Device

Abstract

To provide devices, etc., that have communication functions. [Solution] The robot 1, which communicates through dialogue, has a face 62 that faces a person. The face 62, together with the head 3, rotates in a first motion from side to side, tilting its head around a virtual first axis that intersects the surface of the face 62. The head 3 rotates in a second motion in the front-to-back direction, nodding around a second axis, and rotates in a third motion horizontally. This makes the device's gestures more human-like during communication, making the information conveyed from the device to a person more likely to be received favorably.

Description

Technical Field

[0001] The present invention relates to an apparatus and the like.

Background Art

[0002] For example, Patent Document 1 discloses a technology related to an interactive robot that communicates with a person.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in this type of conventional interactive robot, the gesture ability during conversation is secondary compared to the control of the conversation content, and the gesture ability is not necessarily sufficient when communicating with a person. The object of the invention of the present application is not limited to this, and it also has the intention of obtaining rights through divisional applications, corrections, etc. for configurations that aim to obtain effects resulting from parts of the configurations disclosed in this specification, drawings, etc. For example, in this specification, the problem obtained by reading the part described as "can" as "is a problem" is disclosed in this specification. The problems are described as independent ones, and the applicant also has the intention of obtaining rights for the configurations for solving these problems by means of divisional applications, corrections, etc. alone. Even if the problems are implicitly understood from the description of the specification, the applicant has the intention of making part of the configurations described in this specification the scope of claims by correction or divisional application. Also, problems combining these independent problems are disclosed.

Means for Solving the Problems

[0005] (1) It is preferable that the face portion has a face portion that faces a person, and that the face portion is capable of a first rotation around a virtual first axis that intersects the surface of the face portion. The device's face can be made to tilt its head, making its gestures more human-like and increasing the likelihood that the information it conveys to people will be received favorably. For example, such rotation is beneficial when communication takes place between the device and a person.

[0006] The "device" may, for example, have a function for communication, such as a function for communication through dialogue. It is especially good to have a configuration that appeals to the five senses other than sound, such as sight or touch, to facilitate communication. For example, it may have an interface for communication that controls a voice device using a computer. It is good to have a means of making decisions for carrying out communication. For example, it may be a robot that imitates a person or an animal, or for example, an anthropomorphic form of something other than a person. It may exist as a single device, or it may be configured as a system with a network formed via wired or wireless connections. For example, it may be configured to include a smartphone, tablet terminal, smart speaker, smart camera, etc. As an interface for communication on the "person (user)" side, it would be good to have features such as voice-based communication, such as voice data acquisition via a microphone, input devices such as a keyboard, and optical character recognition (OCR) functionality that reads and converts text into data. As an output (device) interface, it is advisable to provide, for example, audio interfaces such as speakers and earphones. For visual interfaces, it is advisable to provide display devices such as liquid crystal displays (LCDs), plasma displays (PDPs), organic EL displays, and cathode ray tubes. It is also advisable to provide, for example, a function for outputting printed materials.

[0007] The "face" is best constructed by mimicking the head of an actual human, animal, or anthropomorphic form, complete with eyes, nose, mouth, and ears. It may also be a "part of the device that is judged to be a face" rather than an actual face shape. This is because the human brain can flexibly judge something as a "face" even if it is not an actual face. Therefore, for example, a "face" may be constructed on a "head"-like part, or a "face" may be provided on a "torso"-like part. Furthermore, even if the "face" is not clearly formed on the head, if elements that constitute a face, such as "eyes," are formed, that part can be interpreted as part of the face. Furthermore, the "face part" should ideally have, for example, a display screen on which a face is displayed. It would be preferable for "eyes" to be displayed on the display screen, and for the shape of those "eyes" to change. The "virtual first axis intersecting the surface of the face" is particularly good as a straight line extending from the person's side toward the back of the face when a person is facing the face. This line should be perpendicular to the surface of a planar display device if the face is the screen of such a device. A rotary drive device, such as a motor, is a suitable means of causing the device to rotate. Suitable motors include stepping motors and servo motors. Alternatively, a cylinder device, such as a hydraulic cylinder or pneumatic cylinder, may be used as a drive mechanism other than a motor.

[0008] (2) The part is visible as a circular shape with the intersection of the face and the first axis as its center or approximate center, and the part that is recognized as a circular shape contains the components that make up the face. Without actually rotating the facial components themselves, it is possible to rotate the facial components around the first axis. Since the boundary of this rotation is circular and the circle rotates around the intersection of the first axis and the face, the circle itself appears not to be rotating, giving the impression that the facial components themselves are rotating within that circle. Furthermore, when rotating around the second or third axis, the circle itself moves, making it easy to see that the rotation is occurring around that axis. The face area should ideally include, for example, eyes, nose, mouth, and ears as its constituent elements. However, it does not necessarily have to include at least one of these elements. This is because the human brain can flexibly make "face-like" judgments even if the face is not actually real. The face area should ideally have at least two eyes as its constituent elements.

[0009] (2-1) It is preferable to have a rectangular display area inside a circular part, display the components of a face in the rectangular display area, and have a function to change the facial expression by changing the displayed content of the facial components. The ability to change facial expressions, when combined with gestures such as tilting the head, allows for a wider range of expressions. The display unit could be, for example, a typical rectangular dot-matrix display. For instance, it can be built inexpensively and give the impression that the facial features are rotating. (2-1-1) The circular portion is provided with a masking means in front of the rectangular display portion that allows the display content to pass through and makes the outer shape of the display portion difficult to see. For example, it can be built inexpensively, yet it can avoid sounding mechanical and communicate with people effectively.

[0010] (2-2) It is preferable not to rotate the display of the components of the face itself around the first axis. Even when the face rotates, the constituent elements of the face remain in their basic positions. For example, by rotating only the head, it is possible to create the unusual impression that only the outer periphery of the face is rotating independently. (2-3) It is preferable to use different colors for the circular parts. This allows us to draw attention to the circular area. (2-4) The circular part should be a flat surface, and the outer part of the circular part should be a curved surface. This design makes the circular section more prominent and allows the use of a flat, rigid display device for the display area. Furthermore, the curved shape prevents gaps from forming between the head and the housing section when the first or second rotations are performed. (2-4-1) It is preferable that the direction of the circular surface of the circular part and the joint between the outer part and other parts be parallel. When the joint is parallel, during the first rotation, the joint always remains equidistant from the circular part and appears in a fixed position on the head surface. Therefore, when a person rotates, they cannot see the joint on the head and realize that it is rotating. (2-5) A portion is provided on the outside of the circular portion that allows the rotation to be visually observed as the rotation occurs around the first axis. (8) If the part is circular, it is difficult to see that it is rotating even if the first rotation occurs, but if such a part is present, it is possible to confirm that it is rotating. (2-5-1) The part that makes the rotation visible as it rotates around the first axis is the part corresponding to the ear. Because ears don't look unnatural even when they're located around the face.

[0011] (3) The device is preferably capable of rotating in a direction different from the first rotation. By combining the first rotation with a rotation in a different direction, the facial area can perform more complex movements, increasing the device's gesture patterns and enabling a variety of actions depending on the information it conveys to the person. (4) The face portion is preferably capable of a second rotation around a virtual second axis that intersects the first axis. By combining the first and second rotations, more complex facial movements can be performed, increasing the number of gesture patterns the device can perform and enabling a variety of actions depending on the information it conveys to the person. Here, the "virtual second axis intersecting the first axis" may be perpendicular to the first axis or at an angle other than perpendicular. Perpendicularity is preferable for position control calculations because it makes it easier to determine the coordinates on the plane. The first and second rotations may be performed individually, simultaneously, or each rotation may be performed separately and continuously.

[0012] (5) Preferably, the second rotation is a rotation between a position where the face portion faces obliquely upward and a position where the face portion faces obliquely downward. Since it is possible to make the face portion perform an action as if it were tilting the head and an action as if it were nodding, by using both "tilting the head" and "nodding", it becomes possible to express delicate expressions that cannot be expressed alone. For example, by combining the nodding action with the action of tilting the head, a simple nodding action becomes a meaningful nodding, or an effect such as relaxing a delicate nodding that is difficult to clearly say "yes" is produced.

[0013] (6) Preferably, the face portion is capable of a third rotation around a virtual third axis that intersects the first axis and the second axis. Since a more complex action can be made by the face portion by combining the first rotation, the second rotation, and further the third rotation, the gesture patterns of the device are significantly increased and various actions become possible according to the information transmitted from the device to the person. The first rotation, the second rotation, and the third rotation may be performed alone, or the three rotations may be performed simultaneously, or only the third rotation and either the first rotation or the second rotation may be performed simultaneously. Also, the rotation actions may be performed separately and continuously instead of simultaneously. (7) Preferably, the first axis, the second axis, and the third axis are orthogonal to each other. Since each axis is orthogonal to each other, it is easy to specify three-dimensional coordinates, and thus it becomes easy to control.

[0014] (8) The device has a head, the face portion is formed on the outer surface of the head, and the head preferably performs the second rotation together with the face portion. (9) The device has a head, the face portion is formed on the outer surface of the head, and the head preferably performs the first rotation together with the face portion. ​By forming the face on the outer surface of the head, an image similar to that of a real person, animal, or character modeled after them is created, making it more likely to be favorably received by people than a rotational movement without a head. Also, it is possible to accommodate a mechanism for operating the face within the head. Up to (6), the face does not necessarily have to be formed on the head as the reverse of (7) and (8). For example, the face may exist alone or may be present on the torso.

[0015] (10) The device has a torso, and the head is preferably arranged above the torso and rotates with respect to the torso. If there is a head on the torso and the head and face rotate together, the movement will feel closer to that of a human compared to when only the face rotates, making it easier for people to favorably accept the movement. (10-1) It is preferable that the first axis and the second axis are on the head side and the third axis is on the torso side. When the rotation axes are divided between the head side and the torso side in this way, the head side can rotate independently, and the first rotation and the second rotation can be executed mechanically independently of the third rotation, so even if it is a mechanism with three rotating axes, the mechanism does not become mechanically complex. (10-2) It is preferable to provide a wide area on the upper part of the torso where a finger can be placed in front of the head. If an area where a finger can be placed is provided in such a position during device transportation, the user will be naturally directed to place their finger on this surface. It is convenient because the user can use this wide part to sandwich and lift the body. Also, since there is no head, the possibility of applying force when holding the head can be reduced. (Since the head has axes, it is desirable not to apply force because there are the first axis and the second axis.)

[0016] (11) The head has a portion where the outer peripheral surface is spherical, and the torso has a receiving portion on the upper part of the torso with an inner peripheral surface that coincides or substantially coincides with the curve of the portion where the outer peripheral surface of the head is spherical, and it is preferable that the portion where the outer peripheral surface of the head is spherical is housed within the receiving portion. When the head is housed within the body's compartment by a curve with an uneven relationship between the inner and outer surfaces of the sphere, large gaps do not form between the head and the compartment when the head is rotated in various directions, making it difficult for foreign objects to enter the gaps. In addition, since the head is always held in place by its surroundings within the compartment, it also contributes to its apparent stability. (12) It is preferable that ventilation holes communicating with the inside and outside be formed in the wall surface of the housing that is facing the head. Since the device houses various heat-generating components, it is desirable to allow the heat that accumulates inside to dissipate. In particular, the body contains a mechanism for rotating the head, so heat tends to build up there. Therefore, it is desirable to provide ventilation holes. However, if the ventilation holes are placed in a position visible from the outside of the body, it will spoil the appearance of the device and interfere with the design. In this way, the wall surface of the housing facing the head is hidden by the head, so the ventilation holes are formed in a position that is not visible from the outside, which is desirable. (13) The face portion should not be obscured by the body portion when it rotates. For example, when communicating with a person (user), the face will always be fully visible and not hidden from the person, eliminating the possibility of visual information from the face being obscured.

[0017] (14) The face portion has an outer circumference made up of a circle or a part of a circle, and a notch is formed in the upper part of the body portion which is an inner circumference that coincides with or substantially coincides with the curve of the outer circumference which is curved to be concave upward, and the outer circumference of the face portion is positioned along the inner circumference of the notch. By positioning the outer periphery of the face portion along the inner periphery of the notch portion, when the face portion is rotated for the first time, the outer periphery moves along the inner periphery of the notch portion, allowing the face portion to rotate in a way that prevents it from being hidden behind the notch portion.

[0018] (15) The device may have a head, the face portion being formed on the outer surface of the head, and the head may rotate together with the face portion. By forming the face on the outer surface of the head, the image becomes closer to that of a real person, animal, or character modeled after them, making it more likely to be well-received by people than a headless, rotating motion. Furthermore, the mechanism for moving the face can be housed within the head. (16) The apparatus has a body, the head is located on the upper part of the body, the body is divided into an upper and a lower part, and the upper part, together with the head, performs the third rotation relative to the lower part. This allows for the installation of a third rotation mechanism between the upper and lower parts of the torso. Furthermore, it allows for the installation of mechanisms specifically for the first and second rotations in the head, enabling complex rotation around three axes. (17) The upper part of the body is to rotate third, and the lower part is to be installed on the mounting surface and not move. Although it is a non-mobile device, it can perform delicate movements using motion around three axes despite being non-mobile, allowing for communication without the user becoming bored. It is particularly suitable for users who do not move around much, such as those who are ill or require care.

[0019] (18) The device may have means for restricting rotational movement to prevent rotation beyond a predetermined limit. This prevents excessive rotation, eliminating the risk of equipment failure due to over-rotation. The "means for restricting rotational movement" may be, for example, members that collide with each other by rotation, such as protrusions formed at predetermined positions on relative rotating members. (19) When a rotational operation is performed, the detection means is made to detect a means that restricts the rotational operation, and the initial value of the drive source that performs the rotational operation is updated based on the detection information. This allows the detection means to detect that the device is in a predetermined rotational position, and based on that detection signal, the initial position of the drive source can be updated to ensure that the rotational reference position of the device is correctly maintained. The "detection means" here could be a position sensor such as a limit switch, microswitch, or proximity switch. Alternatively, a rotation sensor that detects the motor's rotation speed would be suitable. The "drive source" could be, for example, a stepping motor or a servo motor. (20) The device has a speaker, and it is preferable that the speaker is located in a part that does not rotate. This ensures that the direction of sound output from the speaker does not change, and the sound pressure level output from the device remains constant.

[0020] (21) The device may perform a predetermined rotational operation when the content of the communication satisfies certain conditions. This allows gestures to be made in accordance with the content of the communication with the device, thus increasing the convenience of communication. For example, voice communication may involve a user (person) using predetermined words. When a speech is uttered and recognized by voice recognition, the corresponding rotational movement of the face is performed. The "predetermined words" are, for example, the user's birthday, the user's child's name, the device's nickname, the company name, or a specific advertising slogan. The "rotational movement" can be performed, for example, by individually or in any combination of a first rotation, a second rotation, and a third rotation. (22) The face portion may be equipped with a display unit and a display function that changes the display mode on the display unit in response to the communication. This allows the facial display to change according to the content of the communication with the device, improving the convenience of communication. For example, if a user (person) makes a speech utterance containing a predetermined word, and this is recognized by speech recognition, the corresponding facial display will perform the corresponding display action. The "predetermined word" and "rotational action" are the same as described above.

[0021] (23) It is preferable that an image of an eye be displayed on the display unit. By displaying an image of eyes on the face, it reinforces the impression that it is indeed a "face" to the viewer, making it more likely to be received favorably when communicating with others. (24) The device may have a position recognition function that recognizes the position of a person, and a function that turns the face in the direction recognized by the position recognition function. By orienting the face towards the user, it creates a simulated feeling of actually talking to a person, increasing the desire to communicate with the device and thus improving its usefulness. (25) The position recognition function is preferably a sound source direction identification function comprising three microphones arranged at the vertices of a triangle, and a determination unit that identifies the direction of the sound source from a position projected onto the plane including the triangle in a direction perpendicular to the plane including the triangle, to a reference position inside the region enclosed by the triangle on the plane, based on the difference in the time it takes for sound to arrive from the sound source to each of the three microphones. This allows the direction of the sound source to be identified using three microphones. And once the direction of the sound source can be identified, the device can be directed in the direction of the user's speech, allowing the user to feel as if they are engaging in conversational communication. (26) It is preferable that a microphone for acquiring human voices for speech recognition is provided in addition to the three microphones mentioned above. By installing a separate microphone for voice recognition from the microphone used to locate the sound source, it becomes possible to reliably communicate with people using voice. (27) The aforementioned communication should preferably be in the form of voice. When communicating by voice, people naturally turn towards the device's face when speaking. Therefore, allowing the face to rotate as described above encourages people to actively engage in dialogue when communicating with the device, which is effective in promoting communication.

[0022] The inventions described in (1) to (25) above can be combined in any way. For example, one may combine all or part of the configuration of the invention described in (1) with at least part of the configuration of at least one of the inventions described in (2) and onward. In particular, it is preferable to combine the invention described in (1) with at least part of the configuration of at least one of the inventions described in (2) and onward. Alternatively, one may extract any configuration from the inventions described in (1) to (25) and combine the extracted configurations. The applicant of this application intends to obtain rights to inventions that include these configurations. Furthermore, even if there is a description such as "in the case of ~" or "when ~", it is not meant to be a configuration that is limited to that case or time. Configurations that do not occur in these cases or times are also disclosed, and the applicant intends to obtain rights to them as well. Furthermore, the descriptions are in order. The order in which the sections are presented is not limited to this. We are also disclosing configurations with some sections deleted or the order rearranged, and we intend to acquire the rights to those configurations. [Effects of the Invention]

[0023] The device's face can be made to tilt its head, making its gestures more human-like in communication, and the information it conveys to people is more likely to be received favorably. The effects of the present invention are not limited thereto, and the effects produced by the components of the structure disclosed in this specification and the drawings are also disclosed. The present invention intends to obtain rights to the components that produce such effects through divisional applications, amendments, etc. For example, the phrases "can do..." in this specification are descriptions that specify the effects produced, and there are components that produce effects even without such descriptions. Furthermore, there are effects that can be grasped by the component even without such descriptions. [Brief explanation of the drawing]

[0024] [Figure 1] (a) is a front view and (b) is a rear view of a robot according to an embodiment of the present invention. [Figure 2] (a) is a left side view and (b) is a right side view of the robot of the same embodiment. [Figure 3] (a) is a top view and (b) is a bottom view of the robot of the same embodiment. [Figure 4] A perspective view of the robot of the same embodiment, seen from below. [Figure 5] Figure 1(a) shows a longitudinal cross-sectional view of the robot of the same embodiment along line AA. [Figure 6] A longitudinal cross-sectional view of the robot of the same embodiment along line BB in Figure 2(a). [Figure 7] Figure 4 is an explanatory diagram illustrating the interior of the body, which is shown with dashed lines. [Figure 8] A perspective view of the fixed part of the robot body according to the same embodiment. [Figure 9] (a) is a front perspective view of the movable part, and (b) is a rear perspective view. [Figure 10] An explanatory diagram illustrating the mechanism on the head side of the robot according to the same embodiment. [Figure 11] An exploded perspective view of the robot head side of the same embodiment. [Figure 12] (a) to (c) are explanatory diagrams illustrating the configuration of a robot of the same embodiment that allows for left-right head movement. [Figure 13] (a) and (b) are explanatory diagrams illustrating the forward and backward head movement of a robot according to the same embodiment. [Figure 14] A rear view of the robot body of the same embodiment, seen from above, on the side where it is fixed. [Figure 15] (a) is an explanatory diagram illustrating the structure of the horizontal rotation gear and bearing set that form the base of the third rotation, and (b) is an explanatory diagram illustrating the structure of the facial rotation gear and bearing set that form the base of the first rotation. [Figure 16] A block diagram illustrating the electrical configuration of a robot of the same embodiment. [Figure 17] (a) to (d) are explanatory diagrams showing examples of facial expressions displayed on the face screen of the robot according to the same embodiment. [Modes for carrying out the invention]

[0025] In the following, we will describe Robot 1, a communication robot that interacts with people, as one embodiment of the invention. As shown in Figures 1 to 6, the robot 1 comprises a plastic body 2 and a plastic head 3 made of the same material as the body 2, which is positioned on the body 2. The body 2 and head 3 constitute the housing of the robot 1. 1. Body 2 as the enclosure and the area surrounding Body 2 Body 2 is divided into a fixed part 2A and a movable part 2B. First, let's explain the fixed part 2A. The fixed part 2A is a component that is fixed to the mounting surface and does not move when the robot 1 rotates. The fixed part 2A is formed in a bowl-shaped appearance that opens from bottom to top. The fixed part 2A is composed of a circular bottom plate 4 and a wall 5 that rises from the periphery of the bottom plate 4 and is part of the housing of the body 2. It forms a part. The circular upper edge 6 of the fixing part 2A lies on the same plane. Slits 7, which will serve as sound outlets for the speaker device 56 (described later), are formed on the left and right opposing sides of the fixing part 2A. Above one of the slits (in this case, the left one), a power switch 8 and up switches 9 and down switches 10 for adjusting the volume of the speaker device 56 are provided. As shown in Figures 2 to 4, a recessed area 12 is formed at the rear of the fixing part 2A, and a USB OTG (On-The-Go) terminal 13, a DC12V power jack 14, and a microSD card socket (reader) 15 are provided at the back of this recess. A pad 16, which serves as both an anti-slip means and a means to improve cushioning, is provided on the underside of the bottom plate 4 of the fixing part 2A.

[0026] Next, we will explain the movable part 2B. The movable part 2B, which forms the upper half of body 2, is part of the housing of body 2 that mounts the head 3 and can rotate horizontally with the fixed part 2A as shown by the arrow in Figure 3(a). This horizontal rotation is a rotation around the third axis R shown in Figure 4, and this is the third rotation. The movable part 2B, combined with the fixed part 2A, forms a housing that accommodates the lower equipment of robot 1, and the head 3 is positioned at its upper part. Although body 2 is composed of the fixed part 2A and the movable part 2B, if the fixed part 2A is considered a base for mounting, then only the movable part 2B can be considered the body (torso). As shown in Figures 5, 6, 9(a)(b), and 14, the movable part 2B is a case composed of an outer wall portion 21 and an inner wall portion 22 formed overlappingly inside the outer wall portion 21. The outer wall portion 21 and the inner wall portion 22 are made of the same thickness. The upper end of the outer wall portion 21 and the upper end of the inner wall portion 22 are integrated (connected) to form the upper end portion 23 of the movable part 2B. The lower edge 24 of the outer wall portion 21 of the movable portion 2B is formed by a circular curve with the same curvature as the upper edge 6 of the fixed portion 2A. The end of the lower edge 24 lies on the same plane. A ring-shaped guide rail 26 extending downward is formed near the inner circumference of the lower edge 24. The guide rail 26 extends toward the fixed portion 2A when the movable portion 2B is installed on the fixed portion 2A, and guides the movable portion 2B as it rotates on the fixed portion 2A. Through-holes 27 for collecting sound from a microphone 42 used for user position recognition, which will be described later, are formed at three locations on the outer wall 21, at the same height and offset by 120 degrees from the front left and right positions and at the rear center position.

[0027] A recess 28 is formed in front of the outer wall portion 21. The recess 28 is formed as if it were cut out in a semicircular shape from the end face of the upper end portion 23, which is on the same plane as the movable portion 2B. The curvature (curve) of the inner circumference of the recess 28 is approximately the same as the outer circumference curvature of the face portion 62 formed on the head 3, which will be described later. The inner wall portion 22 of the recess 28 is made of a spherical surface and is further away from the outer wall portion 21 towards the bottom, so it is made wider towards the bottom and appears crescent-shaped with a wide center in a plan view as shown in Figure 3(a). Insertion slots 29 for housing the microphone module 46 are formed on the back surface of each through-hole 27 position of the outer wall portion 21. The outer surface of the outer wall portion 21 of the movable part 2B and the outer surface of the wall portion 5 of the fixed part 2A form a continuous curved surface in three dimensions. When the movable part 2B is installed on the fixed part 2A, the outer surface of the body 2 has a design that features a hemispherical lower shape followed by a nearly cylindrical upper shape. The body 2 has the largest diameter at the connection point between the fixed part 2A and the movable part 2B, and tapers vertically from that connection point onward.

[0028] As shown in Figures 5 and 6, the inner wall portion 22 of the movable portion 2B is formed as a spherical surface that is concave outward. The curvature (curve) of this spherical surface is approximately the same as the outer surface curvature of the head 3, which will be described later. Slits 30 are formed in the inner wall portion 22 as ventilation holes that communicate between the inside and outside. The internal space region surrounded by the inner wall portion 22 is designated as the housing region S in which the head 3 is housed. As shown in Figure 9(a), a connecting portion 31 is formed at the lowest center of the inner wall portion 22, which serves as a base for rotating the movable portion 2B and a base for supporting the head 3. The connection part 31 is composed of various features such as grooves and protrusions for connecting different mechanisms, screw holes, and through-holes for cables for power supply and data transmission. A recessed area 32 for fixing the head holder 61, which will be described later, is formed on the upper surface of the connection part 31. A screw hole 33 for connecting the inner bearing 45a of the bearing set 45, which will be described later, is formed on the back surface of the connection part 31. A counterweight mounting seat 48 is formed on the back surface of the inner wall portion 22, to which a counterweight (counterbalance weight) 55, which will be described later, is attached.

[0029] 2. Primarily concerning the internal mechanisms of Body 2 Next, the internal mechanism of the lower equipment body 2 will be explained based on Figures 5 to 8, Figure 14, etc. Note that internal wiring is omitted in the illustrations. Figure 7 shows the arrangement of the mechanisms inside the fixed part 2A with the body 2 removed. The aluminum alloy base frame 35, which also serves as a heat sink, is fixed to the fixed part 2A by screws (not shown). The base frame 35 has a disc-shaped outer form, and numerous cooling fins 36 are integrally formed on its outer circumference. Multiple device control boards are arranged on the front and back of the base frame 35. A first board 38, on which a controller MC, wireless LAN device 37, etc. are mounted, is located in contact with the back surface of the base frame 35. Below the first board 38 is a second board 39, which serves as a power supply board and is equipped with a battery, etc. A modular 52 on which a Doppler sensor 34 is mounted is located on the back surface of the first board 38. Above the base frame 35, adjacent to the base frame 35, is a third board 40 for sound detection for user location recognition. The wireless LAN device 37 is made to protrude laterally outward from a cutout in the fins 36 of the base frame 35 in order to improve the sensitivity of the antenna portion. A fourth circuit board 41, including terminals 13, a power jack 14, and a microSD card socket 15, is mounted on the side of the base frame 35. The position recognition microphone 42 and its module 46 are housed in the insertion slot 29. A first motor 43 is mounted on the back surface of the base frame 35. The first motor 43 is a stepping motor capable of forward and reverse rotation. As shown in Figure 8, the motor shaft 43a of the first motor 43 protrudes upward from the base frame 35. A pinion 44 is fixed to the tip of the motor shaft 43a.

[0030] A plastic bearing set 45 is mounted on the base frame 35. As shown in Figures 5, 6, and 15(a), the bearing set 45 consists of an inner bearing 45a and an outer bearing 45b. The inner bearing 45a is positioned inside the outer bearing 45b, and the two are able to rotate relatively smoothly in relation to each other (grease is applied between them to provide even smoother rotation). The outer bearing 45b is fixed to the base frame 35 by screws (not shown) so as not to rotate. A plastic horizontal rotation gear 47 is mounted on the bearing set 45. The horizontal rotation gear 47 is connected only to the inner bearing 45a via screws 49 so that their rotation axes are coaxial. In other words, the inner bearing 45a and the horizontal rotation gear 47 rotate coaxially as a single unit, and are mounted on the base frame 35, allowing them to rotate freely relative to the base frame 35. The horizontal rotation gear 47 is meshed with the pinion 44 on the motor shaft 43a of the first motor 43. The internal bearing 45a is fixed to the back (bottom) surface of the connection portion 31 of the movable part 2B. The internal bearing 45a is connected to the screw hole 33 on the movable part 2B side shown in Figure 9(b) by a screw 49 shown in Figure 8. The pivot center of the internal bearing 45a coincides with the center position of the movable part 2B. In other words, the movable part 2B and the internal bearing 45a are connected so that their pivot axes are coaxial. The pivot axis direction of the horizontal rotation gear 47 coincides with the axial direction of the third axis R shown in Figure 4. In this configuration, when the first motor 43 is driven, its rotational force is transmitted from the pinion 44 to the horizontal rotation gear 47, and then to the internal bearing connected to the horizontal rotation gear 47. The rotational force is transmitted to bearing 45a. Furthermore, the rotational force is transmitted to the movable part 2B to which the internal bearing 45a is connected and fixed. With this drive transmission mechanism, the robot 1 rotates horizontally relative to the fixed part 2A, with the movable part 2B rotating horizontally. At that time, the lower edge 24 of the movable part 2B, which has the same diameter, rests on the upper edge 6 of the fixed part 2A, and rotates freely in the left-right direction as a kind of monorail, with the guide rail 26 preventing it from falling off.

[0031] As shown in Figure 8, a first engaging projection 50 is formed on the base frame 35, outside the horizontal rotation gear 47, and extends upward. As shown in Figure 9(b), a second engaging projection 51 is formed on the back surface of the movable part 2B, at a position equidistant from the rotation center from the first engaging projection 50. When the movable part 2B is placed on the fixed part 2A and in the default position (i.e., with the recess 28 of the movable part 2B positioned in front of the fixed part 2A), the first engaging projection 50 and the second engaging projection 51 are positioned 180 degrees apart in phase (i.e., opposite positions with the rotation center in between). When the movable part 2B is rotated nearly 180 degrees, the first engaging projection 50 and the second engaging projection 51 collide, preventing further rotation. Furthermore, as shown in Figure 8, two sensor protrusions 53 are formed on the base frame 35 at adjacent positions equidistant from the rotation center of the horizontal rotation gear 47, outside the first engaging protrusion 50. As shown in Figure 14, a microswitch 54 is provided on the back surface of the third substrate 40 at a position equidistant from the rotation center from the protrusions 53, serving as a rotation position detection means. The microswitch 54 is positioned 180 degrees out of phase with the protrusions 53 (i.e., opposite positions across the rotation center). The microswitch 54 rotates approximately 180 degrees to the left or right (actually about 175 degrees, as the two protrusions 53 are 10 degrees apart) along with the movable part 2B, and the dog detects the protrusions 53, thereby updating the value of the initial rotation position of the first motor 43 in the left-right direction. The default position can be updated based on this updated initial position value. As shown in Figure 5, a counterweight 55 made of a square washer is placed on the counterweight mounting seat 48. Multiple (in this case, two) speaker devices 56 are placed on the upper surface of the bottom plate portion 4 of the fixed portion 2A.

[0032] "Effects primarily relating to Body 2" (1) Body 2 is fixed to the mounting surface by the fixed part 2A and does not move from its installed position. However, since the movable part 2 and the upper part from the movable part 2 can rotate around three axes, it can perform many gestures while remaining in place, and despite being a non-mobile robot, it can perform fine movements, allowing users to interact with it without getting bored. This is especially good for users who are ill or require care and do not move around much. (2) Since the sound from the speaker device 56 is output from the slit 7 of the fixing part 2A of the fixed body 2, even if the robot 1 moves in various ways, the sound is always transmitted to the user from a constant direction, so there are no problems such as the sound suddenly becoming difficult to hear, the sound becoming distant, or conversely, becoming too loud. In addition, since the sound is output from the slits 7 on both sides that are opposite each other, the sound can be diffused over a wider area compared to when there is only one sound outlet, making the sound easier to hear from any direction. (3) Components that need to be attached from the outside of the housing, such as terminals 13, power jack 14, and microSD card socket (reader) 15, are placed within the recess 12 which is surrounded by the surroundings, thus preventing accidental contact with them. (4) Slits 30 are formed in the inner wall portion 22, which allow heat to escape mainly from the equipment inside the body 2 (heat from the head 3 can also escape through the hole below the head 3). Since the slits 30 are not visible from the outside when the head 3 is installed, the appearance is not spoiled by the presence of the slits 30, and there is no need to place such ventilation holes for heat generation on the outer circumference of the body 2, so there is no need to design with ventilation holes in mind, which is advantageous in terms of design.

[0033] (5) Since the through-hole 27 for the microphone 42 for user position recognition is formed in the movable part 2B on which the head 3 is mounted and which rotates horizontally with the head 3 (i.e., the microphone 42 is housed in the movable part 2B), when the user's position is recognized based on the sound acquired from the microphone 42 based on the user's speech, the movable part 2B can be rotated horizontally to orient the head 3 in that direction. (6) A rotation prevention mechanism is provided to prevent excessive rotation, so that the movable part 2B does not rotate too much. (7) The microswitch 54 can update the initial rotational position value of the first motor 43 in the left-right rotation direction. This allows for correction of deviations from the default position by, for example, controlling the motor to occasionally contact the microswitch 54. (8) As shown in Figure 5, the counterweight 55 is positioned at the front. This position is chosen because, considering the weight balance, the heavier components are concentrated on the rear side of the pivot point. With the counterweight 55 positioned in this way, the movable part 2B rotates smoothly without rattling when it rotates horizontally. (9) The upper surface of the recess 28 is wider towards the bottom, and in a plan view, the lower part towards the center is wider. Therefore, when the user picks up and moves the robot 1, they are naturally instructed to place their fingers on this recess 28. The user can use this wider part to grasp and lift the body 2, which is convenient.

[0034] 3. Head 3 as a housing and the area surrounding Head 3 Head 3 is configured in a spherical-cut shape (the portion exposed outside the housing area S) which is the remainder of a sphere cut by a single plane. The cut-shaped front portion appears circular and constitutes the face portion 62 of robot 1. Head 3 is supported by a head holder 61 and is rotatably erected on the movable part 2B. Head 3 is divided front and rear at approximately the center position parallel to the plane direction of the face portion 62, that is, near the diameter of the sphere, and these are designated as the front case 3A and the rear case 3B. Head 3 is supported by the head holder 61 on the front case 3A side, and all upper equipment except the counterweight 55 is arranged in the front case 3A. The rear case 3B is detachably fixed to the front case 3A by screws 60.

[0035] First, let's explain the front case 3A. As shown in Figure 11, the front case 3A has a flat surface 63 on its front surface for forming the face portion 62. A rectangular opening 64 is formed in the center of the flat surface 63. A camera through-hole 65 is formed above the opening 64. A small through-hole 66, which serves as a sound acquisition opening for a microphone, is formed below the opening 64. A touch panel 67, which serves as a display unit consisting of a liquid crystal display (LCD), is disposed inside the opening 64. A thin, disc-shaped transparent cover plate 68 is disposed on the flat surface 63. With the cover plate 68 disposed on the touch panel 67, the face portion 62 is formed on the front surface of the head 3. The part of the cover plate 68 that does not overlap with the touch panel 67 (i.e., around the touch panel 67) is a smoke-like opaque panel, and together with the background of the touch panel 67, the entire face portion 62 has a unified dark background (however, it is not painted in the illustration). A transparent panel 71 is positioned at the location corresponding to the camera through-hole 65 on the upper part of the cover plate 68. A small through-hole 72, which serves as a sound acquisition opening for a microphone, is formed at the lower part of the cover plate 68, corresponding to the small through-hole 66 formed in the flat part 63. At the upper left and right diagonal positions flush with the flat surface 63 of the front case 3A, a first housing section 73 and a second housing section 74 are formed, bulging outward from the case. An illuminance sensor 77 is housed in the first housing section 73, and a high-brightness white LED 78 is housed in the second housing section 74. The first housing section 73 and the second housing section 74 are also parts that can be perceived as "ears" or "horns" when the head 3 is viewed from the front.

[0036] Next, we will explain the rear case 3B. As shown in Figures 7, 11-13, etc., the rear case 3B, which has a hemispherical appearance, has a large notch 79 formed on its lower side. The head holder 61 protrudes downward from the notch 79 (it passes through the notch 79 and is erected on the movable part 2B). A counterweight mounting seat 80 for attaching the counterweight 55 is formed on the upper rear surface of the rear case 3B. The counterweight mounting seat 80 is positioned so as not to interfere with the head holder 61 and the attached counterweight 55. Such a head 3 is housed in the housing area S of the movable part 2B. In the housing state, the upper end 23 of the outer wall 21 is positioned exactly at the diameter of the head 3 as a sphere. The curvature of the inner wall 22 and the head 3 that constitute the housing area S are approximately the same, and they are close together, creating a slight gap between them.

[0037] 4. Primarily concerning the internal mechanism of head 3 Next, the internal mechanism of head 3 will be explained based on Figures 5, 6, 10 to 13, etc. Note that internal wiring is omitted in the illustrations. First, let's explain the mechanism related to rotation around the second axis Q, as shown in Figures 4 and 12(b). Rotation around the second axis Q results in a swivel rotation of the head 3 in the forward and backward direction, as shown by the solid and dashed lines in Figure 13. Rotation around the second axis Q is the second rotation. The head holder 61, which supports the head 3, consists of a rectangular parallelepiped base portion 61a, elongated legs 61b extending upward from the base portion 61a, and a pair of parallel bearing plates 61c formed at the upper ends of the legs 61b. The base portion 61a of the head holder 61 is positioned within a housing recess 32 of the body 2 (movable portion 2B), and the head holder 61 is fixed to the movable portion 2B via the base portion 61a from the back side of the movable portion 2 by screws (not shown). A bearing hole 82 is formed near the front of the bearing plate 61c. A base frame 83 is positioned in front of the head holder 61. The base frame 83 comprises a roughly circular disc-shaped body 83a and a pair of arms 83b extending rearward from the body 83a. As shown in Figure 6, each arm 83b has a shaft portion 84 protruding from the outer side near its rear end. As shown in Figure 6, the base frame 83 is rotatably supported by the head holder 61 by the shaft portions 84 of the left and right arms 83b being fitted into bearing holes 82 of the bearing plate 61c.

[0038] On the other hand, a second motor 85 is positioned inside the bearing plate 61c of the head holder 61, which is located on the right side (left side in Figure 6) when viewed from the front of the device. The second motor 85 is a stepping motor and is capable of forward and reverse rotation. As shown in Figure 10, the motor shaft 85a of the second motor 85 protrudes outward from the bearing plate 61c. A pinion 86 is fixed to the tip of the motor shaft 85a. A cam mechanism 87 is disposed on the outer surface of the bearing plate 61c to which the second motor 85 is attached. The cam mechanism 87 includes a sector gear 88. The sector gear 88 meshes with a pinion 86. As shown in Figures 6 and 10, the cam mechanism 87 is fixed to the shaft portion 84 of the arm 83b by a screw 105. That is, the screw 105 is in the axial direction of the cam shaft and coincides with the shaft portion 84 of the arm 83b. This direction is the axial direction of the second shaft Q. In this configuration, when the second motor 85 is driven, its rotational force is transmitted from the pinion 86 to the sector gear 88, causing the camshaft (screw 105) to rotate. The screw 105 and the shaft 84 rotate together, and as the shaft 84 rotates, the base frame 83 also rotates (and oscillates, as it rotates within a narrow range).

[0039] Here, two engaging protrusions 90 are formed below the screw 105 of the cam device 87. Furthermore, a microswitch 91 is positioned at a location where it interferes with the engaging projection 90 as the cam device 87 swings, serving as a rotational position detection means. The two engaging projections 90 are positioned to correspond to the maximum and minimum swing amplitude positions corresponding to the amount of swing of the cam device 87. When the engaging projection 90 moves in conjunction with the swing of the cam device 87 (i.e., the swing of the base frame 83), the dog of the microswitch 91 detects its position, protecting the base frame 83 from swinging too much. In addition, the default position of the initial vertical rotation position of the second motor 85 can be updated by occasionally controlling the drive of the second motor 85 to cause the microswitch 91 to detect the engaging projection 90.

[0040] Next, the mechanism for rotation around the first axis P shown in Figures 4 and 13 will be described. The rotation around the first axis P is a clockwise swaying rotation and constitutes the first rotation. The first axis P passes through the center of the face portion 62. The rotation around the first axis P causes the head 3 to oscillate between the leftmost rotation state shown in Figure 12(a) and the rightmost rotation state shown in Figure 12(c). The head 3 oscillates from the stationary position in Figure 12(b) to the left and right at equal angles (15 degrees each in this embodiment). It is also possible to oscillate more widely by controlling the third motor 92. A third motor 92 is mounted on the rear surface of the base frame 83. The third motor 92 is a stepping motor capable of forward and reverse rotation. As shown in Figures 5 and 10, the motor shaft 92a of the third motor 92 protrudes forward from the base frame 83. A pinion 97 is fixed to the tip of the motor shaft 92a. As shown in Figures 10 and 11, a bearing set 93, a gear 94 for rotating the face section, a case holder 95, a fifth circuit board 96, and the like are arranged in an overlapping manner in front of the base frame 83, starting from the base frame 83 side. As shown in Figure 6, the case holder 95 is connected and fixed to the front case 3A by screws 100. A face recognition camera 98 is positioned at the top of the case holder 95. The lens position of the face recognition camera 98 coincides with the camera through-hole 65. The fifth circuit board 96 is equipped with a dialogue microphone 99 and controls the touch panel 67, illuminance sensor 77, face recognition camera 98, etc. The fifth circuit board 96 is mounted in the front case 3A.

[0041] Based on Figures 5, 6, and 15(b), a drive transmission mechanism that transmits the drive from the third motor 92 to the case holder 95 via a bearing set 93 and a gear 94 for rotating the face portion will be described. A plastic bearing set 93 is mounted on the front of the base frame 86. The bearing set 93 consists of an inner bearing 93a and an outer bearing 93b. The inner bearing 93a is positioned inside the outer bearing 93b, and the two are able to rotate relatively smoothly due to the relationship between their inner and outer circumferential surfaces (grease is applied between them to provide even smoother rotation). The outer bearing 93b is fixed to the base frame 86. A plastic face-part rotation gear 94 is mounted on the front of the bearing set 93. The face rotation gear 94 is connected to the internal bearing 93a and the case holder 95 via a screw 98. In other words, the internal bearing 93a and the face rotation gear 94 rotate coaxially as a single unit, and are also rotatable relative to the base frame 35 via an external bearing 93b. The face rotation gear 94 is meshed with the pinion 97 of the motor shaft 92a of the third motor 92. In this configuration, when the third motor 92 is driven, its rotational force is transmitted from the pinion 44 to the gear 94 for rotating the face portion. Since the gear 94 for rotating the face portion is integrally connected to the internal bearing 93a and the case holder 95, this rotational force is transmitted to the case holder 95. Since the case holder 95 is connected and fixed to the front case 3A by a screw 106, the rotation of the face portion 62 of this case holder 95 (clockwise rotation to the left and right) This results in a rotational movement that makes it appear as if the head 3 is tilting its neck (first rotation).

[0042] Here, as shown in Figures 6 and 11, two first engaging protrusions 101 are formed on the upper left and right sides of the front surface of the base frame 83. On the other hand, a second engaging protrusion 102 is formed on the rear surface of the case holder 95, which faces the front surface of the base frame 83, between the two first engaging protrusions 101. The case holder 95 rotates clockwise relative to the fixed base frame 83, but the second engaging protrusion 102 collides with the inside of the first engaging protrusions 101, preventing further rotation. In other words, the base frame 83 swings within a narrow range (which is set at an angle of 30 degrees in this embodiment) restricted by the two first engaging protrusions 101. Furthermore, as shown in Figures 5 and 10, a microswitch 103 is provided on the upper part of the base frame 83 as a means for detecting rotational position. As shown in Figure 5, a pair of engaging pieces 104, which also serve as reinforcing ribs, are formed at the upper position inside the front case 3A (Figure 5 is a cross-sectional view, so only one of the engaging pieces 104 is shown). The microswitch 103 rotates clockwise to the left or right along with the head 3 (and the case holder 95), and the dog detects the engaging piece 104, updating the value of the initial (default) clockwise rotation position of the third motor 92. Furthermore, the detection of the engaging piece 104 by the dog prevents further rotation. The default position can be updated based on this updated initial position value. The spacing of the engaging pieces 104 is slightly narrower than that of the first engaging projection 101, and the microswitch 103 detects the engaging piece 104 before the first engaging projection 101 and the second engaging projection 102 collide. Therefore, under normal use, unless an external force is applied, there is no collision between the first engaging projection 101 and the second engaging projection 102.

[0043] "Effects primarily related to Head 3" (1) The head 3 can perform a forward and backward swaying motion (second rotation) that resembles bowing or nodding relative to the movable part 2B, and a clockwise head tilting motion (first rotation), either simultaneously or separately. The robot 1 can then perform three rotational movements in total, including a horizontal rotation (third rotation). (2) The forward and backward oscillation (second rotation) and the clockwise swaying rotation (first rotation) can be performed by controlling the second motor 85 and the third motor 92, respectively, and as described above, the third rotation can also be controlled by the first motor 43, so that the rotation around the three intersecting axes can be freely controlled. (3) The first axis P passes through the center of the face portion 62, and the face portion 62 rotates on its own axis as a first rotation around this first axis P. At this time, the face portion 62 is perfectly circular in shape and rotates around its center, so the face portion 62 can always rotate without its circular outer shape wavering, making it easier to see the face portion 62. (3) The head 3 can perform the first and second rotations independently of the rotation of the movable part 2B relative to the fixed part 2A (the third rotation) (the head 3 can perform rotational movements on its own), so even though it is a mechanism in which three axes can rotate, it does not become mechanically complex. Furthermore, as shown in Figure 4, the first axis P and the second axis Q are orthogonal and lie on the same plane. Similarly, the third axis R and the second axis Q are orthogonal and lie on the same plane. In addition, the third axis R is orthogonal to the direction of the first axis P. Because the three axes are arranged in an orthogonal relationship in this way, it is easier to understand the relationship between the posture of the robot 1 and the controlled amount when controlling the first to third motors 43, 85, and 92 of the controller MC described later, which is advantageous in program design.

[0044] (4) Since both the first and second rotations are equipped with rotation prevention means to prevent excessive rotation, the head 3 will not rotate excessively. (5) When the head 3 is housed in the housing area S, the curvature of the inner wall portion 22 that constitutes the housing area S and the outer surface of the head 3 are approximately the same and close together, so no matter how it is rotated, the distance between them Because there is no large gap, dust and foreign objects are less likely to enter, and malfunctions caused by them are less likely to occur. (6) The head 3 is housed within the housing area S such that the lower half of the diameter of the sphere fits within it. As a result, the overall vertical dimension of the robot 1 is shortened, making it more stable when installed. On the other hand, a semicircular recess 28 is formed on the front of the movable part 2B that houses the head 3, so that the face portion 62 on the front of the head 3 is never hidden by the outer wall portion 21 of the movable part 2B, no matter how the head 3 rotates within the allowable range. As a result, the user can always see the face portion 62 of the robot 1 and interact with it, so they do not feel any unnaturalness or discomfort from not being able to see the face during the interaction. In addition, since the face portion 62 is circular and the recess 28 is made up of a curve corresponding to the curvature of that circle, the face portion 62 is never hidden by the outer wall portion 21 of the movable part 2B even when the head 3 makes its first rotation. (7) The face portion 62 of head 3 has a uniform dark background across its entirety, and is colored in a different dark color compared to the other parts of the housing which are uniformly lighter in color, white. In other words, the face portion 62 is separated from the outside by a different color at its boundary. As a result, when the user looks at robot 1, their gaze is naturally guided to the face portion 62 which has a different color, creating an atmosphere that makes it easier for the user to engage in dialogue (communication).

[0045] (8) Because the face portion 62 is circular, it is difficult to see that the head 3 is rotating even when it makes the first rotation. However, since the first housing portion 73 and the second housing portion 74 protrude from the head 3, it is possible to see that the head 3 is rotating, and by looking at these protruding parts, it is possible to confirm that it is rotating. (9) Even when the head 3 performs the first rotation and the second rotation, the range of rotation of the head 3 is restricted so that the head 3 does not rotate too much, and the notch 79 formed at the lower position of the head 3 does not become exposed above the outer wall portion 21 or recess 28 of the movable portion 2B. (10) The values ​​of the initial (default) rotation positions of the second motor 85 and the third motor 92 can be updated by the microswitches 91 and 103. This allows for correction of deviations from the default positions by, for example, controlling the motor to occasionally contact the microswitches 91 and 103. (11) Because the upper equipment of the head 3 is located in the front case 3A, the weight is concentrated towards the front. However, a counterweight 55 is attached to the upper back of the rear case 3B, so there is no weight unevenness and the motor is less likely to be overloaded when the head 3 rotates. (12) The rear case 3B is detachable, and the upper equipment is located in the front case 3A, so the interior can be exposed by removing only the rear case 3B from the head 3, making it easy to inspect the upper equipment. (13) As shown in Figure 5, the counterweight 55 is positioned at the rear of the head 3. This position is chosen considering the weight balance during the second rotation, as the heavier components are concentrated on the front side of the rotation center. By positioning the counterweight 55 in this way, the load on the second motor 85 is reduced when the head 3 rotates in the front-rear direction.

[0046] 5. Electrical configuration of Robot 1 Next, the electrical configuration of the robot 1 of Embodiment 1 will be described based on the block diagram in Figure 16. The controller MC, which serves as a control means, is connected to the first to third motors 43, 85, and 92, a Doppler sensor 34, a position recognition microphone 42, a dialogue microphone 99, a touch panel 67, an illuminance sensor 77, a high-brightness white LED 78, a face recognition camera 98, a speaker device 56, a wireless LAN device 37, a terminal 13, a microSD card socket 15, microswitches 54, 91, and 103, among others.

[0047] The controller MC consists of a well-known CPU, memory such as ROM and RAM, SSD, bus, and real-time clock (RTC). The ROM of the controller MC stores various programs for executing the various functions of robot 1. The various programs stored include, for example, a dialogue program to control interaction with the user via the microphone 99 and speaker device 56, a face recognition program for face recognition using the face recognition camera 98, a display variation / gesture program to change the facial expressions and movements of the robot 1 during interaction by controlling the touch panel unit 67 and the first to third motors 43, 85, and 92, a screen display program that displays different screens or images on the touch panel unit 67 based on interaction with the user and operation of the touch panel unit 67, a sound source position calculation program that calculates the direction of the sound source based on electrical signals acquired from the position recognition microphone 42, a data transmission and reception program that processes data acquired by the robot 1, such as camera images and emails from smartphones, etc., with other computers and smartphones, an absence setting program for monitoring when the user is absent, and an OS for operation, management, and control, such as GUI functions and network connectivity functions. Input / output data and calculated values ​​for dialogue and face recognition are temporarily stored in RAM. Each program works in conjunction with other programs or independently to implement functions such as dialogue, face recognition, and gestures in a multitasking manner.

[0048] The touch panel unit 67 has an input operation function that allows input by touching its surface. The touch panel unit 67 can selectively display multiple different screens, and in the dialogue mode described later, the controller MC can display a face screen 107 that shows eye objects, for example, as shown in Figures 17(a) to (d). Multiple eye objects are available, and the controller MC controls the display to show different face screens 107 or other screens depending on the content of the dialogue. The illuminance sensor 77 recognizes the brightness of the environment in which the robot 1 is installed. The brightness white LED 78 is automatically turned on based on the value detected by the illuminance sensor 77 if there is insufficient light for the face recognition camera 98 to take a picture. The dialogue microphone 99 is a voice input means that captures the user's speech during a dialogue with the user. The microSD card socket 15 reads and writes data to the inserted microSD card. The wireless LAN device 37 is a device that allows the Wi-Fi-enabled robot 1 to connect to the internet wirelessly. In this embodiment, the IEEE 802.11b international standard is used. The Doppler sensor 34 is a microwave-based sensor that emits microwaves and compares the frequency of the reflected microwaves with the frequency of the emitted radio waves to detect whether an object (person) is moving. It utilizes the Doppler effect, which causes a change in the frequency of the reflected wave when an object (person) is moving. For example, it is a device used to detect abnormalities around robot 1, such as the presence of suspicious persons when the user is absent. Furthermore, based on detection signals from microswitches 54, 91, and 103, the controller MC controls the first to third motors 43, 85, and 92, and by supplying them with predetermined pulse power, updates the initial position of the movable part 2B relative to the head 3 and fixed part 2A.

[0049] The position-recognition microphone 42 is a direction-detection means that can determine the direction of a sound source by simultaneously using three microphones 12 positioned at the vertices of a triangle, and by the difference in the arrival time of sound between them. The principle of determining the direction of a sound source using the position-recognition microphone 42 will be outlined below. In principle, by using multiple microphones, the direction of the sound source (in this case, the user's speech) can be determined based on the difference in arrival time Tdiff. Sound is considered a plane wave. While this is possible with two microphones, it is more efficient to use three microphones that are not on the same line. This is more accurate. In this embodiment, three position-recognition microphones 42 are arranged in an equilateral triangle on a horizontal plane. This arrangement is good for calculating the direction of the sound source. In this embodiment, the controller MC calculates the arrival time difference Tdiff from the phase difference of the electrical signals acquired by each microphone 42. Based on the arrival time difference Tdiff, the controller MC calculates the sound source angle relative to the reference direction. The controller MC performs the calculation routine at a constant repeating timing. Once the direction of the sound source is determined in this way, the controller MC drives the first motor 43 to control the face 62 to face that direction of the sound source.

[0050] Furthermore, the controller MC controls communication with the user through dialogue by executing dialogue programs. Here, the dialogue program is 1) A subprogram that sends a request to the cloud server with user speech data (voice data) acquired from microphone 12, and responds with the user's speech data (string data) converted into text using the server's speech recognition engine. 2) A built-in scenario subprogram that executes a built-in scenario dialogue based on the user's utterance (string data). 3) If the user's utterance does not correspond to a built-in scenario, the utterance data transfer subprogram sends another request to the cloud server for utterance data (string data) and uses the dialogue API (Application Programming Interface) to cause the dialogue engine to create response data (string data) for Robot 1. 4) A subprogram for displaying the received response data (string data) on the touch panel unit 67, which acts as a display unit. 5) A voice data subprogram that converts the received response data (string data) into voice data using a speech synthesis engine and outputs it as speech from the speaker device 56 on the robot 1 side. 6) Includes a display mode / operation variation subprogram that changes the display mode on the touch panel unit 67 and the operation of the robot 1 based on user-side string data and robot 1-side string data.

[0051] 6. Gestures of Robot 1 during dialogue The controller MC controls the first to third motors 43, 85, and 92 at various timings, as follows, to change the posture of robot 1. The gestures of this robot 1 are best combined with the display on the touch panel unit 67 (face unit 62). The gestures described above should be combined in response to changes in the shape of the eyes on the face screen 107 of the face unit 62, for example, as a result of the interaction. The robot may also perform the gestures described above even when the face unit 62 is not displaying anything. For example, the face unit 62 is not displaying anything at startup or shutdown. The following is an example.

[0052] 1) At startup: If the face portion 62 of head 3 is not facing forward, or if head 3 is tilted, etc., the first to third motors 43, 85, and 92 are controlled to return it to the default forward position (as shown in Figures 1 to 3). 2) When the screen is touched: Same as 1) (to ensure that the face recognition camera 10 for face recognition is facing the user directly) 3) When the trigger utterance "Hey Yupi-bo" is spoken: Same as 1) (to ensure that the facial recognition camera 10 for facial recognition faces the user directly) 4) When sound direction is detected: The first motor 43 is controlled to orient the face portion 6 of the head 3 in that direction. 5) As a special emotional utterance, for example when happy: Head 3 faces the face part 62 towards the user. The third motor 92 is controlled to rotate the head in a left-right direction (clockwise and counterclockwise) while keeping it in place. The corresponding face screen 107 is displayed on the face part 62. 6) As a special utterance, for example, in the case of sadness: the second motor 85 is controlled to keep head 3 nodding for a while, and then return it to the default position. 7) When emotions are expressed as utterances, such as greetings like "Good morning," "Good afternoon," "Good evening," or "Hello": The second motor 85 is controlled to make the head 3 bow. The corresponding face screen 107 is displayed on the face unit 62. 8) When uttering simple positive communication terms as non-special emotional utterances, such as "I see," "I understand," "That's right," or "Yes!", the second motor 85 is controlled to make the head 3 nod. The corresponding face screen 107 is displayed on the face unit 62. In steps 6-8), the speed and timing of the second motor 85 can be changed to make sadness, bowing, and nodding different. 9) When a simple negative communication term such as "no," "I can't," or "no" is uttered as an ordinary emotional utterance: The first motor 43 is controlled to rotate the movable part 3 from side to side several times. The corresponding face screen 107 is displayed on the face part 62. 10) In response to special emotional utterances, non-special emotional utterances, and various interactions, various gestures are controlled by combining the first to third motors 43, 85, and 92. These gestures include rotating the head 3 several times left and right (clockwise and counterclockwise) and forward and backward, as well as rotating the entire movable part 3 from side to side, making large rotations or small nodding movements.

[0053] "6. Effects of Robot 1's Gestures During Dialogue" (1) By having robot 1 perform these kinds of gestures, users will feel a sense of familiarity with robot 1, enjoy interacting with it, and also enjoy actively engaging with it. Furthermore, by controlling the first to third motors 43, 85, and 92 in combination, robot 1 can express a variety of gestures, and in particular, various gestures can be prepared depending on the content of the conversation. (2) The face portion 62 is circular in shape and rotates around the center of the face portion 62 (first rotation). Therefore, the face portion 62 always maintains a circular outer shape, but the face screen 107 appears to rotate due to the first rotation. This gives the user the impression that the face portion 62 does not move, but only the face screen 107 moves within the face portion 62, thereby increasing the enjoyment of interaction. In addition, because the curve of the recess 28 is formed along the outer shape of the face portion 62, the outer wall portion 21 of the movable portion 2B does not obstruct the face portion 62 at any rotational position.

[0054] <Modified example of the embodiment> (1) The shape of the head 3 and the face portion 62 are not limited to those described above. In the above description, the face portion 62 was a "screen" on which an image was displayed on a flat touch panel portion 67, but it may be a three-dimensional face with eyes, a nose, and ears instead of an image. The shape of the face portion 62 is preferably circular as described above, but it does not have to be circular. The illuminance sensor 77 and the high-brightness white LED 78 may be placed inside the face portion 62. (2) The above is just one example of the housing shape of the fixed part 2A and the movable part 2B that make up the body 2, and it is also possible to configure them in other shapes. (3) The first to third motors 23 to 25 may use other drive means other than stepping motors. Other drive means include, for example, servo motors, hydraulic cylinders, pneumatic cylinders, etc. (4) The first housing section 73 and the second housing section 74 are understood to resemble "ears" and "horns" when the head 3 is viewed from the front. However, for example, the face section 62 may not be circular, but rather a part of the circular section may be provided with a part that protrudes diagonally upward, and that part may be configured on the same plane as part of the face section 62, resembling an "ear". In other words, the face section 62 and the "ears" do not need to be separated. (5) Illuminance sensors 77 and high-brightness white LEDs housed in the first housing section 73 and the second housing section 74 The ED78 can be positioned within the face portion 62 of the head 3, or at a different location other than the head 3, and the head 3 may not have protrusions such as the first housing portion 73 and the second housing portion 74, which may actually make it less obvious that the face portion 62 is rotating. (6) The three axes were orthogonal, but they do not have to be orthogonal. The first axis P and the second axis Q do not have to lie on the same plane. The third axis R and the second axis Q do not have to lie on the same plane. (7) The face unit 62 rotates first with the head 3, but it is also possible to control it so that the eyes displayed on the face screen 107 do not rotate during this rotation. In other words, when the controller MC controls the third motor 92, it may tilt the display on the face screen 107 according to the amount of rotation so that the eyes are always positioned horizontally. As a result, even when the face unit 62 rotates, the "eyes" themselves, which are components of the face unit 62, remain displayed in their basic position. This gives the strange impression that only the head 3 is rotating independently. (8) You may use more than three microphones to determine the direction of the sound source. (9) As detection means other than the microswitches 54, 91, and 103, for example, limit switches or proximity switches may be used. (10) In the above description, the head 3 itself rotated around two axes, but it is also possible to configure the head 3 to move around three axes. (11) A spherical part may be provided at the bottom of the head 3 inside the body 2, and this part may be moved around two or three axes by a curved motor. (12) For example, a curved linear motor may be used to levitate the head 3 and allow it to move freely in the left, right, up, and down directions. The ON / OFF state, S / N reversal, and strength of the magnetic force of each individual electromagnet may also be controlled. (13) The head 3 may be driven to rotate by a link or string, etc. It may also be driven by a cam. The head 3 may be rotated by spherical joint control, in particular by wide-angle spherical joint control. (14) In a helicopter stabilizer type, the rotation plane of the main wing may be defined as, for example, the rotation direction of one axis of head 3 (for example, the diameter plane of head 3). It is good to use sturdy servo horns and rod end ball ends. To make the movement smoother, it is good to use servo horns that are structurally as long as possible. The diameter plane of the head is better made of metal. However, it does not need to be circular as various parts will be packed into it. In addition to the servo horns, rod end ball ends and diameter plane, force is also applied to the rotation axis of the servo motor or stepping motor, so it is good to provide a mechanism to support the rotation axis. It is difficult to match the concave spherical surface of the fuselage with the convex spherical surface of the head, so it is better to leave a gap of 1-2 mm between the fuselage and the head. In a helicopter structure, in addition to tilting the head up, down, left, and right, it is also possible to rotate the head.

[0055] The scope of the present invention is not limited to the configurations explicitly described in the specification, but also includes combinations of various aspects of the present invention disclosed herein. While the configurations for which patent protection is sought are specified in the appended claims, the present invention intends to include configurations disclosed herein, even those not currently specified in the claims, within the scope of the claims in the future. The present invention is not limited to the configuration described in the embodiments above. The components of each embodiment and modification described above can be arbitrarily selected and combined. Furthermore, any component of each embodiment and modification can be arbitrarily combined with any component described in the means for solving the invention, or any component that embodies any component described in the means for solving the invention. We intend to obtain rights to these as well through amendments or divisional applications of this application. Also, even if there is a description such as "in the case of..." or "when...", it is not meant to be a configuration that is limited to that case or time. Configurations that do not fall under these cases or times are also disclosed, and we intend to obtain rights to them as well. Furthermore, even if there is a sequence of descriptions, it is not limited to that order. Some parts can be deleted or the order can be changed. The structure is also disclosed, and the company intends to acquire the rights to it. Furthermore, the applicant intends to obtain rights to the overall design or a partial design by filing an application for amendment to the design application. The drawing depicts the entire device with solid lines, but it is a drawing that includes not only the overall design but also partial designs claimed for parts of the device. For example, it is a drawing that includes not only a partial design for a part of the device, but also a partial design for a part of the device regardless of whether it is a part or not. A part of the device may be a part of the device's components, or a part of a component. The applicant intends to obtain rights not only to the overall design, but also to a partial design in which any part of the solid lines in the drawing is represented by dashed lines. [Explanation of Symbols]

[0056] 1...Robot as a device, 62...Screen as the face.

Claims

1. A device equipped with a function for communication, It has a head and a body, The torso portion is located on the upper surface of the upper part of the torso, which is in the front part of the head. A region was provided that is wider towards the bottom, so that it is further away from the outside of the body at the bottom. A device characterized by the following.

2. The apparatus according to claim 1, The aforementioned region is a recess formed on the front surface of the body portion, The recess is formed in such a way that it is cut out in a semicircular shape from the end face of the upper end of the body which lies on the same plane. A device characterized by the following.

3. The apparatus according to claim 2, The head has a face portion at the front, The curvature of the inner circumference of the recess is approximately the same as the curvature of the outer circumference of the facial portion. The aforementioned recess appears as a broad, crescent shape in the center when viewed from above. A device characterized by the following.

4. The apparatus according to any one of claims 1 to 3, The outer surface of the aforementioned body forms a continuous curved surface in the three-dimensional direction. The outer surface of the aforementioned body has a substantially cylindrical upper shape that is continuous with the hemispherical lower shape. The body portion is configured such that the connection between the lower shape and the upper shape has the largest diameter. The aforementioned connection portion is narrowed vertically at the boundary. A device characterized by the following.

5. The apparatus according to any one of claims 1 to 4, The head is divided into a front case and a rear case. All upper components, except for the counterweight, are housed in the front case. A counterweight mounting seat is formed at the upper position on the back surface of the rear case, where a counterweight is to be attached. The counterweight is attached to the counterweight mounting base. A device characterized by the following.

Images