Robot control device, robot, robot control method, and program

Abstract

To provide a robot control device, a robot, a robot control method, and a program capable of suppressing execution of an unnatural operation by the robot.SOLUTION: A robot control device controls a robot having a sensor for detecting an external stimulus, and includes a control part for stopping a detection operation by the sensor or reducing detection sensitivity by the sensor over a predetermined period from a point of time when a certain operation is completed when it is determined that the certain operation by the robot is completed.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Conventionally, robots that can behave like living creatures by detecting external stimuli using sensors such as microphones and touch sensors and reacting to the detected external stimuli have been known. In addition, in order to make robots look more lifelike, a method has been used in which the robot's body is covered with an exterior that resembles fur or the like (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-121274 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is difficult to make such an exterior perfectly follow the movement of the main body, and the exterior may rub or slip against the main body. When this occurs, the sensor may mistakenly detect it as an external stimulus, causing the robot to behave unnaturally.

[0005] The present invention aims to prevent a robot from performing unnatural movements. [Means for solving the problem]

[0006] In order to solve the above problems, the robot control device according to the present invention comprises: A robot control device for controlling a robot having a sensor that detects an external stimulus, When it is determined that a certain action by the robot has been completed, the detection action by the sensor is stopped or the detection sensitivity of the sensor is reduced for a predetermined period from the point in time when the certain action has been completed. It has a control unit. [Effects of the Invention]

[0007] According to the present invention, it is possible to prevent a robot from performing unnatural movements. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the appearance of a robot. [Figure 2] FIG. 2 is a schematic diagram showing the configuration of a main body of the robot. [Figure 3] FIG. 2 is a block diagram showing the functional configuration of the robot. [Figure 4] FIG. 10 is a schematic cross-sectional view showing the robot stored in the power supply device and being charged. [Figure 5] FIG. 10 is a diagram illustrating a first reaction suppression operation. [Figure 6] 10 is a flowchart showing a control procedure of an operation control process. [Figure 7] 10 is a flowchart showing a control procedure of a detection suppression process. [Figure 8] 10A and 10B are diagrams illustrating a first reaction suppression operation in a modified example. [Figure 9] 10 is a flowchart showing a control procedure of an operation control process in a modified example. [Figure 10] 10 is a flowchart showing a control procedure for a detection suppression process in a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, robot 1 includes main body 100 and exterior 200 that covers the entire surface of main body 100. Robot 1 is a pet robot that resembles a small living creature. Robot 1 can perform a number of different movements that mimic the behavior of living creatures. Exterior 200 is made of a flexible material and deforms in response to the movement of main body 100. Exterior 200 may include, for example, fur made of pile fabric or decorative elements that resemble eyes. An engaging portion (not shown) is provided on the back surface of exterior 200 (the surface that comes into contact with main body 100) that can engage with a fastener (not shown) provided on the surface of main body 100. Engaging the engaging portion with the fastener prevents significant misalignment between main body 100 and exterior 200. The number of engaging portions and fasteners is kept to a minimum so as not to interfere with the movement of main body 100 and to facilitate easy attachment and detachment of exterior 200. In this embodiment, the engaging portions and fasteners are provided at three locations in total: at the positions of the left and right eyes of the robot 1, and at the rear end.

[0010] As shown in FIG. 2, the main body 100 of the robot 1 has a head 101, a torso 103, and a connecting part 102 that connects the head 101 and the torso 103. Hereinafter, the part of the robot 1 that corresponds to the head 101 will be referred to as the "neck." The main body 100 has a driving part 40 for moving the head 101 relative to the torso 103. That is, in the robot 1, the head 101 corresponds to the "movable part." The driving part 40 has a twisting motor 41 and a vertical movement motor 42. The twisting motor 41 is a servo motor that rotates the head 101 and the connecting part 102 within a predetermined angle range around a first rotation axis 401 that extends in the extension direction of the connecting part 102. Operation of the twisting motor 41 causes the robot 1 to twist its neck. The up-down motor 42 is a servo motor that rotates the head 101 within a predetermined angular range around a second rotation axis 402 that is perpendicular to the first rotation axis 401. The up-down motor 42 causes the robot 1 to move its neck up and down. The direction of the up-down movement of the neck can be inclined relative to the vertical direction depending on the angle of twist of the neck caused by the twist motor 41. By operating the twist motor 41 and / or the up-down motor 42 in a fine, cyclical manner, the robot 1 can move its neck in a shaking or trembling manner. By appropriately changing and combining the timing, magnitude, and speed of the operations of the twist motor 41 and the up-down motor 42, the robot 1 can be made to perform a variety of movements, such as movements of joy, surprise, and breathing movements that mimic the breathing of a living creature. Of these movements, breathing movements are one form of spontaneous movement by the robot 1.

[0011] As shown in FIG. 2, the main body 100 includes a first touch sensor 51a (sensor), a second touch sensor 51b (sensor), an acceleration sensor 52, a gyro sensor 53, an illuminance sensor 54, a microphone 55 (sensor), a sound output unit 30, and a power receiving coil 73. The first touch sensor 51a is provided on the top of the head 101. The second touch sensor 51b is provided on the top and side of the body 103. Hereinafter, any one of the first touch sensor 51a and the second touch sensor 51b will be referred to as the "touch sensor 51." The acceleration sensor 52, the gyro sensor 53, and the power receiving coil 73 are provided near the bottom surface of the body 103. The illuminance sensor 54 and the sound output unit 30 are provided on the top of the body 103. The microphone 55 is provided on the top of the head 101 near the base.

[0012] As shown in FIG. 3, the robot 1 includes a CPU 11 (Central Processing Unit) (control unit, control means), a RAM 12 (Random Access Memory), a storage unit 13, an operation unit 20, a sound output unit 30, a drive unit 40, a sensor unit 50, a communication unit 60, and a power supply unit 70. The various units of the robot 1 are connected via a data transmission path such as a bus. All of the functional components shown in FIG. 3 are provided in the main body 100. The CPU 11, RAM 12, and storage unit 13 form a robot control device 10 that controls the operation of the robot 1.

[0013] The CPU 11 is a processor that controls the operation of the robot 1 by reading and executing a program 131 stored in the storage unit 13 and performing various arithmetic processing. The robot 1 may have multiple processors (e.g., multiple CPUs), and the multiple processes performed by the CPU 11 of this embodiment may be executed by the multiple processors. In this case, the multiple processors form a control unit. In this case, the multiple processors may be involved in a common process, or the multiple processors may independently execute different processes in parallel. The RAM 12 provides a working memory space for the CPU 11 and stores temporary data.

[0014] The storage unit 13 is a non-transitory recording medium readable by the CPU 11 as a computer, and stores a program 131 and various data. The storage unit 13 includes a non-volatile memory such as a flash memory. The program 131 is stored in the storage unit 13 in the form of computer-readable program code. Data stored in the storage unit 13 includes operation setting data 132. The operation setting data 132 includes settings for reactive actions performed by the robot 1 in response to the state of the robot 1 and external stimuli, automatically generated actions performed by the robot 1 without external stimuli, and breathing actions. The automatically generated actions can also be referred to as whimsical actions, as the robot 1 appears to be performing these actions at random. Settings related to the operation contents include, for example, settings for the operation timing and amount of the twist motor 41 and vertical movement motor 42 of the drive unit 40, and settings for the pitch (height), duration, and volume of the sound output by the sound output unit 30.

[0015] The operation unit 20 includes operation buttons and knobs for turning the power on and off and adjusting the volume of the sound output by the sound output unit 30. The operation unit 20 outputs operation information to the CPU 11 according to input operations on the operation buttons and knobs. The sound output unit 30 includes a speaker and outputs sound with a pitch (height), length, and volume according to the control signal and sound data transmitted from the CPU 11. The sound may be a sound that imitates the cry of a living creature. The drive unit 40 operates the twist motor 41 and the up-and-down motor 42 described above according to the control signal transmitted from the CPU 11.

[0016] The sensor unit 50 includes the first touch sensor 51a, the second touch sensor 51b, the acceleration sensor 52, the gyro sensor 53, the illuminance sensor 54, and the microphone 55, and outputs the detection results of each sensor and the microphone 55 to the CPU 11. The first touch sensor 51a, the second touch sensor 51b, and the microphone 55 correspond to "sensors that detect external stimuli." The touch sensor 51 detects contact of the robot 1 with a user or another object. The touch sensor 51 includes, for example, a pressure sensor or a capacitance sensor, and outputs detection data regarding the presence or absence of contact with the robot 1 to the CPU 11. If the touch sensor 51 includes a pressure sensor, the touch sensor 51 also outputs the strength of contact with the robot 1 to the CPU 11. The touch sensor 51 may be configured to detect pressure equal to or greater than a predetermined first threshold as an external stimulus and not detect pressure below the first threshold. In this case, the first threshold may be changeable by the CPU 11. Increasing the first threshold corresponds to reducing the sensitivity of the touch sensor 51 to detect contact. The acceleration sensor 52 detects acceleration in each of three orthogonal axial directions and outputs the detection data to the CPU 11. The gyro sensor 53 detects angular velocity around each of the three orthogonal axial directions and outputs the detection data to the CPU 11. The illuminance sensor 54 detects the brightness around the robot 1 and outputs the detection data to the CPU 11. The microphone 55 detects sounds around the robot 1 and outputs data on the detected sounds to the CPU 11. The microphone 55 may be configured to detect sounds with a volume equal to or greater than a predetermined second threshold as external stimuli and not detect sounds with a volume less than the second threshold. In this case, the second threshold may be changeable by the CPU 11. Increasing the second threshold corresponds to reducing the sound detection sensitivity of the microphone 55.

[0017] The communication unit 60 is a communication module having an antenna, a modulation / demodulation circuit, a signal processing circuit, etc., and performs wireless data communication with external devices in accordance with a predetermined communication standard.

[0018] The power supply unit 70 includes a battery 71, a remaining charge detection unit 72, and a power receiving coil 73. The battery 71 supplies power to each unit of the robot 1. In this embodiment, the battery 71 is a secondary battery that can be repeatedly charged using a contactless charging method. The remaining charge detection unit 72 detects the remaining charge of the battery 71 in accordance with a control signal transmitted from the CPU 11 and outputs the detection result to the CPU 11. As shown in FIG. 4, the charging operation of the battery 71 is performed with the robot 1 stored (installed) inside a dedicated power supply device 80 (storage unit, charging dock). For ease of explanation, FIG. 4 shows a cross section of the power supply device 80 and a side view of the robot 1. The power supply device 80 has an exterior that resembles a house for the robot 1. The power supply device 80 is a container that has approximately the same length and width as the external shape of the robot 1. The power supply device 80 has an opening at the top, through which the robot 1 can be inserted and removed. The power supply device 80 has a shape that allows it to come into contact with the bottom surface 1a of the robot 1 and at least a part of the side surface 1b of the robot 1 when the robot 1 is stored. A power transmission coil 81 is provided on the bottom of the power supply device 80 at a position that faces the power receiving coil 73 when the robot 1 is stored. When the power supply device 80 detects that the robot 1 is stored, it passes a current through the power transmission coil 81 to generate a magnetic field. The power receiving coil 73 of the robot 1 supplies a current generated by electromagnetic induction in response to this magnetic field to the battery 71. With this configuration, when the robot 1 is stored in the power supply device 80, charging of the battery 71 is automatically started. Note that the charging method for the battery 71 is not limited to a contactless charging method, and may be a contact charging method in which charging terminals of the robot 1 and the power supply device 80 come into contact with each other.

[0019] Next, the operation of the robot 1 will be described. When an external stimulus is detected by each sensor of the sensor unit 50 or the microphone 55, the CPU 11 causes the robot 1 to perform a reaction action corresponding to the detected external stimulus. Specifically, the CPU 11 identifies which of multiple actions (actions) by the user, such as touch, hug, or talking, the detected external stimulus is due to, and causes the robot 1 to perform a reaction action corresponding to the identified action. That is, the CPU 11 operates the drive unit 40 and outputs a sound from the sound output unit 30 according to the settings of the reaction action. The reaction actions corresponding to each user action are predetermined and registered in the action setting data 132. Of the actions by the user on the robot 1, touch and hug are identified by the touch sensor 51 detecting contact by the user as an external stimulus. To identify hug, the detection results of acceleration and angular velocity by the acceleration sensor 52 and the gyro sensor 53 may be further referenced. Furthermore, talking is identified by the microphone 55 detecting the user's voice as an external stimulus. The CPU 11 may input data of the detected external stimulus into a machine learning model (not shown) to identify an action from the user. For example, the machine learning model is provided in the storage unit 13, and is trained by machine learning to output an action from the user by inputting data detected by the sensor unit 50. The reaction behavior may be determined based on the situation of the robot 1 at the time the external stimulus is detected, in addition to the situation of the detection of the external stimulus. The situation of the robot 1 may include the ambient brightness based on the data detected by the illuminance sensor 54, whether the robot 1 is stored in the power supply device 80, etc.

[0020] When the sensor unit 50 does not detect an external stimulus and the execution conditions for the automatically generated action are satisfied, the CPU 11 causes the robot 1 to perform a predetermined automatically generated action. The automatically generated action may be an action generated by randomly determining the operation details of the drive unit 40 and the sound output unit 30, or an action in which the operation details of the drive unit 40 and the sound output unit 30 are predetermined and registered in the action setting data 132. The execution condition for the automatically generated action may be, for example, that a predetermined action standby time has elapsed since the end of the last executed reaction action or automatically generated action. The action standby time can be set as appropriate and may be, for example, about several tens of seconds to several minutes.

[0021] The CPU 11 causes the robot 1 to perform a breathing action when the sensor unit 50 does not detect an external stimulus, the execution conditions for the automatically generated action are not satisfied, and the execution conditions for the breathing action are satisfied. The breathing action is, for example, a movement of the head 101 slightly up and down. The breathing action is a movement of the head 101 that is smaller than the reaction action and the automatically generated action. The execution condition for the breathing action may be, for example, that a predetermined breathing waiting time has elapsed since the end of the last executed reaction action, automatically generated action, or breathing action. The breathing waiting time is set to a time shorter than the above-mentioned action waiting time, and may be, for example, several to 10 seconds. By causing the robot 1 to perform a breathing action at such a frequency, the robot 1 can appear more lifelike.

[0022] Here, because the main body 100 of the robot 1 is covered by the exterior 200, the touch sensor 51 and microphone 55 of the sensor unit 50 detect external stimuli through the exterior 200. Here, although the exterior 200 is engaged with the main body 100 at three engagement portions as described above, the portions excluding the engagement portions are able to move freely relative to the surface of the main body 100 so as not to interfere with the movement of the main body 100. For this reason, when the head 101 of the main body 100 moves significantly and then stops during a reaction or automatic generation operation, the portion of the exterior 200 covering the head 101 may shift relative to the surface of the head 101. Such a shift occurs, for example, when a part of the exterior 200 that has been moving in accordance with the movement of the head 101 due to frictional force begins to slide relative to the surface of the head 101 due to gravity after the head 101 stops. The shift can also occur when a portion of the exterior 200 that has been subjected to stress due to the movement of the head 101 moves in a direction that relieves the stress after the head 101 stops. When such a misalignment of the exterior 200 occurs, the touch sensor 51 (particularly the first touch sensor 51a provided on the head 101) may erroneously detect the misalignment of the exterior 200 as an external stimulus. Furthermore, when the exterior 200 is misaligned, the microphone 55 may erroneously detect the sound of the head 101 rubbing against the inner surface of the exterior 200 as an external stimulus. When such a misdetection occurs by the touch sensor 51 or the microphone 55, the robot 1 may perform an unnatural reaction action even though there is no actual external stimulus. That is, the robot 1 may perform a reaction action in response to a touch even though the user has not touched it, or may perform a reaction action in response to a speech even though the user has not spoken to it.

[0023] Therefore, in this embodiment, the CPU 11 suppresses detection by the touch sensor 51 and / or the microphone 55 during a period in which erroneous detection may occur, depending on the motion state of the robot 1. Specifically, the CPU 11 determines the motion state of the robot 1 involving movement of the head 101, and controls at least one of whether or not to perform an operation to detect an external stimulus by the first touch sensor 51a and the microphone 55 and the detection sensitivity of the external stimulus, depending on the determined motion state. Specifically, as shown in FIG. 5 , when the CPU 11 determines that the reaction motion 91 or the automatically generated motion 92 (a certain motion) has ended, the CPU 11 performs a "first detection suppression operation 94" that stops the operation to detect contact by the first touch sensor 51a and the operation to detect sound by the microphone 55. The CPU 11 also performs the first detection suppression operation 94 when it determines that the breathing motion 93 has ended. In other words, when the CPU 11 determines that the motion state of the robot 1 is a state immediately after the end of the reaction motion 91, the automatically generated motion 92, or the breathing motion 93, the CPU 11 causes the robot 1 to perform a first detection suppression motion 94. The first detection suppression motion 94 continues for a predetermined period T from the point at which the reaction motion 91, the automatically generated motion 92, or the breathing motion 93 ends. The length of the predetermined period T is set to be longer than the length of the period during which the exterior 200 may shift after the head 101 has stopped, and may be, for example, about 0.5 to 1 second. Note that the symbol "t" in FIG. 5 represents the above-mentioned breathing wait time.

[0024] In this embodiment, the second touch sensor 51b continues to detect contact without reducing the detection sensitivity (i.e., maintaining normal sensitivity) during the first detection suppression operation 94. This is because the exterior 200 is less likely to shift in the body 103. However, to more reliably suppress erroneous detection, the first detection suppression operation 94 may also stop the contact detection operation by the second touch sensor 51b.

[0025] During the period when the reaction action 91, the automatically generated action 92, or the breathing action 93 in FIG. 5 is being performed, the touch sensor 51 and the microphone 55 may perform a detection operation to receive an action by the user, or the detection operation by the touch sensor 51 and / or the microphone 55 may be stopped to prioritize the prevention of erroneous detection of external stimuli.

[0026] False detection by the microphone 55 can also occur due to factors other than rubbing between the exterior 200 and the head 101 caused by the exterior 200 being out of place. For example, when a user strokes or holds the robot 1, the sound of the outer surface of the exterior 200 rubbing against the user, or the corresponding sound of the exterior 200 rubbing against the main body 100, may be erroneously detected as an external stimulus by the microphone 55. As a result, the robot 1 may react to a call even though the user has not spoken to it. To prevent false detection by the microphone 55 due to this cause, in this embodiment, the CPU 11 stops the sound detection operation by the microphone 55 while the touch sensor 51 is detecting contact. Hereinafter, this operation will be referred to as a "second detection suppression operation."

[0027] Furthermore, when the robot 1 performs a reaction movement, an automatically generated movement, or a breathing movement while stored in the power supply device 80, the exterior 200 rubs against the inner wall surface of the power supply device 80, generating a sound, which the microphone 55 erroneously detects as an external stimulus. As a result, the robot 1 performs a reaction movement in response to a user's voice, even though the user has not spoken to the robot 1. To prevent this erroneous detection by the microphone 55, in this embodiment, the CPU 11 reduces the sound detection sensitivity of the microphone 55 to a predetermined low sensitivity lower than the normal sensitivity when the robot 1 is stored in the power supply device 80. In other words, the CPU 11 changes the second threshold value related to the volume of the sound detected by the microphone 55 to a detection suppression threshold value higher than the normal threshold value. Hereinafter, this operation will be referred to as a "third detection suppression operation." The detection suppression threshold value is set to a value higher than the volume of the sound generated by the friction with the power supply device 80.

[0028] Furthermore, depending on the position of the touch sensor 51, when the robot 1 performs a reaction motion, an automatically generated motion, or a breathing motion while stored in the power supply device 80, the touch sensor 51 may erroneously detect contact with the power supply device 80 as an external stimulus. In this case, the CPU 11 may reduce the detection sensitivity of the touch sensor 51 in addition to (or instead of) reducing the detection sensitivity of the microphone 55. In other words, the CPU 11 may change the first threshold value related to the pressure of contact detected by the touch sensor 51 to a detection suppression threshold value that is higher than the normal threshold value. The detection suppression threshold value is set to a value higher than the pressure due to contact with the power supply device 80.

[0029] In the first detection suppression operation 94, instead of stopping the detection operation by the touch sensor 51 and the microphone 55, the detection sensitivity by the touch sensor 51 and the microphone 55 may be reduced. In the second detection suppression operation, instead of stopping the detection operation by the microphone 55, the detection sensitivity by the microphone 55 may be reduced. In the third detection suppression operation, instead of reducing the detection sensitivity by the touch sensor 51 and / or the microphone 55, the detection operation by the touch sensor 51 and / or the microphone 55 may be stopped.

[0030] Next, with reference to FIGS. 6 and 7, the operation control process executed by the CPU 11 to realize the above-described operations will be described. The operation control process is started when the robot 1 is powered on and activated. As shown in FIG. 6, when the operation control process is started, the CPU 11 determines whether the robot 1 is stored in the power supply device 80 based on the state of the power supply unit 70 (step S101). Here, the CPU 11 determines that the robot 1 is stored in the power supply device 80 when the battery 71 is being charged by power from the power receiving coil 73. If it is determined that the robot 1 is stored in the power supply device 80 ("YES" in step S101), the CPU 11 sets the detection sensitivity of the microphone 55 to a predetermined low sensitivity (step S102). Here, the CPU 11 increases the second threshold related to the volume of sound detected by the microphone 55 to the above-described detection suppression threshold. That is, the CPU 11 performs the above-described third detection suppression operation. On the other hand, when it is determined that the robot 1 is not stored in the power supply device 80 (step S101 "NO"), the CPU 11 sets the detection sensitivity of the microphone 55 to a predetermined normal sensitivity (step S103). That is, the CPU 11 sets the second threshold of the microphone 55 to a predetermined normal value.

[0031] When step S102 or S103 is completed, the CPU 11 determines whether the sensor unit 50 has detected an external stimulus (step S104). If it is determined that the sensor unit 50 has detected an external stimulus ("YES" in step S104), the CPU 11 determines whether the external stimulus is a touch detected by the touch sensor 51 (step S105). If it is determined that the detected external stimulus is a touch ("YES" in step S105), the CPU 11 stops the detection operation by the microphone 55 while the touch sensor 51 is detecting a touch (step S106). That is, the CPU 11 performs the second detection suppression operation described above. When step S106 is completed or if it is determined in step S105 that the external stimulus is not a touch ("NO" in step S105), the CPU 11 identifies a user action from the detected external stimulus and starts a reaction action corresponding to the identified action (step S107). Here, the CPU 11 operates the drive unit 40 and causes the sound output unit 30 to output sound in accordance with the content of the reaction action set in the action setting data 132, i.e., the operation timing and amount of movement of the twist motor 41 and up-down movement motor 42 of the drive unit 40, as well as the pitch, length, and volume of the sound output by the sound output unit 30.

[0032] On the other hand, if it is determined in step S104 that the sensor unit 50 has not detected an external stimulus ("NO" in step S104), the CPU 11 determines whether the execution conditions for the automatically generated operation are met (step S108). Here, the CPU 11 determines that the execution conditions for the automatically generated operation are met if a predetermined operation standby time has elapsed since the end of the last executed reaction operation or automatically generated operation. If it is determined that the execution conditions for the automatically generated operation are met ("YES" in step S108), the CPU 11 starts the automatically generated operation by operating the drive unit 40 and outputting sound from the sound output unit 30 (step S109).

[0033] If it is determined in step S108 that the execution conditions for the automatic generation conditions are not met ("NO" in step S108), the CPU 11 determines whether the execution conditions for the breathing action are met (step S110). Here, the CPU 11 determines that the execution conditions for the breathing action are met if a predetermined breathing waiting time has elapsed since the end of the last executed reaction action, automatically generated action, or breathing action. If it is determined that the execution conditions for the breathing action are met ("YES" in step S110), the CPU 11 operates the drive unit 40 to start the breathing action (step S111).

[0034] When any of steps S107, S109, and S111 is completed, the CPU 11 repeatedly determines whether the operation started in that step has been completed (step S112). If it is determined that the operation has been completed ("YES" in step S112), the CPU 11 executes a detection suppression process to perform the first detection suppression operation 94 described above (step S113). As shown in FIG. 7, when the detection suppression process is started, the CPU 11 stops the detection operation by the first touch sensor 51a and the microphone 55 (step S201). Thereafter, the CPU 11 repeatedly determines whether a predetermined period T has elapsed (step S202). If it is determined that the predetermined period T has elapsed ("YES" in step S202), the CPU 11 resumes the detection operation by the first touch sensor 51a and the microphone 55 (step S203). When step S203 is completed, the CPU 11 ends the detection suppression process and returns the process to the operation control process of FIG. 6.

[0035] 6 (step S113) is completed, or if it is determined in step S110 that the conditions for performing breathing are not met ("NO" in step S110), the CPU 11 determines whether or not an operation to turn off the power supply to the robot 1 has been performed (step S114). If the CPU 11 determines that the operation has not been performed ("NO" in step S114), the process returns to step S101, and if it determines that the operation has been performed ("YES" in step S114), the CPU 11 terminates the operation control process.

[0036] Next, a modified example of the above embodiment will be described. Differences from the above embodiment will be described below, and commonalities with the above embodiment will be omitted. This modified example differs from the above embodiment in the first detection suppression operation 94. In this modified example, as shown in FIG. 8 , after the reaction operation 91 or the automatically generated operation 92 is completed, the breathing operation 93 is subsequently performed. Furthermore, while the breathing operation 93 is being performed, the detection operation by the first touch sensor 51a and the microphone 55 is stopped. That is, in this modified example, the breathing operation 93 performed while the detection operation by the first touch sensor 51a and the microphone 55 is stopped corresponds to the first detection suppression operation 94. Furthermore, in this modified example, the period during which the breathing operation 93 is performed following the reaction operation 91 or the automatically generated operation 92 corresponds to the “predetermined period.” Performing the breathing operation 93 following the reaction operation 91 or the automatically generated operation 92 can induce a possible shift of the sheath 200 during the execution of the breathing operation 93. Furthermore, by stopping the detection operation by the first touch sensor 51a and the microphone 55 while this breathing action 93 is being performed, it is possible to prevent erroneous detection of an external stimulus caused by an induced shift of the exterior casing 200.

[0037] During the independently performed breathing action 93, the detection action by the first touch sensor 51a and the microphone 55 is not stopped. In Fig. 8, the period during which the detection action by the first touch sensor 51a and the microphone 55 is stopped is hatched. After the independently performed breathing action 93 ends, the first detection suppression action 94 may be performed as in the first embodiment.

[0038] In this modified example, the movement control process of Fig. 9 is executed instead of the movement control process of Fig. 6. The movement control process of Fig. 9 corresponds to the movement control process of Fig. 6, in which steps S111 and S113 are replaced with steps S111a and S113a, respectively. In step S111a, the CPU 11 causes the robot 1 to perform a breathing movement, and after the breathing movement is completed, the process proceeds to step S114. Therefore, after the breathing movement performed independently is completed, the CPU 11 does not cause the detection suppression process of step S113a to be executed.

[0039] In addition, in the detection suppression process of step S113a, which is executed after the end of the reaction movement 91 (step S107) or the automatically generated movement 92 (step S109), the CPU 11 first stops the detection operation by the first touch sensor 51a and the microphone 55 (step S301), as shown in FIG. 10. The CPU 11 also operates the drive unit 40 to start the breathing movement (step S302). Thereafter, the CPU 11 repeatedly determines whether the breathing movement has ended (step S303), and if it determines that the breathing movement has ended (“YES” in step S303), it resumes the detection operation by the first touch sensor 51a and the microphone 55 (step S304). When step S304 ends, the CPU 11 ends the detection suppression process and returns the process to the movement control process of FIG. 9.

[0040] As described above, the robot control device 10 according to this embodiment controls the robot 1 having the touch sensor 51 and the microphone 55 as sensors for detecting an external stimulus. The robot control device 10 includes a CPU 11. When the CPU 11 determines that the robot 1 has completed a reactive motion or an automatic generation motion, the CPU 11 stops the detection operation of at least one of the touch sensor 51 and the microphone 55 or reduces the detection sensitivity of at least one of the touch sensor 51 and the microphone 55 for a predetermined period T from the point at which the reactive motion or the automatic generation motion has completed. This suppresses the detection operation of the external stimulus by the touch sensor 51 and the microphone 55 (i.e., stops the detection operation or reduces the detection sensitivity) when the exterior casing 200 is in a state where it is likely to slip relative to the main body 100. This prevents the robot 1 from mistakenly detecting slippage or friction of the exterior casing 200 as an external stimulus. This prevents the robot 1 from performing an unnatural motion in response to a mistaken detection of an external stimulus.

[0041] Furthermore, when the CPU 11 determines that the reaction action or the automatic generation action of the robot 1 has ended, it stops the sound detection action of the microphone 55 or reduces the sound detection sensitivity of the microphone 55 for a predetermined period T from the point at which the reaction action or the automatic generation action has ended (first detection suppression action). Immediately after the reaction action or the automatic generation action has ended, the exterior 200 is likely to slip off, so by stopping the detection action of the microphone 55 after the action has ended in this way, it is possible to suppress the occurrence of a problem in which the microphone 55 erroneously detects the sound of the inner surface of the exterior 200 rubbing against the main body 100 as an external stimulus.

[0042] Furthermore, when the CPU 11 determines that the reaction action 91 or the automatic generation action 92 by the robot 1 has ended, it stops the touch sensor 51 from detecting contact or reduces the contact detection sensitivity of the touch sensor 51 for a predetermined period T from the point at which the reaction action or the automatic generation action has ended (first detection suppression operation). By stopping the detection action of the touch sensor 51 after the action has ended in this way, it is possible to suppress the occurrence of a problem in which the touch sensor 51 erroneously detects a shift in the exterior 200 immediately after the reaction action or the automatic generation action has ended as an external stimulus.

[0043] Furthermore, the robot 1 includes a head 101 as a movable part, and the reaction action and the automatic generation action are accompanied by the movement of the head 101. Although the exterior 200 is likely to shift after such a reaction action and an automatic generation action are stopped, the detection action of the external stimulus by the touch sensor 51 and the microphone 55 is suppressed, thereby reducing false detections caused by the shift of the exterior 200.

[0044] The sensor includes a first touch sensor 51a that detects contact with the head 101 as an external stimulus, and a second touch sensor 51b that detects contact with the body 103 of the robot 1 other than the head 101 as an external stimulus. When the CPU 11 determines that the reaction or automatic generation operation of the robot 1 has ended, the CPU 11 stops the contact detection operation by the first touch sensor 51a or reduces the contact detection sensitivity of the first touch sensor 51a for a predetermined period T from the point at which the reaction or automatic generation operation has ended, while continuing the detection operation by the second touch sensor 51b without reducing the contact detection sensitivity of the second touch sensor 51b during the predetermined period T (first detection suppression operation). In this way, by stopping the detection operation by the first touch sensor 51a of the head 101 (movable part) where the exterior 200 is likely to shift, false detection can be effectively reduced. Furthermore, by continuing the detection operation by the second touch sensor 51b of the torso portion 103, it is possible to detect external stimuli on the torso portion 103 even while the first detection suppression operation is being performed, and to perform a reaction operation in response to a user action such as a touch.

[0045] Furthermore, in a modified example, when the CPU 11 determines that the reactive motion or the automatically generated motion of the robot 1 has ended, the CPU 11 causes the robot to perform a breathing motion, in which the movement of the head 101 is smaller than that of the reactive motion or the automatically generated motion, for a predetermined period T from the time when the reactive motion or the automatically generated motion has ended, and stops the detection motion of at least one of the touch sensor 51 and the microphone 55 or reduces the detection sensitivity during the breathing motion (first detection suppression operation). By performing a breathing motion immediately after the reactive motion or the automatically generated motion in this manner, it is possible to induce a shift of the exterior 200 through a natural motion and stabilize the exterior 200. Furthermore, by stopping the detection motion of the first touch sensor 51a and / or the microphone 55 during the breathing motion, it is possible to prevent erroneous detection due to a shift of the exterior 200 during the breathing motion.

[0046] Furthermore, during the period when the touch sensor 51 is detecting contact, the CPU 11 stops the sound detection operation of the microphone 55 or reduces the sound detection sensitivity of the microphone 55 (second detection suppression operation). This makes it possible to suppress the occurrence of a problem in which the microphone 55 erroneously detects the rubbing sound caused by contact with the touch sensor 51 as an external stimulus.

[0047] Furthermore, when the robot 1 is stored in the power supply device 80, the CPU 11 stops the sound detection operation of the microphone 55 or reduces the sound detection sensitivity of the microphone 55 (third detection suppression operation). Furthermore, the power supply device 80 has a shape that can come into contact with at least a part of the robot 1 when the robot 1 is stored. This makes it possible to suppress the occurrence of a problem in which the microphone 55 erroneously detects, as an external stimulus, a sound generated by the exterior 200 rubbing against the inner wall surface of the power supply device 80 when the robot 1 operates while stored in the power supply device 80.

[0048] The robot 1 according to this embodiment also includes the robot control device 10, and sensors including a touch sensor 51 and a microphone 55. This makes it possible to prevent the robot 1 from performing unnatural movements due to misdetection of a shift or friction of the exterior 200 as an external stimulus.

[0049] The robot 1 also includes a main body 100 provided with a touch sensor 51 and a microphone 55, and an exterior 200 that covers at least the portion of the main body 100 where the touch sensor 51 and the microphone 55 are provided. In the robot 1 provided with such an exterior 200, misalignment or friction of the exterior 200 is likely to be erroneously detected as an external stimulus, and therefore, by performing the detection suppression operation described above, it is possible to suppress the robot 1 from performing unnatural movements.

[0050] Furthermore, in the control method for the robot 1 according to this embodiment, when the CPU 11 determines that a reactive motion or an automatically-generated motion by the robot 1 has ended, the CPU 11 stops the detection operation by at least one of the touch sensor 51 and the microphone 55 or reduces the detection sensitivity of at least one of the touch sensor 51 and the microphone 55 for a predetermined period T from the time when the reactive motion or the automatically-generated motion has ended. Furthermore, the program 131 according to this embodiment causes the CPU 11 of the robot control device 10 to function as a control means, and when the control means determines that a reactive motion or an automatically-generated motion by the robot 1 has ended, the control means stops the detection operation by at least one of the touch sensor 51 and the microphone 55 or reduces the detection sensitivity of at least one of the touch sensor 51 and the microphone 55 for a predetermined period T from the time when the reactive motion or the automatically-generated motion has ended. This makes it possible to suppress the robot 1 from performing unnatural motions.

[0051] The present invention is not limited to the above-described embodiment, and various modifications are possible. For example, although the robot 1 has been described using an example in which the robot 1 is originally equipped with the exterior 200, the present invention is not limited to this. For example, if a user later attaches an exterior that resembles clothing or an exterior for protecting the main body 100 to the robot 1 that is configured only with the main body 100, false detection by the touch sensor 51 and the microphone 55 can be suppressed by executing the same detection suppression process as in the above-described embodiment.

[0052] Furthermore, although an example has been given in which the exterior 200 covers the entire surface of the main body 100, this is not limited thereto, and the exterior 200 only needs to cover at least the portion of the main body 100 where the touch sensor 51 and the microphone 55 are provided.

[0053] In the above embodiment, the touch sensor 51 and the microphone 55 are exemplified as sensors, but the sensors are not limited to these. The sensors may be any devices capable of detecting an external stimulus.

[0054] Furthermore, breathing movements have been given as an example of spontaneous movements in which the movement of the moving parts is smaller than reactive movements and automatically generated movements, but this is not limited to this, and spontaneous movements may also be other movements that imitate, for example, the robot 1 being asleep or resting.

[0055] Furthermore, although the power supply device 80 has been exemplified as the storage unit, the storage unit is not limited to this. The storage unit may be any member capable of storing the robot 1. In other words, the storage unit does not necessarily have to be a device for charging the battery 71.

[0056] Furthermore, the configuration of the robot 1 is not limited to the examples shown in Figures 1 to 3. For example, the robot may be a robot that imitates a real creature such as a person, animal, bird, or fish, a robot that imitates a non-existent creature such as a dinosaur, or a robot that imitates a fictional creature.

[0057] Furthermore, in the above embodiment, an example has been described in which the robot control device 10 that controls the robot 1 is provided inside the robot 1, but this is not limiting, and the robot 1 may operate under the control of a robot control device provided external to the robot 1. The external robot control device may be, for example, a smartphone, a tablet terminal, or a laptop PC. In this case, the robot 1 operates in accordance with a control signal received from the external robot control device via the communication unit 60. The external robot control device performs the functions that were performed by the robot control device 10 in the above embodiment.

[0058] In the above description, an example has been disclosed in which a flash memory in the storage unit 13 is used as a computer-readable medium for the program according to the present invention, but this is not limiting. Other computer-readable media may include information recording media such as a hard disk drive (HDD), a solid state drive (SSD), and a CD-ROM. Furthermore, a carrier wave may also be used as a medium for providing data for the program according to the present invention via a communication line.

[0059] Furthermore, it goes without saying that the detailed configuration and detailed operation of each component of the robot 1 in the above embodiment can be modified as appropriate without departing from the spirit of the present invention.

[0060] Although the embodiments of the present invention have been described, the scope of the present invention is not limited to the above-described embodiments, but includes the scope of the invention described in the claims and its equivalents. [Explanation of symbols]

[0061] 1...robot, 10...robot control device, 11...CPU (control unit, control means), 51a...first touch sensor (sensor), 51b...second touch sensor (sensor), 55...microphone (sensor), 100...main body, 101...head (movable part), 200...exterior

Claims

1. A robot control device for controlling a robot having a sensor that detects an external stimulus, When it is determined that a certain action by the robot has been completed, the detection action by the sensor is stopped or the detection sensitivity of the sensor is reduced for a predetermined period from the point in time when the certain action has been completed. A robot control device having a control unit.

2. the sensor has a microphone that detects sound as the external stimulus, When the control unit determines that the certain action by the robot has been completed, the control unit stops the sound detection operation of the microphone or reduces the sound detection sensitivity of the microphone for a predetermined period from the time when the certain action has been completed. The robot control device according to claim 1 .

3. the sensor has a touch sensor that detects contact with the robot as the external stimulus, When the control unit determines that the certain action by the robot has been completed, the control unit stops the touch sensor from detecting contact or reduces the touch sensor's sensitivity to detection of contact for a predetermined period of time from the point in time when the certain action has been completed. The robot control device according to claim 1 .

4. the robot includes a movable part; The certain operation involves movement of the movable part. The robot control device according to claim 1 .

5. the sensor includes a first touch sensor that detects contact with the movable part as the external stimulus, and a second touch sensor that detects contact with a part of the robot other than the movable part as the external stimulus, when it is determined that the certain action by the robot has been completed, the control unit stops the contact detection operation by the first touch sensor or reduces the contact detection sensitivity by the first touch sensor for a predetermined period from the point in time when the certain action has been completed, while continuing the contact detection operation by the second touch sensor without reducing the contact detection sensitivity by the second touch sensor during the predetermined period; The robot control device according to claim 4.

6. the sensor has at least one of a microphone that detects sound as the external stimulus and a touch sensor that detects contact with the robot as the external stimulus; The control unit when it is determined that the certain motion by the robot has been completed, having the robot perform a spontaneous motion in which the motion of the movable part is smaller than the certain motion for a predetermined period of time from the point in time when the certain motion has been completed, During the execution of the voluntary movement, stopping a detection operation by at least one of the microphone and the touch sensor or reducing detection sensitivity. The robot control device according to claim 4.

7. the sensor includes a microphone that detects sound as the external stimulus and a touch sensor that detects contact with the robot as the external stimulus; The control unit stops the sound detection operation of the microphone or reduces the sound detection sensitivity of the microphone during a period in which the touch sensor detects the contact. The robot control device according to claim 1 .

8. the sensor has a microphone that detects sound as the external stimulus, the control unit stops the sound detection operation of the microphone or reduces the sound detection sensitivity of the microphone when the robot is stored in a predetermined storage unit, the storage section has a shape that can come into contact with at least a part of the robot when the robot is stored; The robot control device according to claim 1 .

9. The robot control device according to any one of claims 1 to 8, the sensor; A robot equipped with:

10. a main body provided with the sensor; an exterior covering at least a portion of the main body where the sensor is provided; The robot of claim 9 , comprising:

11. A method for controlling a robot having a sensor that detects an external stimulus, comprising: When it is determined that a certain action by the robot has been completed, the detection action by the sensor is stopped or the detection sensitivity of the sensor is reduced for a predetermined period from the point in time when the certain action has been completed. How to control a robot.

12. a computer of a robot control device that controls a robot having a sensor that detects an external stimulus is made to function as a control means; When it is determined that a certain action by the robot has been completed, the control means stops the detection action by the sensor or reduces the detection sensitivity of the sensor for a predetermined period from the point in time when the certain action has been completed. program.

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