Autonomous robot that records daily life

Abstract

The main purpose is to convey to the user the daily life experienced by the autonomous robot while taking privacy into consideration. 【Solution means】 The robot 100 includes an operation control unit that selects a motion, a drive mechanism that executes the motion, a recognition unit that recognizes the occurrence of an event, an emotion management unit that changes one or more emotion parameters according to the event, and a history management unit that associates the occurrence history of the event and the change history of the emotion parameters and records them as history information. The robot 100 changes its behavior characteristics based on the emotion parameters. When a predetermined psychological condition is satisfied by the emotion parameters, for example, when the value of the emotion parameter representing curiosity particularly increases, the event at that time and the emotion parameters at that time are extracted from the history information to generate a reaction report, and the reaction report is provided to the user. ​

Description

Technical Field

[0001] The present invention relates to a robot that autonomously makes action selections according to its internal state or external environment.

Background Art

[0002] People keep pets in search of comfort. On the other hand, there are many people who give up keeping pets due to various reasons such as not being able to ensure enough time to take care of the pet, not having a living environment suitable for keeping a pet, having allergies, or finding it hard to bear the parting due to the pet's death. If there were a robot that could perform the role of a pet, it might be able to give the kind of comfort that a pet gives to those who cannot keep a pet (see Patent Documents 1 and 2).

Prior Art Documents

[0003]

Patent Documents

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

[0004]

Problems to be Solved by the Invention

[0005] By observing behaviors that can only be described as demonstrating free will in pets, Feeling the presence of Yui, empathizing with pets, and being healed by pets.

[0005] Currently, many cameras are available for monitoring pets while you're away. According to La, it is important to know how pets spend their time when their owners are away. This is possible. If robots become as important as pets, then robots will be able to stay home alone. It is likely that there will be a need to learn about their daily lives.

[0006] However, if the robot is equipped with a camera and the captured images are broadcast live to smartphones, etc. If that's all there is to it, the robot will just become a mere monitoring device. For example, User A and the robot When To is at home, the robot can access User B's smartphone while they are out and about to capture images taken by the robot. If the image is transmitted as is, there is a risk that user A's privacy will not be protected.

[0007] This invention was completed based on the above recognition of the problem, and its main purpose is to protect privacy The goal is to provide technology that informs users about the daily life of robots while taking the environment into consideration. [Means for solving the problem]

[0008] An autonomous robot in one aspect of the present invention selects the robot's motion. A control unit, a drive mechanism that executes the motion selected by the motion control unit, and an event A recognition unit that detects the occurrence of an event, and an emotional control unit that changes one or more emotional parameters in response to the event. The science department records the history of event occurrences and the history of changes in emotional parameters as historical information. It includes a recording history management unit. The motion control unit changes the behavior characteristics of the robot based on the emotion parameters. The history management unit extracts, from the history information, the events when the emotion parameters satisfy a predetermined psychological condition and the emotion parameters at the time of satisfaction of the psychological condition, generates a reaction report, and provides the reaction report to the user.

Effect of the Invention

[0009] According to the present invention, it becomes easier for the user to know the daily life of the robot while considering privacy.

Brief Description of the Drawings

[0010] [Figure 1] It is a conceptual diagram for explaining a method by which the robot conveys its daily life to the user. [Figure 2] FIG. 2(a) is a front external view of the robot. FIG. 2(b) is a side external view of the robot. [Figure 3] It is a cross-sectional view schematically showing the structure of the robot. [Figure 4] It is a hardware configuration diagram of the robot in the basic configuration. [Figure 5] It is a functional block diagram of the robot system. [Figure 6] It is a schematic diagram showing the reaction report generation process in the present embodiment. [Figure 7] It is a functional block diagram of the robot in the present embodiment. [Figure 8] It is a schematic diagram showing the change history of the emotion parameters. [Figure 9] It is a data structure diagram of the history information. [Figure 10] It is a data structure diagram of the motion selection table. [Figure 11] It is a screen diagram of the first reaction report screen. [Figure 12] It is a screen diagram of the second reaction report screen. [Figure 13]This is a data structure diagram of the user permission table. [Figure 14] This is a data structure diagram of the event condition table. [Figure 15] This is a sequence diagram showing the processing steps for displaying the reaction report. [Figure 16] This is a sequence diagram showing the processing steps for displaying detailed information. [Figure 17] This is a screenshot of the detailed information screen. [Figure 18] This is a screenshot of the third reaction report screen. [Figure 19] This is a screenshot of the rest time setting screen. [Modes for carrying out the invention]

[0011] Figure 1 is a conceptual diagram illustrating how robot 100 communicates its daily life to the user. That is the case. In this embodiment, the robot 100 has multiple types of "emotions". Specifically, Bot100 measures the intensity of three types of emotions: loneliness, curiosity, and the need for recognition, using three emotional parameters. It is expressed numerically using a parameter. Furthermore, as will be described later, these three types of emotional parameters are... The robot 100 may express emotions based on external emotional parameters.

[0012] Robot 100 is equipped with multiple types of sensors, and each sensor recognizes the external environment. Robot 100 recognizes some of the changes in the external environment as "events." These events are: "Events of note" can be arbitrarily defined, such as visualizing a user or detecting a loud sound. That's all that's needed. Robot 100 will autonomously act according to the event and emotion parameters. Select an action. The event is determined by both the action selection method and the emotional parameters of robot 100. Events, emotional parameters, and Details on how to choose your actions will be explained later.

[0013] Robot 100 meticulously records "everyday events" such as events as "historical information." Robot 100 generates a "reaction report" to show the user based on historical information. Generate. Users can use smartphones, laptop PCs, tablet computers, etc. The response report is obtained from which user terminal 400. By displaying the robot, users can interact with the robot even when they are not physically present with it. You can catch a glimpse of the daily life of To100.

[0014] Even when the user is out, they can see how the robot 100 is spending its time at home. Alternatively, you can find out what kind of day they had through their reaction report. Reaction Report This functions, so to speak, as a "diary" for robot 100. Reaction report in this embodiment. This refers to "historical information for display," and is the same as the historical information that robot 100 records step by step. It is not one. Historical information may include information related to privacy. This implementation In this regard, we have revised the response report to be user-friendly while also respecting privacy. First, generate it. The following describes the basic configuration of robot 100 in relation to Figures 2 to 5, and then the response This explanation will focus on how to generate reports.

[0015] [Basic configuration] Figure 2(a) is a front view of robot 100. Figure 2(b) is a view of robot 100. This is a side view. In this embodiment, the robot 100 determines its actions based on the external environment and internal state. It is an autonomous robot that performs various actions. The external environment is monitored by various sensors such as cameras and thermal sensors. It is recognized by the following. The internal state is determined by various parameters that express the emotions of robot 100. This is then quantified. Robot 100 operates within the premises of the owner's home. Humans involved with Robot 100 are called "users."

[0016] The body 104 of robot 100 has an overall rounded shape and is made of urethane and rubber. This includes an outer shell formed from soft, elastic materials such as resin and fiber. Robot 1 You may dress 00 in clothes. The total weight of robot 100 is approximately 5-15 kilograms, and its height is 0. They are about 0.5 to 1.2 meters long. They have a moderate weight, roundness, softness, and a pleasant feel. Due to its various attributes, the robot 100 is easy for users to pick up, and also makes them want to pick it up. This effect is achieved.

[0017] Robot 100 has a pair of front wheels 102 (left wheel 102a, right wheel 102b) and one rear wheel Includes 103. The front wheels 102 are the drive wheels, and the rear wheels 103 are the driven wheels. The front wheels 102 are It does not have a steering mechanism, but the rotation speed and direction of rotation can be controlled individually. Rear wheels 103 These are casters, which can rotate freely to move robot 100 forward, backward, left, and right. Yes, it is. The rear wheel 103 can also be an omni-wheel.

[0018] The front wheels 102 and rear wheels 103 are driven by a drive mechanism (rotation mechanism, linkage mechanism) to the body 10 It can be completely stored in 4. Even when running, most of each wheel is hidden by the body 104, When each wheel is fully retracted into the body 104, the robot 100 becomes immobile. In other words, as the wheels are retracted, the body 104 lowers and sits on the floor F. In the seated position, a flat seating surface 108 (ground contact surface) is formed at the bottom of the body 104. It comes into contact with the floor surface F.

[0019] The robot 100 has two hands 106. The hands 106 do not have the function of grasping objects. Yes. Hand 106 can perform simple actions such as raising, shaking, and vibrating. Two hands 106 are also possible. Individual control is possible.

[0020] The eye 110 is capable of displaying images using liquid crystal elements or organic EL elements. Robot 10 0 refers to various sensors such as microphone arrays and ultrasonic sensors that can determine the direction of the sound source. It is equipped with [a certain feature]. It also has a built-in speaker and can emit simple sounds.

[0021] A horn 112 is attached to the head of robot 100. As mentioned above, robot 100 Because it is lightweight, the user can lift the robot 100 by grasping the horns 112. This is also possible. A 360-degree camera is attached to the horn 112, covering the entire upper surface of the robot 100. It is possible to image them all at once.

[0022] Figure 3 is a schematic cross-sectional view showing the structure of robot 100. As shown in Figure 3, the body 104 of the robot 100 consists of a base frame 308 and a main body Includes frame 310, a pair of resin wheel covers 312 and outer shell 314. Frame 308 is made of metal and forms the axis of body 104, as well as supporting the internal mechanism. The base frame 308 consists of multiple upper plates 332 and lower plates 334. It is constructed by connecting the side plates 336 vertically. Sufficient space is provided between them to allow for ventilation. Inside the base frame 308 This houses the battery 118, the control circuit 342, and various actuators.

[0023] The main body frame 310 is made of resin material, and the head frame 316 and torso frame 31 Includes 8. The head frame 316 is hollow and hemispherical, forming the skull of the robot 100. The torso frame 318 has a stepped cylindrical shape and forms the torso skeleton of the robot 100. The torso frame 318 is fixed integrally with the base frame 308. Head frame 31 6 is mounted to the upper end of the fuselage frame 318 so as to be displaceable relative to it.

[0024] The head frame 316 has three axes: yaw axis 320, pitch axis 322, and roll axis 324. An actuator 326 is provided to rotate each axis. 6 includes multiple servo motors to drive each axis individually. Yaw for swivel motion. Axis 320 is driven, pitch axis 322 is driven for nodding motion, and tilting motion of the head The roll axis 324 is driven.

[0025] A plate 325 supporting the yaw axis 320 is fixed to the upper part of the head frame 316. The plate 325 has multiple ventilation holes 327 formed therein to ensure ventilation between the top and bottom. It can be done.

[0026] A metal base plate supports the head frame 316 and its internal mechanism from below. A rate 328 is provided. The base plate 328 is a cross link mechanism 329 (pantograph). It is connected to plate 325 via a graph mechanism, while it is connected via joint 330. It is connected to the plate 332 (base frame 308).

[0027] The fuselage frame 318 houses the base frame 308 and the wheel drive mechanism 370. The drive mechanism 370 includes a pivot shaft 378 and an actuator 379. Body frame 31 The lower half of 8 forms a storage space S for the front wheel 102 between it and the wheel cover 312. It is considered to be a small margin.

[0028] The outer shell 314 is made of urethane rubber, and the main frame 310 and wheel cover 31 2 is covered from the outside. Hand 106 is integrally molded with the outer skin 314. The upper end of the outer skin 314 An opening 390 is provided for introducing outside air.

[0029] Figure 4 is a hardware configuration diagram of robot 100. Robot 100 includes internal sensors 128, a communication device 126, a storage device 124, and a processor 1 22, including drive mechanism 120 and battery 118. Processor 122 and storage device 12 4 is included in the control circuit 342. Each unit is connected by power line 130 and signal line 132. They are connected to each other. Battery 118 supplies power to each unit via power line 130. Each unit sends and receives control signals via signal line 132. Battery 118 is lithium It is a um-ion rechargeable battery and the power source for Robot 100.

[0030] The internal sensor 128 is a collection of various sensors built into the robot 100. Specifically This includes a camera (360-degree camera), a microphone array, a distance sensor (infrared sensor), and These include motion sensors, touch sensors, acceleration sensors, and odor sensors. Touch sensors are... It is installed between the outer shell 314 and the main frame 310 and detects user touch. The sensor applies the principle that electrical resistance changes due to the adsorption of odor-causing molecules. It is Nsa.

[0031] The communication device 126 is a communication module that performs wireless communication with various external devices. The storage device 124 consists of non-volatile memory and volatile memory, and the computer It stores programs and various setting information. Processor 122 is the actual computer program. This is the driving mechanism. The drive mechanism 120 consists of multiple actuators and the aforementioned wheel drive mechanism 3 It includes 70. Other features include a display and speakers.

[0032] The drive mechanism 120 primarily controls the wheels (front wheels 102) and the head (head frame 316). The drive mechanism 120 controls the direction and speed of movement of the robot 100, as well as the vehicle. The wheels (front wheel 102 and rear wheel 103) can also be raised and lowered. When the wheels are raised, the wheels It is completely housed in the body 104, and the robot 100 is in contact with the floor surface F at the seating surface 108. The seated position is established. The drive mechanism 120 also controls the hand 106 via the wire 134.

[0033] Figure 5 is a functional block diagram of the robot system 300. The robot system 300 consists of a robot 100, a server 200, and multiple external sensors 1 Includes 14. Each component of robot 100 and server 200 is a CPU (Central Proc Calculation units such as the processing unit and various coprocessors, memory and storage. The device includes hardware such as wired or wireless communication lines connecting them, and storage devices. This is achieved by software that supplies processing instructions to the arithmetic unit. Gram is the device driver, the operating system, and each of the layers above them. Various application programs, and live programs that provide common functionality to these programs. It may be composed of rallies. Each block described below is a hardware-unit configuration. Instead, it shows functional blocks. Some of the functions of robot 100 may be implemented by server 200, or server 200 Some or all of the functions may be implemented by robot 100.

[0034] Multiple external sensors 114 are pre-installed inside the house. The server 200 is connected to the external The position coordinates of sensor 114 are registered. The internal sensors 128 and multiple of the robot 100 Based on the information obtained from the external sensor 114, the server 200 controls the basic operation of the robot 100. The movement is determined. The external sensor 114 is for augmenting the sensory organs of the robot 100. Server 200 is intended to augment the brain of robot 100. The communication device 126 periodically communicates with the external sensor 114, and the server 200 communicates with the external sensor 114. This allows for more precise positioning of the robot 100 (see also Patent Document 2).

[0035] (Server 200) The server 200 includes a communication unit 204, a data processing unit 202, and a data storage unit 206. The communication unit 204 is responsible for communication processing with the external sensor 114 and the robot 100. The data storage unit 206 stores various types of data. The data processing unit 202 communicates with the communication unit 204. Various processes are performed based on the acquired data and the data stored in the data storage unit 206. The data processing unit 202 performs the following operations. The data processing unit 202 interacts with the communication unit 204 and the data storage unit 206. It also functions as a s.

[0036] The data storage unit 206 includes a motion storage unit 232 and a personal data storage unit 218. Robot 100 has multiple motion patterns. It shakes its hand 106. They approach the owner in a meandering manner, or they stare at the owner with their heads tilted, among other things. A specific motion is defined.

[0037] The motion storage unit 232 stores a "motion file" which defines the motion control content. It stores the motions. Each motion is identified by a motion ID. The motion file The motions are also downloaded to the motion storage unit 160 of robot 100. Whether to execute it may be decided by server 200, or by robot 100. It is also said.

[0038] Many of the robot 100's motions are compound motions that include multiple unit motions. It is composed of the following. For example, when robot 100 approaches the owner, it faces the owner. A corrective unit motion, a unit motion approaching with hands raised, an approaching body swaying It is expressed as a combination of a unit motion and a unit motion of sitting down while raising both hands. It is also fine. By combining these four motions, "approach the owner, The motion involves raising one's hands inside, then shaking the body before sitting down. The configuration file contains the rotation angle and angular velocity of the actuators installed on robot 100. These are defined in relation to the time axis. Motion file (actuator control information) Accordingly, by controlling each actuator over time, various motions can be produced. It is expressed.

[0039] The transition time when changing from one unit motion to the next is called the "interval." It is called an "interval". The interval depends on the time required for the change in unit motion and the content of the motion. It just needs to be defined. The interval length is adjustable. Below, we will discuss when and which motion to choose, and the various actuators involved in realizing that motion. The settings related to the control of the robot 100's actions, such as output adjustments, are collectively referred to as "behavioral characteristics." The behavioral characteristics of robot 100 are: motion selection algorithm, motion selection probability. Defined by motion files, etc.

[0040] The motion storage unit 232 stores motion files as well as various events when they occur. Stores a motion selection table that defines the motions to be executed. In the selection table, one or more motions and their selection probabilities are associated with each event. It is possible.

[0041] The personal data storage unit 218 stores user information. Specifically, it stores parent information for the user. It stores master information indicating density and the user's physical and behavioral characteristics, such as age and gender. Other attribute information may also be stored.

[0042] Robot 100 has an internal parameter called intimacy level for each user. 0 recognizes actions that show affection towards him, such as picking him up or talking to him. When this happens, the level of intimacy with that user increases. Users who are not involved with Robot 100, Users who behave aggressively or who are infrequently encountered will have lower levels of intimacy.

[0043] The data processing unit 202 includes a location management unit 208, a recognition unit 212, an operation control unit 222, and a closeness unit. Includes a management unit 220 and a status management unit 244. The position management unit 208 identifies the position coordinates of the robot 100. The state management unit 244 determines the position coordinates of the robot. Various internal parameters such as power consumption, internal temperature, and processing load of processor 122, etc. It manages the state. In addition, the state management unit 244 manages the emotions of robot 100 (loneliness, curiosity, acceptance). It manages various emotional parameters (such as the need for recognition). It is fluctuating. The target location of robot 100 changes according to its emotional parameters. For example, when loneliness is heightened, Robot 100 moves to where the user is located. Set it as a landmark.

[0044] Emotional parameters change over time. Furthermore, various emotions are affected by the actions taken in response, as described later. Emotional parameters change. For example, when the owner "holds" the pet, it shows feelings of loneliness. The emotional parameters decrease, and the pet shows signs of loneliness when it does not see its owner for extended periods. The information parameter increases gradually.

[0045] The recognition unit 212 recognizes the external environment. This recognition of the external environment includes weather information based on temperature and humidity. This includes a variety of perceptions, such as the recognition of seasons and the recognition of shaded areas (safe zones) based on light levels and temperature. The recognition unit 156 of the robot 100 acquires various environmental information using the internal sensor 128, This data is processed and then transferred to the recognition unit 212 of the server 200.

[0046] Specifically, the recognition unit 156 of the robot 100 identifies moving objects from an image, particularly people and animals. The corresponding image region is extracted, and the physical and behavioral characteristics of the moving object are extracted from the extracted image region. A "feature vector" is extracted as a set of features that represent the following. The feature vector components (features) are These are numerical values ​​that quantify various physical and behavioral characteristics. For example, the width of a human eye is 0-1 It is quantified within a range and forms one feature vector component. Feature vector from captured images of a person The method for extracting the torch is an application of known facial recognition technology. Robot 100 is special Send the characteristic vector to server 200.

[0047] The recognition unit 212 of the server 200 extracts from images captured by the built-in camera of the robot 100. The resulting feature vector and the user(K) pre-registered in the personal data storage unit 218 By comparing it with the feature vectors of the raster image, it can be determined which person the captured user belongs to. The recognition unit 212 also performs image recognition of the user's facial expression. This allows the system to estimate the user's emotions. The recognition unit 212 recognizes moving objects other than people, for example The system also performs user identification for pets such as cats and dogs.

[0048] The recognition unit 212 recognizes various interaction actions performed on the robot 100 and determines whether they are pleasant or unpleasant. It is classified for the purpose of. The recognition unit 212 also recognizes the owner's response to the actions of the robot 100. By recognizing the reason, responses can be classified into positive and negative reactions. Pleasant and unpleasant behaviors refer to whether a user's actions are biologically pleasing or unpleasant. It is determined by whether or not it exists. For example, being held is a pleasant experience for robot 100. Therefore, being kicked is an unpleasant act for Robot 100. The affirmative / negative response is... The determination is made based on whether the user's response indicates a positive or negative emotion. Being held is a positive response that shows the user's pleasant feelings, while being kicked is a positive response that shows the user's pleasant feelings. This is a negative reaction indicating Za's unpleasant feelings.

[0049] The motion control unit 222 of the server 200 works in cooperation with the motion control unit 150 of the robot 100, The motion control unit 222 of the server 200 determines the motion of robot 100. Create 100 target locations and corresponding routes. The motion control unit 222 generates multiple You can create a travel route and then select one of the available routes.

[0050] The motion control unit 222 selects the robot 100 from multiple motions stored in the motion storage unit 232. Select a motion. Each motion has a corresponding probability of selection depending on the situation. For example, when the owner performs a pleasant act, there is a 20% chance of executing motion A. For example, when the temperature exceeds 30 degrees Celsius, there is a 5% chance of executing motion B. The selection method is defined.

[0051] The intimacy management unit 220 manages the intimacy level for each user. As mentioned above, intimacy level is individual It is registered as part of the personal data in the person data storage unit 218. When a pleasurable act is detected, The intimacy management unit 220 increases the intimacy level with the owner. It also detects inappropriate behavior. When this happens, the intimacy level decreases. Also, the intimacy level of owners who haven't been seen for a long time will gradually decrease. It decreases to [a certain level].

[0052] (Robot 100) Robot 100 includes a communication unit 142, a data processing unit 136, a data storage unit 148, and an internal unit. Includes sensor 128 and drive mechanism 120. The communication unit 142 corresponds to the communication device 126 (see Figure 4), and includes the external sensor 114 and the server 20. It is responsible for communication processing with 0 and other robots 100. The data storage unit 148 stores various data It stores the data. The data storage unit 148 corresponds to the storage device 124 (see Figure 4). The data unit 136 receives data acquired by the communication unit 142 and data stored in the data storage unit 148. The data processing unit 136 performs various processes based on the data it receives. This applies to computer programs executed by processors 2 and 122. The processing unit 136 includes a communication unit 142, an internal sensor 128, a drive mechanism 120, and a data storage unit. It also functions as an interface for 148.

[0053] The data storage unit 148 is a motion storage unit that defines various motions of the robot 100. Includes 160. The motion storage unit 160 of robot 100 contains the motion storage unit 23 of server 200. From step 2, various motion files will be downloaded. The motions are associated with the motion ID. Thus it is identified. The two front wheels 102 are retracted and seated, the hand 106 is raised, and the two front wheels By rotating 102 in the reverse direction, or by rotating only one of the front wheels 102, the robot To rotate wheel 100, and to rotate front wheel 102 while it is retracted. Various motions such as shaking, pausing and looking back when moving away from the user To express the operation, the timing of the operation of various actuators (drive mechanism 120) and the operation Time, direction of movement, and other parameters are defined chronologically in the motion file. Various data can be downloaded from the personal data storage unit 218 to the data storage unit 148. It's okay.

[0054] The data processing unit 136 includes a recognition unit 156 and an operation control unit 150. The motion control unit 150 of the robot 100 works in cooperation with the motion control unit 222 of the server 200. Determine the motions for Bot 100. Some motions will be determined by Server 200. Other motions may be determined by robot 100. Also, robot 100 The motion is determined, but when the processing load on robot 100 is high, server 200 will make the motion It may also be decided to determine the motion. The base motion is determined on server 200. Additional motions may be determined in robot 100. How the server 200 and robot 100 will share the workload will be determined by robot system 3. It should be designed according to the specifications of 00.

[0055] The motion control unit 150 of the robot 100 instructs the drive mechanism 120 to execute the selected motion. The drive mechanism 120 controls each actuator according to the motion file. ru.

[0056] The motion control unit 150 will ask for a hug when a user with whom it has a close relationship is nearby. You can also perform a motion where you raise both hands 106 as grass, or "hug" When you get tired of that, you can alternate between rotating in reverse and stopping while keeping the left and right front wheels 102 retracted. It can also express motions of disliking being held. The drive mechanism 120 is controlled by the motion control unit 1 The front wheels 102, hands 106, and neck (head frame 316) are driven according to instruction 50. This allows Robot 100 to perform various motions.

[0057] The recognition unit 156 of the robot 100 interprets external information obtained from the internal sensor 128. The recognition unit 156 performs visual recognition (visual unit), smell recognition (olfactory unit), and sound recognition (auditory unit). ), tactile recognition (tactile part) is possible.

[0058] The recognition unit 156 extracts feature vectors from the captured image of the moving object. As described above, A feature vector is a set of parameters (feature quantities) that represent the physical and behavioral characteristics of a moving object. When a moving object is detected, the system uses odor sensors, built-in microphones, temperature sensors, etc. Physical and behavioral characteristics are also extracted from these. These characteristics are also quantified and transformed into feature vectors. It becomes a component. The recognition unit 156 is based on known technology described in Patent Document 2, etc., and features a vector Identify the user from the log.

[0059] Of the series of recognition processes including detection, analysis, and judgment, the recognition unit 156 of the robot 100 performs recognition The server 200's recognition unit 212 performs the selection and extraction of necessary information, and the interpretation processing such as judgment is performed by the server 200's recognition unit 212. This is performed by [the following]. The recognition process may be performed by the recognition unit 212 of the server 200 alone, or [the following] This can be done using only the recognition unit 156 of bot 100, or as described above, both can divide the roles. The above recognition process may be performed.

[0060] When a strong impact is applied to the robot 100, the recognition unit 156 and the touch sensor The server 200's recognition unit 212 detects this using an acceleration sensor and identifies nearby users. The user perceives that "violent behavior" has occurred. The user grabs horn 112 and robot 10 Even lifting 0 can be considered a violent act. When a user makes a sound within a specific volume range and frequency band, the server 200 recognizes it. Part 212 may perceive that an "act of speaking" has been directed at it. Also, body temperature When the temperature is detected, it is recognized that a "contact action" has been taken by the user, and contact is recognized. When upward acceleration is detected in this state, it is recognized as "being held". It may also sense the physical contact when lifting the D104, or the contact with the front wheel 102. The baby may recognize being held as the load decreases. In summary, the robot 100 uses its internal sensor 128 to process the user's actions as physical information. The server 200's recognition unit 212 obtains the data and determines whether it is pleasant or unpleasant. The recognition unit 212 performs user identification processing based on feature vectors.

[0061] The recognition unit 212 of the server 200 recognizes various user responses to the robot 100. Some typical responses among various types of responses involve positive or negative reactions. To respond. Generally, most responses that are considered pleasant are positive reactions, and unpleasant actions Most of the responses that result in this are negative reactions. Pleasant and unpleasant behaviors are related to the level of intimacy, and are affirmative or negative. The constant response influences the action selection of robot 100.

[0062] In response to the interaction recognized by the recognition unit 156, the intimacy management unit 220 of the server 200 This changes the level of intimacy with the user. In principle, it changes the level of intimacy with the user who performed the pleasant act. The degree of offense increases, and the level of intimacy with users who engage in offensive behavior decreases.

[0063] Based on the above basic configuration, next we will discuss the implementation of the robot 100 in this embodiment. This explanation will focus particularly on the features and objectives of this implementation, as well as the differences from the basic configuration.

[0064] [Implementation of reaction report generation function] Figure 6 is a schematic diagram showing the reaction report generation process in this embodiment. Robot 100 records events, emotional parameters, etc., as historical information (S10). The historical information is arranged chronologically and includes the feelings (emotional parameters) of Robot 100 and events (I This is a record of the vent. The user communicated from user terminal 400 to server 200. Request to retrieve the reaction report (S12). Server 200 receives the request to retrieve the reaction report. When a response is received, a response report is generated from the historical information (S14). The historical information contains a large amount of information. Because it includes historical information, if you use the historical information as is in the reaction report, the visual representation of the reaction report will be The situation will worsen. Also, from the standpoint of protecting privacy, the history information itself will be used in the reaction report. It is not desirable to provide this to the user. In this embodiment, the history information is included After selecting and discarding various pieces of information, and also changing the way the information is presented, it becomes information that can be shown. It generates a reaction report (details below). User terminal 400 receives the reaction report from the robot. The data is retrieved from system 300 and displayed on the screen (S16).

[0065] Figure 7 is a functional block diagram of the robot 100 in this embodiment. The robot system 300 in this embodiment is equipped with a reaction report generation function. Therefore, the robot system 300 shown in Figure 5 has multiple additional functional blocks. Figure 7 will focus on explaining the added functional blocks.

[0066] Furthermore, the robot 100 determines its location based on keyframes, rather than using the external sensor 114. It may be recognized. A keyframe is information about the distribution of feature points (feature quantities) in an captured image. Robot 100 uses graph-based SLAM (Simultaneous Localization and Mapping) with image features. (Irradiation and Mapping) technology, more specifically, ORB (Oriented Fast and Rotated BRI EF) Keyframes may be formed using SLAM technology based on feature quantities (see Japanese Patent Application No. 20 for details). (See issue 18-014365).

[0067] (Server 200) The data processing unit 202 further includes a history management unit 252, an icon selection unit 254, and an atmosphere determination unit. It includes section 256 and mode selection section 258. In addition, the state management section 244 is part of the emotion management section 25 Includes 0. The emotion management unit 250 controls an emotion parameter that indicates the intensity of loneliness (hereinafter referred to as the "loneliness parameter"). (hereinafter referred to as the "curiosity parameter"), an emotional parameter indicating the strength of one's curiosity. and emotional parameters that indicate the strength of the need for recognition (hereinafter referred to as "need for recognition parameters") It manages three types of emotional parameters.

[0068] The history management unit 252 manages the history information of the robot 100. In the history information, The history of vent occurrences and the history of changes in emotional parameters can be correlated. Regarding the history information, This will be discussed later in relation to Figure 9. Furthermore, the history management unit 252 generates a reaction report based on the history information. Generates.

[0069] The icon selection unit 254 selects an icon according to the event. Details will be described later, In the reaction report of this embodiment, events are represented visually by icons. The icon selection unit 254 selects an icon to be associated with the event. Icon selection unit 2 54 selects various icons in addition to events.

[0070] The atmosphere determination unit 256 determines the atmosphere of the external environment. The method for determining the atmosphere will be described later. The mode selection unit 258 selects the mode of the robot 100. The mode is normal mode. This is setting information regarding the operating status of robot 100, such as mode and power saving mode. Details on how to make your selection will be explained later.

[0071] The data storage unit 206 further includes an event condition storage unit 260 and a history information storage unit 262. The event condition storage unit 260 defines event conditions. An event condition is... For example, you can define the circumstances under which an event occurs, such as "it occurred in the child's room" or "it occurred at the entrance." This is the condition. The history information storage unit 262 stores the history information.

[0072] (Robot 100) The robot 100's internal sensor 128 includes an imaging unit 158. The imaging unit 158 ​​is a 360-degree sensor. It is compatible with cameras such as cameras. In this embodiment, the imaging unit 158 ​​constantly captures peripheral images. The recognition unit 156 of the robot 100 obtains from internal sensors 128 such as the imaging unit 158. The system analyzes the received external information (raw data) and sends the analysis results (processed data) to server 200. The recognition unit 212 of the server 200 determines the success or failure of various events based on the analysis results. The success or failure of the event can be determined solely by robot 100, or solely by server 200. Alternatively, simple events can be determined by the recognition unit 156 of the robot 100, and complex events can be determined by the recognition unit 156. The vent may be determined by the recognition unit 212 of the server 200. In the following, the recognition unit 212 of the server 200 will determine whether the event is successful or not. To explain further, the recognition unit 212 of the server 200 can be read as the recognition unit 156 of the robot 100. Yes, it is possible.

[0073] The personal data storage unit 218 of the server 200 contains a terminal ID that identifies the user terminal 400 and Register the user ID in association with it. Additionally, the user ID will be associated with the user's physical characteristics and Behavioral characteristics are associated with each other.

[0074] (User terminal 400) User terminal 400 displays the response report, described later, in a web browser. The end 400 displays the reaction report and inputs instructions to the robot 100 (related to Figure 19). Dedicated application software may be installed for the purpose (details below).

[0075] Figure 8 is a schematic diagram showing the history of changes in emotional parameters. The emotion management unit 250 changes three types of emotion parameters over time. (Horizontal axis in Figure 8) The vertical axis represents time, and the vertical axis represents the magnitude of the emotional parameter. In this embodiment, the emotional parameter The meter changes within the range of 0 to 100. In Figure 8, the loneliness parameter 170 is temporary. After rising sharply, it is gradually decreasing. The emotion management unit 250 is telling robot 100 to O The longer the period of time that the owner does not see Naa, the more the loneliness parameter of 170 gradually increases. When you see the owner, your loneliness parameter decreases by 170. The action contributes to a decrease in the loneliness parameter of 170. Similarly, hearing the owner's voice... When such an event occurs, the emotion management unit 250 also decreases the loneliness parameter 170. That's fine.

[0076] The approval need parameter 174 in Figure 8 gradually increases over time. (Emotional management) Unit 250 increases the approval need parameter 174 over time. Approval need refers to the desire for recognition from others. It is one of the basic human desires: the desire to be recognized by others. (Recognition Need Parameter 174) This expresses the strength of robot 100's need for approval. The emotion management unit 250 communicates to the user that the robot Actions that make you feel good, such as talking to or holding Robot 100 (acts of consideration towards Robot 100) When this is done, the approval need parameter 174 decreases (satisfaction), and when an unpleasant behavior occurs... This increases the need for recognition parameter (174) (dissatisfaction).

[0077] The emotion management unit 250, when the robot 100 discovers something new, uses the curiosity parameter Increase 172. Also, when no event occurs, the emotion management unit 250 will be curious. Gradually decrease parameter 172.

[0078] The emotion management unit 250 determines whether the three types of emotion parameters have fulfilled various "psychological conditions". This determines whether or not. The psychological condition is determined as the timing that indicates a "change in the psychology" of robot 100. It should be set as desired. For example, the approval need parameter 174 is set to a predetermined threshold (e.g., 80). When the above conditions are met, the first psychological condition may be considered to be met, and the approval need parameter 174 Even if the second psychological condition is met when it becomes dominant over the other two emotional parameters, Good. In Figure 8, during the period t0 to t1, the loneliness parameter 170 corresponds to curiosity. Parameter 172 is greater than the need for recognition parameter 174. The approval need parameter 174 is the largest. Therefore, the emotion management unit 250 at time t1 It is determined that the second psychological condition has been met. In other words, at time t1, robot 100 For them, the desire for recognition (the desire to be acknowledged) is more dominant than loneliness.

[0079] From a state where the first of the three emotional parameters is dominant, the second emotion... When a parameter becomes dominant, or in other words, when the dominance of multiple emotional parameters changes It can be inferred that Robot 100's feelings underwent a major shift when the tables turned.

[0080] Furthermore, it is not limited to just loneliness, curiosity, and the need for recognition; more than four emotional parameters are set. It may be fixed. For example, various emotional parameters such as joy, anger, anxiety, impatience, and shame. You may define events that affect the emotional parameters of the characters. The emotional parameters are 1 It can also be described as a type. Emotional parameters change over time and with the occurrence of events.

[0081] The changes in emotional parameters may be made random or periodic. Changes in the parameter may also affect a second emotional parameter, such as the loneliness parameter. When it exceeds 50, the emotional management unit 250 increases the rate of increase of the approval need parameter. good.

[0082] Emotional parameters are not necessarily correlated with typical human psychological states, such as "curiosity." There is no need to do so. For example, "The emotion parameter Q1 is event (E1), event (E2 It rises when an event (E3) occurs, and falls when an event (E3) occurs. By defining the conditions for change, we can define emotional parameters with various characteristics. Good. Even if you define "emotions" that are unique to Robot 100 and not mimic human emotions, good.

[0083] Figure 9 is a data structure diagram of the history information 270. The history information 270 is stored in the history information storage unit 262 of the server 200. In Tem300, multiple types of events are defined in advance. It is classified into one of the event types. For example, an event of event type = En ( Hereafter, an "event (En)" may be referred to as such, even if it involves the user being seen. The event (Em) may be the detection of a sound exceeding a predetermined value, or another event Ep may be that robot 100 is wearing clothes. In addition, hugging Various things such as the user leaving the room, finding something new in the room, etc. Vents can be defined.

[0084] The history management unit 252 periodically, for example every minute, records events and emotion parameters. This is recorded in history information 270. History information 270 contains the event occurrence history and emotion parameters. The meter change history is associated. The recognition unit 212 recognizes the event, and the emotion management unit 25 0 changes the emotion parameter in response to the event. The motion control unit 150 etc. changes the emotion parameter in response to the event. Select a motion according to the emotion parameter.

[0085] In the history information 270 in Figure 9, event (E1) occurred at 10:03. After the vent (E1) occurred, the loneliness parameter dropped sharply from 72 to 14. Event (E1) is clearly an important event that alleviated Robot 100's loneliness. History information 270 also includes an atmosphere type that indicates the general feel of the external environment (details below). various factors such as the motion selected by robot 100, the position information of robot 100, and the room temperature. Any information may be registered.

[0086] Figure 10 is a data structure diagram of the motion selection table 280. The motion selection table 280 is stored in the motion storage unit 232. As described above. The motion is identified by the motion ID. The motion control unit 222 of the server 200 When an event is recognized, the motion is selected by referring to motion selection table 280. The robot 100 executes the motion specified by the motion control unit 222. The selection table 280 is also downloaded from server 200 to robot 100. Therefore, the motion control unit 150 of the robot 100 will use the server for some events. You can select event-specific motions without going through 200. In the following cases, when a motion is selected by the motion control unit 222 (server 200) As explained below, the motion control unit 222 (server 200) is controlled by the motion control unit 150 (robot 10 This can be interpreted as 0).

[0087] In motion selection table 280, one or more motions are assigned to an event. The selection probability is associated with it. For example, when event (E1) is detected, The control unit 222 selects motion (M1) with a selection probability of 5 (%), and selects motion (M1) with a selection probability of 15 (%). Select motion (M2) based on probability.

[0088] In this embodiment, the motion control unit 222 selects motion according to the emotion parameter. The probability of selection is changed. For example, among the emotional parameters, if the loneliness parameter is above a predetermined threshold... When this is the case, the motion control unit 222 determines the motion (M1) in response to the event (E1). The selection probability is increased. When the curiosity parameter is above a predetermined threshold, the operation control unit 222 This reduces the probability of selecting motion (M1) in response to event (E1).

[0089] As a specific example, when an event (En) occurs, the selectable motion (M1) and The selection probabilities for the motion (M2) and motion (M3) are set to 30% and 20%, respectively. Let's assume it's 50%. Below are the motions selected when an event (En) occurs. (M1) is written as "motion (En|M1)".

[0090] When the loneliness parameter is 80 or higher, motion (En|M1) changes from 30% to 40%. Assume it increases to (%). The increased 10(%) is due to motion (En|M2) and mo The selection probability of each option (En|M3) is adjusted by decreasing it by 5%. As a result, when the loneliness parameter is 80 or higher, the probability of selecting motion (En|M2) The percentage decreased from 20% to 15%, and the selection probability of motion (En|M3) increased to 50%. ) decreases to 45 (%). With this control method, motion (En|M1) This means that robot 100 is more likely to be chosen when it feels "lonely," and "emotions" influence "action selection." It will have an impact.

[0091] Figure 11 is a screenshot of the first reaction report screen 180. The user requests a response report from the server 200 via user terminal 400. The system allows users to freely switch the display method of the reaction report. Figure 11 shows the first reaction report. Screen 180 shows the response corresponding to events and the robot's feelings (emotional parameters). Indicates the port.

[0092] When the history management unit 252 receives a request to acquire a response report from the user terminal 400, A response report is generated based on the history information 270. The history management unit 252 then performs the psychological analysis described above. Extract the emotional parameters when the conditions are met.

[0093] First, let's assume that at 9:00, one of several psychological conditions is met. Server 2 In 00, the psychological conditions or the state of the emotional parameters are determined in advance. Information icon 184 is associated. Icon selection unit 254 indicates that the psychological condition has been met. Select emotion icon 184 according to the emotion parameters at the time. In Figure 11, emotion Icon 184a is selected.

[0094] The icon selection unit 254 is an event eye corresponding to the event when the psychological condition is met. Also select Con 182. For each of the multiple events, pre-select event icon 18 2 is associated with it. "The event when the psychological condition is met" is when the psychological condition is met. This could be an event that occurred immediately before (most recently) the point, or a predetermined time from the point when the psychological condition was established. It may also be an event that occurred within the interval. For example, if a psychological condition was met at time t1. The event that occurred between time (t1-10 seconds) and time (t1-3 seconds), a 7-second interval, is reflected. This can also be included in the response report.

[0095] In the first reaction report screen 180 of Figure 11, the robot when the psychological condition is met... Emotional icons 184a representing 100 "feelings" are displayed, and an event occurs when the psychological condition is met. The event icon 182a corresponding to the event type is also displayed in Figure 11. The event icon 182a shown corresponds to the event where robot 100 meets its owner. Yes. Emotion icon 184a represents the robot's happy feelings, for example, loneliness. This corresponds to a psychological state where both the meter and the need for recognition parameter are below a predetermined value. The user can refer to the first reaction report screen 180 to see "Robot 100". "I was happy to meet the owner at 9:00," said Robot 100, describing his daily life and You can find out what Toki's Robot 100 is feeling.

[0096] The user can see the feelings and events of the robot 100 through the first reaction report screen 180. You can find out about the event through emotion icon 184 and event icon 182. By symbolically representing it with icons, the user can experience the daily life of Robot 100. You can enjoy it like a picture diary.

[0097] In this embodiment, the recognition unit 212 recognizes events based on information about the external environment. Next, the event type corresponding to the recognized event is identified. Then, the icon selection section 254 Select event icon 182, which corresponds to the event type. In the response report, The details of the event were not shown, but event icon 182 indicated "what happened". By conveying this simply, the first reaction report screen 180 does not excessively restrict privacy. This prevents it from being disclosed.

[0098] Note that the emotional parameters of robot 100 are not the emotional icon 184, but the parameters You can display the values ​​as they are, or you can express the feelings of Robot 100 through colors that correspond to emotions. It is permissible to express it. The emotional parameters of robot 100 themselves do not relate to user privacy. This is because the possibility of it happening is considered low.

[0099] Robot 100 selects actions while recognizing a large number of events. Therefore, all Showing event reactions in a report is important not only from a privacy protection standpoint, but also from a visibility perspective. This is also undesirable from this point of view. Therefore, in this embodiment, the event when the psychological conditions are met Only the response is registered in the reaction report. According to this control method, the heart of robot 100 This makes it easier to identify events that may have triggered the change in logic. In other words, it makes it easier to identify the events that may have triggered the change in logic. Among the many different events that occur around Robot 100, "the one that moved Robot 100's heart" The situation can be checked, focusing on the "event". Various events recognized by Robot 100 Of these, events that are important to Robot 100 (and its feelings) are registered in the reaction report. Therefore, it is possible to create a reaction report that is like a diary, emphasizing the feelings of Robot 100.

[0100] At 9:30, there is an event the owner is going to (event icon 182b) and The event (event icon 182c) where the character returns home occurs repeatedly in a short period of time. When multiple events occur in quick succession, the history management unit 252 performs an event analysis. Reaction report with icon 182b and event icon 182c slightly shifted to the left and right. This displays the event on the first reaction report screen 180. This can improve the visibility of the Toicon 182.

[0101] The history management unit 252 further defines specific categories (specific event types) in advance. Set attention mark 186 next to events belonging to (P). There are multiple types of attention marks 186. This highlights notable events among similar events. Users can highlight notable events. With K186, it becomes easier to recognize important events. Important events include the owner Possible reasons include: spotting someone, going out or seeing someone off, dropping something, or discovering an unregistered person (suspicious person). It can be done.

[0102] It is also conceivable that multiple Robot 100 units could be introduced into a single household. Each has its own unique characteristics depending on the initial settings or the environment. There is also "Robot 100 that is weak to loneliness," which is set to have a high loneliness parameter, One possible configuration is "Calm Robot 100," which is designed to prevent the "eccentricity parameter" from increasing. Furthermore, while robot 100A has a high level of familiarity with the user (P01), 100B may have a lower level of intimacy. In this case, from the user (P01) Being held greatly alleviates Robot 100A's "loneliness," but Robot 100B In some cases, even being held by the user (P01) may not alleviate the "loneliness" much. Also, robot 100C, which has never seen user (P01), will not see user (P01). Being held might actually increase their curiosity parameter. In this way, In response to the common event of "being held by the user (P01)", each robot (100) The emotional parameters change in various ways. Therefore, the psychological conditions vary for each robot. The timing of when one stands up, or in other words, the "timing of when one's heart is moved," is likely to differ from person to person.

[0103] The historical information generated by each of the multiple robots 100 that have the same experience is substantially identical. It may be the case that the psychological conditions for robot 100A are met and the timing of robot 100 Because the timing at which psychological condition B is met is different, robot 100A and robot 100B This may generate different reaction reports. For example, robot 100A may trigger an event (E1) is recorded in the reaction report, but robot 100B records event (E1) in the reaction report It may not be recorded in the log. The user can use robot 100A and robot 100B separately. By referring to this reaction report, robot 100A is moved to event (E1). However, it was determined that robot 100B was not interested in event (E1). The user can compare response reports from multiple robots by comparing multiple robots. You can enjoy the individuality and feelings of each of the 100 robots. Also, the reaction reports By providing an opportunity to experience the individuality of each of the 100 robots, we can nurture the development of multiple robots. You can enjoy the process of getting involved even more.

[0104] Figure 12 is a screenshot of the second reaction report screen 190. The reaction report includes the motion selected by robot 100 when the psychological conditions were met. It can also be displayed. The second reaction report screen 190 in Figure 12 shows events and motions. This shows a reaction report that correlates the values.

[0105] Motion ID is associated with motion icon 192. Motion icon 192 may be formed as an animation that reproduces the motion of robot 100. The history management unit 252 identifies the motion selected when the psychological condition is met. The motion selection unit 254 selects a motion icon 192 corresponding to the specified motion. The "motion selected when the psychological condition is satisfied" may be the motion that was first selected after the psychological condition was satisfied, or may be the motion selected during a predetermined period based on the time when the psychological condition was satisfied. For example, when the psychological condition is satisfied at time t1, the motion selected during the 7 seconds from time (t1 + 0.5 seconds) to time (t1 + 7.5 seconds) may be registered in the reaction report.

[0106] On the second reaction report screen 190 of FIG. 12, a motion icon 192a representing the "action" of the robot 100 when the psychological condition is satisfied is displayed, and an event icon 182a corresponding to the event when the psychological condition is satisfied is also displayed. The event icon 182a corresponds to the event that the robot 100 meets the owner. The motion icon 192a represents the movement of the robot. By referring to the second reaction report screen 190, the user can confirm the daily life of the robot 100, "The robot 100 met the owner at 9:00 and started moving", and the action of the robot 100 at that time.

[0107] The user can switch between the first reaction report screen 180 and the second reaction report screen 190 by operating the user terminal 400. The robot 100 selects a motion according to the event and the emotional parameter at that time. In the robot system 300, the actions of the robot 100 are determined by the complex interaction of three factors: the event, the emotional parameter (mood), and the motion (action). The actions of the robot 100 are unpredictable. ​​​​​​​​​​​​​​There is a possibility. The user can, by referring to the first reaction report screen 180 and the second reaction report screen 190 find out what events have occurred around the robot 100, and thereby what mood the robot 100 is in, and also what actions the robot 100 has selected as a result of the event. According to the first reaction report screen 180 in FIG. 11 and the second reaction report screen 190 in FIG. 12, it can be inferred that the robot 100 is happy to meet the owner and approaches the owner.

[0108] FIG. 13 is a data structure diagram of the user authority table 290. The user authority table 290 is stored in the personal data storage section 218 of the server 200. In this embodiment, in order to control the amount of information provided by the reaction report according to the user, a viewing attribute is set for each user. The viewing attribute in this embodiment indicates how much information the user can extract from the historical information, or in other words, the viewing authority level. The user is identified by the user ID. The physical characteristics of the user and the user ID are pre-correlated, and a viewing attribute is pre-set for each user ID. The viewing attribute A1 has the strongest viewing authority, and the viewing attribute A4 has the weakest viewing authority. The reaction report provided to the user (P 01:A1) is more information-rich than the reaction report provided to the user (P04:A4).

[0109] FIG. 14 is a data structure diagram of the event condition table 292. The event condition table 292 is stored in the event condition storage section 260 of the server 200. The event condition table 292 defines viewing conditions for each event condition. The conditions are primarily defined to determine events related to privacy. Yes. Conditions related to the user's appearance and voice, such as shouting or crying, and conditions related to location, such as a child's room or study. Conditions for doing something, time-related conditions such as late at night or in the evening, angry face, crying face, laughing face, etc. The event conditions are defined as conditions related to the facial expressions of the users who observed them. The venting conditions are events that occur in open spaces such as living rooms, kitchens, and entrances. You can also categorize events that occurred in private spaces such as children's rooms, studies, and bedrooms. stomach.

[0110] For example, when an event X1 satisfies event condition (C1), the viewing attribute A1 Event X1 will only be registered in response reports targeting the above users. Therefore, User (P01:A1) can see event X1 in the response report, but user (P02 :A2) Event X1 cannot be seen in the reaction report. For example, Event X1 (User detection event) The user (P06) is detected in their room (study, etc.). When the event condition (C1) is met, user (P01:A1) is user (P0 6) The reaction report confirms that the user (P02:A2) was in their room. It is impossible to know that. It depends on the user's viewing attributes (viewing permission level). By controlling which events should be reported and which should not be reported, They are further strengthening privacy protection.

[0111] Figure 15 is a sequence diagram showing the processing steps for displaying the reaction report. User terminal 400 sends a request to server 200 to obtain a response report (S20 )。At this time, the terminal ID is also transmitted from the user terminal 400. The history management unit 252 identifies the user ID corresponding to the terminal ID. The history management unit 252 refers to the user authority table 290 and checks the viewing attribute of the user (S22). Based on the viewing attribute, the events that can be displayed on the response report are narrowed down. Next, the history management unit 252 refers to the history information and checks the time point when the psychological condition is satisfied (S24). When the psychological condition is satisfied, the history management unit 252 generates a response report from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The history management unit 252 identifies the user ID corresponding to the terminal ID. The history management unit 252 refers to the user authority table 290 and checks the viewing attribute of the user (S22). Based on the viewing attribute, the events that can be displayed on the response report are narrowed down. Next, the history management unit 252 refers to the history information and checks the time point when the psychological condition is satisfied (S24). When the psychological condition is satisfied, the history management unit 252 generates a response report from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The history management unit 252 refers to the user authority table 290 and checks the viewing attribute of the user (S22). Based on the viewing attribute, the events that can be displayed on the response report are narrowed down. Next, the history management unit 252 refers to the history information and checks the time point when the psychological condition is satisfied (S24). When the psychological condition is satisfied, the history management unit 252 generates a response report from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). Based on the viewing attribute, the events that can be displayed on the response report are narrowed down. Next, the history management unit 252 refers to the history information and checks the time point when the psychological condition is satisfied (S24). When the psychological condition is satisfied, the history management unit 252 generates a response report from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). Next, the history management unit 252 refers to the history information and checks the time point when the psychological condition is satisfied (S24). When the psychological condition is satisfied, the history management unit 252 generates a response report from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 1, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). When the psychological condition is satisfied, the history management unit 252 generates a response report from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The user terminal 400 displays the response report on the screen (S30).

[0112] <Display of detailed information> FIG. 16 is a sequence diagram showing the processing process of the detailed display. The history management unit 252 acquires detailed information at the time of occurrence of the event. The detailed information may be information indicating the content and situation of the event, such as a captured image (still image), a short movie, text, voice information, temperature distribution information by a thermosensor, etc. At least, the detailed information may be anything that provides information other than the icon. For example, when the recognition unit 212 of the server 200 recognizes the event X2 of detecting the user (P01), the captured image Y2 at that time is saved. The robot 100 transmits the captured image to the server 200 at any time. The history management unit 252 saves the event X2 and the captured image Y2 in association with each other. This captured image Y2 The history management unit 252 acquires detailed information at the time of occurrence of the event. The detailed information may be information indicating the content and situation of the event, such as a captured image (still image), a short movie, text, voice information, temperature distribution information by a thermosensor, etc. At least, the detailed information may be anything that provides information other than the icon. For example, when the recognition unit 212 of the server 200 recognizes the event X2 of detecting the user (P01), the captured image Y2 at that time is saved. The robot 100 transmits the captured image to the server 200 at any time. The history management unit from the event, emotion parameter, motion, etc. at that time (S26). The icon selection unit 254 selects an icon as appropriate. The response report is formed as a web page including the icon. The communication unit 204 transmits the response report shown in FIGS. 11, 12, etc. to the user terminal 400 (S28). The user terminal 400 displays the response report on the screen (S30). The detailed information may be information indicating the content and situation of the event, such as a captured image (still image), a short movie, text, voice information, temperature distribution information by a thermosensor, etc. At least, the detailed information may be anything that provides information other than the icon. For example, when the recognition unit 212 of the server 200 recognizes the event X2 of detecting the user (P01), the captured image Y2 at that time is saved. The robot 100 transmits the captured image to the server 200 at any time. The history management unit 252 saves the event X2 and the captured image Y2 in association with each other. This captured image Y2 At least, the detailed information may be anything that provides information other than the icon. For example, when the recognition unit 212 of the server 200 recognizes the event X2 of detecting the user (P01), the captured image Y2 at that time is saved. The robot 100 transmits the captured image to the server 200 at any time. The history management unit 252 saves the event X2 and the captured image Y2 in association with each other. This captured image Y2 For example, when the recognition unit 212 of the server 200 recognizes the event X2 of detecting the user (P01), the captured image Y2 at that time is saved. The robot 100 transmits the captured image to the server 200 at any time. The history management unit 252 saves the event X2 and the captured image Y2 in association with each other. This captured image Y2 The robot 100 transmits the captured image to the server 200 at any time. The history management unit 252 saves the event X2 and the captured image Y2 in association with each other. This captured image Y2 The history management unit 252 saves the event X2 and the captured image Y2 in association with each other. This captured image Y2 This will be the "detailed information" about event X2, including the time when the user (P01) was detected. For a predetermined period, for example, a short movie of about 5 seconds may be saved as a detailed image. Alternatively, the recognition unit 212 receives the text information "User (P01) found at the entrance". It may be generated. Then, the history management unit 252 saves the text information as detailed information. That's good too.

[0113] When the history management unit 252 generates a reaction report, it records the event and adds it to the reaction report. Save the icon ID of the event icon 182 associated with it. The icon ID is This is a unique identifier for event icon 182. When you tap either event icon 182, the user terminal 400 will turn on the event icon Send the icon ID corresponding to CON182 to server 200 (S40). History Management Unit 2 52 identifies the event associated with the icon ID, and this event is associated with Identify the detailed information (S42).

[0114] The emotion management unit 250 transmits detailed information to the user terminal 400 via the communication unit 204. S44). User terminal 400 displays detailed information (S46).

[0115] Figure 17 is a screenshot of the detailed information screen 402. When the event icon 182 is tapped, the user terminal 400 receives information from the server 200. Detailed information is received. At this time, the user terminal 400 displays a detailed window above the response report. Display 404. Detailed information is displayed in the 404 details window. The detailed information is static. It can be an image or video, or it can be text information. It can also be a still image and text. The information may be displayed simultaneously.

[0116] You can also set viewing permissions for detailed information. For example, if you set an event condition (C2) Event X3 is triggered in the response report targeting users with browsing attribute A2 or higher. Event icon 182 will be displayed, but viewing detailed information requires a viewing attribute of A1 or higher. It may be considered essential. Alternatively, event X4 that satisfies event condition (C4) can be reversed. To view it in the response report, a viewing attribute of A2 or higher is required, but such event X Regarding point 4, it may be permissible to prohibit the display of detailed information. Detailed information should include the circumstances under which the event occurred. Because this is raw data that specifically reveals details, it may be related to privacy. Therefore, detailed The display of detailed information should be managed more strictly than with event icon 182.

[0117] Detailed information may be provided as a video without sound, or as a still image with some parts blurred. It is also possible for the history management unit 252 to convert the image texture of the still image using a known image conversion method. The image is transformed and detailed information is provided to the user terminal 400 as a painterly or out-of-focus image. That's also good. The history management unit 252 provides users with strong viewing privileges with detailed information close to raw data. It may be possible to provide more detailed information, with a higher degree of processing, to users with weaker access privileges.

[0118] <Description of atmosphere> Figure 18 is a screenshot of the third reaction report screen 410. In addition to events, emotions, and motion, the history management unit 252 also includes atmosphere in the reaction report. It can record type (atmosphere information). The atmosphere determination unit 256 determines the external environment of the robot 100. These are classified into several types of atmosphere. Specifically, they are "fun," "lively," "quiet," and "dark." Examples include "tense" and "prickly." Depending on the mood type, the icon selection section 254 will show the mood icons. Select CON194. The history management unit 252 determines the atmosphere type when the psychological conditions are met. Record the corresponding mood icon 194 (image) in the reaction report.

[0119] The atmosphere determination unit 256 determines the atmosphere type based on the external information obtained from the robot 100. The robot 100 uses its internal sensors 128 to determine the presence of images, sounds, smells, and touch. The unit acquires the necessary information and sends it to the server 200. The atmosphere determination unit 256 determines the atmosphere conditions The atmosphere type is determined based on the following: sound pressure, whether a smile can be detected, loud laughter, etc. The success or failure of the atmospheric conditions is determined based on factors such as the number of touches and the number of users present around robot 100. Determine. For example, if multiple voices and multiple smiles are detected within a predetermined period, then "lively" The atmosphere condition related to "ka" is met, and the atmosphere determination unit 256 determines that the atmosphere type is "lively". It determines that the atmosphere is such. Furthermore, when loud noises are detected within a predetermined period, the atmosphere determination unit 256 determines the atmosphere The atmosphere type is judged as "tense."

[0120] In the third response report screen 410 of Figure 18, the "atmosphere" when the psychological condition is met is shown. Atmosphere icon 194 representing the "type" is displayed, and the emotions of robot 100 at this time 184 corresponding emotion icons are also displayed. The user then moves to the third reaction report screen 410. By referring to this, the atmosphere around robot 100 and robot 100 at that time It allows you to confirm the robot's feelings. For example, the user can determine whether the robot spent time in a noisy environment. The third reaction report screen 410 reveals whether they had a quiet day. Similar to events, viewing attributes may also be set for the "Spirit" type.

[0121] In this embodiment, it is assumed that the server 200 is equipped with an atmosphere determination unit 256. To clarify, the robot 100 may also be equipped with an atmosphere determination function by an atmosphere determination unit 256. In this case, the atmosphere determination unit 256 of the robot 100 determines the atmosphere type (atmosphere information). The 200 is notified, and the icon selection unit 254 selects the atmosphere icon 1 corresponding to the atmosphere type. Select 94, and the history management unit 252 generates a reaction report with the atmosphere icon 194. That's all you need to do.

[0122] <Setting rest periods> Figure 19 is a screenshot of the rest time setting screen 420. The user can not only check the response report on the user terminal 400, but also on the user terminal It is also possible to issue instructions from 400 to the robot system 300. Then, the user can set the rest time (sleep time) of the robot 100 on the user terminal 400. It can be set. In the rest time setting screen 420 in Figure 19, 23:00 to 5:00 is rest time. It is set as a time. User terminal 400 sends rest time specification information to server 200. Send. The operation control unit 222 of the server 200 will charge the robot 100 during rest periods. It will be kept on standby at the power station (not shown).

[0123] The rest period can be set in 10-minute increments, for a continuous period of 1 hour or more. The user controls robot 100 Sometimes you don't want them moving around in the middle of the night. Also, users may not want them moving around when they are feeling unwell. It is thought that the user does not want robot 100 to move around. User terminal 400 will set rest time. By configuring this setting, it is possible to prevent the robot 100 from disrupting the user's life.

[0124] <Summary> The robot system 300 has been described above based on the embodiments. According to this embodiment, even when the user is not near the robot 100, the robot 10 The daily life of robot 0 can be monitored via the user terminal 400. The user can see what robot 100 is like. Write a reaction report, like a picture diary, detailing your experiences, how you felt, and what actions you took. Therefore, we can know.

[0125] When the psychological conditions are met, in other words, when there is a change in Robot 100's feelings To generate reaction reports that focus on specific events, the amount of information in the reaction reports is effectively reduced. Not only is it controllable, but it's also a diary-like reaction report that emphasizes the feelings (emotions) of Robot 100. It is possible to create a reaction report. Narrowing down the information that should be provided as a reaction report is possible. In addition to improving the visibility of the robot, it also protects the privacy of users near the robot. It also contributes to protection.

[0126] By referring to the reaction report, users can see how Robot 100 is feeling. You can find out what happened and how it's feeling. For example, Robot 100 is lonely. When a user is having a good day, they want to go home early and meet Robot 100. It's possible. Also, the father goes out and the mother and children stay home and spend time with Robot 100. Even when it is in motion, the father can understand the activity summary of Robot 100 through the response report. This makes it easier to talk about life with Robot 100 even after returning home. Also, it makes it easier to travel far away. Users can learn about the lives of their grandparents through reaction reports. Can do it (details below).

[0127] The reaction report does not directly display events, etc., but rather uses various icons to indicate the robot It caricatures the daily life of 100 people. Beautiful and cute icons make it easy for users to understand. The reaction report can be enjoyed like a picture diary. The icon display shows the reaction report. In addition to making it easier to understand, it also enhances the visual appeal of response reports and protects privacy. It also contributes to protection.

[0128] Furthermore, browsing attributes allow for fine-grained control over the information provided to each user. For example, parents can see many of the family events, but grandparents can see many of the family events. It is acceptable if only a portion can be confirmed. The history management unit 252 is an unregistered user terminal 400 or We may refuse your request to obtain our response report.

[0129] By checking the details, users can access information about robot 100 even when they are not physically present with the robot. You can check what's happening around Robot 100 from outside the home. For example, if you tell Robot 100, When there is an event, the details of the event will be displayed, making it easier to go out. The previous user also easily shared "happy events" with other users near Robot 100. It is possible. Currently, people share still images and videos with close friends on social networking services (SNS). While it is common practice to transmit to [a certain location], according to this embodiment, [transmission is performed via robot 100] This makes it possible to convey detailed information to the people you want to communicate it to.

[0130] Additionally, the reaction report includes the atmosphere surrounding robot 100, represented by atmosphere icon 194. It can be expressed in various ways. Users who are away from home can learn about the atmosphere at home through reaction reports. Users who are out and about might want to go home if they see a pleasant atmosphere at home. The father, while at work, can check the response report on his smartphone (user terminal 400). This allows you to get a sense of the "happy" atmosphere of a family, even if you don't know the details of what goes on inside the home. Ideally, one would be able to work with peace of mind. Or, when the father returns home, You can ask your family what fun things happened. Even if they're not at home, they can still have fun. Because it allows for the sharing of information, it can be considered a tool that loosely connects fathers with their families.

[0131] The user can set the rest time for the robot 100 using the user terminal 400. Depending on the settings, for example, the robot 100 may move around from early morning, disturbing the user's sleep. This can prevent it from happening. Or, since you have to get up early tomorrow, from early in the morning Sometimes you want to be woken up by Robot 100 moving. Setting it up from the terminal 400 is simple, but the user's lifestyle and the robot 1 In order to coordinate the lifestyle patterns of 00, in other words, to achieve symbiosis between the user and robot 100 This is considered a very effective means of achieving this goal.

[0132] Robots that make behavioral choices based on emotional parameters are known to exist. Generally speaking, robots Setting emotional parameters in the robot determines whether it is acting according to its own emotions. This is thought to be in order to realize such biological behavioral expressions. The emotional parameters are user It is likely that these are often treated as internal parameters that are not visible from the outside. In contrast, in this embodiment, the user reports the emotions of the robot 100 in a response report. This can be found out. Users can find out what kind of feelings Robot 100 has as it goes about its daily life. By learning about dolphins, it is thought that one will be able to consider the feelings of Robot 100. By showing consideration for each other, the robot 100 and the user will develop a psychological interaction. It can be deepened even further.

[0133] It should be noted that the present invention is not limited to the embodiments or modifications described above, and will not depart from the spirit of the invention. The constituent elements can be modified and materialized within the enclosure. Disclosed in the above embodiments and modifications. Various inventions may be formed by appropriately combining multiple components. Some components may be removed from all the components shown in the embodiments and modifications described.

[0134] One robot 100, one server 200, and multiple external sensors 114 enable the robot Although it was explained that system 300 is configured, some of the functions of robot 100 are performed by server 2 This may be implemented by 00, or some or all of the functions of the server 200 may be implemented by the robot 100 It may be assigned to one server 200 that controls multiple robots 100. Alternatively, multiple servers 200 may cooperate to control one or more robots 100. That's good too.

[0135] A third device other than robot 100 or server 200 may perform some of the functions. (Figure 7) The combination of the functions of robot 100 and server 200 described above can be broadly defined as It can also be understood as a single "robot." In contrast, how to allocate the multiple functions necessary to realize the present invention depends on each hardware The decision should be made considering the processing capabilities of the wearer and the specifications required for the robot system 300. stomach.

[0136] As mentioned above, "robot in the narrow sense" refers to robot 10 that does not include server 200. Regarding the number 0, "robot in a broad sense" refers to robot system 300. Many of the functions of Server 200 may be integrated into Robot 100 in the future. It is possible.

[0137] [Differentiation] <Rejection of response report> The history management unit 252 receives response data from user terminals 400 located near robot 100. The port acquisition request may be rejected. For example, the history management unit 252 may reject the robot 100's recording When the image unit 158 ​​is seeing the user (P01), the user (P01) has The request to obtain a response report from terminal 400 may be rejected. Specifically, recognition unit 212 When the system recognizes the user (P01) from the captured image, the history management unit 252 recognizes the user (P01). Identify the associated terminal ID and receive responses from the user terminal 400 that has this terminal ID. The report acquisition request is rejected. This control is performed when the user (P01) is not a robot. To prevent the user terminal 400 from checking changes in the response report while interacting with the 100. That is. If the user (P01) hits or picks up robot 100, If you can perform the action and then check the changes in Robot 100's emotions in real time, If that were to happen, Robot 100 would be treated as an experimental animal. To prevent the robot 100 from being treated like a laboratory animal, the history management unit 252 visually inspects the robot 100. Users who are not within the range of operation, in other words, those who cannot directly influence Robot 100 You may provide response reports only to users who are too far away to access your device.

[0138] User (P01), who is the owner of user terminal 400 (P01), It is also possible to obtain the response report using a different user terminal 400 (P02) instead of P01. This is possible. In this case, robot 100 is the true owner of user terminal 400 (P02). If a user (P02) is not nearby, a response report is sent to user terminal 400 (P02). If you send it, a nearby user (P01) may see the reaction report. It is also possible.

[0139] To counter such loopholes, first, the user terminal 400 (P02) has a built-in A The application software uses the camera function to obtain reaction reports from the user. P01) is photographed, and when a reaction report acquisition request is made, the photographed image Q1 at that time is sent to server 20 It should be sent to 0. In the example above, this captured image Q1 contains the face image of the user (P01). It is included.

[0140] When server 200 receives a request to acquire a response report, the history management unit 252 receives a request from robot 1 The captured image Q2 is also obtained from 00. In the example above, this captured image Q2 also contains user (P0 1) The facial image is included. The recognition unit 212 is included in the captured image Q1 (user terminal 400) Whether or not the facial image of the same person is included in the captured image Q2 (Robot 100) The system determines this. If the same person is in the image, the user near robot 100 will react. Since a response report is being requested, the history management unit 252 will contact user terminal 400 (P 02) We refuse to provide a response report. On the condition that the same person is not pictured, The history management unit 252 only needs to provide a reaction report. According to this control method, the robot To further confirm the acquisition of response reports from user terminal 400 located near terminal 100. You can certainly refuse.

[0141] In addition, the server 200 is equipped with a distance measuring unit (not shown) and measures the distance from the user terminal 400. This may be measured by known methods such as infrared communication. The history management unit 252 is within a predetermined distance. It is also possible to refuse the request to obtain a response report from user terminal 400. The robot 200 uses GPS (GL) to determine the position coordinates of the robot 100 and the user terminal 400. The robot 100 may be detected by known means such as the obal Positioning System. - Provided that the user terminal 400 is located at a predetermined distance or more away from the other terminal 400, This could also be used to respond to requests for obtaining reaction reports.

[0142] When robot 100 is visually observing user (P01), user (P01) When the robot 100 receives a request to obtain a response report from terminal 400, the user (P A predetermined period based on the time when 01) was first seen, for example, from the time when it was first seen A reaction report covering only one minute may be provided. The user (P01) interacts with robot 100, and the way they interact affects robot 100. You may limit opportunities to track emotional changes through response reports.

[0143] Conversely, the reaction report is only shown to users who are at home or who are near Robot 100. It may be omitted. With this control method, response reports can be sent to users in remote locations. It can be prevented from being seen. Users in the home can use Robot 100 or Server 2 You may also manipulate 00 to configure the system to reject requests for remote response reports.

[0144] When a request to retrieve a response report is received from user (P05), the server 200 performs an authorization check. The section (not shown) grants access permission to the administrator user (P07), who has been pre-configured with viewing permissions. You may also check whether a response report can be provided. The authorization check unit is for the administrator user (P07). For terminal 400, information about the user (P05) (user ID, name, affiliation, etc.) The following is sent. This is conditional on the authorization verification unit receiving permission instructions from the administrator user (P07). The history management unit 252 may then send a response report to the user (P05).

[0145] In addition to specifying whether or not a reaction report can be provided, it is also permissible to restrict the period covered by the reaction report. For example, suppose user (P01) sends a request to server 200 to retrieve a response report. At this time, the history management unit 252 determined that the user (P01) was not near the robot 100. You may provide the user (P01) with a response report that covers the time period (absence period). For example, if user (P01) is away from robot 100 from time t6 to time t7 Assume that the robot was located at the specified location and was near robot 100 from time t8 onwards. - When terminal 400 sends a request to server 200 to retrieve a response report after time t8. The history management unit 252 sets the period of absence from time t7 to time t8 as the target period for response The port may be provided to the user (P01). On the other hand, the target period is from time t8 onwards. No response report will be provided. According to this control method, users returning home from being away from home Even so, it allows you to reflect on what the family was like when you weren't there, and when you're not there... You can get a glimpse into the life of Robot 100, but you can't be near Robot 100 yourself. The reaction report cannot be viewed when the user is far enough away from robot 100. When this happens, the history management unit 252 sends a response report to this user, including the current time, that is, We may also provide real-time response reports.

[0146] The history management unit 252 includes periods when the robot 100 is resting (charging) in the reaction report. It can also be considered outside. For example, robot 100 is resting from time t9 to time t10. In this case, the history management unit 252 will generate a response report for the time period from time t9 to time t10. It is also acceptable not to generate the data. Robot 100 will report on its life while resting. Not only is it irrational, but psychological conditions are not met during rest, so the response report is... This is because it is thought that it will not be able to provide meaningful information. Alternatively, Robot 100 Even during rest periods, the server 200 can provide users with a response report from before the rest period. That is also acceptable.

[0147] The history management unit 252 records the emotions of robot 100 in real time in the reaction report. It is also acceptable not to display it. For example, when a user requests a response report, currently The reaction report only captures emotions that occurred more than a specified time before a given point in time, for example, more than 10 minutes prior. It would be acceptable to provide information.

[0148] <Record of movement history> The history management unit 252 manages not only time and events, but also the location where the event occurred or the robot 100 movement histories may be recorded in the history information and reaction report. Also, the location management unit 2 08, when the robot 100 moves, based on the images captured by the imaging unit 158. A map may be formed. The history management unit 252 will store detailed information about the map created by the robot 100. It may be offered as such.

[0149] <Mode Recording> The mode selection unit 258 selects the operating mode of the robot 100. When the activity level of robot 100 per unit time exceeds a predetermined value, the robot Change the 100 operating mode from normal mode to power saving mode. Activity level per unit time It should be determined according to the power consumption or the number of motion selections. In that case, the types of motions that robot 100 can select will be limited. Alternatively, By limiting the range of motion of Eta and lengthening the interval, the movement of robot 100 The activity may be slowed down. In power saving mode, the activity of robot 100 per unit time The amount is suppressed. 258, when the power saving mode continues for a predetermined time or longer, the operating mode is changed. Switch to normal mode.

[0150] The mode selection unit 258 determines when the charge level of the secondary battery installed in the robot 100 is below a predetermined threshold. When this happens, the operating mode is changed to charging mode (rest mode). At this time, the operation control Unit 222 places the robot 100 in the charging station. The charge level exceeds a threshold. At that time, the mode selection unit 258 changes the operating mode from charging mode to normal mode.

[0151] The robot system 300 also has a shooting-enabled mode and a shooting-disabled mode. Good. Even if the horns 112 of robot 100 are equipped with rotary switches (not shown) Good. The user can switch between shooting modes by rotating the switch located on the horn 112. The shooting disabled mode can be manually switched. In shooting enabled mode, the imaging unit 1 Camera 58 can capture images of the outside world and save the captured images as part of the history information. On the other hand, it is not possible to capture images. In performance mode, robot 100 takes pictures for user recognition and other purposes, but The shadow image is not saved. Alternatively, the robot 100 saves the captured image for a predetermined time, for example, 3 It may also be set to automatically discard after a few seconds. The user does not want robot 100 to take pictures. When not in use, you can easily disable the shooting mode by rotating the switch located on the horn 112. It can be changed.

[0152] When the switch on the horn 112 is operated, the communication unit 142 sends the set value to the server. The signal is sent to the ba200. The mode selection unit 258 is determined by the setting value received from the robot 100. It recognizes whether the camera is in shooting mode or shooting mode. Even then, the recognition unit 212 of the server 200 receives the captured image from the robot 100 and performs image recognition. The recognition process will be performed, but the captured images will not be permanently saved.

[0153] The history management unit 252 records the mode of the robot 100 in history information and reaction reports. The user can refer to the reaction report to determine the operating mode of robot 100. You can check the history of changes. Note that during periods when shooting is disabled, the captured images will not be saved. Therefore, detailed information in the form of an image cannot be provided.

[0154] <Record of regular activities> The recognition unit 212 may detect the user's routine behavior. Routine behaviors include, for example, early mornings. Gymnastics, greetings such as "Good morning" and "Good night" to Robot 100, teeth Brushing, washing face, bathing, sitting in a study, cleaning, eating, napping, etc. are all things that users do regularly every day. This is an action. Regular actions may be registered in advance with the server 200, or the recognition unit 212 may When the user is observed over a predetermined period and the same behavior is repeatedly detected at the same time, The action may be registered as a regular action. Regular actions are recognized for each user. Recognition Unit 2 When system 12 detects a routine action, it recognizes that a "routine event" has occurred.

[0155] The history management unit 252 records the history information when a regular event occurs. Even if 252 records event icon 182 corresponding to a regular event in the response report, Good. Alternatively, instead of recording regular events in the response report, the regular events are expected to be... If no detection occurs within the specified time frame, this may be recorded in the reaction report. According to the control method, user C, who is in a remote location, can monitor the robot 100 through response reports. You can check whether user D, who is in the area, is performing their regular routine actions.

[0156] Currently, the number of single-person households in Japan is said to be over 13 million, and it is certain that this number will continue to increase. In particular, the number of single-person households for the elderly (65 years and older) has reached 6.2 million, and the elderly Patrolling (safety checks) has become an important issue. Currently, children or grandchildren living nearby are living alone. We may also visit the parents who are having an affair regularly, or we may contact them regularly by phone, email, or social media. Contacting them can also help check on the situation of parents living alone.

[0157] However, such safety checks are not only difficult for the person performing the check, but also for the person being checked. However, this can also be a burden. Children worry about the lives of their elderly parents who live alone in a distant location. However, checking in on them daily via social media is a heavy burden. Elderly parents and their children are often busy. I often hesitate to contact them out of consideration.

[0158] If elderly people living alone (elderly parents) start living with Robot 100, then their children will have Robot 1 It is thought that this will make it easier to check on the safety of elderly parents through 00. However, the privacy of elderly parents From a protective standpoint, Robot 100 will monitor the daily life of elderly parents in detail, and will not monitor other users (such as children). It is not advisable to report this to the police. Unless the privacy of the person being monitored is taken into consideration, "monitoring" The word "ri" becomes indistinguishable from "surveillance."

[0159] In this embodiment, the history management unit 252 records the private information of users who are near the robot 100. While it generates a response report that takes Vasee's needs into consideration, the child will not know the details of their elderly parent's daily life. It's not that they want it. Elderly parents don't want their children to see every aspect of their daily lives either. It is thought that children are content as long as they can confirm that their elderly parents are living safely as usual. It might be minutes.

[0160] One solution to this problem is to make the reaction reports vulnerable to the viewers (children). One option is to set viewing permissions. With this control method, viewers (children) Because the information provided to them is limited, it becomes easier to protect the privacy of elderly parents.

[0161] Another solution is to record the success or failure of regular events in a response report and share it with viewers. (To be provided to children.) For example, from an elderly parent saying "Good morning" to robot 100. The regular event will be the greetings given by the elderly parent living with Robot 100. You can check daily in the response report whether you have given a greeting. In this case, the response report is a regular It is acceptable to inform viewers only of the success or failure of the event. The elderly parent said "Good morning" to robot 100. Just by making the call, you can tell your children who live far away, "Today, we are living just like always." They can send a message saying, "..." Children can also send regular messages through user terminal 400. Knowing whether or not an event is taking place allows for a simple confirmation that elderly parents are in good health. (Safety check) For those being cared for, simply continuing their normal lives can reassure the children. Therefore, it won't be a burden.

[0162] Viewers (children) can only call if they cannot confirm the regular event in the response report. You can check on the well-being of your elderly parents using existing means of communication. There is no need to notify the success or failure of a regular event via a response report; the recognition unit 212 recognizes the regular event When a threat is detected, a known means of communication, such as a regular event via social media (as usual) The user monitoring the situation may be notified when a certain action (such as the one described) occurs.

[0163] Furthermore, it may be acceptable not to impose the aforementioned viewing restrictions on regular events. For example, if a user says "Goodnight" to robot 100 while it is resting. Robot 100 may also provide a response report indicating that a routine event has occurred.

[0164] <Management of historical information> In this embodiment, the history management unit 252 records all events in the history information. He explained that the history information may contain a wealth of information related to privacy. Therefore, the history management unit 252 may limit the retention period of history information. For example, one day's worth of history. Only the information is saved, and the history management unit 252 stores old history information that is older than one day. It may also be possible to completely delete it from section 262.

[0165] <Prohibited attributes> You may set a prohibition attribute for some event conditions. The data does not need to be recorded in the history information, nor does it need to be recorded in the reaction report. It is acceptable not to provide detailed information. There are multiple types of prohibition attributes depending on the level of prohibition. It may be provided. For example, events that satisfy the event condition of prohibition attribute B1 are in the history It's even acceptable not to record it in the information. An event that fulfills the event condition of Prohibition Condition B2. It may be recorded in the history information but not provided as detailed information. Prohibition condition B3 Events may be recorded in the history information but deleted after a short period, such as 30 minutes.

[0166] Event conditions that trigger the setting of prohibited attributes include, for example, crying loudly, shouting (in a marital dispute). Possible images include: recognition, images of a laughing face, images of a sleeping face, etc.

[0167] <Viewing Attributes> In this embodiment, the viewing permission level is described as being represented by the viewing attribute. Viewing attributes are not limited to privacy-related permissions. For example, if it occurred in the morning Events that can only be confirmed in the reaction report, events that occur on rainy days can only be confirmed in the reaction report. The system determines whether an event can be registered in the response report based on external environmental conditions such as recognizable events. That's fine.

[0168] In this embodiment, browsing attributes are set for the user, and privacy protection is provided based on these browsing attributes. It was explained as controlling the level. In addition, the user terminal 40 located in a remote location Even if you lower the event viewing permission level for requests to obtain response reports from scratch, For example, detailed response reports may not be provided to users who are far away, or they may be limited to a certain level of detail. You may choose not to provide detailed information to users who are located beyond a certain distance. Privacy levels may be controlled based on distance in this way.

[0169] Additionally, privacy levels may be controlled based on time. For example, during the daytime, response rates may be lowered. We will provide a detailed response report to users who send port acquisition requests, but in the middle of the night... For users who have sent a request to obtain a response report, the information contained in the response report will be provided. You can be more moderate.

[0170] Robot 100 is left alone, in other words, alone at home with no one around. Sometimes, the history management unit 252 may provide all events in a response report. When robot 100 is in the same room as other users, information that can be provided in response reports is available. It may also be possible to suppress the information. With this control method, the robot 100 is near While protecting user privacy, when Robot 100 is left alone at home, detailed information is available. You can convey the situation through a reaction report.

[0171] When Robot 100 discovers a suspicious person, or in other words, a person it has never seen before... The history management unit 252 disables privacy protection and accesses all history information to the user terminal 40. It may be provided to 0. According to this control method, only when an intruder enters the house Robot 100 can be made to function as a monitoring device. When a user (owner) and an unregistered person are recognized simultaneously, the unregistered person is considered a visitor. Because there is a high probability of this happening, the history management unit 252 will not respond in order to protect privacy. You could also choose to restrict the information provided by the port.

[0172] <Emphasis expression> In this embodiment, the history management unit 252 marks events of interest as points of interest. It was explained that 186 would be assigned. In addition, the history management unit 252 noted events of note By making the event icon 182 blink, changing its color, changing its size, etc. You may use emphasis expressions. For example, speech bubbles or other displays that draw attention to important events. good.

[0173] In the first reaction report screen 180, etc., the red line (first line) and the blue line You may display multiple types of lines, such as the "in" (second line). And the red line In this section, the timing of a noteworthy event is displayed, such as the attention mark 186, and the blue color indicates the point in time when the event occurred. The lines may show the point in time when all events occurred. The blue line indicates when psychological conditions are met. Regardless of the event that occurred when the event was set, all events registered in the history information will occur at the time of the event. You may display the points.

[0174] <Icon display> In this embodiment, the amount of detailed information is changed according to the viewing attributes. I explained it as follows: Similarly, depending on the viewing attribute, the table of icons such as event icon 182 The indication may be changed. For example, for the event "A customer has arrived", the customer Event icon 182A using a photo of the person's face, event icon using a caricature of the customer CON182B, an event eye that uses a picture of a customer's face without identifying the customer. Events that do not even identify visitors, such as CON182C or exclamation marks. Prepare icon 182D.

[0175] The history management unit 252 includes events in the reaction reports for users with viewing attribute A1 or higher. Use icon 182A, and for users with viewing attribute A2, use event icon 182B, viewing Users with the View attribute A3 will see event icon 182C, and users with the View attribute A4 will see event You may also use icon 182D. With this control method, the user's browsing By controlling the amount of information provided by various icons according to their attributes, privacy can be maintained. This will make it easier to protect the sea.

[0176] <Commands to Robot 100> In this embodiment, the user terminal 400 sets a rest period for the robot 100. The method was explained. Various commands can be sent from the user terminal 400, not just during rest periods. It may also be possible to send it to the robot system 300. For example, 8:00-9:00 is in the living room. I want you to stay in your room, please don't go into the children's room, and come to the bedroom at 7:00. Any command may be sent from the user terminal 400 to the server 200. Unit 222 controls the movements of robot 100 according to its commands. In addition, in the morning The children must be seen once each afternoon, and the father must return home between 10:00 PM and 11:30 PM. Therefore, measures such as paying attention to noises at the entrance (and increasing the microphone's sound pickup sensitivity) are possible solutions.

[0177] However, if the user terminal 400 controls the robot 100 too much, robot 1 Since 00 loses its autonomy, the life force that can be sent from user terminal 400 to robot 100 is lost. It is desirable that the command group be limited to some extent. The operation control unit 222 is the user terminal 400 or The operation control unit 222 may randomly select whether or not to follow their commands. You can follow commands from highly skilled users with a higher probability of success.

[0178] Even when the user is away from home, they can communicate with the robot 100 from their user terminal 400. Alternatively, the user reads a message from the user terminal 400 to the robot 100. Server 200 receives a voice message from user terminal 400 and plays it back. The 100 recognizes voice messages using a microphone array (internal sensor 128). The event "A user initiated contact" is recognized. (Emotional Management Department 25) A value of 0 may decrease the loneliness parameter due to this audio event. Such control According to the method, the user can speak to the robot 100 from outside the home via the user terminal 400. By doing so, you can alleviate the loneliness of Robot 100. Even when traveling, the user can speak to the robot 100 from the user terminal 400. This shows consideration.

[0179] <Other> The reaction report does not contain emotion icons 184 corresponding to emotion parameters, but rather emotion parameters The meter value itself may be displayed. The history management unit 252 also displays the value of the emotion parameter, The system may record the color corresponding to the value of the emotional parameter in the reaction report. History Management Unit 2 52 records the history of changes in emotional parameters in the response report, regardless of the success or failure of the psychological conditions. That's fine.

[0180] Events can also be represented using event icon 182, or as text information. You can either show it, or, as explained in the detailed information, attach a photo of the event to the reaction report. You may attach it.

[0181] In this embodiment, a response report is sent from the server 200 to the user terminal 400. The response report was explained to be displayed on the user terminal 400. (Robot 100) Alternatively, a printer can be installed or connected to server 200, and the response report can be printed from the printer. Alternatively, a monitor may be mounted on robot 100 or robot system 300. Alternatively, you can connect it and display the response report on this monitor.

[0182] In this embodiment, the events, motions, atmosphere, etc. that occur when the psychological conditions are met are described. It was explained that this would be displayed in the response report. As an alternative, it is based on the success or failure of psychological conditions. The history management unit 252 manages events related to predetermined event conditions, important events, and regular events. Events, or all events that correspond to the user's browsing attributes, in other words, psychological conditions You may register all events that meet the specified registration criteria other than the specified ones in the response report. The history management unit 252 manages motions with a low selection probability (actions that are rarely performed) and actions that occur within a predetermined period. In this context, events with a detection frequency below a predetermined number (events that rarely occur) are considered to be psychological conditions. Regardless, you may register it in the reaction report.

[0183] The history management unit 252 selects one representative event per hour, for example, at predetermined intervals. Then you can register it in the response report. You can also set importance levels for each event type. The history management unit 252 defines a representative event as one or more events that occurred within a unit period. You may choose the event that corresponds to the most important event type among the options. The history management unit 252 randomly selects a representative event from one or more events that occurred during a unit period. You may choose to vent.

[0184] Various icons may be color-coded according to their category. For example, user-related events. Events related to discovery are indicated by blue event icons (182), while events related to discovery are indicated by red event icons. 182. Events related to sound or light may be represented by a yellow event icon 182. The events may be color-coded according to their type. Alternatively, they may be color-coded according to the specified event conditions. Event icon 182 may be color-coded depending on whether or not it is applicable.

[0185] In this embodiment, the feelings of robot 100, events, actions of robot 100, I explained that the atmosphere and other factors would be registered in the reaction report. This is not limited to this; for example, the reaction report... The system may display only the feelings (emotional parameters) of robot 100 in its reaction report. Even with such a response report, users can understand how robot 100 spends its day. You can infer whether it happened. If you only register the emotions of robot 100 in the reaction report, The privacy of the person can be protected almost completely. For similar reasons, in response reports You can choose to display only the atmosphere type, or only the event.

[0186] In this embodiment, the atmosphere is described as being represented by the atmosphere icon 194. The atmosphere can be expressed through textual information such as "fun" or "lively," or through color. It may be expressed through color. Alternatively, the atmosphere may be expressed using numerical values ​​or graphs that indicate the quality of the atmosphere. You may also express the change.

[0187] The history management unit 252 may record the activity level of the robot 100 in the history information. The history management unit 252 may record the activity level of the robot 100 in the reaction report. According to this control method, the user can determine whether the robot 100 was actively moving around that day by receiving a response report. This can be found out through [website / platform name].

[0188] The user may notify robot 100 of events that are expected to occur in the near future. For example, if a visitor is coming or a party is about to start, the user terminal 400 will send the information to server 20. Notify 0. The emotion management unit 250 changes the emotion parameters as the scheduled time approaches. It may be modified. With this control method, the robot 100 can expect future predictions. It can evoke feelings of anxiety and unease. Furthermore, robot 100 will act based on future predictions. To change the gender, the user can tell the robot that it is feeling expectations and anxieties. This can be inferred from their actions.

[0189] In this embodiment, the description assumes that an event is an external event such as the user being seen or being picked up. However, it is not limited to this, and also applies to internal events such as the temperature inside the body 104 being above a predetermined value or the loneliness parameter being below 20. It can also be defined as an event.

[0190] Robot 100 may have multiple types of emotional parameters, or a single emotional parameter Behavioral characteristics may be changed based on the following. As mentioned above, the value of the first emotional parameter When the (first emotion value) becomes equal to or greater than the value of the second emotion parameter (second emotion value), the psychological condition It may be assumed that the following is true. Alternatively, the difference between the first emotional value and the second emotional value is greater than or equal to a predetermined threshold. It is acceptable to assume that the psychological conditions are met when this occurs.

[0191] When the emotional value of a certain emotional parameter exceeds the first threshold, or exceeds the second threshold, When the following occurs, we can assume that the psychological condition is met. Also, the change in emotional value per unit time. When the rate of change exceeds the third threshold, or falls below the fourth threshold, the psychological condition It may be assumed that this holds true. For example, the curiosity parameter is when something novel is discovered. While the parameter for needing recognition increases, it can be assumed that it changes only slowly. Furthermore, the way in which the emotional parameters change may be made to have individuality depending on the type of emotional parameter. Depending on the characteristics of the emotional parameters, various psychological conditions can be defined.

[0192] When providing detailed information as a short film, it should be timed to coincide with the period during which the psychological conditions were established. The start and end times of the short film may be determined. For example, if the first psychological condition occurs at time t5 Assume that the condition is met, and at time t6 the first psychological condition becomes unmet. At this time, the history management unit 252 This refers to the video images obtained from the camera of robot 100, specifically the video from time t5 to time t6. You can also generate short movies by cutting out images.

[0193] The reaction report may record any abnormalities that occurred in robot 100. For example, Rosser 122 was overheating, was shut down in an emergency, and the actuator was moving Abnormal information such as not being able to do so, or that battery 118 (secondary battery) is overheating The user terminal 400 may be notified via a response report.

[0194] Multiple robots 100 may share historical information or reaction reports. (P01) and robots 100A and 100B are assumed to be present in the same household. Let me explain. At time t12, the user (P01) picks up robot 100A, and robot 1 Let's assume that the psychological condition is met in 00A. Let's call the "hugging" at this time an event (Ex). The communication unit 142 of robot 100A communicates to robot 100B including time t12. The system requests the acquisition of images (still or moving images) over a specified period. The signal unit 142 selects the images taken during the relevant period from the images it has stored on the server 200. Image Q3 was downloaded from server 200 to robot 100B, and then robot 100A... The captured image Q3 is sent to the robot 100A. The robot 100A then sends the captured image Q3 to the event (Ex) details. The detailed information is registered in server 200. According to this control method, robot 100A This captures "the image of being held" as a photograph taken from the perspective of another robot, 100B. This can be obtained and provided as detailed information. Robot 100B captured celestial images during the relevant period. The celestial image (three) may be sent to robot 100A. In this case, robot 100A will send the celestial image (three A two-dimensional captured image Q3 may be generated from the 3D image using a known image processing method.

[0195] Robot 100A, not Robot 100B, communicates to Server 200 at time t12. One server 200 may request the acquisition of images taken from robot 100B. When managing both robot 100A and robot 100B together, the server 200's records The history management unit 252 uses the image Q3 captured by robot 100B to store detailed information about robot 100A. You can also make a copy and save it as such.

[0196] Robot 100A specifies the start and end points of the video to Robot 100B. Then, the captured image Q3 as a short movie may be obtained. For example, robot 1 The communication unit 142 of 00A starts 5 seconds before time t12 and ends 5 seconds after time t12. By specifying the completion time, the robot will capture video footage from 10 seconds before and after the event (Ex) occurred. You can also obtain it from 100B.

[0197] When robot 100A performs some motion, it requests a photo from robot 10 It may also be sent to 0B. For example, the communication unit 142 of robot 100A transmits motion (M When executing x), send a shooting request to robot 100B before execution. When 00B (motion control unit 150) receives a request for imaging, it moves to the side of robot 100A. Robot 100A (recognition unit 156) recognizes that robot 100B is nearby. Then, the motion (Mx) is executed. According to this control method, robot 10 This video captures the process of robot 0A performing motion (Mx) from the perspective of robot 100B. This can be done. The captured image at this time is provided as a detailed image of robot 100A. This is also good. Images taken by robot 100A itself of the motion performed by robot 100A. Therefore, it may be difficult to understand what kind of movements robot 100A is making. With the 100B, you can provide users with images taken at a good angle. In particular, If the motion (Mx) is an unusual motion that is rarely performed, then robot B will The captured images will be valuable. Multiple robots 100 will take pictures of each other. It can acquire a variety of images (detailed images) that cannot be obtained with just one robot, 100. [Explanation of Symbols]

[0198] 100 robot, 102 front wheel, 102a left wheel, 102b right wheel, 103 rear wheel, 104 Body, 106 Hands, 108 Seat, 110 Eyes, 112 Horns, 114 Outer Part sensor, 118 battery, 120 drive mechanism, 122 processor, 124 memory Device, 126 Communication device, 128 Internal sensor, 130 Power line, 132 Signal line, 134 Wire, 136 Data processing unit, 142 Communication unit, 148 Data storage unit, 150 Moving Control unit, 156 Recognition unit, 158 Imaging unit, 160 Motion storage unit, 170 Lonely Parameter 172 Curiosity parameter 174 Need for recognition parameter 180 1 Reaction report screen, 182 Event icon, 184 Emotion icon, 186 Attention mark 190 Second reaction report screen, 192 Motion icon, 194 Atmosphere Icon, 200 Server, 202 Data Processing Unit, 204 Communication Unit, 206 Data Storage Department, 208 Location Management Department, 212 Recognition Department, 218 Personal Data Storage Department, 220 Intimacy Management unit, 222 Motion control unit, 232 Motion storage unit, 244 State management unit, 250 Emotion Management Unit, 252 History Management Unit, 254 Icon Selection Unit, 256 Atmosphere Judgment Unit, 258 Mode selection unit, 260 Event condition storage unit, 262 History information storage unit, 270 History information, 280 Motion selection table, 290 User permission table, 292 Event condition table, 300 robot systems, 308 base frames, 310 Main frame, 312 Wheel cover, 314 Outer skin, 316 Head frame, 318 Body frame, 320 yaw axis, 322 pitch axis, 324 roll axis, 325 pitch 326 Actuator, 327 Ventilation hole, 328 Base plate, 329 C Ross linkage mechanism, 330 joint, 332 upper plate, 334 lower plate T, 336 Side plate, 342 Control circuit, 370 Wheel drive mechanism, 378 Rotation Shaft, 379 Actuator, 390 Opening, 400 User terminal, 402 Detailed information Screen, 404 Details window, 410 Third response report screen, 420 Rest time setting screen

Claims

1. A motion control unit that selects the robot's motion, A drive mechanism that executes the motion selected by the motion control unit, A recognition unit that recognizes the occurrence of an event, An emotion management unit that changes one or more emotion parameters in response to an event, The history of event occurrences and the history of changes in emotional parameters are linked and recorded as historical information. It includes a history management department, The motion control unit changes the behavioral characteristics of the robot based on emotional parameters. The aforementioned history management unit records events that occur when emotional parameters satisfy predetermined psychological conditions. Furthermore, emotional parameters at the time the aforementioned psychological conditions are met are extracted from the historical information and a response report is generated. An autonomous robot characterized by generating a response report and providing the user with the aforementioned response report.

2. The emotion management unit reverses the relative importance of the first emotion parameter and the second emotion parameter. The autonomous behavior type according to claim 1, characterized in that it is determined that the aforementioned psychological conditions have been met when the above psychological conditions are met. robot.

3. The history management unit further selects the operation control unit after the psychological condition has been met. The reaction is also recorded in the reaction report, and the reaction report is provided to the user. An autonomous robot according to claim 1 or 2, characterized by the following:

4. An imaging unit that images the area around the robot, It further comprises a communication unit that performs communication processing with a communication terminal, The recognition unit identifies a person from the captured image, The history management unit receives a request to acquire the response report from the first user's communication terminal. When this occurs, provided that the first user is not identified in the captured image, The system is characterized by instructing the signaling unit to send the response report to the communication terminal of the first user. The autonomous robot according to claim 1.

5. It further includes an icon selection section for selecting an icon according to the event, The history management unit records the events that occur when the psychological conditions are met in relation to the events. By recording it as an icon in the reaction report, the event in the reaction report The autonomous operation described in claim 1 is characterized by representing the occurrence history of an event with an icon. A mobile robot.

6. The aforementioned history management unit records events belonging to a specific category from among several types of categories. The characteristic feature is that emphasis is added to the reaction report for the cone. An autonomous robot as described in item 5.

7. The aforementioned history management unit records detailed information of the event and records 1 to 5 in the response report. When one of the icons above is selected by the user, the corresponding icon will be displayed. The present invention, as described in 5 or 6, is characterized by providing the user with detailed information about the event. An autonomous robot.

8. The history management unit identifies browsing attributes that are pre-associated with the user, and the psychological condition Of the events that occur when the transaction is completed, only those that match the previously identified browsing attributes will be shown. The autonomous operation described in claim 1, characterized by recording in a reaction report to be provided to the user. A mobile robot.

9. The aforementioned history management unit, among the events when the aforementioned psychological conditions are met, will inform the user in advance The response report should only provide the user with events that match the configured viewing permission level. The autonomous robot according to claim 1, characterized by recording data to a memory device.

10. Based on external information, the success or failure of each of the predetermined atmospheric conditions is determined. It further includes an atmosphere determination unit, The history management unit further records the atmosphere when any of the atmospheric conditions are met. The characteristic feature is that atmospheric information corresponding to the conditions is recorded in the reaction report. An autonomous robot as described in 1.

11. It further includes a mode selection unit for selecting the robot's mode, The history management unit further records the robot's mode change history in the reaction report. The autonomous robot described in feature 1.

12. The recognition unit recognizes the user's regular actions as regular events, The history management unit further records the success or failure of the regular event in the reaction report. An autonomous robot according to claim 1, characterized by the following:

13. It further comprises a communication unit that performs communication processing with a communication terminal, When the operation control unit receives an instruction from the communication terminal to set a rest period, the operation control unit will then... The present invention is characterized in that the robot is placed on an external charger during the operating hours. An autonomous robot.

14. A function to select the robot's motion, A function to execute the selected motion, A function to recognize the occurrence of an event, A function that changes one or more emotional parameters in response to an event, The history of event occurrences and the history of changes in emotional parameters are linked and recorded as historical information. Functions and, A function that changes the robot's behavioral characteristics based on emotional parameters, Events that occur when emotional parameters satisfy a predetermined psychological condition and the results of said psychological condition The system extracts emotional parameters at the time from the historical information to generate a reaction report, and then provides the user with information. An autonomous system characterized by providing the aforementioned reaction report function and enabling a computer to perform it. A behavior control program for behavioral robots.

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