Robot operation method and robot system

Abstract

The ability to effectively communicate information to people without causing them any discomfort or unease. [Solution] The robot operation method includes a detection step in which a detection device detects human movement, and an operation step in which a plurality of robots perform actions in accordance with the movement detected by the detection device, wherein in the operation step, at least one of the plurality of robots performs an action that is deviated from the actions of the other robots.

Description

Technical Field

[0001] The present disclosure relates to a robot operation method and a robot system.

Background Art

[0002] Conventionally, robots that operate in response to human actions have been developed. For example, Patent Document 1 discloses a robot that acquires information regarding the movement of a toothbrush when a person is brushing their teeth and notifies the person of any issues with the brushing position or the acceleration of the toothbrush movement through its actions if they are inappropriate.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when a robot conveys information to a person through its actions, there is room for further improvement in the robot's configuration in order to effectively convey the information.

[0005] An object of the present disclosure is to provide a robot operation method and a robot system that enable effective communication of information to a person.

Means for Solving the Problems

[0006] The robot operation method of the present disclosure includes a detection step in which a detection device detects a human action, and an operation step in which a plurality of robots perform operations in response to the action detected by the detection device. In the operation step, at least one of the plurality of robots performs an operation that deviates from the operations of the other robots.

[0007] The robot system of this disclosure comprises a first robot that performs an action in response to an action detected by a detection device that detects human motion, and a second robot that performs an action that deviates from the action of the first robot in response to the action detected by the detection device. [Effects of the Invention]

[0008] According to the robot operation method and robot system of this disclosure, information can be effectively transmitted to a person. [Brief explanation of the drawing]

[0009] [Figure 1] A diagram showing an example of the configuration of a robot motion system. [Figure 2] A diagram showing an example of the functional configuration of each device in a robot motion system. [Figure 3] Diagram illustrating the robot's operation. [Figure 4] This figure shows an example of characteristic parameters set for each robot. [Figure 5] A diagram illustrating an example of the relationship between training progress and the timing of robot actions. [Figure 6] Sequence diagram showing an example of the processing steps performed by a robot motion system. [Figure 7] This diagram illustrates the robot's behavior when there are delays in the start and end of its operation. [Figure 8] This diagram illustrates the robot's behavior when one of the trainee's actions is completed in less time than usual. [Figure 9] A diagram illustrating the detection of a trainee's movements by a training device. [Figure 10] A diagram illustrating another method for detecting the movements of a trainee. [Figure 11] This diagram shows an example of a training device used when the training is for grip strength. [Figure 12] A diagram illustrating the detection of a trainee's movements by a training device. [Figure 13] This diagram shows an example of a training device used when the training involves drumming. [Figure 14] Figure for explaining detection of trainee's actions by a training device [Figure 15] Figure for explaining the actions of a robot when a trainee performs a plurality of actions continuously within a short period of time [Figure 16] Figure showing the relationship between the impression given to a trainee and the reaction time Δt of one robot [Figure 17] Figure for explaining the timing of actions of three robots [Figure 18] Figure showing an example of a robot operating with a timing shift [Figure 19] Figure showing another example of a robot operating with a timing shift

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the present disclosure is not limited to the following embodiments, and various modifications can be made without departing from the gist of the present disclosure.

[0011] First, referring to FIG. 1, a robot operation system will be described. FIG. 1 is a diagram showing an example of the configuration of a robot operation system. This robot operation system includes a plurality of robots 10 to 30, a training device 40, and a server device 50.

[0012] The robots 10 to 30 are robots that operate in response to the actions of a trainee in order to support the trainee who receives training using the training device 40. By the robots 10 to 30 reacting in accordance with the actions of the trainee, it is possible to adjust the rhythm of the trainee's actions and improve the positive attitude towards training, thereby promoting the training.

[0013] Although three robots 10 to 30 are shown in FIG. 1, the number of robots may be plural, and the plural robots constitute a robot system.

[0014] Of the multiple robots 10-30, at least one robot 10-30 performs an action that is out of sync with the actions of the other robots 10-30. For example, multiple robots 10-30 operate in conjunction with each other at different timings.

[0015] By having at least one of the 10-30 robots operate with a delay, trainees who are not performing well in training can be given the impression that they are being supported, thereby encouraging them. Furthermore, the 10-30 robots may perform different patterns of operation.

[0016] The training device 40 is a device used by trainees, such as children, to learn how to use chopsticks. The training device 40 is a detection device that detects the trainee's chopstick-using movements and transmits a signal to the server device 50 indicating that the movements have been detected.

[0017] The server device 50 is a device that, when the training device 40 detects the actions of the person being trained, sends a signal to the robots 10-30 to instruct them to perform an action, causing the robots 10-30 to execute a predetermined action. For example, the server device 50 may be a personal computer located near the robots 10-30, or it may be a cloud server.

[0018] The training device 40 includes a first tray 40a, a second tray 40c, a start button 40f, and the like. For example, the first tray 40a contains several beans. The trainee picks up the beans one by one with chopsticks and places them into holes in the lid of the second tray 40c, thereby training their chopstick skills. The difficulty of the training can be changed by using lids with holes of different sizes. The start button 40f is a button that is pressed when training begins.

[0019] Next, we will explain the functional configuration of each device in the robot motion system. Figure 2 shows an example of the functional configuration of each device in the robot motion system.

[0020] Robots 10-30 include display units 10a-30a, speakers 10b-30b, drive units 10c-30c, communication units 10d-30d, memory units 10e-30e, and control units 10f-30f.

[0021] Display units 10a to 30a are display devices that show the eyes and other features of robots 10 to 30. Speakers 10b to 30b are output devices that output sound. Drive units 10c to 30c are drive devices that rotate the bodies of robots 10 to 30 to the left and right.

[0022] Communication units 10d to 30d are communication devices that communicate with other devices such as the server device 50. Storage units 10e to 30e are memory devices such as memory that store data used by the control units 10f to 30f. Control units 10f to 30f are control devices such as processors that control the display units 10a to 30a, speakers 10b to 30b, drive units 10c to 30c, communication units 10d to 30d, etc., based on the data stored in the storage units 10e to 30e.

[0023] The training device 40 comprises a first tray 40a, a first detection unit 40b, a second tray 40c, a second detection unit 40d, a communication unit 40e, a start button 40f, a storage unit 40g, and a control unit 40h.

[0024] The first tray 40a is a tray for holding beans. The first detection unit 40b is a sensor that detects when beans are removed from the first tray 40a with chopsticks. The second tray 40c is a tray for holding the beans that have been removed with chopsticks. The second detection unit 40d is a sensor that detects when beans are placed on the second tray 40c.

[0025] For example, the first detection unit 40b and the second detection unit 40d are load sensors, but other sensors may be used as long as they can detect when beans are removed from the first tray 40a with chopsticks and when beans are placed on the second tray 40c.

[0026] The communication unit 40e is a communication device that communicates with other devices such as the server device 50. The start button 40f is a button that receives instructions from the trainee or others to start training. The memory unit 40g is a storage device such as a memory that stores data used by the control unit 40h. The control unit 40h is a control device such as a processor that controls the first detection unit 40b, the second detection unit 40d, the communication unit 40e, etc., based on the data stored in the memory unit 40g.

[0027] The server device 50 includes a display unit 50a, an input unit 50b, a communication unit 50c, a storage unit 50d, and a control unit 50e.

[0028] The display unit 50a is a display device that displays various information, such as a liquid crystal display. The input unit 50b is an input device that accepts information input from a keyboard, mouse, etc. The communication unit 50c is a communication device that communicates with robots 10-30 and other devices such as the training device 40.

[0029] The storage unit 50d is a storage device such as a memory that stores data used by the control unit 50e. The control unit 50e is a control device such as a processor that controls the display unit 50a, input unit 50b, communication unit 50c, etc., based on the data stored in the storage unit 50d.

[0030] Next, the robot operation method according to this embodiment will be explained using Figure 2. When the start button 40f of the training device 40 is pressed and the trainee takes beans out of the first tray 40a with chopsticks, the first detection unit 40b detects that the trainee has taken beans out of the first tray 40a because the load on the first tray 40a has decreased.

[0031] Subsequently, when the trainee moves the beans to the second tray 40c, the second detection unit 40d detects that the load on the second tray 40c has increased, indicating that the trainee has moved the beans to the second tray 40c.

[0032] Here, the first detection unit 40b and the second detection unit 40d detect, respectively, the number of beans removed from the first tray 40a and the number of beans moved to the second tray 40c, based on the change in load. Through this detection process, the progress of the trainee's training can be grasped.

[0033] Subsequently, the communication unit 40e of the training device 40 transmits a signal to the server device 50 indicating that the trainee has removed a bean from the first tray 40a. The communication unit 40e of the training device 40 also transmits a signal to the server device 50 indicating that the trainee has moved a bean to the second tray 40c.

[0034] When the communication unit 50c of the server device 50 receives a signal indicating that a bean has been removed from the first tray 40a by the trainee, the control unit 50e generates an operation instruction signal to instruct the robots 10-30 to start operation.

[0035] Furthermore, when the communication unit 50c of the server device 50 receives a signal indicating that the trainee has moved beans to the second tray 40c, the control unit 50e generates a stop instruction signal to instruct the robots 10-30 to stop operating.

[0036] Subsequently, the communication unit 50c transmits the operation instruction signal or stop instruction signal generated by the control unit 50e to each robot 10-30.

[0037] More specifically, the communication unit 50c sends an action instruction signal to each robot 10-30 in conjunction with the moment the trainee picks up the Nth bean (where N is a natural number) with chopsticks. The communication unit 50c also sends a stop instruction signal to each robot 10-30 in conjunction with the moment the movement of the Nth bean is completed. The action instruction signal also includes information on which predetermined action pattern robot 10-30 should perform.

[0038] Furthermore, the timing of sending operation instruction signals or stop instruction signals from the communication unit 50c to each robot 10-30 may be simultaneous, or the timing may be staggered for each robot 10-30.

[0039] By staggering the timing for every 10 to 30 robots, it becomes possible to operate robots 10 to 30 simultaneously, even if there are variations in the processing delays in the control or communication systems of the server device 50 and robots 10 to 30.

[0040] Furthermore, by slightly staggering the movements of 10 to 30 robots, it is possible to give trainees the impression that the robots are operating continuously for a certain period of time, rather than just for a fleeting moment, when viewed as a group of 10 to 30 robots.

[0041] Furthermore, when the communication units 10d to 30d of each robot 10 to 30 receive an operation instruction signal, the control units 10f to 30f of each robot 10 to 30 control the display units 10a to 30a, speakers 10b to 30b, and drive units 10c to 30c so that they perform operations according to the operation pattern included in the operation instruction signal.

[0042] Here, each robot 10 to 30 has a memory unit 10e to 30e pre-set with characteristic parameters corresponding to its movement pattern, and each robot 10 to 30 performs movements that deviate from the movements of the other robots 10 to 30 according to these characteristic parameters.

[0043] For example, if the trainee picks up a third bean with chopsticks, the server device 50 sends an action instruction signal to the robot 10 instructing it to perform action pattern A. Upon receiving this action instruction signal, the robot 10 executes the action stored in the memory unit 10e as action pattern A for when a third bean is picked up with chopsticks.

[0044] The actions stored in the memory unit 10e are parameters such as the pitch of the voice output from the speaker 10b and the speed of the movement. The robot 10 performs the action with the pitch of the voice and the speed of the movement that are stored as the action of pattern A.

[0045] In this scenario, even if the actions of 10 to 30 of the robots are delayed, if multiple robots 10 to 30 are moving in a somewhat synchronized manner, the trainee is more likely to perceive that robots 10 to 30 are responding to their actions.

[0046] Furthermore, by setting different characteristic parameters for each of the 10-30 robots, the behavioral tendencies of each robot can be changed. This gives trainees the impression that each of the 10-30 robots has a different personality, making them more likely to pay attention to them. In addition, by having each of the 10-30 robots move in response to the trainee's actions, it is possible to effectively give trainees the impression that the robots are supporting their work.

[0047] Furthermore, once the trainee has completed moving the Nth bean, and the communication units 10d to 30d of each robot 10 to 30 receive a stop command signal from the communication unit 50c of the server device 50, the control units 10f to 30f of each robot 10 to 30 perform control to stop the operation they were performing up to that point and wait for the reception of a new operation command signal. This completes one operation for each robot 10 to 30.

[0048] Next, we will explain in more detail the overview of the movements of robots 10-30. Figure 3 is a diagram illustrating the overview of the movements of robots 10-30. The training conducted here is to move 10 beans from the first tray 40a to the second tray 40c using chopsticks. Timings t1-t14 in Figure 3 indicate the timing at which robots 10-30 perform their actions.

[0049] Robots 10-30 repeatedly perform idle motions such as rotating while the trainee is not performing any actions (timing t1). Then, when the start button 40f of the training device 40 is pressed (timing t2), robots 10-30 perform actions corresponding to their respective characteristic parameters each time they receive an action instruction signal from the server device 50 (timings t3-t12).

[0050] Here, the operation instruction signal is transmitted from the server device 50 to the robots 10-30 at the moment the trainee picks up a bean with chopsticks, but it may also be transmitted from the server device 50 to the robots 10-30 at the moment the transfer of the beans to the second tray 40c is completed. In this case, the stop instruction signal is transmitted from the server device 50 to the robots 10-30 at the moment the trainee picks up a bean with chopsticks, for example.

[0051] Furthermore, the characteristics of robots 10-30 can be switched by pressing the start button 40f of the training device 40 and switching the characteristic parameters. For example, in Figure 3, if characteristic B is selected, at timing t9, robots 10-30 with characteristic B are assumed not to have received an operation instruction signal. In this case, robots 10-30 with characteristic B may perform an action to indicate that they have not received an operation instruction signal, or they may perform no action at all.

[0052] Furthermore, when robots 10-30 receive an action instruction signal 10 times, they perform an action corresponding to the completion of training (timing t13). After that, robots 10-30 repeat the standby motion that they performed at timing t1 (timing t14).

[0053] Next, we will explain the characteristic parameters set for each robot 10 to 30. Figure 4 shows an example of the characteristic parameters set for each robot 10 to 30.

[0054] Figure 4 shows three feature parameters A, B, and C. Each of these feature parameters A, B, and C includes parameters for personality image, voice pitch, behavioral speed, action initiation delay, action termination delay, voice tone, voice intonation, and blinking frequency / speed.

[0055] The personality image is the personality image assigned to each characteristic parameter A, B, and C, such as gentle, calm, or impatient. The voice pitch is the parameter for the pitch of the sound output from speakers 10b to 30b of robots 10 to 30. The movement speed is the parameter for the speed of the movements performed by robots 10 to 30.

[0056] The start delay parameter is the delay time from receiving the operation instruction signal until the operation begins. The end delay parameter is the delay time from receiving the stop instruction signal until the operation stops.

[0057] Voice tone and intonation are parameters of the timbre and intonation of the voice output from the speakers 10b to 30b of robots 10 to 30. Blinking frequency / speed are parameters of the blinking frequency and speed of the eyes displayed on the display units 10a to 30a of robots 10 to 30.

[0058] In this system, robots 10-30 delay the start of their operation by a time set for each robot 10-30 as a delay after receiving an operation instruction signal transmitted by the server device 50. Furthermore, robots 10-30 delay the stop of their operation by a time set for each robot 10-30 as a delay after receiving a stop instruction signal transmitted by the server device 50.

[0059] Alternatively, the server device 50 may store parameters for the start of operation and the end of operation delay corresponding to each robot 10 to 30 in the storage unit 50d, and delay the timing of sending operation instruction signals and stop instruction signals to each robot 10 to 30 by the time set in these parameters. In this case, the control units 10f to 30f of each robot 10 to 30 will control them to start operation and stop operation when they receive the operation instruction signal and stop instruction signal.

[0060] Figure 5 shows an example of the relationship between training progress and the timing of robot movements 10-30.

[0061] While the trainee is performing training using the training device 40, the first detection unit 40b of the training device 40 detects that the load on the first tray 40a has decreased, indicating that the action of moving one bean with chopsticks has begun.

[0062] Subsequently, the training device 40 sends a signal to the server device 50 indicating that its operation has started. In this example, a delay a occurs between the time the training device 40 sends the signal and the time the server device 50 receives it. Upon receiving this signal, the server device 50 sends operation instruction signals to each of the robots 10-30.

[0063] The server device 50 has delays b, c, and d set for the timing of sending operation instruction signals to each robot 10-30, and the server device 50 sends operation instruction signals to each robot 10-30 at different timings based on these settings.

[0064] Furthermore, robots 10-30 are also assigned a delay e between receiving an operation instruction signal and starting to operate. Robots 10-30 start operating at a time delayed by the delay e from the moment they receive the operation instruction signal.

[0065] Similarly, with respect to the stop command signal, the first detection unit 40b of the training device 40 detects that the load on the second tray 40c has increased, indicating that the operation of moving one bean with chopsticks has been completed. Subsequently, the training device 40 transmits a signal to the server device 50 indicating that the operation has been completed.

[0066] The server device 50 has a delay set for the timing of sending stop command signals to each robot 10-30, and the server device 50 sends stop command signals to each robot 10-30 at different timings based on that setting.

[0067] Furthermore, robots 10-30 are also set to have a delay f between receiving a stop command signal and ceasing operation. Robots 10-30 will cease operation at a time delayed by the amount of the delay f from the moment they receive the stop command signal.

[0068] In this example, delays b to f were set for both the server device 50 and the robots 10 to 30, but delays may also be set only for the server device 50.

[0069] Specifically, the server device 50 obtains information on preset delays b to d from the storage unit 50d when transmitting an operation instruction signal or a stop instruction signal to each robot 10 to 30, and changes the timing of transmitting the operation instruction signal or stop instruction signal to each robot 10 to 30 according to the delays b to d. Then, each robot 10 to 30 immediately starts or stops operation when it receives an operation instruction signal or a stop instruction signal.

[0070] Furthermore, delays may be set only for robots 10-30. Specifically, when the server device 50 receives a signal from the training device 40 indicating the start or end of an operation, it immediately sends an operation instruction signal or a stop instruction signal to each robot 10-30. Upon receiving the operation instruction signal or stop instruction signal, robots 10-30 retrieve information on the pre-set delays e and f from the storage units 10e-30e and change the timing of starting or stopping their operation according to the delays e and f.

[0071] Alternatively, the server device 50 may include information on the delay e for starting the operation and the delay f for ending the operation in the operation instruction signal and the stop instruction signal, respectively, and transmit them to each of the robots 10 to 30.

[0072] Specifically, the server device 50 immediately transmits an operation instruction signal or a stop instruction signal to each robot 10-30 when it receives a signal from the training device 40 indicating the start or end of an operation. At that time, the server device 50 includes information on the operation start delay e or operation end delay f in the operation instruction signal and the stop instruction signal.

[0073] Each robot 10-30 that receives an operation command signal acquires the delay e information contained in the operation command signal and starts operating at a time delayed by the start delay e from the time the operation command signal was received. Similarly, each robot 10-30 that receives a stop command signal acquires the delay f information contained in the stop command signal and stops operating at a time delayed by the end delay f from the time the stop command signal was received.

[0074] Next, we will explain the processing steps performed by the robot motion system. Figure 6 is a sequence diagram showing an example of the processing steps performed by the robot motion system. Note that in Figure 5, delays b to f were set for both the server device 50 and the robots 10 to 30, but in Figure 6, we will explain the case where delays b to d are set only for the server device 50.

[0075] First, the training device 40 detects that the load on the first tray 40a has decreased, indicating that the action of moving one bean with chopsticks has begun (step S10). Then, the training device 40 sends a signal to the server device 50 indicating that the action has begun (step S11).

[0076] The server device 50 receives a signal indicating that operation has started (step S12). The server device 50 then obtains setting information for delays b to d, which are used to transmit operation instruction signals to each robot 10 to 30, from the storage unit 50d (step S13). Subsequently, the server device 50 transmits operation instruction signals to each robot 10 to 30 at different timings based on this setting information (step S14).

[0077] Each robot 10-30 receives an operation instruction signal transmitted from the server device 50 (step S15). Then, each robot 10-30 immediately starts operating at the moment it receives the operation instruction signal (step S16).

[0078] In this way, by setting a delay in which the server device 50 transmits operation instruction signals to each of the robots 10 to 30, it is possible to make at least one of the multiple robots perform an action that is out of sync with the actions of the other robots.

[0079] Subsequently, the training device 40 detects that the load on the second tray 40c has increased, indicating that the action of moving one bean with chopsticks has been completed (step S17). The training device 40 then sends a signal to the server device 50 indicating that the action has been completed (step S18).

[0080] The server device 50 receives a signal indicating that the operation is complete (step S19). The server device 50 then obtains setting information for the delay in sending stop command signals to each robot 10-30 from the storage unit 50d (step S20). Subsequently, based on that setting information, the server device 50 sends stop command signals to each robot 10-30 at different timings (step S21).

[0081] Each robot 10-30 receives a stop command signal transmitted from the server device 50 (step S22). Then, each robot 10-30 immediately stops operating at the moment it receives the stop command signal.

[0082] In this way, by setting a delay in which the server device 50 transmits a stop command signal to each of the robots 10 to 30, it is possible to make at least one of the multiple robots perform an action that is out of sync with the actions of the other robots.

[0083] In Figure 6, a delay is set only for the server device 50, but as mentioned above, a delay may also be set only for the robots 10-30.

[0084] Specifically, unlike the processes in steps S13, 14, 20, and 21, the server device 50 immediately transmits an operation instruction signal or a stop instruction signal to each robot 10-30 when it receives a signal from the training device 40 indicating the start or end of an operation. Then, unlike the processes in steps S16 and 23, when each robot 10-30 receives an operation instruction signal or a stop instruction signal, it obtains information on preset delays e and f from the storage units 10e-30e and changes the timing of starting or stopping its operation according to those delays e and f.

[0085] Alternatively, the server device 50 may include information on the delay e for starting the operation and the delay f for ending the operation in the operation instruction signal and the stop instruction signal, respectively, and transmit them to each of the robots 10 to 30.

[0086] Specifically, unlike the processing in steps S13, 14, 20, and 21, the server device 50 obtains setting information for the start delay e or end delay f of each robot 10 to 30 from the storage unit 50d. Then, when the server device 50 receives a signal from the training device 40 indicating the start or end of an operation, it immediately sends an operation instruction signal containing the information for the start delay e, or a stop instruction signal containing the information for the end delay f, to each robot 10 to 30.

[0087] Unlike the process in step S16, each robot 10-30 that receives an operation instruction signal acquires the delay e information included in the operation instruction signal and starts operating at a time delayed by the operation start delay e from the time the operation instruction signal was received. Similarly, unlike the process in step S23, each robot 10-30 that receives a stop instruction signal acquires the operation end delay f information included in the stop instruction signal and stops operating at a time delayed by the operation end delay f from the time the stop instruction signal was received.

[0088] Furthermore, the methods described above for setting a delay in the server device 50, setting a delay in the robots 10 to 30, and the method for the server device 50 to transmit delay information in the operation instruction signal and stop instruction signal may be used in combination.

[0089] Furthermore, the functions of the training device 40, the server device 50, and each of the robots 10 to 30 can be realized by the processors installed in each of these devices reading computer programs stored in memory and storing them in memory, and then sequentially reading and executing the instructions contained in the computer programs from memory.

[0090] Next, we will explain the operation of robots 10-30 when there is a delay in the start and end of their operation. Here, we will use robot 30 as an example, but the operation of robots 10 and 20 is similar to that of robot 30.

[0091] Figure 7 illustrates the operation of robot 30 when there is a delay in the start and end of the operation. Each time the trainee moves beans one by one from the first tray 40a to the second tray 40c, robot 30 counts the number of beans and outputs the number of beans aloud, such as "one," "two," and "three," and also rotates its body to turn around.

[0092] Specifically, the robot 30 starts outputting sound at a delay of e from the moment it receives the motion instruction signal. For example, when the robot 30 moves the first bean, it starts outputting a sound like "ee".

[0093] Subsequently, the robot 30 receives a stop command signal, but continues to output a sound like "ee" until just before a delay of f from the moment it receives the stop command signal, and then outputs a sound like "chi" at the moment of delay f from the moment it receives the stop command signal, ending its operation for the movement of the first bean.

[0094] Furthermore, the robot 30 begins turning around at a time delayed by e from the moment it receives an operation instruction signal from the server device 50. The robot 30 takes a certain amount of time to turn around. After completing the turning around motion, the robot 30 returns to its posture to the posture it had before starting the turning around motion, at a time delayed by f from the moment it receives a stop instruction signal.

[0095] Here, if the robot 30 completes the turning motion before a delay of f from the time it receives the stop command signal, it will continue outputting the above-mentioned voice and perform a small swaying motion of its torso from side to side. After that, the robot 30 will return to the posture it was in before the turning motion began, at a time delayed of f from the time it receives the stop command signal.

[0096] Next, we will explain the actions of robots 10-30 when one of the trainee's actions is completed early. Here, we will use robot 30 as an example, but the actions of robots 10 and 20 are similar to those of robot 30.

[0097] Figure 8 illustrates the behavior of robot 30 when one of the trainee's actions is completed in a shorter time than usual.

[0098] As explained using Figure 7, the robot 30 turns around in response to the trainee's movements over a certain period of time. However, the trainee's movements may be completed in a short time before the robot 30's turning motion is complete, and the stop command signal from the server device 50 may be received earlier than usual.

[0099] In this case as well, the robot 30 will start outputting sound at a time delayed by e from the moment it receives the motion instruction signal, just as in the normal case. For example, the robot 30 will start outputting sound such as "ee" in response to the movement of the first bean.

[0100] However, if the trainee's actions are completed in a shorter time than usual, the robot 30 receives the stop command signal earlier than usual, but continues to output a sound like "ee" until just before a delay of f from the time the stop command signal is received. Then, the robot 30 outputs a sound like "chi" earlier than usual, with a delay of f from the time the stop command signal is received, and ends its action for moving the first bean.

[0101] Furthermore, the robot 30 starts turning around at a delay of e from the time it receives an operation instruction signal from the server device 50. Then, the robot 30 returns to the posture it was in before starting the turning motion at a delay of f from the time it receives a stop instruction signal.

[0102] Here, since the robot 30 requires a certain amount of time to turn around, if one of the trainee's training movements finishes faster than usual, the timing before the turning motion is completed will be delayed by a delay f from the time the stop command signal is received.

[0103] In this case, the robot 30 interrupts its turning motion at a delay of f from the moment it receives the stop command signal, and returns to the posture it had before the turning motion began. As a result, the robot 30 performs an action corresponding to a single action of the trainee, making it easier for the trainee to feel that the robot 30 is responding to their actions.

[0104] Next, we will explain how the training device 40 detects the movements of the person being trained. Figure 9 is a diagram illustrating how the training device 40 detects the movements of the person being trained.

[0105] For example, if the first detection unit 40b of the training device 40 is a load sensor, the load detected by the first detection unit 40b decreases each time a bean is removed from the first tray 40a with chopsticks. As a result, the control unit 40h of the training device 40 detects that a bean has been removed from the first tray 40a with chopsticks.

[0106] Furthermore, if the second detection unit 40d is a load sensor, the load detected by the second detection unit 40d increases each time a bean is placed on the second tray 40c. As a result, the control unit 40h of the training device 40 detects that a bean has been placed on the second tray 40c.

[0107] The control unit 40h determines that the trainee is moving beans with chopsticks from the time the load detected by the first detection unit 40b decreases until the load detected by the second detection unit 40d increases.

[0108] Note that the first detection unit 40b and the second detection unit 40d are not limited to load sensors, but can be any sensors capable of detecting the movement of the beans. Figure 10 illustrates another method for detecting the movements of the person being trained.

[0109] For example, the first tray 40a and the second tray 40c are provided with recesses for storing one bean each, and switches that turn on when a bean is stored, or sensors that block light when a bean is stored to detect that a bean has been stored, may be provided in each recess as the first detection unit 40b and the second detection unit 40d.

[0110] In this case, the first detection unit 40b detects that the number of beans decreases each time beans are removed from the first tray 40a with chopsticks. The second detection unit 40d detects that the number of beans increases each time beans are placed on the second tray 40c.

[0111] The control unit 40h determines that the trainee is moving beans with chopsticks from the time the number detected by the first detection unit 40b decreases until the number detected by the second detection unit 40d increases.

[0112] Furthermore, in the above embodiment, the training performed by the trainee was training in using chopsticks, but the training performed by the trainee is not limited to this and can be any type of training. For example, the training could be grip strength training or drumming training.

[0113] Figure 11 shows an example of a training device 60 used when the training is grip strength training. This training device 60 is a device in which the user grips two spring-loaded levers with one hand to increase pressure. One of the levers is equipped with a switch 61, which makes contact when the two levers are gripped with one hand, thereby detecting that the trainee has performed the action of gripping the two levers.

[0114] Figure 12 illustrates the detection of the trainee's movements by the training device 60. Switch 61 turns on each time the trainee grips both levers with one hand, and turns off each time the trainee releases their grip on the two levers and they separate.

[0115] The control unit 40h determines that the trainee is gripping the two levers after the switch 61 is turned on and before it is turned off.

[0116] Figure 13 shows an example of a training device 70 used when the training is drum training. This training device 70 is a device for drum training by striking a drum with a drumstick. The drum is equipped with a strike sensor 71, which can detect when the drum is struck with a drumstick.

[0117] Figure 14 illustrates the detection of the trainee's movements by the training device 70. The striking sensor 71 outputs a pulse signal when the drum is struck with a drumstick.

[0118] The control unit 40h determines that the trainee has started the action of hitting the drum with the drumsticks when it detects a pulse signal output from the striking sensor 71. Furthermore, if the control unit 40h does not detect a pulse signal for a certain period of time g, it determines that the trainee has finished the action of hitting the drum with the drumsticks.

[0119] The control unit 40h then determines that the trainee is continuing to strike the drum with the drumsticks as long as it detects the pulse signal output from the striking sensor 71 within a certain period of time g.

[0120] Next, we will explain the behavior of robot 30 when the trainee performs multiple actions in succession within a short period of time. Here, we will use robot 30 as an example, but the behavior of the other robots 10 and 20 is similar to that of robot 30.

[0121] Figure 15 illustrates the operation of the robot 30 when a trainee performs multiple actions in succession within a short period of time.

[0122] Figure 15 shows the action instruction signal A and stop instruction signal A corresponding to the trainee's first action, the action instruction signal B and stop instruction signal B corresponding to the trainee's second action, and the action instruction signal C corresponding to the trainee's third action.

[0123] Here, we assume that the time between when the robot 30 receives the stop instruction signal A from the server device 50 and when it receives the operation instruction signal B is less than or equal to a short predetermined time. Note that in Figure 15, the operation delays e and f of the robot 30, as explained in Figure 5, etc., are omitted.

[0124] In this case, the robot 30 starts outputting a sound like "ee" at a delay of e from the moment it receives the motion instruction signal A. Then, the robot 30 outputs a sound like "chi" at a delay of f from the moment it receives the stop instruction signal A, ending its operation for the trainee's first motion.

[0125] Next, if the robot 30 receives an operation instruction signal B within a short predetermined time after receiving a stop instruction signal A, it will start outputting a sound such as "nee" at a time delayed by a delay e from the time it receives the operation instruction signal B.

[0126] Then, after receiving the stop command signal B, robot 30 outputs the sound "i" at a delay of f, ending its operation for the trainee's second action. Robot 30 performs the same operation after receiving the action command signal C.

[0127] Furthermore, the robot 30 starts turning around after a delay of e from the time it receives the motion instruction signal A, taking a certain amount of time. After that, the robot 30 receives the stop instruction signal A, but if the robot 30's movement is a specific movement that has been predetermined, it ignores the stop instruction signal A and continues that movement until it is completed.

[0128] Subsequently, upon receiving the operation instruction signal B, the robot 30 ignores this signal and continues turning around for a certain period of time. Then, the robot 30 waits to receive the stop instruction signal B. In this case, since the robot 30's movements are not interrupted, it can effectively give the trainee the impression that the robot is supporting their work.

[0129] If the robot 30 has finished turning around after a certain amount of time but has not received the stop command signal B, the robot 30 will perform a small swaying motion of its torso from side to side. If it then receives the stop command signal B, the robot 30 will continue this motion until it is delayed by a delay f from the time the stop command signal B is received.

[0130] Then, at a delay of f from the time it receives the stop command signal B, the robot 30 returns to the posture it was in before it began turning around. The robot 30 performs the same operation after receiving the motion command signal C.

[0131] Furthermore, the robot 30 may change its actions depending on the number of times it receives action instruction signals A to C. The number of times action instruction signals A to C are received can also be said to be the number of times the trainee performs an action, or the number of times the robot 30 performs an action.

[0132] For example, in response to the first and second motion instruction signals A and B, the robot 30 may perform a turning motion over a certain period of time, and in response to the third motion instruction signal C, the robot 30 may perform a turning motion over a certain period of time in the opposite direction to the turning motions performed in the first and second motions.

[0133] In this case as well, if the time between receiving the stop instruction signal A and receiving the operation instruction signal B is less than or equal to a short predetermined time, and the specific operation is an operation in which the robot turns around over a certain period of time, the robot 30 will ignore the stop instruction signal A and the operation instruction signal B and continue its operation.

[0134] Furthermore, in this case, the robot 30 does not include the reception of the ignored operation instruction signal B in the count of the number of operation instruction signals received. That is, the robot 30 treats the reception of operation instruction signal A as the first reception of an operation instruction signal, and the reception of operation instruction signal C as the second reception of an operation instruction signal.

[0135] As a result, when the robot 30 receives motion instruction signals A and C, it performs a turning motion for a certain period of time, and then when it receives the next motion instruction signal, it performs a turning motion for a certain period of time in the opposite direction. This makes it possible to make the robot 30 perform the Nth action set for it in that order.

[0136] Furthermore, the robot 30 may switch between continuing its operation while ignoring the stop instruction signal A and the operation instruction signal B, and stopping its operation when it receives the stop instruction signal A and starting its operation when it receives the operation instruction signal B. For example, this switching may be done by pressing the start button 40f shown in Figures 1 and 2 to switch the characteristics of the robot 30.

[0137] Furthermore, robots 10-30 that ignore stop instruction signal A and operation instruction signal B and continue their operation may be mixed with robots 10-30 that stop their operation when they receive stop instruction signal A and start their operation when they receive operation instruction signal B.

[0138] In the above embodiment, when robots 10 to 30 receive an operation instruction signal and a stop instruction signal from the server device 50, robots 10 to 30 determine the timing to start and stop operation based on the timing at which they received the operation instruction signal and the delay time stored in each of their respective systems.

[0139] This embodiment is not limited thereto, and the server device 50 may control the timing of when the robots 10 to 30 start and stop operating by shifting the timing of when it transmits operation instruction signals and stop instruction signals to the robots 10 to 30.

[0140] For example, in order to facilitate the training of a trainee, it is necessary to operate each of the 10 to 30 robots at the appropriate time, but that timing will vary depending on the delay in the communication path, the individual trainee's perception, and the content of the training.

[0141] Taking these points into consideration, the server device 50 controls the timing of sending operation instruction signals and stop instruction signals to the robots 10 to 30, thereby enabling each of the robots 10 to 30 to operate at the appropriate timing.

[0142] Figure 16 shows the relationship between the impression given to the trainee and the reaction time Δt of a single robot. As shown in Figure 16, when there is one robot, there is an appropriate reaction time Δt, which is the time from when the trainee acts until the robot acts, that allows the trainee to receive a better impression.

[0143] Specifically, if the reaction time Δt is shorter than this time, the trainee will get the impression that the robot's movements are inorganic and simple. If the reaction time Δt is longer than this time, the trainee will have difficulty perceiving that the robot is moving in response to their own movements. For example, a reaction time of around 0.5 seconds is considered ideal, but the appropriate time will vary depending on the trainee.

[0144] Therefore, if there is only one robot, it is necessary to set up one appropriate time to give a good impression to the trainee, but it is difficult to set up one time so that multiple trainees will have a good impression.

[0145] Figure 17 illustrates the timing of the movements of three robots 10-30. In the case of three robots 10-30, each robot 10-30 is operated with a slight timing difference.

[0146] This allows for addressing variations in how multiple trainees perceive things. Furthermore, each trainee is more likely to receive a positive impression, rather than an impersonal or simplistic one, because the three robots, numbering 10 to 30, operate in a coordinated manner with slight timing delays, thereby facilitating the trainee's training.

[0147] Figure 18 shows an example of robots 10-30 operating with staggered timings. Figure 18 shows the reference timings α and β for the start and end of robot operation 10-30.

[0148] The reference timing α for the start of an action is the time when robots 10-30 begin their action, delayed by time h from the time when the trainee begins their action. Here, time h is, for example, 0.5 seconds.

[0149] Furthermore, the timing β that serves as the criterion for the end of an action is the time when the robots 10-30 finish their actions, delayed by time i from the time the trainee finishes their actions. Here, time i is, for example, 0.5 seconds.

[0150] Then, robot 10 starts operating a first predetermined time before timing α, robot 20 starts operating a second predetermined time after timing α, and robot 30 starts operating a third predetermined time after timing α.

[0151] Furthermore, robot 10 terminates its operation by a first predetermined time before timing β, robot 20 terminates its operation by a second predetermined time after timing β, and robot 30 terminates its operation by a third predetermined time after timing β.

[0152] Thus, robots 10 to 30 start and end their operations with a timing difference between the reference timings α and β for the start and end of their operations.

[0153] Figure 19 shows another example in which robots 10-30 operate with staggered timings. In Figure 19 as well, timings α and β are set as the reference timings for the operation of robots 10-30. Timings α and β, and times h and i are the same as those in Figure 18.

[0154] Then, robot 10 starts operating a first predetermined time before timing α, robot 20 starts operating a second predetermined time after timing α, and robot 30 starts operating a third predetermined time after timing α.

[0155] Furthermore, robot 10 completes its operation by a fourth predetermined time before timing β, robot 20 completes its operation by a fifth predetermined time after timing β, and robot 30 completes its operation by a sixth predetermined time after timing β. Here, the first predetermined time and the fourth predetermined time, the second predetermined time and the fifth predetermined time, and the third predetermined time and the sixth predetermined time are all different from each other.

[0156] Figure 18 illustrates the case where, for each robot 10-30, the time shifted from the reference timing α for the start of operation and the time shifted from the reference timing β for the end of operation are equal. However, as shown in Figure 19, these times may be different.

[0157] By delaying the timing of the end of an action compared to the reference timing β for the end of an action, the robot's actions 10-30 can be emphasized more. Conversely, by delaying the timing of the end of an action compared to the reference timing β for the end of an action, it is possible to urge the trainee to perform the next action more quickly.

[0158] The time difference from the reference timings α and β for the start and end of operation can be adjusted by the delay time between receiving the operation instruction signal and the stop instruction signal and the start and end of operation, as described in this embodiment.

[0159] For example, each robot 10-30 can store information about the delay time between receiving an operation command signal and starting operation. By having each robot 10-30 wait for that amount of time after receiving the operation command signal and then starting operation, the timing of the actual operation can be shifted from the reference timing α for starting operation.

[0160] Furthermore, each robot 10-30 stores information about the delay time between receiving a stop command signal and stopping operation. By waiting for that amount of time after receiving the stop command signal and then stopping operation, the timing of the actual operation can be shifted from the reference timing β for the end of operation.

[0161] Alternatively, the server device 50 can send an operation command signal to each robot 10-30 at the desired timing, and each robot 10-30 can start operating immediately after receiving the operation command signal, thereby allowing each robot 10-30 to operate at a timing that is shifted from the reference timings α and β for starting operation.

[0162] Furthermore, the server device 50 sends a stop command signal to each robot 10-30 at the desired timing to stop its operation, and each robot 10-30 stops its operation immediately after receiving the stop command signal, thereby allowing the operation of each robot 10-30 to be stopped at a timing that is different from the reference timing for stopping operation.

[0163] Furthermore, the two methods described above, namely, the method in which each robot 10-30 waits for a delay period after receiving an operation instruction signal or a stop instruction signal, and the method in which the server device 50 transmits an operation instruction signal or a stop instruction signal to each robot 10-30 at the timing when it wants each robot 10-30 to operate or stop operating, may be combined.

[0164] In the above embodiment, an example was given of a trainee performing actions for training purposes. However, the technology described in this embodiment can also be applied when a person performs actions for purposes other than training. For example, the technology described in the above embodiment can also be applied when a person performs actions for the purpose of performing some kind of work, such as manufacturing an object.

[0165] Furthermore, in the above embodiment, a server device 50 that transmits operation instruction signals and stop instruction signals to robots 10-30 was provided separately from robots 10-30 and training device 40. However, the functions of the server device 50 may be installed in one of the multiple robots 10-30. In this case, robot 10-30 equipped with the functions of the server device 50 transmits operation instruction signals and stop instruction signals to the other robots.

[0166] Alternatively, the training device 40 may be equipped with the functions of the server device 50, and the training device 40 may transmit operation instruction signals and stop instruction signals to the robots 10 to 30.

[0167] As described above, in this embodiment, the training device 40 detects the movements of a person, such as a person being trained, and the multiple robots 10 to 30 perform actions in accordance with the movements detected by the training device 40, with at least one of the multiple robots 10 to 30 performing actions that are deviated from the actions of the other robots. This makes it possible to effectively transmit information to a person. [Industrial applicability]

[0168] This disclosure is applicable to robot operating methods and robot systems. [Explanation of Symbols]

[0169] 10, 20, 30 robots 10a,20a,30a Display section 10b, 20b, 30b speakers 10c, 20c, 30c drive unit 10d,20d,30d Communication Department 10e,20e,30e Storage section 10f, 20f, 30f control unit 40,60,70 Training equipment 40a First Tray 40b First detection unit 40c Second Tray 40d Second detection unit 40e Communications Department 40f Start button 40g storage unit 40h Control Unit 50 Server Devices 50a Display section 50b Input section 50c Communications Department 50d storage section 50e Control Unit 61 switches 71 Impact Sensor

Claims

1. The detection device performs a detection step in which it detects human movement, Multiple robots perform an action in accordance with the action detected by the detection device; Includes, In the aforementioned operation step, at least one of the multiple robots performs an action that is deviated from the actions of the other robots. Robot operation method.

2. The robot operation method according to claim 1, wherein the aforementioned staggered operation is an operation performed at a different timing from the other robots.

3. The robot operation method according to claim 2, wherein the aforementioned staggered operation is an operation that starts at a different timing from the other robots.

4. The robot operation method according to claim 2, wherein the aforementioned staggered operation is an operation that ends at a different timing than the other robots.

5. The robot operation method according to claim 1, wherein the aforementioned misaligned movement is a different pattern of movement from the other robots.

6. The robot operation method according to claim 1, further comprising a transmission step in which, when the detection device detects the movement of the person, the server device transmits an operation instruction signal to the plurality of robots to instruct them to start operation.

7. The robot operation method according to claim 6, further comprising a transmission step in which the server device transmits a stop instruction signal to the plurality of robots to instruct them to stop operating when the detection device detects that the human's operation has been completed.

8. The robot operation method according to claim 6, in the operation step, each of the plurality of robots determines the timing to start the operation based on the timing at which it received the operation instruction signal and the delay time stored by each of the plurality of robots.

9. The robot operation method according to claim 6, wherein in the transmission step, the server device transmits the operation instruction signal to at least one robot at a time staggered from the timing of transmitting the operation instruction signal to the other robots, and in the operation step, the at least one robot performs the staggered operation at the time it receives the operation instruction signal.

10. The robot operation method according to claim 1, wherein each of the plurality of robots has a characteristic parameter that characterizes the operation of each robot stored in it, and the deviated operation is an operation corresponding to the characteristic parameter.

11. The robot motion method according to claim 10, wherein the characteristic parameter includes at least one of the following: pitch of voice, speed of movement, delay in start of movement, delay in end of movement, tone of voice, intonation of voice, frequency of blinking, and speed of blinking.

12. The robot operation method according to claim 7, wherein if the timing after a certain period of time has elapsed since the receipt of the stop instruction signal is before the completion of the misaligned operation, the robot interrupts the misaligned operation at the timing after a certain period of time has elapsed since the receipt of the stop instruction signal and returns to the posture it had before the misaligned operation began.

13. The robot operation method according to claim 7, wherein if the at least one robot receives the stop instruction signal and the operation instruction signal while performing the specific operation, it continues the specific operation until the specific operation is completed.

14. The robot operation method according to claim 13, wherein the at least one robot changes the pattern of the shifted operation based on the number of times it has received the operation instruction signal, and the number of times the operation instruction signal is received while performing the specific operation is not included in the number of times the operation instruction signal has been received.

15. A first robot that performs actions in response to actions detected by a detection device that detects human movements, A second robot performs an action that deviates from the action of the first robot in accordance with the action detected by the detection device, A robotic system equipped with the following features.

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