocks 194. In the example shown in FIGS. 1 and 2, the robot temperature sensor 18 is disposed in the abdomen 191. The user temperature sensor 20 is disposed on the chest of the robot 100, inside the exterior member 10 of the torso 1.

[0024] 3, the robot 100 has a torso frame 16 and a torso mount 17 inside the armor member 10 of the torso 1. The robot 100 also has a head frame 22 and a head mount 23 inside the armor member 10 of the head 2. The robot 100 also has a right arm frame 32a and a right arm mount 33 inside the armor member 10 of the right arm 3a, and a left arm frame 32b inside the armor member 10 of the left arm 3b. In addition, the robot 100 has a right leg frame 42a inside the armor member 10 of the right leg 4a, and a left leg frame 42b inside the armor member 10 of the left leg 4b.

[0025] The torso frame 16, head frame 22, right arm frame 32a, left arm frame 32b, right leg frame 42a, and left leg frame 42b are each structures formed by combining multiple columnar members. The torso support base 17, head support base 23, and right arm support base 33 are plate-like members having support surfaces. The torso support base 17 is fixed to the torso frame 16, the head support base 23 is fixed to the head frame 22, and the right arm support base 33 is fixed to the right arm frame 32a. The torso frame 16, head frame 22, right arm frame 32a, left arm frame 32b, right leg frame 42a, and left leg frame 42b may be formed in a box shape including multiple plate-like members.

[0026] The right arm frame 32a is connected to the torso frame 16 via a right arm connecting mechanism 34a, and is driven by a right arm servomotor 35a so that it can be displaced relative to the torso frame 16. Displacement of the right arm frame 32a causes the right arm 3a to be displaced relative to the torso 1. The right arm connecting mechanism 34a preferably has, for example, a reducer that increases the output torque of the right arm servomotor 35a.

[0027] In this embodiment, the right arm frame 32a is configured as an articulated robot arm including multiple frame members and multiple connecting mechanisms. For example, the right arm frame 32a has a right shoulder frame F1a, a right right arm frame F2a, a right elbow frame F3a, and a right forearm frame F4a. The torso frame 16, the right shoulder frame F1a, the right right arm frame F2a, the right elbow frame F3a, and the right forearm frame F4a are connected to each other via connecting mechanisms.

[0028] The right arm servo motor 35a is a general term for multiple servo motors. For example, the right arm servo motor 35a includes a right shoulder servo motor M1a, a right right arm servo motor M2a, a right elbow servo motor M3a, and a right forearm servo motor M4a. The right shoulder servo motor M1a rotates the right shoulder frame F1a around a rotation axis perpendicular to the torso frame 16. The right right arm servo motor M2a rotates the right right arm frame F2a around a rotation axis perpendicular to the rotation axis of the right shoulder frame F1a. The right elbow servo motor M3a rotates the right elbow frame F3a around a rotation axis perpendicular to the rotation axis of the right right arm frame F2a. The right forearm servo motor M4a rotates the right forearm frame F4a around a rotation axis perpendicular to the rotation axis of the right elbow frame F3a.

[0029] The left arm frame 32b is connected to the torso frame 16 via a left arm connecting mechanism 34b, and is driven by a left arm servomotor 35b, so that it can be displaced relative to the torso frame 16. Displacement of the left arm frame 32b causes the left arm 3b to be displaced relative to the torso 1. The left arm connecting mechanism 34b preferably has, for example, a reducer that increases the output torque of the left arm servomotor 35b.

[0030] In this embodiment, the left arm frame 32b is configured as an articulated robot arm including multiple frame members and multiple connecting mechanisms. For example, the left arm frame 32b has a left shoulder frame F1b, a left upper arm frame F2b, a left elbow frame F3b, and a left forearm frame F4b. The torso frame 16, the left shoulder frame F1b, the left upper arm frame F2b, the left elbow frame F3b, and the left forearm frame F4b are connected to each other via connecting mechanisms.

[0031] The left arm servo motor 35b is a general term for multiple servo motors. For example, the left arm servo motor 35b includes a left shoulder servo motor M1b, a left upper arm servo motor M2b, a left elbow servo motor M3b, and a left forearm servo motor M4b. The left shoulder servo motor M1b rotates the left shoulder frame F1b around a rotation axis perpendicular to the torso frame 16. The left upper arm servo motor M2b rotates the left upper arm frame F2b around a rotation axis perpendicular to the rotation axis of the left shoulder frame F1b. The left elbow servo motor M3b rotates the left elbow frame F3b around a rotation axis perpendicular to the rotation axis of the left upper arm frame F2b. The left forearm servo motor M4b rotates the left forearm frame F4b around a rotation axis perpendicular to the rotation axis of the left elbow frame F3b. As described above, the arm 3 has four joints, so that the robot 100 can perform more realistic movements.

[0032] The head frame 22 is connected to the torso frame 16 via a head connection mechanism 27, and is driven by a head servomotor 35c to be displaceable relative to the torso frame 16. Displacement of the head frame 22 displaces the head 2 relative to the torso 1. The head connection mechanism 27 preferably has, for example, a reducer that increases the output torque of the head servomotor 35c.

[0033] In this embodiment, the head frame 22 has a neck frame F1c and a face frame F2c. The torso frame 16, the neck frame F1c, and the face frame F2c are connected to each other via connecting mechanisms.

[0034] The head servo motor 35c is a general term for multiple servo motors. For example, the head servo motor 35c has a neck servo motor M1c and a face servo motor M2c. The neck servo motor M1c rotates the neck frame F1c around a rotation axis perpendicular to the body frame 16. The face servo motor M2c rotates the face frame F2c around a rotation axis perpendicular to the rotation axis of the neck frame F1c. By having a two-axis joint in the head 2 in this way, the robot 100 can achieve more realistic movements.

[0035] The right leg frame 42a is connected to the torso frame 16 via a right leg connecting mechanism 44a and has a right leg wheel 41a on the bottom side. To stabilize the posture of the robot 100, the robot 100 preferably has two right leg wheels 41a in the front-to-rear direction of the right leg frame 42a. The right leg wheels 41a are driven by the right leg servo motor 35d and are rotatable around a rotation axis perpendicular to the front-to-rear direction of the right leg frame 42a. The rotation of the right leg wheel 41a enables the robot 100 to run. The right leg connecting mechanism 44a preferably has a reducer that increases the output torque of the right leg servo motor 35d, for example.

[0036] The left leg frame 42b is connected to the torso frame 16 via a left leg connecting mechanism 44b and has a left leg wheel 41b on the bottom side. To stabilize the posture of the robot 100, the robot 100 preferably has two left leg wheels 41b in the front-to-rear direction of the left leg frame 42b. The left leg wheel 41b is driven by the left leg servo motor 35e and is rotatable around a rotation axis perpendicular to the front-to-rear direction of the left leg frame 42b. The rotation of the left leg wheel 41b enables the robot 100 to run. The left leg connecting mechanism 44b preferably has, for example, a reducer that increases the output torque of the left leg servo motor 35e.

[0037] In this embodiment, the robot 100 moves forward or backward by simultaneously rotating the right leg wheel 41a and the left leg wheel 41b forward or backward. The robot 100 turns right or left by braking either the right leg wheel 41a or the left leg wheel 41b and rotating the other forward or backward. In this way, the legs 4 allow the robot 100 to perform more realistic movements.

[0038] The tactile sensor 12, the control unit 13, the vital sensor 14, and the battery 15 are fixed to the torso mounting base 17. The control unit 13 and the battery 15 are fixed to the side of the torso mounting base 17 opposite to the side to which the tactile sensor 12 and the vital sensor 14 are fixed. Note that the placement of the control unit 13 and the battery 15 here is based on the available space on the torso mounting base 17 and is not necessarily limited to the above. However, if the battery 15 is fixed to the side of the torso mounting base 17 opposite to the side to which the tactile sensor 12 and the vital sensor 14 are fixed, the center of gravity of the robot 100 will be lower because the battery 15 is heavier than the other components. A low center of gravity of the robot 100 is preferable because it stabilizes at least one of the position and posture of the robot 100 and makes at least one of charging and replacing the battery 15 easier.

[0039] The first capacitance sensor 21 is fixed to the head rest 23, and the second capacitance sensor 31 is fixed to the right arm rest 33. The robot temperature sensor 18 is fixed connected to or in contact with the heater 19 depending on the sensing method. Alternatively, the robot temperature sensor 18 may be fixed away from the heater 19. The display 24 has a right eye display 24a and a left eye display 24b. The right eye display 24a, the left eye display 24b, and the speaker 25 are fixed to the head frame 22. The light 26 has a right cheek light 26a and a left cheek light 26b. The right cheek light 26a and the left cheek light 26b are fixed to the head frame 22.

[0040] The tactile sensor 12, control unit 13, vital sensor 14, battery 15, first capacitance sensor 21, second capacitance sensor 31, etc. can be fixed with screws, adhesive members, etc. The robot temperature sensor 18, right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, left cheek light 26b, etc. can also be fixed with screws, adhesive members, etc.

[0041] There are no particular limitations on the materials used for the torso frame 16, torso support base 17, head frame 22, head support base 23, right arm frame 32a, right arm support base 33, and left arm frame 32b, and resin or metal materials can be used. However, from the perspective of ensuring strength during operation, it is preferable to use a metal material such as aluminum for the torso frame 16, right arm frame 32a, and left arm frame 32b. On the other hand, if strength can be ensured, it is preferable to use a resin material for these components in order to reduce the weight of the robot 100. There are no particular limitations on the materials used for the torso support base 17, head frame 22, head support base 23, right arm support base 33, and left arm frame 32b, and resin or metal materials can be used, but from the perspective of reducing the weight of the robot 100, it is preferable to use a resin material.

[0042] The control unit 13 is communicatively connected to the camera 11, tactile sensor 12, vital sign sensor 14, first capacitance sensor 21, second capacitance sensor 31, right arm servo motor 35a, and left arm servo motor 35b via wired or wireless communication. The control unit 13 is also communicatively connected to the heater 19, robot temperature sensor 18, user temperature sensor 20, head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e via wired or wireless communication. The control unit 13 is also communicatively connected to the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b via wired or wireless communication.

[0043] The camera 11 is an image sensor that outputs captured images of the periphery of the robot 100 to the control unit 13. The camera 11 is an example of a capturing unit that captures an image of the user. In this embodiment, the camera 11 is an example of a detection unit that acquires information regarding the user's contact with or approach to the robot 100. The camera 11 is disposed inside the exterior member 10 at a position corresponding to the nose 5 of the bear cub. The camera 11 can be fixed to the robot 100 using an adhesive member or the like. The configuration of the camera 11 will be described in detail later with reference to FIG. 5.

[0044] The tactile sensor 12 is a sensor element that detects information sensed by the sense of touch of a human hand, converts it into a tactile signal, which is an electrical signal, and outputs it to the control unit 13. For example, the tactile sensor 12 converts information on pressure or vibration generated when a user touches the robot 100 into a tactile signal using a piezoelectric element and outputs it to the control unit 13. The tactile signal output from the tactile sensor 12 is used to detect contact or presence of the user 200 with the robot 100.

[0045] The vital sensor 14 is an example of an electromagnetic wave sensor that acquires biometric information of a user using electromagnetic waves. The vital sensor 14 will be described in detail later with reference to FIG.

[0046] The first capacitance sensor 21 and the second capacitance sensor 31 are sensor elements that detect, based on a change in capacitance, that a user has come into contact with or proximity to the robot 100 and output a capacitance signal to the control unit 13. The first capacitance sensor 21 is preferably a rigid sensor that does not have flexibility in terms of stabilizing the exterior member 10. Because the arm 3 is a part that is likely to be touched by a user, the second capacitance sensor 31 is preferably a flexible sensor that includes conductive thread or the like in terms of improving the feel to the touch. The capacitance signals output from the first capacitance sensor 21 and the second capacitance sensor 31 are used to detect the proximity or presence of a user to the robot 100.

[0047] The robot temperature sensor 18 is a sensor element that outputs a temperature detection signal related to the surface temperature of the robot 100 to the control unit 13. In this embodiment, the robot temperature sensor 18 is configured as an electric circuit that outputs a temperature detection signal corresponding to a change in the electrical resistance value of a PTC (Positive Temperature Coefficient) heater (a change in the current flowing through the heater 19) to the control unit 13. The robot temperature sensor 18 may include a contact-type temperature sensor that is fixed in contact with the heater 19 and outputs a temperature detection signal to the control unit 13. Examples of contact-type temperature sensors include a thermistor, a thermocouple, and a platinum resistance thermometer. The robot temperature sensor 18 may also include a non-contact thermometer that is fixed away from the heater 19 and outputs a temperature detection signal to the control unit 13. Examples of non-contact thermometers include a radiation thermometer. The temperature detection signal output from the robot temperature sensor 18 corresponds to information related to the surface temperature of the robot 100. The temperature detection signal from the robot temperature sensor 18 is used to detect the surface temperature of the robot 100.

[0048] The heater 19 is an example of a variable unit that changes the surface temperature of the robot. The heater 19 is flexible and may be, for example, an electric heating wire such as a nichrome wire that can utilize Joule heat. A heater containing conductive fibers such as fibrous silver wires can be configured as a highly flexible heater and can be positioned to conform to the surface shape of the robot 100, which is more preferable. A heater containing conductive fibers in the form of a cloth can cover a wide area of ​​the surface of the robot 100 that the user may touch, which is more preferable. The heater 19 may be configured as a PTC (Positive Temperature Coefficient) heater that can adjust its temperature independently of the temperature of the air around the robot 100 (ambient temperature). Furthermore, the heater 19 may be configured in combination with a heater that utilizes exhaust heat from the robot 100 by connecting a thermally conductive member that transfers exhaust heat from the battery 15, various sensors, or the control unit 13 (described later). To vary the surface temperature of the robot, the variable part may use heat generated by a heater such as heater 19, or may utilize heat generated by a heating element such as control unit 13 or servo motor 35 disposed inside exterior member 10. The variable part is not limited to one that increases the surface temperature of the robot by heating, but may also be one that decreases the surface temperature of the robot by cooling. A Peltier element, a blower fan, etc. can be used as a variable part that decreases the surface temperature of the robot by cooling.

[0049] The user temperature sensor 20 is a sensor element that outputs information about the user's surface temperature. The user temperature sensor 20 is a sensor element that outputs a temperature detection signal related to the user's surface temperature to the control unit 13. The user temperature sensor 20 may include a non-contact thermometer such as a radiation thermometer. By including the non-contact thermometer, the surface temperature of the robot 100 can be adjusted to a predetermined temperature before the user touches the robot 100. Furthermore, since the temperature is detected non-contact, measurement errors caused by the flow of heat from the user into the thermometer upon contact, as occurs with contact-type thermometers, are eliminated, enabling highly accurate temperature detection. Furthermore, by including the non-contact thermometer, the user's surface temperature can be detected by the user temperature sensor 20 disposed inside the exterior member 10 of the robot 100. By disposing the user temperature sensor 20 inside the exterior member 10, the user does not need to visually recognize the user temperature sensor 20. As a result, the robot 100 can acquire information about the user's surface temperature while reducing the user's sense of restraint or resistance.

[0050] The temperature detection signal output from the user temperature sensor 20 corresponds to information related to the user's surface temperature. The temperature detection signal from the user temperature sensor 20 is used to detect the user's surface temperature. The user temperature sensor 20 may be configured to include a contact temperature sensor such as a PTC heater, a thermistor, a thermocouple, or a platinum resistance thermometer. The user temperature sensor 20 may also be an infrared camera that detects heat rays, i.e., infrared rays, emitted by the user. The information related to the user's surface temperature may be thermography, which is an image that graphically represents the heat distribution.

[0051] The right-eye display 24a and the left-eye display 24b are display modules that display character strings or images such as letters, numbers, and symbols in response to commands from the control unit 13. The right-eye display 24a and the left-eye display 24b are configured, for example, by liquid crystal display modules. The character strings or images displayed on the right-eye display 24a and the left-eye display 24b are used to express the emotions of the robot 100. For example, if the robot 100 has not yet warmed up to the target temperature for providing warmth, the robot 100 can temporarily avoid contact with the user by displaying an image such as a "thermometer" or "hourglass" on the right-eye display 24a or the left-eye display 24b.

[0052] The speaker 25 is a speaker unit that amplifies an audio signal from the control unit 13 and outputs the audio. The audio output from the speaker 25 is the words or cries of the robot 100 and is used to express the emotions of the robot 100. For example, when the robot 100 has not yet warmed up to a target temperature for providing warmth, the robot 100 can temporarily avoid contact with the user by emitting a voice such as "Please wait a moment" or "It's still cold" from the speaker 25.

[0053] The right cheek light 26a and the left cheek light 26b are light modules that blink or change color in response to an on / off signal from the control unit 13. The right cheek light 26a and the left cheek light 26b are configured, for example, by LED (Light Emitting Diode) light modules. The blinking or color change of the right cheek light 26a and the left cheek light 26b is used to express the emotions of the robot 100. For example, if the robot 100 has not warmed up to a target temperature for providing warmth, the right cheek light 26a and the left cheek light 26b blink blue to implicitly indicate that the robot 100 is cold, thereby enabling the robot 100 to temporarily avoid contact with the user.

[0054] The battery 15 is a power source that supplies power to the camera 11, tactile sensor 12, control unit 13, vital sensor 14, first capacitance sensor 21, second capacitance sensor 31, right arm servo motor 35a, and left arm servo motor 35b. The battery 15 also supplies power to the heater 19, robot temperature sensor 18, user temperature sensor 20, head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e. The battery 15 also supplies power to the right eye display 24a, left eye display 24b, speaker 25, right cheek light 26a, and left cheek light 26b. Various secondary batteries such as lithium ion batteries and lithium polymer batteries can be used for the battery 15.

[0055] Note that the various sensors in the robot 100, such as the tactile sensor 12, vital sensor 14, robot temperature sensor 18, user temperature sensor 20, first capacitance sensor 21, and second capacitance sensor 31, are not essential components. The robot 100 is only required to have at least the camera 11 (or human presence sensor), heater 19, and control unit 13. The installation positions of these sensors can also be changed as appropriate. Furthermore, the various sensors, such as the camera 11 (or human presence sensor) and robot temperature sensor 18, may be arranged outside the robot 100 and transmit necessary information to the robot 100 or an external device via wireless communication.

[0056] Furthermore, the robot 100 does not necessarily have to have the control unit 13 inside the exterior member 10, and the control unit 13 can also communicate with each device wirelessly from outside the exterior member 10. The battery 15 can also supply power to each component from outside the exterior member 10.

[0057] In this embodiment, a configuration in which the head 2, arms 3, and legs 4 are displaceable is exemplified, but this is not limiting, and at least one of the head 2, arms 3, and legs 4 may be displaceable. Furthermore, the arms 3 are configured as four-axis articulated robot arms, but may also be configured as six-axis articulated robot arms. Furthermore, it is preferable that an end effector such as a hand can be connected to the arms 3. Furthermore, the legs 4 are configured as wheeled, but may also be configured as crawler or legged.

[0058] The configuration and shape of the robot 100 are not limited to those exemplified in this embodiment, and can be changed as appropriate depending on the user's preferences and the manner in which the robot 100 is used. For example, the robot 100 may not be in the form of a baby bear, but may instead be in the form of another living creature or a humanoid or other humanoid form. The robot 100 may also be in the form of a mobile device such as a drone or vehicle having at least one of an arm, a display, a speaker, a light, and the like.

[0059] <Configuration example of heater module 300> 4 is a diagram illustrating the configuration of the heater module 300. FIG. 4 is a schematic cross-section of the exterior member 10 of the robot 100, cut along a plane perpendicular to the direction in which the exterior member 10 extends. For example, in the case of the exterior member 10 constituting the arm 3, the direction in which the arm 3 extends corresponds to the direction in which the exterior member 10 extends. As shown in FIG. 4, the heater module 300 has a heater 19, a supply unit 51, a heat insulating member 50, and a protection target 52.

[0060] As described in the description of FIGS. 1 to 3 , the heater 19 is a flexible fabric heater containing conductive fibers that generate heat in response to an applied voltage or current. The heater 19 includes, for example, a fabric formed by knitting conductive yarns and electrodes formed of electrode yarns and spaced apart on the fabric. The heater 19 is provided to cover the surface of the heat insulating member 50. The exterior member 10 includes the heater 19 and the heat insulating member 50. There are no particular limitations on the configuration of the heater 19 as long as it is fabric-like and can generate heat in response to an applied voltage or current. However, it is preferable that the heater 19 be made of a flexible material so that the user of the robot 100 feels comfortable when touching the robot 100. Furthermore, it is preferable that the heater 19 be stretchable from the viewpoint of easily installing the heater 19 on the robot 100 or installing the heater 19 in close contact with the surface of the robot 100.

[0061] The supply unit 51 is an electric circuit that supplies an applied voltage or an applied current to the heater 19 via wiring 511. The heater 19 generates heat in response to the applied voltage or applied current supplied from the supply unit 51. The supply unit 51 is mounted on a mounting substrate 61. Note that the supply unit 51 is not an essential component of the heater module 300. The heater module 300 may be configured so that an applied voltage or an applied current is supplied to the heater 19 from an external device.

[0062] The heat insulating member 50 is disposed between the object to be protected and the heater 19, and blocks heat transfer from the heater 19 to the object to be protected. The material of the heat insulating member 50 may be an organic material such as urethane foam, rubber, resin, or fiber. The heat insulating member 50 is preferably made of a flexible material so that the user of the robot 100 feels comfortable when touching the robot 100.

[0063] The heat insulating member 50 may be flexible by including at least one of an elastic body and a porous body. The elastic body includes a gel. The gel may be filled in a sealed container to form the exterior member 10. The porous body includes cotton. By including at least one of an elastic body and a porous body, the heat insulating member 50 is flexible, allowing a user who comes into contact with the robot 100 to feel the softness of the robot 100. This reduces the sense of constraint or resistance, and promotes communication between the user and the robot 100.

[0064] The object to be protected 52 is disposed inside the exterior member 10. The object to be protected 52 includes a drive unit 521, an electric circuit 522, and a processor 523. However, the object to be protected 52 may include at least one of a drive unit, an electric circuit, an electronic circuit, and a processor that operate the robot 100. Furthermore, the object to be protected 52 may include components other than the drive unit 521, the electric circuit 522, and the processor 523. The supply unit 51 may be included in the object to be protected 52.

[0065] In the example shown in this specification, the driving unit 521 is a servo motor that drives the arms 3, legs 4, etc. of the robot 100. The electric circuit 522 and the processor 523 are an electric circuit, a CPU (Central Processing Unit), etc. included in the control unit 13. The electric circuit 522 and the processor 523 are mounted on a mounting board 61. The driving unit 521 and the mounting board 61 are fixed to the frame 60 by adhesive members, screw members, etc. However, they may also be fixed directly to the heat insulating member 50.

[0066] In this embodiment, by disposing the heat insulating member 50 between the object to be protected 52 and the heater 19, the heat insulating member 50 can block the heat generated by the heater 19, thereby reducing the heat transfer of the heat generated by the heater 19 to the object to be protected 52. This makes it possible to provide a heater module 300 and a robot 100 having the heater module 300 that can reduce the heat transfer of the heat generated by the heater 19 to the object to be protected 52 when the heater 19 is disposed around the object to be protected 52. By reducing the heat transfer of the heat generated by the heater 19 to the object to be protected 52, it is possible to prevent damage or failure of the object to be protected 52 due to heat.

[0067] <Configuration example of camera 11> 5 is a diagram showing an example of the configuration of camera 11. Camera 11 has a photographing light source 201, a wavelength filter 202, a lens 203, and an image sensor 204. Camera 11 is camouflaged so as to be difficult to see from outside robot 100, and is placed near the surface of robot 100.

[0068] The imaging light source 201 irradiates the user 200 with irradiation light L of a predetermined peak wavelength. From the viewpoint of making the irradiation light less visible, the predetermined peak wavelength is preferably invisible light such as near-infrared light. The wavelength filter 202 is an optical element that transmits light of a wavelength near the peak wavelength of the irradiation light L from the imaging light source 201. The lens 203 forms an image of the user 200 or the like on the imaging surface of the imaging element 204 using reflected light R of the irradiation light L from the imaging light source 201 by the user 200 or the like. The imaging element 204 captures the image formed by the lens 203 and outputs a captured image Im to the control unit 13. A CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) or the like can be used as the imaging element. The captured image may be either a still image or a video image.

[0069] The captured image Im output by the camera 11 corresponds to information relating to the user 200 coming into contact with or approaching the robot 100. When the user 200 comes into contact with or approaches the robot 100, an image of the user 200 is included in the captured image Im. The control unit 13 that receives the captured image Im from the camera 11 can detect the user 200 included in the captured image Im by, for example, performing image processing on the captured image Im, and can detect that the user 200 has come into contact with or approached the robot 100.

[0070] The camera 11 is provided with a wavelength filter 202, which camouflages the lens 203 and the image sensor 204 so that they are difficult to see from outside the robot 100. The camera 11 captures an image of the user 200 using light from the imaging light source 201 that is reflected by the user 200 and transmitted through the wavelength filter 202. The nose 5 is a part that the user 200 is less likely to touch than the torso 1, head 2, arms 3, etc. By providing the camera 11 on the nose 5, the user 200 is less likely to touch the camera 11. This reduces the discomfort in the feel of the touch when the user 200 touches the robot 100, which is caused by the surface of the camera 11 being harder than the surface of the exterior member 10. Even if the user 200 touches the nose 5, the feeling of discomfort is not particularly unnatural even if the feel of the nose 5 is different from the feel of the torso 1, head 2, arms 3, etc., and therefore the discomfort in the feel of the touch can be reduced.

[0071] The position where camera 11 is placed is not limited to nose 5, but may be other parts such as mouth or eyes, as long as the same effect as the above-described placement on nose 5 can be obtained. Furthermore, camera 11 is not limited to being placed inside exterior member 10, but may be placed outside exterior member 10. When camera 11 is placed outside exterior member 10, it is not necessarily required to camouflage camera 11 so that it is difficult to see, and therefore camera 11 does not need to have wavelength filter 202 for camouflage.

[0072] The camera 11 may be configured as a TOF (Time Of Flight) camera that outputs a distance image of the periphery of the robot 100 to the control unit 13. Therefore, the captured image Im output from the camera 11 may include a three-dimensional captured image (distance image) in addition to or instead of the two-dimensional captured image. The captured image Im may be used to detect contact or approach of the user 200, detect the distance from the robot 100 to the user 200, authenticate the user 200, or estimate the emotion or behavior of the user 200. The robot 100 may have multiple cameras 11 at multiple locations on the robot 100 for different purposes. In addition to the camera 11, the robot 100 may also include a human presence sensor such as an ultrasonic sensor, an infrared sensor, a millimeter-wave radar, a LiDAR (Light Detection And Raging), or a pyroelectric sensor as a detection unit.

[0073] <Configuration example of vital sensor 14> 6 is a diagram illustrating an example of the configuration of vital sensor 14. Vital sensor 14 is a microwave Doppler sensor including microwave emitting section 141 and microwave receiving section 142. Microwaves are an example of electromagnetic waves.

[0074] Vital sensor 14 emits emitted waves Ms, which are microwaves, from the inside of exterior member 10 toward user 200 using microwave emitter 141. Vital sensor 14 also receives reflected waves Mr, which are waves that are generated by user 200 reflecting emitted waves Ms, using microwave receiver 142.

[0075] The vital sensor 14 detects, in a non-contact manner, minute displacements occurring on the body surface of the user 200 due to factors such as the beating of the heart of the user 200, using the Doppler effect from the difference between the frequency of the emitted wave Ms and the frequency of the reflected wave Mr. The vital sensor 14 can acquire information such as the heartbeat, breathing, pulse wave, blood pressure, and pulse pressure as biometric information of the user 200 from the detected minute displacements, and output this information to the control unit 13. The biometric information includes at least one of the pulse, blood pressure, heartbeat, and breathing. The respiratory information includes the respiratory rate, rhythm, and depth of breathing. The pulse wave includes the pulse, pulse interval RR, pulse waveform, pulse wave velocity, and the like.

[0076] Vital sensor 14 is not limited to a microwave Doppler sensor, but may be one that detects minute displacements occurring on the body surface by utilizing changes in coupling between the human body and an antenna, or one that uses electromagnetic waves other than microwaves, such as near-infrared light. Vital sensor 14 may also be a millimeter-wave radar, microwave radar, or the like. Furthermore, vital sensor 14 preferably also includes a non-contact thermometer that detects infrared rays or the like emitted from user 200 in addition to a Doppler sensor. In this case, vital sensor 14 detects biometric information of user 200, including information on at least one of heart rate (pulse), respiration, blood pressure, and body temperature. Vital sensor 14 may also include multiple vital sensors that can detect multiple types of biometric information, such as heart rate, respiration, pulse wave, blood pressure, and pulse pressure, for each type, and detect multiple types of biometric information.

[0077] Because the vital sensor 14 is provided inside the exterior member 10, the user 200 cannot see the vital sensor 14. This reduces the user 200's resistance to having their biometric information detected, making it possible to smoothly acquire the biometric information. Furthermore, because the vital sensor 14 can acquire biometric information without contact, it can acquire biometric information even if the user 200 moves to a certain extent, unlike a contact-type sensor that requires the user 200 to be in contact with the same place for a certain period of time.

[0078] Furthermore, by encouraging contact between the user 200 and the robot 100 through a hugging motion or the like of the robot 100, the robot 100 can acquire biometric information while being held by the user 200 and in contact with or close to the user 200. This allows the robot 100 to acquire highly reliable biometric information with reduced noise.

[0079] <Configuration example of control unit 13> (Example of hardware configuration) 7 is a block diagram showing an example of the hardware configuration of the control unit 13. The control unit 13 is constructed by a computer and has a CPU 131, a ROM (Read Only Memory) 132, and a RAM (Random Access Memory) 133. The control unit 13 also has an HDD / SSD (Hard Disk Drive / Solid State Drive) 134, a device connection I / F (Interface) 135, and a communication I / F 136. These are connected to each other via a system bus A so that they can communicate with each other.

[0080] The CPU 131 executes control processing including various types of arithmetic processing. The ROM 132 stores programs used to drive the CPU 131, such as an IPL (Initial Program Loader). The RAM 133 is used as a work area for the CPU 131. The HDD / SSD 134 stores various types of information such as programs, captured images acquired by the camera 11, biological information acquired by the vital sensor 14, and detection information by various sensors such as tactile signals acquired by the tactile sensor 12.

[0081] The device connection I / F 135 is an interface for connecting the control unit 13 to various external devices. The external devices here include the camera 11, the tactile sensor 12, the vital sign sensor 14, the first capacitance sensor 21, the second capacitance sensor 31, the robot temperature sensor 18, the user temperature sensor 20, the servo motor 35, the battery 15, and the heater 19. The heater 19 is connected to the control unit 13 via the supply unit 51 shown in FIG. 4.

[0082] Here, servo motor 35 is a collective term for right arm servo motor 35a, left arm servo motor 35b, head servo motor 35c, right leg servo motor 35d, and left leg servo motor 35e.

[0083] The communication I / F 136 is an interface for communicating with an external device via a communication network, etc. For example, the control unit 13 connects to the Internet via the communication I / F 136 and communicates with an external device via the Internet.

[0084] At least a part of the functions realized by the CPU 131 may be realized by an electric circuit or an electronic circuit.

[0085] (Example of functional configuration) 8 is a block diagram showing an example of the functional configuration of control unit 13. Control unit 13 has an acquisition unit 101, a communication control unit 102, a storage unit 103, an authentication unit 104, a registration unit 105, a start control unit 106, a motor control unit 107, an approach detection unit 108, and an output unit 109. Control unit 13 further has a heater control unit 110. Note that control unit 13 may further have functional configuration units other than those described above.

[0086] The control unit 13 can realize the functions of the acquisition unit 101 and the output unit 109 using a device connection I / F 135 or the like, and can realize the function of the communication control unit 102 using a communication I / F 136 or the like. The control unit 13 can also realize the functions of the storage unit 103 and the registration unit 105 using a nonvolatile memory such as an HDD / SSD 134. The control unit 13 can also realize the functions of the authentication unit 104, the start control unit 106, the motor control unit 107, the approach detection unit 108, and the heater control unit 110 by a processor such as a CPU 131 executing processing defined in a program stored in a nonvolatile memory such as a ROM 132. Some of the above functions of the control unit 13 may be realized by an external device such as a PC or a server, or may be realized by distributed processing between the control unit 13 and the external device.

[0087] The acquisition unit 101 controls communication between the control unit 13 and the camera 11 to acquire a captured image Im of the user 200 (see FIG. 5, etc.) from the camera 11. The acquisition unit 101 also controls communication between the control unit 13 and the tactile sensor 12 to acquire a tactile signal S from the tactile sensor 12. The acquisition unit 101 also controls communication between the control unit 13 and the vital sensor 14 to acquire biometric information B of the user 200 from the vital sensor 14.

[0088] The acquiring unit 101 also controls communication between the control unit 13 and the first capacitance sensor 21 to acquire a first capacitance signal C1 from the first capacitance sensor 21. The acquiring unit 101 also controls communication between the control unit 13 and the second capacitance sensor 31 to acquire a second capacitance signal C2 from the second capacitance sensor 31.

[0089] The acquisition unit 101 also controls communication between the control unit 13 and the robot temperature sensor 18 to acquire robot temperature information T1 from the robot temperature sensor 18. The robot temperature information T1 corresponds to a temperature detection signal output from the robot temperature sensor 18. The acquisition unit 101 also controls communication between the control unit 13 and the user temperature sensor 20 to acquire user temperature information T2 from the user temperature sensor 20. The user temperature information T2 corresponds to a temperature detection signal output from the user temperature sensor 20.

[0090] The communication control unit 102 controls communication with an external device via a communication network, etc. For example, the communication control unit 102 can transmit a captured image Im acquired by the camera 11, biological information B acquired by the vital sensor 14, a tactile signal S acquired by the tactile sensor 12, etc. to the external device via the communication network.

[0091] The storage unit 103 stores the biological information B acquired by the vital sensor 14. While the acquisition unit 101 is acquiring the biological information B from the vital sensor 14, the storage unit 103 continuously stores the acquired biological information B. The storage unit 103 can also store information obtained from the image Im captured by the camera 11, the tactile signal S from the tactile sensor 12, the first capacitance signal C1 from the first capacitance sensor 21, and the second capacitance signal C2 from the second capacitance sensor 31. The storage unit 103 may also store information related to the temperature or temperature range that stimulates the thermoreceptors of the user 200. The information related to the temperature range that stimulates the thermoreceptors of the user 200 is information such as 32°C or higher and 43°C or lower.

[0092] The authentication unit 104 performs personal authentication of the user 200 based on an image Im of the user 200 captured by the camera 11. For example, the authentication unit 104 performs face authentication by referring to registration information 150 of face images pre-registered in the registration unit 105 based on the captured image Im including the face of the user 200 captured by the camera 11. This makes it possible to associate the user 200 currently in contact with or in proximity to the robot 100 with pre-registered personal information, and to associate the biometric information B acquired by the vital sensor 14 with the personal information. Furthermore, if the face image included in the captured image Im is not registered in the registration unit 105, the control unit 13 can also control the vital sensor 14 to stop starting acquisition of biometric information.

[0093] The start control unit 106 causes the vital sensor 14 to start acquiring the biometric information B. For example, when the approach detection unit 108 detects that the user 200 has come into contact with or approached the robot 100, the start control unit 106 turns on a switch or the like that supplies power from the battery 15 to the vital sensor 14. This causes the start control unit 106 to start acquiring the biometric information B.

[0094] The approach detection unit 108 detects contact or approach of the user 200 with the robot 100 based on the captured image Im captured by the camera 11, etc. For example, the approach detection unit 108 detects the user 200 included in the captured image Im by processing the captured image Im input via the acquisition unit 101. Specifically, the approach detection unit 108 detects a moving object using multiple captured images Im. If the object satisfies a predetermined condition indicating a characteristic of a "user," the approach detection unit 108 detects that the user 200 has contacted or approached the robot 100 by detecting that the user 200 is included in the captured image Im. Examples of the condition indicating a characteristic of a "user" include conditions that determine the shape of the object, the way the object moves, etc. The approach detection unit 108 outputs approach information M1 regarding contact or approach of the user 200 with the robot 100 to the heater control unit 110. The approach detection unit 108 may also output the approach information M1 to the motor control unit 107.

[0095] The method of detecting by the camera 11 that the user 200 has come into contact with or approached the robot 100 is not limited to the above. For example, the approach detection unit 108 may detect that the user 200 is included in the captured image Im by analyzing the captured image Im using a deep neural network (DNN) or the like. Alternatively, the approach detection unit 108 may detect that the user 200 has come into contact with or approached the robot 100 by detecting the distance from the robot 100 to the user 200 based on the captured image Im by the camera 11.

[0096] The approach detection unit 108 may detect that the user 200 has come into contact with or approached the robot 100 based on the output of the user temperature sensor 20. For example, if the user temperature sensor 20 includes an infrared camera, the user temperature sensor 20 detects infrared rays as heat rays emitted from the user 200. Based on this detection result, the approach detection unit 108 can detect that the user 200 has come into contact with or approached the robot 100. In this case, the user temperature sensor 20 corresponds to the detection unit. That is, the user temperature sensor 20 can output information related to the user 200's coming into contact with or approaching the robot 100, as well as information related to the surface temperature of the user 200.

[0097] The motor control unit 107 controls the operation of the servo motor 35 by outputting a command N1 to the servo motor 35 via the output unit 109. For example, when the surface temperature of the robot 100 has not yet reached a temperature at which it can provide warmth, the motor control unit 107 may cause the robot 100 to perform the following actions (a) to (c) based on approach information M1 from the approach detection unit 108, thereby temporarily avoiding contact with the user. (a) Move the leg 4 to make the robot 100 step back. (b) The arms 3 are moved to make the robot 100 flap its hands. (c) The head 2 and arms 3 are moved to make the robot 100 dance.

[0098] The heater control unit 110 controls the operation of the heater 19 based on the output of the camera 11 so that the surface temperature of the robot 100 becomes a predetermined temperature. The heater control unit 110 controls the operation of the heater 19 by outputting a command N2 to the heater 19 via the output unit 109. For example, when information relating to the user 200 coming into contact with or approaching the robot 100 is output from the camera 11, the heater control unit 110 causes the heater 19 to start an operation to vary the surface temperature of the robot 100. Based on the output from the approach detection unit 108, the heater control unit 110 can detect that information relating to the user 200 coming into contact with or approaching the robot 100 has been output from the camera 11.

[0099] The heater control unit 110 acquires the robot temperature information T1 output from the robot temperature sensor 18 via the acquisition unit 101. When the robot surface temperature is lower than the target temperature, the heater control unit 110 heats the surface of the robot 100 using the heater 19. In this way, the heater control unit 110 can increase the surface temperature of the robot 100 and bring the surface temperature of the robot 100 closer to the target temperature. The target temperature corresponds to a predetermined temperature, and is, for example, a temperature that stimulates the thermoreceptors of the user 200. The robot 100 can provide comfort to the user 200 by stimulating the thermoreceptors of the user 200 who comes into contact with the robot 100.

[0100] The heater control unit 110 may acquire user temperature information T2 output from the user temperature sensor 20 via the acquisition unit 101 and control the operation of the heater 19 based on the user temperature information T2. ​​The temperature that stimulates the thermoreceptors of the user 200 varies depending on the body temperature of the user 200. For example, if the surface temperature of the robot 100 is set to a temperature slightly higher than the surface temperature of the user 200, the thermoreceptors of the user 200 are more easily stimulated. The heater control unit 110 sets a target temperature that stimulates the thermoreceptors according to the body temperature of the user 200 based on the user temperature information T2. ​​The heater control unit 110 controls the heating by the heater 19 to bring the surface temperature of the robot 100 closer to the target temperature. In this way, the heater control unit 110 can provide appropriate comfort to the user 200 who comes into contact with the robot 100, depending on the body temperature of the user 200.

[0101] <Example of processing by the control unit 13> Fig. 9 is a flowchart illustrating processing by the control unit 13. Fig. 9 shows an example of processing by the control unit 13 in the robot 100 to set the surface temperature of the robot 100 to a predetermined temperature. The control unit 13 starts the processing of Fig. 9 when the approach detection unit 108 detects that the user 200 has come into contact with or approached the robot 100. The following description will be given with appropriate reference to the functional configuration diagram of Fig. 8.

[0102] First, in step S91, the control unit 13 causes the heater control unit 110 to acquire the user temperature information T2 output from the user temperature sensor 20 via the acquisition unit 101.

[0103] Next, in step S92, the control unit 13 causes the heater control unit 110 to set a target temperature based on the user temperature information T2, for example, a temperature that stimulates the thermoreceptors according to the body temperature of the user 200.

[0104] Next, in step S93, the control unit 13 causes the heater control unit 110 to acquire robot temperature information T1 output from the robot temperature sensor 18 via the acquisition unit 101. Note that the order of the set of processes in steps S91 and S92 and the process in step S93 may be changed as appropriate, or both may be performed in parallel.

[0105] Next, in step S94, the control unit 13 determines whether the difference between the robot surface temperature and the target temperature is equal to or less than a predetermined threshold value using the heater control unit 110. The predetermined threshold value may be stored in the storage unit 103 in advance.

[0106] If it is determined in step S94 that the difference between the robot surface temperature and the target temperature is not equal to or less than the predetermined threshold (step S94, NO), in step S95, the control unit 13 controls the heater 19 by the heater control unit 110 to heat the heater 19 so that the surface temperature of the robot 100 increases. Thereafter, the control unit 13 performs the processes from step S91 onward again. Note that, although an example is shown here in which the robot surface temperature is lower than the target temperature and the robot surface temperature is increased to approach the target temperature, the present invention is not limited to this. For example, the robot 100 may have a Peltier element, as a variable part of the heater 19, capable of cooling the surface of the robot 100, and the heater control unit 110 may control the operation of the Peltier element so that the surface temperature of the robot 100 decreases when the surface temperature of the robot 100 is higher than the target temperature.

[0107] On the other hand, if it is determined in step S94 that the difference between the robot surface temperature and the target temperature is equal to or less than the predetermined threshold (step S94, YES), then in step S96, the control unit 13 determines whether or not to terminate the process. For example, the control unit 13 can determine to terminate the process when a predetermined time has elapsed, and can determine not to terminate the process when the predetermined time has not elapsed. Alternatively, the control unit 13 can determine to terminate the process when the approach detection unit 108 detects that the user 200 is not in contact with or approaching the robot 100, and can determine not to terminate the process when it detects that the user 200 is in contact with or approaching the robot 100. However, the method of determining whether or not to terminate the process may be other than the above.

[0108] If it is determined in step S96 that the process should not be terminated (step S96, NO), the control unit 13 performs the process from step S91 onwards again. On the other hand, if it is determined in step S96 that the process should be terminated (step S96, YES), the control unit 13 terminates the process.

[0109] In this manner, the control unit 13 can perform processing on the robot 100 to set the surface temperature of the robot 100 to a predetermined temperature.

[0110] <First Modification> The heater module according to the embodiment can be modified in various ways. Various modified examples of the heater module according to the embodiment will be described below. First, the heater module according to the first modified example will be described. The heater module according to the first modified example differs from the above-described embodiment in that it further has an insulating member on the outside of the heater 19. Note that the same names and symbols as those in the above-described embodiment indicate the same or similar members, and detailed description will be omitted as appropriate. This also applies to the other modified examples described below.

[0111] 10 is a diagram illustrating the configuration of a heater module 300a according to a first modified example. The heater module 300a has an exterior member 10a. The exterior member 10a has an insulating member 53 on the outside of the heater 19.

[0112] The insulating member 53 is made of a material that does not conduct electricity or that does not easily conduct electricity. A resin material that does not easily conduct electricity and is soft is preferable as the material for the insulating member 53. By providing the insulating member 53 on the outside of the heater 19, even if the applied voltage or applied current supplied to the heater 19 leaks, the applied voltage or applied current can be prevented from leaking out of the insulating member 53. This prevents a user who comes into contact with the heater module 300a or the robot 100 having the heater module 300a from receiving an electric shock due to a current leak.

[0113] <Second Modification> The heater module according to the second modification will be described below. The heater module according to the second modification has a supply unit 51 that supplies an applied voltage or an applied current to the heater 19, and differs from the above-described embodiment and modifications in that the supply unit 51 supplies the applied voltage or the applied current only to a partial region of the heater 19.

[0114] 11 is a diagram illustrating the configuration of a heater module 300b according to a second modified example. The heater module 300b has an exterior member 10b. The exterior member 10b has a heater 19b.

[0115] The heater 19b is disposed around the object to be protected 52 and includes conductive fibers that generate heat in response to an applied voltage or current. The heater 19b also includes a first region 19A, a second region 19B, and a third region 19C. The first region 19A and the second region 19B are electrically insulated via a first boundary Bd1. The second region 19B and the third region 19C are electrically insulated via a second boundary Bd2. The third region 19C and the first region 19A are electrically insulated via a third boundary Bd3. The supply unit 51 supplies an applied voltage or current only to the second region 19B via, for example, wiring 511b, thereby causing only the second region 19B to generate heat. The first region 19A, the second region 19B, and the third region 19C are not thermally insulated, and heat generated in the second region 19B can be transferred to each of the first region 19A and the third region 19C.

[0116] The heater module 300b supplies an applied voltage or an applied current only to the second region 19B, thereby reducing power consumption and enabling the surfaces of the exterior member 10 and the robot 100 to be heated to a predetermined temperature, compared to when an applied voltage or an applied current is supplied to the entire region of a heater that covers the entire exterior member 10b.

[0117] In this modification, an example in which only the second region 19B is heated has been shown, but a configuration in which heat is generated in some of the first region 19A, the second region 19B, and the third region 19C may also be used. Furthermore, the heater 19b is not limited to three regions, and may have a plurality of regions, some of which generate heat.

[0118] <Third Modification> The heater module according to the third modification will be described. The heater module according to the third modification further includes a thermally conductive member, and the area of ​​the thermally conductive member is larger than the area of ​​the heater 19, which is different from the above-described embodiments and modifications.

[0119] 12 is a diagram illustrating the configuration of a heater module 300c according to a third modified example. The heater module 300c has an exterior member 10c. The exterior member 10c has a heater 19c and a thermally conductive member 54.

[0120] The heater 19c is disposed around the object to be protected 52 and includes conductive fibers that generate heat in response to an applied voltage or current. The heater 19c is provided only in a partial area of ​​the heat insulating member 50, rather than covering the entire heat insulating member 50.

[0121] The thermally conductive member 54 is a member containing a material with high thermal conductivity so as to transfer heat generated by the heater 19c. The thermally conductive member 54 is provided outside the heater 19. The area of ​​the thermally conductive member 54 is larger than the area of ​​the heater 19. Because the area of ​​the thermally conductive member 54 is larger than the area of ​​the heater 19, the heat generated by the heater 19c, which is provided only in a partial area of ​​the heat insulating member 50, can be transferred to an area larger than the area of ​​the heater 19c. In other words, the heat insulating member 50 can transfer the heat generated by the heater 19c to both the area where the heater 19c is provided and the area where the heater 19c is not provided. By reducing the area of ​​the heater 19, power consumption can be reduced while heat can be transferred to a wide area of ​​the thermally conductive member 54, including the area where the heater 19 is not provided, thereby providing comfort to a user who comes into contact with or near the robot 100. The smaller the area of ​​the heater 19, the more power consumption can be reduced.

[0122] The thermally conductive member 54 may be made of a metal material such as aluminum, copper, or silver, which has high thermal conductivity. The thermally conductive member 54 may be made of a fabric formed by weaving threads of a metal material, may be made of a thin film of a metal material, or may be made of a resin material or the like containing a metal material. In the robot 100, the thermally conductive member 54 may be provided inside the heater 19.

[0123] Although the preferred embodiments have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the claims.

[0124] Furthermore, all ordinal numbers, quantitative numbers, and other figures used in the above-described embodiments are merely examples for specifically explaining the technology of the present invention, and the present invention is not limited to the exemplified figures. Furthermore, the connection relationships between the components are merely examples for specifically explaining the technology of the present invention, and the connection relationships for realizing the functions of the present invention are not limited to these.

[0125] The heater module according to this embodiment can be used for a variety of purposes, not limited to exterior components of robots, such as changing the surface temperature of a seat that has an object to be protected inside.

[0126] The robot according to this embodiment is particularly suitable for use in providing comfort (a sense of security or self-affirmation) by promoting oxytocin secretion in working people living alone, seniors whose children have become independent, frail elderly people receiving home medical care, etc. However, the robot is not limited to this use and can be used for providing comfort to a variety of users.

[0127] Aspects of the present disclosure are, for example, as follows. <1> The heater module includes: an object to be protected; a flexible heater that is arranged around the object to be protected and generates heat in response to an applied voltage or current; and an insulating member that is arranged between the object to be protected and the heater. <2> the heater includes conductive fibers that generate heat in response to the applied voltage or the applied current. <1> 2. The heater module according to claim 1, <3> The heater further includes an insulating member on the outside thereof. <1> or the above <2> 2. The heater module according to claim 1, <4> The object to be protected includes at least one of a drive unit, an electric circuit, an electronic circuit, and a processor that operates the robot. <1> From the above <3> The heater module is described in any one of the above. <5> a supply unit that supplies the applied voltage or the applied current to the heater, the supply unit supplying the applied voltage or the applied current to only a partial region of the heater; <1> From the above <4> The heater module is described in any one of the above. <6> The heater further includes a thermally conductive member on the outside of the heater, and the area of ​​the thermally conductive member is larger than the area of ​​the heater. <1> From the above <5> The heater module is described in any one of the above. <7> A robot that can come into contact with a user, <1> From the above <6> A robot having the heater module according to any one of the above. <8> The object to be protected includes at least one of a driving unit, an electric circuit, an electronic circuit, and a processor that operate the robot. <7> The robot is described in <9> a detection unit that acquires information about the user's contact with or approach to the robot, and a control unit that controls the operation of the drive unit based on the information acquired by the detection unit, <7> or the above <8> The robot is described in <10> The heat insulating member includes at least one of an elastic body and a porous body. <7> From the above <9> The robot is described in any one of the above. [Explanation of symbols]

[0128] 1. Torso 2 heads 2a Right eye 2b Left eye 2c Mouth 2d Right cheek 2e Left cheek 3 Arms 3a Right arm 3b Left arm 4 legs 4a Right leg 4b Left leg 5 Nose 10, 10a, 10b, 10c Exterior members 11 Camera (an example of a detection unit) 12 Tactile Sensor 13 Control Unit 14 Vital Sensor 141 Microwave emission unit 142 Microwave receiver 15 Battery 16 Body frame 17 Body mounting stand 18 Temperature sensor for robots 19, 19b, 19c heater 19A 1st area 19B 2nd area 19C 3rd area 20 User temperature sensor 21 First capacitance sensor 22 Head frame 23 Head rest 24 displays 24a Right eye display 24b Left eye display 25 speakers 26 Light 26a Right cheek light 26b Left cheek light 27 Head connection mechanism 31 Second capacitance sensor 32a Right arm frame 32b Left arm frame 33 Right arm rest 34a Right arm connection mechanism 34b Left arm connection mechanism 35 Servo motor 35a Right arm servo motor 35b Left arm servo motor 35c head servo motor 35d Right leg servo motor 35e Left leg servo motor 41a Right leg wheel 41b Left leg wheel 42a Right leg frame 42b Left leg frame 44a Right leg connection mechanism 44b Left leg connection mechanism 50 Heat insulating materials 51 Supply section 511, 511b wiring 52 Protected Objects 521 Drive unit 522 Electrical Circuits 523 processor 53 Insulating materials 54 Thermally conductive material 60 frames 61 Mounting board 100 robots 101 Acquisition Department 102 Communication control unit 103 Storage area 104 Authentication Section 105 Registration Department 106 Start control section 107 Motor control unit 108 Approach detection unit 109 Output section 110 Heater control unit 111 Variable mechanism control unit 112 Display control unit 113 Audio control unit 114 Light emission control unit 131 CPU 132 ROM 133 RAM 134 HDD / SSD 135 Device connection I / F 136 Communication I / F 150 Registration Information 191 Abdomen 200 users 201 Light source for photography 202 Wavelength Filter 203 Lens 204 Image sensor 300, 300a, 300b, 300c heater modules A System Bus B. Biometric information Bd1 1st boundary Bd2 2nd boundary Bd3 Third boundary C1 First capacitance signal C2 Second capacitance signal F1a Right shoulder frame F2a Right Upper Arm Frame F3a Right elbow frame F4a Right Forearm Frame F1b left shoulder frame F2b Left upper arm frame F3b left elbow frame F4b Left forearm frame F1c Cervical Frame F2c Face Frame Im photo Ms launch wave Mr reflected wave M1 approach information M1a Right shoulder servo motor M2a Right Upper Arm Servo Motor M3a Right Elbow Servo Motor M4a Right Forearm Servo Motor M1b Left shoulder servo motor M2b Left upper arm servo motor M3b Left elbow servo motor M4b Left forearm servo motor M1c neck servo motor M2c face servo motor N1~N2 command R Reflected light S Tactile signal T1 Robot Temperature Information T2 User temperature information

Claims

1. The protected object, and a flexible heater that is disposed around the object to be protected and generates heat in response to an applied voltage or current; a heat insulating member disposed between the object to be protected and the heater.

2. The heater module according to claim 1 , wherein the heater includes conductive fibers that generate heat in response to the applied voltage or the applied current.

3. 3. The heater module according to claim 1, further comprising an insulating member on the outside of said heater.

4. The heater module according to claim 1 or 2, wherein the object to be protected includes at least one of a drive unit, an electric circuit, an electronic circuit, and a processor that operates a robot.

5. a supply unit that supplies the applied voltage or the applied current to the heater; 3. The heater module according to claim 1, wherein the supply unit supplies the applied voltage or the applied current to only a partial region of the heater.

6. Further comprising a thermally conductive member; 3. The heater module according to claim 1, wherein the area of ​​the thermally conductive member is larger than the area of ​​the heater.

7. A robot that can come into contact with a user, A robot comprising the heater module according to claim 1 or 2.

8. The robot of claim 7 , wherein the object to be protected includes at least one of a drive unit, an electric circuit, an electronic circuit, and a processor that operates the robot.

9. a detection unit that acquires information regarding the user's contact with or approach to the robot; The robot according to claim 7 , further comprising: a control unit that controls an operation of the heater based on the information acquired by the detection unit.

10. The robot according to claim 7 , wherein the heat insulating member includes at least one of an elastic body and a porous body.

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