Control device and care robot system for care robots

Abstract

The objective is to provide a care robot system that can perform the excretory care of care recipients on behalf of humans. [Solution] The control device for a care robot is a control device for a care robot that performs care actions, and comprises a storage unit for storing an action program, a state variable acquisition unit for acquiring state variables according to the state of the person being cared for, and a command generation unit for generating action commands for the care robot from the action program and the state variables, wherein the action program includes an excretion processing program for the care robot to perform excretion processing for the person being cared for, the command generation unit generates an excretion processing command according to the person being cared for from the excretion processing program as an action command, and the state variables are state variables used to adjust the excretion processing command, and include a first state variable according to the position data, physique and posture of the person being cared for.

Description

Technical Field

[0001] This disclosure relates to a care robot system and a control device for a care robot.

Background Art

[0002] Patent Document 1 discloses a storage and partition combined furniture device for semi-compartmentalizing a large room and a medical and care facility.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] One of the care actions is excretion treatment. Excretion treatment is a strenuous and delicate care for both the caregiver and the care recipient.

[0005] Therefore, an object of this disclosure is to provide a care robot system capable of performing excretion treatment for a care recipient on behalf of a person.

Means for Solving the Problems

[0006] To solve the above problems, the control device for a care robot is a control device for a care robot that controls a care robot that performs care actions, and comprises a storage unit for storing an action program, a state variable acquisition unit for acquiring state variables according to the state of the person being cared for, and a command generation unit for generating action commands for the care robot from the action program and the state variables, wherein the action program includes an excretion processing program for the care robot to perform excretion processing for the person being cared for, the command generation unit generates an excretion processing command according to the person being cared for from the excretion processing program as an action command, and the state variables are state variables used to adjust the excretion processing command, and include a first state variable according to the position data, physique and posture of the person being cared for. [Effects of the Invention]

[0007] This control device for caregiving robots enables the provision of a caregiving robot system that can perform tasks such as excretion management for the person receiving care, in place of a human. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic perspective view showing the care robot system according to Embodiment 1. [Figure 2] This is a functional block diagram showing a care robot system according to Embodiment 1. [Figure 3] This is a flowchart for waste disposal. [Figure 4] This is a flowchart of the processes performed by the control unit for a caregiving robot. [Figure 5] This is a schematic perspective view showing a caregiving robot system removing tape. [Figure 6] This is a flowchart of the processing performed by the control device for the care robot related to the third state variable. [Figure 7] This is a functional block diagram related to imitation learning. [Figure 8] This is a functional block diagram related to additional learning. [Figure 9]This is a functional block diagram showing a care robot system according to Embodiment 2. [Figure 10] This is a schematic front view showing a caregiving robot according to Embodiment 2. [Figure 11] This is an explanatory diagram showing how the care robot according to Embodiment 2 patrols a facility. [Figure 12] This is a schematic front view showing a modified example of the care robot according to Embodiment 2. [Figure 13] This is a functional block diagram showing a modified example of the care robot according to Embodiment 2. [Figure 14] This is a flowchart for facility inspection procedures. [Modes for carrying out the invention]

[0009] The following describes the control device and care robot system for care robots according to the embodiments. Figure 1 is a schematic perspective view showing the care robot system 10 according to Embodiment 1. Figure 2 is a functional block diagram showing the care robot system 10 according to Embodiment 1.

[0010] The care robot system 10 comprises a care robot 20 and a control device 30 for the care robot. The care robot 20 performs caregiving actions under the control of the control device 30. The care robot 20 is a collaborative robot that works with humans.

[0011] The care robot 20 may be deployed, for example, in a hospital or care facility. In this case, the person receiving care 90 is assumed to be an inpatient in a hospital or a resident of a care facility. The care robot 20 may move to the person receiving care 90 at their request and perform caregiving actions. Alternatively, the care robot 20 may patrol hospital rooms or living spaces and perform caregiving actions for multiple people receiving care 90 in turn.

[0012] The care robot 20 includes at least one arm 21. Preferably, the care robot 20 includes a plurality of arms 21. In the example shown in FIG. 1, the care robot 20 includes two arms 21. The arm 21 can employ a known multi-joint robot or the like.

[0013] An end effector such as a hand 22 is attached to the tip of the arm 21. The end effector is configured to be able to perform operations necessary for caregiving actions. Here, at least excretion treatment is assumed as a caregiving action. In this case, the end effector is configured according to the operations necessary for excretion treatment. For example, the end effector may have a hand 22 that can grip clothing 91 or a diaper 92 (see FIG. 5) of the care recipient 90 in order to put on or take off the clothing 91 or the diaper 92 of the care recipient 90. Also, for example, the end effector may have a flexible part in which a part that touches the care recipient 90 is formed flexibly in order to push or hold the care recipient 90 when changing the posture of the care recipient 90. Also, for example, the end effector may have a device that sprays a cleaning liquid, a device that holds a cleaning cloth, or the like.

[0014] The arm 21 is attached to a base 23. When the care robot 20 moves from a position away from the care recipient 90 to the vicinity of the care recipient 90 to perform caregiving actions, the care robot 20 includes a moving mechanism. The moving mechanism is provided, for example, on the base 23. For example, the moving mechanism may be an autonomous vehicle, and the care robot 20 may be capable of autonomous driving. Also, for example, the moving mechanism may be a trolley, and an auxiliary caregiver or the like may operate the trolley to move the care robot 20. When the care robot 20 performs caregiving actions on the care recipient 90 who has moved from a position away from the care robot 20 to the vicinity of the care robot 20, the care robot 20 may not include a moving mechanism.

[0015] The care robot 20 may be provided with a notification unit 24 for notifying the care recipient 90 of the steps to be performed next. The notification unit 24 may be a display unit that displays characters or images, or a sound emitting unit that emits sound.

[0016] Further, the care robot 20 may be provided with a reading unit 25 for reading the ID of the care recipient 90 attached to the care recipient 90 or the bed 95 or the like. The ID may be a two-dimensional code, a three-dimensional code, or the like, or may be an RFID or the like. The gender, physical characteristics, etc. of the care recipient 90 may be recorded in the ID of the care recipient 90. Further, regarding the identification of the care recipient 90, in addition to ID reading, it may be recognition by various biometric authentications such as face authentication, iris authentication, fingerprint authentication, or vein authentication, and the reading unit 25 may be a reading unit for these biometric authentications.

[0017] The control device 30 for the care robot includes at least one sensor 31 and a controller 50. Here, the control device 30 for the care robot includes an input unit 60 for inputting data and the like.

[0018] The sensor 31 detects the surrounding environment of the care robot 20, the operation of the care robot 20, etc. Here, the sensor 31 includes a surrounding environment detection sensor 32 and a robot operation detection sensor 40.

[0019] The surrounding environment detection sensor 32 detects the surrounding environment of the care robot 20. The care recipient 90 is also included in the surrounding environment. The surrounding environment detection sensor 32 includes a camera 33 for acquiring image data of the surrounding environment.

[0020] The camera 33 images the surrounding environment including the care recipient 90. For example, the camera 33 may include a camera 33A provided separately from the arm 21 and a camera 33B provided on the arm 21 and moving together with the arm 21. The camera 33A is provided on the base 23, for example, and images the surrounding environment including the care recipient 90 from a fixed point. The camera 33A may image the care recipient 90 from above, for example. The camera 33A may image the expression of the care recipient 90, for example. The camera 33B may image the area near the hand 22 of the hand 22, for example. By using a stereo camera as the camera 33, the camera 33 may have a function as a distance sensor.

[0021] In addition, the ambient environment detection sensor 32 may include a microphone 34 for acquiring audio data, a humidity sensor 35 for acquiring the humidity of the diaper 92, and a pulse sensor 36 for acquiring the pulse of the person being cared for 90.

[0022] The robot motion detection sensor 40 detects the movements of the caregiving robot 20. The robot motion detection sensor 40 includes, for example, a pressure sensor 41 for detecting the force acting on the hand 22, an acceleration sensor 42 for detecting the acceleration of the arm 21, and an angle sensor 43 for detecting the rotation angle of the joints in the arm 21.

[0023] The controller 50 controls the operation of the care robot 20. The controller 50 includes, for example, a storage unit 51 such as ROM, RAM, or HDD, a processor 52 such as a CPU, and a communication unit 53. The processor 52 reads and executes a program 51a stored in the storage unit 51, allowing the controller 50 to function as various means. Such means include, for example, means for generating commands for the care robot 20 and means for acquiring state variables used in those commands. The controller 50 can be considered to include a command generation unit and a state variable acquisition unit as the parts that perform these means.

[0024] All of the controllers 50 may or may not be provided on the care robot 20. For example, a communication unit 53 may be provided on the base 23, and a command generation unit may be provided on a higher-level controller connected via the communication unit 53. One higher-level controller may control multiple care robots 20.

[0025] The program 51a stored in the memory unit 51 includes an action program that controls the operation of the care robot 20. The action program includes an excretion processing program for the care robot 20 to perform excretion processing for the person being cared for 90. The action program may be machine-learned or not. If it is machine-learned, any machine learning method may be used. Furthermore, the action program may be updated by additional learning based on the actions of the care robot 20 during actual caregiving actions, or it may not be updated by such additional learning.

[0026] The state variable acquisition unit acquires state variables according to the state of the person being cared for 90. These state variables are used to adjust behavioral commands. Here, the state variables include a first state variable, a second state variable, and a third state variable. The first, second, and third state variables are used to adjust excretion control commands. The state variables may be the sensor output itself, or they may be obtained by analyzing the sensor output. The state variable acquisition unit either obtains the sensor output or obtains and analyzes the sensor output.

[0027] The first state variable is a state variable corresponding to the position data, physique, and posture of the person being cared for 90. The position data is, for example, the position data of a specific part of the person being cared for 90 relative to the care robot 20 and the bed 95, respectively. The specific part is, for example, the face, hands, or feet. The position data may be obtained by image analysis of images acquired by the camera 33. In this case, the state variable acquisition unit includes an image analysis unit for determining the position data from the images of the camera 33. The physique and posture may be determined from the images of the camera 33 or from the position data. The physique is a variable that changes less than the position data and posture. The physique may be obtained by input from the input unit 60 or by reading the ID. In addition, in the case of the second and subsequent excretion processing for a particular person being cared for 90, the physique may be obtained from past history data 51b.

[0028] The second state variable is a state variable corresponding to the gender of the person receiving care 90. Gender may be obtained by image analysis of the image acquired by the camera 33. Gender may also be obtained by input from the input unit 60 or by reading the ID. Furthermore, in the case of the second and subsequent excretion processing for a particular person receiving care 90, gender may be obtained from past history data 51b.

[0029] The third state variable is a state variable corresponding to the emotions of the person being cared for 90 during the excretion processing behavior of the care robot 20. The emotions of the person being cared for 90 are determined by analyzing indicator values ​​such as the person being cared for 90's facial expressions, the sounds they make, or changes in their pulse rate. In this case, the state variable acquisition unit includes an emotion analysis unit for determining emotion data from the emotion indicator values. The indicator values ​​such as the person being cared for 90's facial expressions, the sounds they make, or changes in their pulse rate are detected by an emotion indicator value detection sensor. The emotion indicator value detection sensor includes, for example, a camera 33 that captures the person being cared for 90's facial expressions, a microphone 34 that captures the sounds the person being cared for 90 makes, and a pulse sensor 36 that measures the person being cared for 90's pulse rate. The emotion analysis unit is configured using a known emotion analysis program or the like, based on the indicator values ​​detected by the emotion indicator value detection sensor.

[0030] Emotion may be determined from a single indicator value or from multiple indicator values. If emotion is determined from multiple indicator values, the weights of each indicator value may be equal, or the weights of each indicator value may be assigned different levels of importance.

[0031] The command generation unit generates action commands for the care robot 20 from the action program. The command generation unit generates excretion processing commands corresponding to the person being cared for 90, based on the excretion processing program and the state variables acquired by the state variable acquisition unit as action commands.

[0032] <Regarding the waste disposal process> The flow of excretion processing will now be explained. Figure 3 is a flowchart of the excretion processing. The excretion processing shown in Figure 3 assumes a case where a person changes a tape-type diaper 92 worn by a bedridden care recipient 90. For example, the excretion processing shown in Figure 3 may be performed as is by the care robot 20. Some parts of the excretion processing shown in Figure 3 may be modified to make it suitable for excretion processing performed by the care robot 20.

[0033] First, in step S1, pre-processing is performed. For example, pre-processing may include preparing the care recipient 90 to a state suitable for excretion treatment, determining whether a diaper 92 needs to be changed, and preparing the diaper 92 to make it easier to set a new one.

[0034] A state in which the person being cared for (90) is suitable for excretion is, for example, when the blanket covering the person being cared for (90) has been removed, the person being cared for (90) is lying on their back, their hands are in front of their chest, and their clothing (91) has been shifted or removed so that their diaper (92) is exposed. Determine whether the person being cared for (90) is in a state suitable for excretion, and if not, bring them into a state suitable for excretion.

[0035] The determination of whether a diaper 92 needs to be changed is made, for example, by detecting a change in color if the diaper 92 is a type that changes color depending on whether or not it has been used for excretion. Alternatively, it may be done by touching the diaper 92 to detect its moisture level. However, when a diaper 92 is changed in response to a request from the person being cared for, such as the person being cared for, the determination of whether or not a diaper 92 needs to be changed may be omitted.

[0036] The process of preparing a new diaper 92 for easy placement involves unfolding the folded new diaper 92 to make it easier to place, and attaching urine pads or other necessary items to the new diaper 92.

[0037] In the next step S2, the tape 93 of the diaper 92 worn by the person being cared for 90 is removed and the front part of the diaper 92 is opened. Then, the perineum is washed. At this time, it is checked whether there is any feces, and the subsequent procedures are changed depending on whether or not there is feces.

[0038] In the next step S3, the posture of the person being cared for 90 is changed from supine to lateral. At this time, the posture of the person being cared for 90 is changed from supine to lateral by pressing or holding a specific part of the person being cared for 90.

[0039] In the next step S4, the old diaper 92 is removed from the bed 95 and disposed of. The person being cared for 90 is also wiped clean. A new diaper 92 is then placed on the bed 95 in a predetermined position relative to the person being cared for 90. The predetermined position relative to the person being cared for 90 is such that the center of the width of the diaper 92 aligns with the center of the person being cared for 90 when the person is returned to a supine position. The upper edge of the diaper 92 is positioned around the lower abdomen of the person being cared for 90.

[0040] In the next step S5, the posture of the person being cared for 90 is changed from a lateral position to a supine position. At this time, the posture of the person being cared for 90 is changed from a lateral position to a supine position by pressing or holding a specific part of the person being cared for 90.

[0041] In the next step S6, the new diaper 92 is closed and positioned on the person being cared for 90. At this time, the diaper 92 is positioned so that it conforms to the groin area and there are no gaps. The gathered portion of the diaper 92 is also adjusted. Then, the tapes 93 of the diaper 92 are fastened.

[0042] In the next step S7, post-treatment is performed. For example, post-treatment may include adjusting the clothing 91 of the person being cared for 90 and covering them with a blanket.

[0043] Some or all of step S1 may be performed by a person or by the care robot 20. Some or all of step S7 may be performed by a person or by the care robot 20. Preferably, the care robot 20 performs steps involving exposure of the genitals, from opening the diaper 92 in step S2 to closing the diaper 92 in step S6. The care robot 20 may perform all of steps S1 to S7.

[0044] <Flowchart of the processing of the control device 30 for the care robot> Figure 4 is a flowchart of the processing performed by the care robot control device 30. The care robot control device 30 subdivides each operation in each step from step S1 to step S7 into multiple smaller processes, and performs the processing shown in Figure 4 for each of these smaller processes. Specifically, for example, in step S2, when performing the operation of opening the diaper 92, the process is subdivided into the process of having the hand 22 remove the tape 93, the process of having the hand 22 grasp the front part of the diaper 92 and move it, and the process of washing the perineum. Then, in each process, as shown in Figure 4, the necessary state variables are acquired, processing commands are generated and executed, and it is determined whether the process has been completed.

[0045] This process will be explained in more detail using the step of having the hand 22 remove the tape 93 as an example. Figure 5 shows the nursing care robot system 10 removing the tape 93.

[0046] First, in step S11, in addition to the first state variable described above, the position and orientation of the tape 93 of the diaper 92 are acquired as state variables. The position and orientation of the tape 93 of the diaper 92 may be acquired based on the image from the camera 33.

[0047] In the next step S12, a processing command is generated. Here, the processing command includes the destination position and orientation of the hand 22 when grasping the tape 93, the destination position of the hand 22 after grasping the tape 93, the timing of the opening and closing motor of the hand 22, etc. The destination position and orientation of the hand 22 when grasping the tape 93 is determined according to the position and orientation of the tape 93 on the diaper 92 obtained in step S11. The destination position of the hand 22 after grasping the tape 93 is, for example, a lateral position of the person being cared for 90, close to the back, and is determined from the first state variable. At this time, it is determined based on the first state variable whether the care robot 20 will come into contact with the person being cared for 90 when moving the hand 22 from its current position to the destination position of the hand 22, and if contact is expected, the path is adjusted to suppress contact between the care robot 20 and the person being cared for 90.

[0048] In the next step, S13, the processing command generated in step S12 is output to the care robot 20 and the processing command is executed.

[0049] In the next step S14, it is determined whether the tape 93 has been removed. This determination may be made, for example, based on the image from the camera 33. If the tape 93 has been removed, it is determined that the process of having the hand 22 remove the tape 93 is complete, and the process proceeds to the next step. If the tape 93 has not been removed, the process returns to step S11 and the process of having the hand 22 remove the tape 93 is repeated.

[0050] For the other steps as well, by repeating the processes corresponding to steps S11 to S14, the care robot control device 30 can control the care robot 20 to have the care robot 20 change the diaper 92 of the person being cared for 90.

[0051] Furthermore, the first state variable described above may be used not only to adjust the movement position and movement path of the hand 22, but also to adjust, for example, the force with which the care recipient 90 is pushed when changing posture, and the setting position of the diaper 92. In addition, the second state variable described above may be used to adjust, for example, the attachment position of the incontinence pad, the method of washing the perineum, and the method of wiping.

[0052] <Flowchart for processing of the control device for a care robot related to the third state variable> Figure 6 is a flowchart of the processing performed by the care robot control device 30 related to the third state variable.

[0053] First, in step S21, the emotions of the care recipient 90 are obtained as the third state variable.

[0054] In the next step S22, it is determined whether the care recipient 90 is experiencing negative emotions. If it is determined that the emotions are negative, the process proceeds to step S23; otherwise, the process proceeds to step S24.

[0055] If it is determined that the emotion is negative and the process proceeds to step S23, at least one of the following is performed in step S23: interruption or review of the processing command. In the case of interruption, for example, the operation of the care robot 20 is stopped for a predetermined time. In the case of review, for example, the processing command is adjusted to slow down the speed and acceleration related to the operation of the care robot 20. Once step S23 is completed, the process returns to step S21.

[0056] If it is determined that there are no negative emotions and the process proceeds to step S24, the processing command continues and the process proceeds to step S25.

[0057] In the next step S25, it is determined whether the process is complete. If the process is complete, the process proceeds to the next step. If the process is not complete, the process returns to step S21.

[0058] In this way, by repeatedly acquiring the emotions of the person receiving care (90) and determining whether they are negative emotions until the process is complete, it is possible to provide care that is attentive to the emotions of the person receiving care (90).

[0059] <About imitation learning> The excretion management program may be a program that has been pre-machine-trained to imitate model caregiving behaviors based on model caregiving data in model caregiving behaviors. Figure 7 is a functional block diagram related to imitation learning.

[0060] Model caregiving behaviors may be performed directly by a caregiver on a model care recipient. Model caregiving behaviors may also be performed by a person operating a caregiving robot 20 on a model care recipient. Model caregiving behaviors may also be performed on model care recipients whose first state variables differ from each other. Imitation learning of model caregiving behaviors is performed by an imitation learning device 70. The imitation learning device 70 comprises an imitation learning unit 71, a camera 75, and sensors 76, 77, and 78 provided on the caregiver's hand.

[0061] The imitation learning unit 71 includes, for example, a storage unit 72 such as ROM, RAM, or HDD, a processor 73 such as a CPU, and a communication unit 74. The processor 73 reads and executes a program stored in the storage unit 72, allowing the imitation learning unit 71 to function in various ways. In this case, the imitation learning unit 71 is provided separately from the controller 50 and can communicate with the controller 50 via the communication unit 74. The imitation learning unit 71 sends the excretion processing program to the controller 50 via the communication unit 74. The imitation learning unit 71 may also be provided in the controller 50.

[0062] Sensors 76, 77, and 78 include a position sensor 76, a pressure sensor 77, and an acceleration sensor 78. When a caregiver directly performs a model caregiving action on a model care recipient, the caregiver's hand becomes the caregiver's hand. In this case, sensors 76, 77, and 78 are attached to the caregiver. When a person operates the caregiving robot 20 to perform a model caregiving action on a model care recipient, the caregiver's hand becomes the caregiving robot 20's hand 22. In this case, sensors 76, 77, and 78 are attached to the caregiving robot 20.

[0063] The model care data includes contour data of the model care recipient during model caregiving behaviors. This contour data is obtained, for example, by analyzing images of the model care recipient captured by camera 75.

[0064] Furthermore, the model care data includes coordinate data of the caregiver's hand during the model caregiving behavior. This coordinate data is relative to the model care recipient. This coordinate data is obtained from the output of the position sensor 76 and the contour data of the model care recipient, etc. In addition, the model care data includes data from at least one of the acceleration sensor 78 and the pressure sensor 77.

[0065] The imitation learning unit 71 imitates model caregiving behavior based on model caregiving data in each process. The processor 73 calculates parameters for imitating model caregiving behavior based on the model caregiving data. Specifically, for example, in the process of removing the tape 93, the position and orientation of the hand 22 when grasping the tape 93, the destination position of the hand 22 that grasped the tape 93, and the path to that destination are obtained based on contour data and coordinate data. The movement speed of the hand 22 is also obtained based on data from the acceleration sensor 78. The gripping force or pressing force of the hand 22 is also obtained based on data from the pressure sensor 77.

[0066] Here, machine learning is generally broadly classified into three types: supervised learning, unsupervised learning, and reinforcement learning. Furthermore, it may be machine learning that uses neural networks such as deep learning, or machine learning that does not use neural networks such as deep learning. Machine learning algorithms may include linear regression, logistic regression, decision trees, random forests, K-nearest neighbors (KNN), K-means algorithm (k-means), support vector machines (SVM), support vector regression (SVR), naive Bayes, CNN, RNN, and GAN. Machine learning that mimics model caregiving behavior may use any of supervised learning, unsupervised learning, or reinforcement learning. Also, different learning methods from supervised learning, unsupervised learning, and reinforcement learning may be used in each stage. The method of mimicry learning is not particularly limited and may include, for example, behavior cloning, expert data fusion, or inverse reinforcement learning.

[0067] <Regarding additional learning> The excretion processing program may be further learned and updated based on the excretion processing performed by the care robot 20 on the person being cared for 90. Figure 8 is a functional block diagram showing the control device 30 for the care robot when additional learning is performed.

[0068] The control device 30 for the care robot includes an additional learning unit 80. The additional learning unit 80 outputs an updated excretion processing program based on state variables acquired by the state variable acquisition unit during the excretion processing actions of the care robot 20 for the person being cared for 90. The additional learning unit 80 includes, for example, a storage unit 81 such as ROM, RAM, or HDD, a processor 82 such as a CPU, and a communication unit 83. The additional learning unit 80 can function in various ways by having the processor 82 read and execute the program 81a stored in the storage unit 81. Here, the additional learning unit 80 is provided separately from the controller 50 and can communicate with the controller 50 via the communication unit 83. The additional learning unit 80 may also be provided in the controller 50.

[0069] The controller 50 sends additional learning data 81b to the additional learning unit 80, which associates the collected data 51c and motion data 51d from the care robot 20's excretion processing for the person being cared for 90. The collected data 51c consists of state variables obtained directly from the output of the sensor 31, or state variables obtained by analyzing the output of the sensor 31. The motion data 51d is the motion data of the care robot 20. Based on the additional learning data 81b, the additional learning unit 80 performs additional learning on at least one process and updates the excretion processing program. The updated excretion processing program is sent to the controller 50 via the communication unit 83. This additional learning is reinforcement learning. The algorithm for additional learning is not particularly limited, and the above algorithm can be used.

[0070] In this case, the additional learning unit 80 may perform reinforcement learning as additional learning, using a third state variable, that is, the emotions of the person being cared for 90, as a reward, and update the excretion processing program. In this case, the additional learning unit 80 may optimize the excretion processing program, for example, by reducing negative emotions and increasing positive emotions of the person being cared for 90.

[0071] <Effects, etc.> With the care robot control device 30 configured in this way, a first state variable corresponding to the position data, physique, and posture of the person being cared for 90 is used to generate an excretion processing command from the excretion processing program that is appropriate for the person being cared for 90. This allows the care robot 20 to perform excretion processing that is appropriate for the physique and posture of the person being cared for 90. As a result, the care robot 20 can perform the heavy and delicate caregiving task of excretion processing in place of a human.

[0072] Furthermore, in addition to the first state variable, a second state variable corresponding to the gender data of the person being cared for 90 is used to generate an excretion processing command from the excretion processing program that is appropriate for the person being cared for 90. This allows the care robot system 10 to provide more appropriate care according to the gender of the person being cared for 90.

[0073] Furthermore, in addition to the first state variable, a third state variable corresponding to the emotions of the person being cared for 90 during the excretion processing actions of the care robot 20 is used to generate excretion processing commands from the excretion processing program that are appropriate for the person being cared for 90. This allows the care robot system 10 to provide more appropriate care according to the emotions of the person being cared for 90.

[0074] Furthermore, the excretion processing program is a machine learning program that imitates model caregiving behavior based on model caregiving data in the model caregiving behavior, and the model caregiving data may include coordinate data of the caregiver's hand and contour data of the model care recipient in the model caregiving behavior. In this case, the accuracy of the excretion processing program will be improved.

[0075] Furthermore, if data from at least one of the acceleration sensor 78 and pressure sensor 77 attached to the caregiver's hand is used as model care data, the accuracy of force application in the care robot 20 will be improved.

[0076] Furthermore, if the system is further equipped with an additional learning unit 80 that outputs an updated excretion processing program based on the state variables acquired by the state variable acquisition unit during the excretion processing actions of the care robot 20 for the person being cared for 90, the accuracy of the excretion processing program will improve as the excretion processing actions of the care robot 20 are repeated.

[0077] [Embodiment 2] A care robot system according to Embodiment 2 will now be described. Figure 9 is a functional block diagram showing the care robot system 110 according to Embodiment 2. Figure 10 is a schematic front view showing the care robot 120 according to Embodiment 2. Figure 11 is an explanatory diagram showing the care robot 120 according to Embodiment 2 patrolling the facility 100. In this description of the embodiment, components similar to those described above are denoted by the same reference numerals and their descriptions are omitted.

[0078] In the care robot system 110 according to this embodiment, the care robot 120 is formed in a humanoid shape. In this disclosure, the humanoid care robot 120 does not need to perfectly match the appearance of a human being, but it is sufficient that it has an appearance that can be recognized as humanoid when a person such as a person receiving care 90 looks at the care robot 120. The care robot 120 includes a torso 123A, an arm 21 extending from the torso 123A, a hand 22 provided on the arm 21, and a face 26.

[0079] The torso 123A is, for example, the part above the waist. The torso 123A is integrated with a self-propelled base 23, forming a torso with a base 123. In the example shown in Figure 10, the base 23 is a wheeled cart. The base 23 moves by rotating its wheels. To rotate the wheels, the base 23 is equipped with a drive unit such as an electric motor and a transmission mechanism such as gears. The care robot control device 30 controls the drive unit to make the care robot 120 self-propel. The care robot 120 may include a battery to supply power to the electric motor, and the battery may be located on the base. The base 23 does not have to be a cart. For example, the base 23 may be walking legs or the like.

[0080] The arms 21 and hands 22 do not need to be exactly the same as a human, but it is preferable that they be shaped to resemble a human as much as possible. The arms 21 should be provided in pairs on the sides of the upper part of the torso 123A, facing in opposite directions. The hands 22 should be provided at the tips of the arms 21.

[0081] In the care robot 120, the position and configuration of the face 26 are arbitrary. The face 26 only needs to be provided in a way that it can be recognized as a human face when viewed by a person such as a person being cared for 90. In the example shown in Figure 10, the care robot 120 is equipped with a head 26A, and the face 26 is provided on the surface of the head 26A. A humanoid robot may also be configured such that the face 26 is provided on the surface of the torso 123A without a head 26A. It is arbitrary whether the face 26 is equipped with any of the parts of a normal human face 26, such as eyes, nose, and mouth. Preferably, the face 26 has eyes and a mouth. The parts of the face 26 only need to have an appearance that mimics human parts, and do not need to have the functions that a normal human has. For example, the eyes on the face 26 only need to have an appearance that mimics human eyes, and may or may not have image recognition means. Also, for example, the mouth on the face 26 only needs to have an appearance that mimics a human mouth, and may or may not have voice generation means. The parts of the face 26 may be directly formed as part of the body of the care robot 120. The care robot 120 may have an image display unit such as a display 24B in the part that will become the face 26, and may be configured so that the parts of the face 26 are displayed on the image display unit.

[0082] The care robot 120 can change the appearance of the face 26 so that a person looking at the face 26 can recognize changes in facial expression, and the control device 30 for the care robot may control the change in the appearance of the face 26. For example, if the parts of the face 26 are directly formed as part of the body of the care robot 120, the care robot 120 may be configured to move the parts to express changes in facial expression, and the control device 30 for the care robot may control the parts to move as appropriate. Alternatively, if the parts of the face 26 are displayed on an image display unit such as a display 24B, the care robot 120 may be configured to change the image of the parts of the face 26 to express changes in facial expression, and the control device 30 for the care robot may control the image of the parts to change as appropriate.

[0083] As shown in Figure 11, the care robot 120 is deployed in a facility 100, such as a nursing home, that accommodates multiple care recipients 90. In the example shown in Figure 11, the facility 100 has multiple rooms 101 that individually accommodate multiple care recipients 90. The rooms 101 of the facility 100 may be configured to accommodate multiple care recipients 90 in a single room.

[0084] At facility 100, the care robot 120 makes rounds, visiting multiple care recipients 90 in sequence. The rounds may be set to take place at fixed times throughout the day. The rounds may be made once a day or multiple times a day. The care robot 120 changes the diapers 92 when it visits each of the multiple care recipients 90. The care robot 120 visits each care recipient 90 in their respective rooms 101 in sequence and changes the diapers 92 of each care recipient 90 who is on their bed 95 in their respective rooms 101.

[0085] Facility 100 may be equipped with a robot station 102, which is a standby position for the care robot 120. The robot station 102 may be equipped with a power supply unit 103 that supplies power to the care robot 120. The power supply unit 103 may be, for example, a charging stand for charging the care robot 120, or a rechargeable battery pack for replacing the rechargeable battery pack of the care robot 120.

[0086] Facility 100 may have a supplies management station 104 for managing supplies used by the care robot 120 during caregiving tasks. Supplies include disposable consumables such as diapers 92, deodorizers, and disinfectants. Supplies may also include replacement linens such as sheets and towels. The care robot 120 may replenish supplies itself from the supplies management station 104. A person may also replenish supplies for the care robot 120. If the supplies inventory at the supplies management station 104 is running low, a person such as the manager of facility 100 may replenish supplies at the supplies management station 104. The care robot 120 may manage the inventory level at the supplies management station 104 and notify the manager of facility 100 or other facility 100 of the shortage if the inventory is running low. The manager may be a manager located inside facility 100, a manager located outside facility 100, or both. The same applies to the managers described below.

[0087] Facility 100 may have a garbage collection station 105 for disposing of waste. The care robot 120 carries a trash can 27G during its rounds and collects waste in the trash can 27G. At an appropriate time, such as when the rounds are completed, the care robot 120 transports the waste from the portable trash can 27G to the garbage collection station 105. The garbage collection station 105 may be exclusively for the care robot 120 or may be shared with people. The waste from the garbage collection station may be collected by the administrator or a waste collection company.

[0088] The care robot control device 30 controls the care robot 120 so that it communicates with the person being cared for 90. The care robot system 110 includes a text acquisition unit that acquires text transmitted by the person being cared for 90, a text output unit that outputs text to the person being cared for 90, and a text creation unit that creates the text to be output by the text output unit. When the text creation unit creates text, if there is text acquired by the text acquisition unit, the text creation unit creates the text to be output by the text output unit based on the text acquired by the text acquisition unit.

[0089] The method of acquiring text and the method of outputting text in the care robot 120 are not particularly limited and may include voice, written communication, sign language, etc. The camera 33 or microphone 34, etc., can be the text acquisition unit. The notification unit 24 can also be the text output unit. The method of outputting text (method of transmitting communication) may differ between the care robot 120 and the person being cared for 90. It is preferable for the care robot 120 to have multiple text output units that support multiple transmission methods. It is also preferable for the care robot 120 to have multiple text acquisition units that support multiple reception methods. When acquiring or outputting text via voice or images, etc., it is preferable for the care robot system 110 to have a text conversion unit that converts text to voice or images.

[0090] Specifically, the voice-based text acquisition unit in the care robot 120 may have a voice acquisition unit such as a microphone 34. The written text acquisition unit in the care robot 120 may have an image recognition means such as a camera 33, or it may have a text input means such as a keyboard or touchpad that allows the person being cared for 90 to directly input text. The sign language text acquisition unit in the care robot 120 may have an image recognition means such as a camera 33.

[0091] The voice-to-text output unit in the care robot 120 may have, for example, a voice generation unit such as a speaker 24A. The written-text output unit in the care robot 120 may have, for example, an image display unit such as a display 24B that displays text, or a hand 22 that actually writes text on paper or the like. The sign language-to-text output unit in the care robot 120 may have, for example, a hand 22 that actually performs sign language, or an image display unit such as a display 24B that displays computer graphics (CG) of sign language being performed.

[0092] The care robot 120 and the person receiving care 90 may communicate via a terminal owned by the person receiving care 90. In this case, the care robot 120 may have wired or wireless means of communication with the terminal owned by the person receiving care 90. For example, the text output unit may transmit text to the terminal owned by the person receiving care 90. The text acquisition unit may receive text entered by the person receiving care 90 into their own terminal.

[0093] The care robot 120 may appropriately select and use one of several text output methods and multiple text acquisition methods according to the person being cared for 90. The care robot 120 may acquire text output method information and acquisition method information according to the person being cared for 90, and exchange text with the person being cared for 90 using the output method and acquisition method based on said output method information and acquisition method information. For example, the care robot 120 may acquire transmission method information and reception method information from the response of the person being cared for 90 when asked about their preferred output method and acquisition method. Alternatively, for example, the output method information and acquisition method information desired or available to the person being cared for 90 may be stored in the ID of the person being cared for 90, and the care robot 120 may acquire the output method information desired or available to the person being cared for 90 by reading the ID of the person being cared for 90.

[0094] The text generation unit in the care robot system 110 may be located on the care robot 120, or it may be located separately from the care robot 120 and be able to communicate with the care robot 120. The text generation unit may use chat AI (Artificial Intelligence) or a chatbot to generate text. The text generation unit may be able to communicate with a chat AI, chatbot, etc., located separately from the care robot system 110. The care robot system 110 itself may be equipped with a chat AI, chatbot, etc.

[0095] The care robot control device 30 controls the care robot 120 to notify the administrator if the care robot 120 detects an abnormality in itself. This allows the care robot system 110 to function as a security function or a tamper-proof function for the care robot 120. Here, the care robot 120 detecting an abnormality in itself means that the care robot 120 is unable to correct the abnormality on its own and is unable to perform normal processing. Examples of situations in which the care robot 120 is unable to correct the abnormality on its own and is unable to perform normal processing include the care robot 120 lacking necessary items for changing the diaper 92, which hinders diaper 92 changes, or the care robot 120 falling over or being unable to move due to an obstacle in the passageway. The care robot 120 may also notify the administrator of the abnormality using, for example, the alarm 24C in the notification unit 24. The care robot control device 30 can appropriately control the actions of the care robot 120 after it has notified the administrator of the abnormality. For example, the care robot control device 30 may keep the care robot 120 stationary until the administrator corrects the abnormality. Alternatively, the care robot control device 30 may cause the care robot 120 to perform actions other than those related to the abnormality. In this case, different control may be applied depending on the degree of the abnormality, or a uniform control may be applied regardless of the degree of the abnormality.

[0096] The care robot control device 30 controls the care robot 120 to notify the administrator when the care robot 120 detects an abnormality in the surrounding environment. This allows the care robot 120 to function as a security function for the facility 100 and the like in the care robot system 110. Examples of abnormalities in the surrounding environment detected by the care robot 120 include abnormalities occurring to the person being cared for 90, or abnormalities occurring to people or equipment within the facility 100. Examples of abnormalities occurring to the person being cared for 90 include vomiting or a newly detected illness. Examples of abnormalities occurring to people within the facility 100 include a person crouching in a corridor or a person asking the care robot 120 for help. Examples of abnormalities occurring to equipment within the facility 100 include equipment failure or damage. The care robot 120 may also notify the administrator of the abnormality using, for example, an alarm 24C in the notification unit 24. The care robot control device 30 can appropriately control the actions of the care robot 120 after it has notified the administrator of the abnormality. For example, the care robot control device 30 may keep the care robot 120 stationary until the administrator corrects the abnormality. Alternatively, the care robot control device 30 may cause the care robot 120 to perform actions other than those related to the abnormality. In this case, different control may be applied depending on the degree of the abnormality, or a uniform control may be applied regardless of the degree of the abnormality.

[0097] The care robot 120 has a portable tool 27. The portable tool 27 is an accessory tool that the care robot 120 carries when it visits the person being cared for 90 to change their diaper 92. In the example shown in Figure 9, the care robot 120 has an ion generator 27A, a sprayer 27B, an air generator 27C, a vacuum cleaner 27D, a hand washing machine 27E, a replacement hand 27F, and a trash can 27G as the portable tool 27. The care robot 120 may have only some of the ion generator 27A, sprayer 27B, air generator 27C, vacuum cleaner 27D, hand washing machine 27E, replacement hand 27F, and trash can 27G as the portable tool 27. For example, some tools such as the hand washing machine 27E and replacement hand 27F may not be carried but placed in a fixed location such as a robot station 102 and used at that fixed location such as a robot station 102. The portable tool 27 may include a portable tool 27 that is incorporated as part of the care robot 120. The portable tool 27 may also include a portable tool 27 that is a separate product from the care robot 120 and is simply carried and used by the care robot 120.

[0098] Among the portable tools 27, the ion generator 27A, air generator 27C, and vacuum cleaner 27D are electric tools. Such electric tools may be battery-powered or may be of the type that are directly connected to a commercial power source. If an electric tool is battery-powered, the battery may be a battery dedicated to that electric tool, or it may be shared with the battery that powers the care robot 120, or it may be a battery provided separately from the care robot 120's power battery and shared by multiple electric tools. If an electric tool is of the type that is directly connected to a commercial power source, the care robot control device 30 may cause the care robot 120 to plug and unplug the cable end of the electric tool into an electrical socket in the care recipient's room 101 or the like.

[0099] The ion generator 27A, for example, has a discharge electrode and generates ions, which are charged fine particles, by applying a voltage to the discharge electrode. The type of ions is not particularly limited as long as they contribute to deodorization or sterilization, and may be, for example, Plasma Cluster Ions (registered trademark) or Nanoe (registered trademark) ions. If the care robot 120 has an ion generator 27A, the care robot 120 can generate ions by driving the ion generator 27A when changing the diaper 92. This allows the care robot 120 to take measures against odor or sterilize.

[0100] The sprayer 27B, for example, has a tank for storing liquid, a pump, and a nozzle. The pump is driven to draw up the liquid from the tank and spray it in a mist from the nozzle. The sprayer 27B may have a manual lever, and even without power supply, the hand 22 may operate the manual lever to drive the pump and spray. Alternatively, the sprayer 27B may not have a manual lever operated by the hand 22, and the pump may be an electric pump, allowing the sprayer 27B itself to spray when powered. The type of liquid in the sprayer 27B is arbitrary and may be perfume, deodorant, disinfectant, etc. The care robot 120 may have multiple types of sprayers 27B containing different types of liquids from among perfume, deodorant, disinfectant, etc. If the care robot 120 has sprayers 27B, the care robot 120 can generate mist by using the sprayers 27B when changing diapers 92. This allows the caregiving robot 120 to perform odor control or disinfection.

[0101] The air generator 27C includes, for example, an electric compressor and a nozzle, and by driving the electric compressor, air is sprayed from the nozzle. The air may be cold air or warm air. It may be possible to switch between cold air and warm air. If the care robot 120 has the air generator 27C, the care robot 120 can generate air by driving the air generator 27C when changing the diaper 92. For example, the care robot 120 can direct the generated air at the genital area of ​​the person being cared for 90 after wiping to dry it.

[0102] The electric vacuum cleaner 27D includes, for example, an electric blower, a vacuum cleaner head, and a dust collection container. By driving the electric blower, it generates a suction airflow from the vacuum cleaner head towards the dust collection container to suck up dust and other debris. If the care robot 120 has the electric vacuum cleaner 27D, the care robot 120 can clean by driving the electric vacuum cleaner 27D.

[0103] The hand washing machine 27E includes, for example, a tub for washing the hand 22, a storage section for storing clean liquid before washing and liquid after washing separately, and a flow path for the liquid to flow between the storage section and the tub. The method of washing the hand 22 with the hand washing machine 27E is arbitrary. For example, the hand washing machine 27E may have a spray section for spraying high-pressure liquid onto the hand 22 to wash it, a pulsator for rotating the water in the tub to wash it, or an ultrasonic vibrator for ultrasonically vibrating the water in the tub to wash it. Alternatively, for example, the hand 22 may be washed by moving itself using the water flowing from the storage section to the tub or the water accumulated in the tub. If the care robot 120 has the hand washing machine 27E, the care robot 120 can wash the hand 22 by driving the hand washing machine 27E after changing the diaper 92, etc.

[0104] The replacement hand 27F is a hand 22 that is used to replace the hand 22 attached to the arm 21. If the care robot 120 has a replacement hand 27F, it can replace the hand 22. The replacement hand 27F may be the same type of hand as the hand 22 attached to the arm 21. In this case, the care robot 120 may replace the hand 22 attached to the arm 21 with the replacement hand 27F when the hand 22 is dirty, for example. The replacement hand 27F may be a different type of hand than the hand 22 attached to the arm 21. In this case, the care robot 120 may replace the hand 22 attached to the arm 21 with the replacement hand 27F in order to perform a different process than the one performed by the hand 22 attached to the arm 21.

[0105] If the care robot 120 has a trash can 27G, the care robot 120 can dispose of used diapers 92 and other waste in the portable trash can 27G. The care robot 120 may also dispose of the waste in the trash can 27G provided in the care recipient's room 101 into its own portable trash can 27G.

[0106] The caregiving robot 120 has a storage compartment 28 for housing and carrying portable tools 27. The storage compartment 28 houses some or all of the portable tools 27. The storage compartment 28 may also house items used for changing the diaper 92, such as diapers 92 and sheets. The storage compartment 28 may be integrally provided with the humanoid caregiving robot 120 so as not to be separable. In this case, it is preferable that the storage compartment 28 be located in a position accessible by the hand 22 of the humanoid caregiving robot 120. In the example shown in Figure 10, the storage compartment 28 is integrally provided with the torso with base 123 so as not to be separable.

[0107] Figure 12 is a schematic front view showing a modified example of the care robot 120 according to Embodiment 2. Figure 13 is a functional block diagram showing a modified example of the care robot 120 according to Embodiment 2. As shown in the example in Figure 12, the housing section 28 may be provided separately from the humanoid care robot 120. In the example shown in Figure 12, a housing section is also provided in the transport vehicle 220B, which is provided separately from the humanoid robot 220A. The transport vehicle 220B has a housing section with a base 223B, and the portable tool 27 is housed in the housing section with a base 223B. In this case, the humanoid robot 220A can use the portable tool 27 in the transport vehicle 220B as appropriate. The configuration of the humanoid robot 220A other than the portable tool 27 can be the same as the configuration of the care robot 120 described above.

[0108] When the humanoid robot 220A and the transport vehicle 220B carry multiple portable tools 27 separately, the method of dividing the portable tools 27 is arbitrary. For example, as shown in Figure 13, the humanoid robot 220A may carry items and portable tools 27 mainly used for processing the person being cared for 90, while the transport vehicle 220B may carry items and portable tools 27 mainly used for processing the humanoid robot 220A or the living room 101. Also, when the care robot 220 visits multiple caregivers, it carries multiple diapers 92 for multiple people being cared for 90. In this case, the humanoid robot 220A may carry some of the diapers 92, and the transport vehicle 220B may carry the remaining diapers 92.

[0109] The transport vehicle 220B is not self-propelled, and a humanoid robot 220A may transport the transport vehicle 220B. In this case, for example, the humanoid robot 220A may move the transport vehicle 220B by pulling it from the front or pushing it from the rear using the hand 22. Alternatively, for example, the humanoid robot 220A may be provided with a towing unit separate from the hand 22, and the transport vehicle 220B may be provided with a towed unit that is towed by the towing unit. The towing unit and the towed unit may be detachable.

[0110] The transport vehicle 220B may be self-propelled. A self-propelled transport vehicle 220B can be called a transport robot 220B. In this case, the care robot 220 is configured to include a humanoid robot 220A that changes diapers 92 and a transport robot 220B provided separately from the humanoid robot 220A, and the care robot control device 30 controls the humanoid robot 220A and the transport robot 220B. The care robot control device 30 may make the transport robot 220B self-propel so that it follows the humanoid robot 220A. In this case, it is preferable that the transport robot 220B is equipped with a tracking sensor 231 for following the humanoid robot 220A. The care robot control device 30 may also make the humanoid robot 220A and the transport robot 220B self-propel individually.

[0111] <Flow of facility inspection procedures> This section describes the process by which the care robot 120 patrols facility 100. Figure 14 is a flowchart of the facility patrol process.

[0112] In step S31, the care robot control device 30 causes the care robot 120 to prepare for rounds. During rounds preparation, the care robot 120 determines, for example, whether it has enough supplies to carry with it during rounds. If it determines that it has enough supplies to carry, the care robot 120 may replenish any supplies that can be obtained from the supplies management station 104 itself. If it determines that it has enough supplies to carry, the care robot 120 may notify the administrator and receive replenishment from the administrator. Once the care robot 120 has finished preparing for rounds, it proceeds to the next step S32.

[0113] In the next step S32, the care robot control device 30 moves the care robot 120 to the next person to be cared for 90. For example, the memory unit 51 stores map data of the facility 100, and the controller 50 can obtain the current location of the care robot 120 based on the sensor 31, etc. The controller 50 generates a route to the room 101 of the person to be cared for 90 based on the map data and the current location of the care robot 120, and moves the care robot 120 along the route. The memory unit 51 stores a table showing the order of visits, and the care robot control device 30 moves the care robot 120 to the first person to be cared for 90 in the order of visits listed in the table. The table may also be a table that lists the order of the rooms 101 to be visited. In this case, after arriving at the room 101, the care robot 120 may read the ID of the person to be cared for 90, etc.

[0114] In the next step S33, the care robot control device 30 determines whether or not the care recipient 90 needs a diaper change 92. Step S33 is independent of the preprocessing step S1 which determines whether or not a diaper change 92 is necessary. If it is determined that a diaper change 92 is necessary, the process proceeds to step S34; if it is determined that a diaper change 92 is not necessary, the process proceeds to step S35.

[0115] In the next step S34, the care robot 120 changes the diaper 92 of the person being cared for 90. The diaper 92 changing process may be based on steps S1 to S7 above, except for the determination of whether or not a diaper 92 change is necessary in the pre-processing of step S1.

[0116] Furthermore, in step S34 described above, the care robot control device 30 controls the care robot 120 so that it blows air onto the person being cared for 90 after changing the diaper 92. Here, in step S34, after step S2 and before step S6, the care robot 120 blows air onto the person being cared for 90 after changing the diaper 92.

[0117] Furthermore, in step S34, the care robot control device 30 controls the care robot 120 so that it performs odor control processing. For example, odor control processing may involve opening a window or starting a ventilation fan to ventilate the room 101 of the person being cared for 90. Alternatively, odor control processing may involve driving an ion generator 27A to generate ions. Alternatively, odor control processing may involve spraying perfume or deodorizer using a sprayer 27B. Here, the care robot 120 performs odor control processing from the time step S1 is performed in step S34 until S7 is completed. For example, ventilation and ion generation may be performed during the pre-treatment in step S1. Alternatively, spraying perfume or deodorizer may be performed during the post-treatment in step S7.

[0118] Furthermore, in step S34, the care robot control device 30 controls the care robot 120 to clean around the person being cared for 90. During the post-processing of step S7 performed in step S34, the care robot 120 performs environmental cleaning to clean the environment around the person being cared for 90 after the diaper change and the bed 95. For example, the environmental cleaning may involve using a vacuum cleaner 27D. Alternatively, the environmental cleaning may involve holding a wiping material (e.g., a wet wipe) by hand and wiping. Alternatively, the environmental cleaning may involve spraying a disinfectant using a sprayer 27B. Alternatively, the environmental cleaning may involve driving an ion generator 27A to generate ions.

[0119] Furthermore, in step S34 described above, the care robot control device 30 controls the care robot 120 to clean the hand 22. During the post-processing of step S7 performed in step S34, the care robot 120 performs a hand cleaning operation on its own to clean the hand 22. The hand cleaning operation may, for example, involve washing the hand 22. Alternatively, the hand cleaning operation may involve wiping the hand 22 with a dry or wet cloth. Alternatively, the hand cleaning operation may involve disinfecting the hand 22.

[0120] The caregiving robot 120 may perform the hand replacement operation itself, which involves replacing the hand 22 attached to the arm 21 with a replacement hand 27F that is not attached to the arm 21. The caregiving robot 120 may also perform a hand cleaning operation on the hand 22 that has been replaced and removed. The base 23 may be provided with a hand housing, and the hand 22 at the tip of the arm 21 may be detachable from the arm 21 while it is housed in the hand housing.

[0121] The caregiving robot 120 may perform the task of attaching and detaching gloves for the robot hand 22 itself. The caregiving robot 120 may have a space for storing replacement gloves. The gloves for the robot hand 22 may be disposable. In this case, the caregiving robot 120 may dispose of the used gloves after replacement in the trash can 27G. The gloves for the robot hand 22 may be reusable. In this case, the caregiving robot 120 may store the used gloves after replacement separately from the trash can 27G. The caregiving robot 120 may perform a cleaning operation on the gloves for the robot hand 22 that have been replaced and removed.

[0122] In the next step S35, the care robot 120 will respond to the person being cared for 90. This response to the person being cared for 90 includes communication with the person being cared for 90. This response to the person being cared for 90 may be performed in parallel with some of the post-processing steps of step S7 performed in step S34.

[0123] In the next step S36, the care robot 120 determines whether the rounds have been completed. If it has not visited all of the care recipients 90 listed in the table, it returns to step S31 and visits the next care recipients 90 listed in the table after the care recipients 90 it has just visited. If it has visited all of the care recipients 90 listed in the table, it considers the rounds to be complete and proceeds to step S37.

[0124] In step S37, the patrol completion process is performed. For example, the patrol completion process involves transporting the garbage from bin 27G to garbage collection station 105. After that, it returns to robot station 102. At robot station 102, it replenishes supplies from the supplies management station 104 and accesses the power supply unit 103 to receive power.

[0125] <Effects, etc.> With the care robot system 110 configured as described above, similar to the care robot 20, the care robot 120 can change the diaper 92 of the person being cared for 90 in a manner that is appropriate to the person's physique and posture. This makes it possible for the care robot system 110 to perform the delicate caregiving action of changing diapers 92 in place of a human. Furthermore, because the care robot 120 is humanoid, the person being cared for 90 is less likely to feel anxious or anxious when the care robot 120 changes their diaper 92.

[0126] Furthermore, the excretion processing program is incorporated into the patrol program so that it is executed when the care robot 120 patrols the facility 100 and visits each of the multiple care recipients 90. This allows the care robot 120 to sequentially change the diapers 92 of multiple care recipients within the facility 100.

[0127] Furthermore, the care robot control device 30 controls the care robot 120 to carry a trash can 27G and to dispose of the waste generated when changing diapers 92 into the trash can 27G. This reduces the effort required for facility staff 100 to collect waste from the care recipient 90's room 101.

[0128] Furthermore, the care robot control device 30 controls the care robot 120 so that it disposes of the waste from the trash can 27G into the waste collection station 105 installed within the facility 100. This reduces the effort required for facility staff to collect the waste from the care robot 120.

[0129] Furthermore, the control device 30 for the care robot determines whether it is necessary to change the diaper 92 of the person being cared for 90 before the care robot 120 changes the diaper 92 of the person being cared for 90. If it determines that it is necessary, it generates an excretion processing command. If it determines that it is unnecessary, it controls the care robot 120 so that it does not change the diaper 92. This prevents the care robot from changing the diaper 92 even when it is not necessary.

[0130] Furthermore, the care robot control device 30 controls the care robot 120 so that it communicates with the person receiving care 90. This makes it easier to improve the life of the person receiving care 90 or provide mental care.

[0131] Furthermore, the care robot control device 30 controls the care robot 120 so that it performs odor control. This makes it less likely for the person being cared for 90 or those around them to notice the odor associated with changing the diaper 92.

[0132] Furthermore, the care robot control device 30 controls the care robot 120 so that it notifies the administrator if it detects an abnormality in itself. This makes it easier for the administrator to detect abnormalities in the care robot 120.

[0133] Furthermore, the care robot control device 30 controls the care robot 120 to notify the administrator if the care robot 120 detects an abnormality in the surrounding environment. This makes it easier for the administrator to detect abnormalities in the surrounding environment of the care robot 120.

[0134] Furthermore, the care robot control device 30 controls the care robot 120 so that it blows air onto the person being cared for 90 after changing the diaper 92. This allows the person being cared for 90's genital area to be dried after the diaper 92 has been changed.

[0135] Furthermore, the care robot control device 30 controls the care robot 120 to clean around the person being cared for 90. This allows the care robot 120 to keep the area around the person being cared for 90 clean.

[0136] Furthermore, the care robot control device 30 controls the care robot 120 to clean the hand 22. This allows the care robot 120 to keep the hand 22 clean by itself.

[0137] Furthermore, the care robot control device 30 controls the care robot 120 so that it replaces the hand 22. This prevents a person from having to replace the hand 22.

[0138] <Note> Up to this point, an example has been described in which the care robot system 10 performs excretion as a care action, but the care robot system 10 may also perform care actions other than excretion. For example, the care robot system may bathe the person being cared for 90. Also, an example has been described in which the care robot system 10 changes a tape-type diaper 92, but the care robot system 10 may also perform excretion actions other than changing a tape-type diaper 92. For example, the care robot system may change a pull-up type diaper. Furthermore, for example, the care robot system may perform an excretion action by setting a vacuum on the genital area.

[0139] Furthermore, the configurations described in the above embodiments and each of the modified examples can be combined as appropriate, as long as they do not contradict each other.

[0140] This specification and drawings disclose the following embodiments.

[0141] The first embodiment is a care robot system comprising a control device for a care robot and a humanoid care robot that performs care actions controlled by the care robot control device, wherein the care robot control device comprises a storage unit for storing an action program, a state variable acquisition unit for acquiring state variables corresponding to the state of the person being cared for, and a command generation unit for generating action commands for the care robot from the action program and the state variables, wherein the action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for, the command generation unit generates an excretion processing command corresponding to the person being cared for from the excretion processing program as an action command, the state variables are state variables used to adjust the excretion processing command and include state variables corresponding to the position data, physique and posture of the person being cared for, and the care robot includes a self-propelled torso with a base, an arm extending from the torso, a hand provided on the arm, and a face.

[0142] According to the first embodiment, the care robot can perform diaper changes tailored to the physique and posture of the person being cared for. This makes it possible for the care robot system to perform the delicate caregiving action of diaper changes in place of a human. Because the care robot is humanoid, the person being cared for is less likely to feel anxious during diaper changes.

[0143] A second embodiment is a care robot system according to the first embodiment, wherein the action program includes a patrol program that causes the care robot to autonomously patrol a facility housing multiple care recipients, and the excretion processing program is incorporated into the patrol program so that it is executed when the care robot visits each of the multiple care recipients. This allows the care robot to sequentially change the diapers of multiple care recipients within the facility.

[0144] A third embodiment is a care robot system according to the second embodiment, wherein the control device for the care robot controls the care robot to carry a trash can and to dispose of the waste generated during diaper changes into the trash can. This reduces the effort required for facility staff to collect the waste from the care recipient's room.

[0145] A fourth aspect is a care robot system according to the third aspect, wherein the control device for the care robot controls the care robot to dispose of the trash from the trash can at a trash collection station installed within the facility. This reduces the effort required for facility staff to collect the trash from the care robot.

[0146] The fifth embodiment is a care robot system according to any one of the first to fourth embodiments, wherein the control device for the care robot determines whether it is necessary to change the diaper of the person being cared for before the care robot changes the diaper of the person being cared for, generates the excretion processing command if it is determined to be necessary, and controls the care robot so that it does not change the diaper if it is determined to be unnecessary. This makes it possible to suppress diaper changes even when they are not necessary.

[0147] The sixth aspect is a care robot system relating to any one of the first to fifth aspects, wherein the control device for the care robot controls the care robot so that it communicates with the person receiving care. This makes it easier to improve the life of the person receiving care or to provide mental care.

[0148] The seventh aspect is a care robot system according to any one of the first to sixth aspects, wherein the control device for the care robot controls the care robot so that it performs odor control processing. This makes it less likely for the person being cared for or those around them to notice the odor associated with diaper changes.

[0149] The eighth aspect is a care robot system according to any one of the first to seventh aspects, wherein the control device for the care robot controls the care robot to notify the administrator when the care robot detects an abnormality in itself. This makes it easier for the administrator to detect abnormalities in the care robot.

[0150] The ninth aspect is a care robot system according to any one of the first to eighth aspects, wherein the control device for the care robot controls the care robot to notify the administrator when the care robot detects an abnormality in the surrounding environment. This makes it easier for the administrator to detect abnormalities in the area surrounding the care robot.

[0151] The tenth aspect is a care robot system according to any one of the first to ninth aspects, wherein the control device for the care robot controls the care robot to blow air onto the person being cared for after changing the diaper. This allows the person being cared for to have their genital area dried after the diaper change.

[0152] The eleventh embodiment is a care robot system according to any one of the first to tenth embodiments, wherein the control device for the care robot controls the care robot to clean around the person being cared for. This allows the care robot to keep the area around the person being cared for clean.

[0153] The twelfth aspect is a care robot system according to any one of the first to eleventh aspects, wherein the control device for the care robot controls the care robot to clean its hand. This allows the care robot to keep its hand clean by itself.

[0154] The thirteenth embodiment is a care robot system according to any one of the first to twelfth embodiments, wherein the control device for the care robot controls the care robot so that the care robot replaces the hand. This prevents a person from having to replace the hand.

[0155] The 14th embodiment is a control device for a care robot that controls a care robot that performs care actions, comprising: a storage unit for storing an action program; a state variable acquisition unit for acquiring state variables according to the state of the person being cared for; and a command generation unit for generating action commands for the care robot from the action program and the state variables, wherein the action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for; the command generation unit generates an excretion processing command according to the person being cared for from the excretion processing program as an action command; and the state variables are state variables used to adjust the excretion processing command, and include a first state variable according to the position data, physique and posture of the person being cared for, and a second state variable according to the gender of the person being cared for, wherein the second state variable is used to adjust the excretion processing command relating to the attachment position of a urine leakage pad, a method of washing the genitals, or a method of wiping the genitals. According to the 14th embodiment, the care robot can be made to perform excretion processing according to the physique and posture of the person being cared for. This makes it possible for a care robot system to perform the delicate caregiving task of handling excretion in place of a human. Furthermore, the care robot system can provide more appropriate care based on the gender of the person being cared for.

[0156] The 15th embodiment is a control device for a care robot that controls a care robot that performs care actions, comprising: a storage unit for storing an action program; a state variable acquisition unit for acquiring state variables according to the state of the person being cared for; and a command generation unit for generating action commands for the care robot from the action program and the state variables, wherein the action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for; the command generation unit generates an excretion processing command according to the person being cared for from the excretion processing program as an action command; and the state variables are state variables used to adjust the excretion processing command, and include a first state variable according to the position data, physique and posture of the person being cared for, wherein the first state variable according to the physique of the person being cared for is set based on ID information read by a reading unit that identifies the ID information of the person being cared for. According to the 15th embodiment, the care robot can be made to perform excretion processing according to the physique and posture of the person being cared for. This makes it possible for a care robot system to perform the delicate care action of excretion processing in place of a person. Furthermore, the first state variable, which corresponds to the physical size of the person receiving care, can be easily obtained without having to obtain it from images of the person receiving care.

[0157] The 16th embodiment is a control device for a care robot that controls a care robot that performs care actions, comprising: a storage unit for storing an action program; a state variable acquisition unit for acquiring state variables according to the state of the person being cared for; and a command generation unit for generating action commands for the care robot from the action program and the state variables, wherein the action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for; the command generation unit generates an excretion processing command according to the person being cared for from the excretion processing program as an action command; the state variables are state variables used to adjust the excretion processing command, and include a first state variable according to the position data, physique, and posture of the person being cared for; the control device for a care robot determines whether the excretion processing is necessary based on the detection result of a change in the color or dampness of the diaper, and generates the excretion processing command if it is determined that the excretion processing is necessary. According to the 16th embodiment, the care robot can be made to perform excretion processing according to the physique and posture of the person being cared for. This makes it possible for a care robot system to perform the delicate care action of excretion processing in place of a person. Additionally, diaper changes can be performed when necessary.

[0158] The 17th aspect is a control device for a care robot according to any one of the 14th to 16th aspects, wherein the excretion processing program is a program that has been machine-trained to imitate a model care action based on model care data in the model care action, and the model care data includes coordinate data of the caregiver's hand and contour data of the model care recipient in the model care action. This improves the accuracy of the excretion processing program.

[0159] The 18th aspect is a control device for a care robot according to any one of the 14th to 17th aspects, wherein the model care data includes data from at least one of an acceleration sensor and a pressure sensor attached to the care-side hand. This improves the accuracy of force application in the care robot.

[0160] The 19th embodiment is a control device for a care robot according to any one embodiment from the 14th to the 18th, wherein the state variable is a state variable used to adjust the excretion processing command, and includes a third state variable corresponding to the emotions of the person being cared for during the excretion processing action of the care robot. This enables the care robot system to provide more appropriate care according to the emotions of the person being cared for.

[0161] The 20th embodiment is a control device for a care robot according to any one of the 14th to 19th embodiments, further comprising an additional learning unit that outputs an updated excretion processing program based on the state variables acquired by the state variable acquisition unit during the excretion processing action of the care robot toward the person being cared for. As a result, the accuracy of the excretion processing program improves as the excretion processing action by the care robot is repeated.

[0162] The 21st embodiment is a care robot system comprising a control device for a care robot according to any one embodiment of the 14th to 20th embodiments, and a care robot that performs care actions controlled by the care robot control device. According to this care robot system, the care robot can perform diaper changes that are appropriate to the physique and posture of the person being cared for, by being controlled by the care robot control device. This makes it possible for the care robot system to perform the delicate care action of diaper changing in place of a human.

[0163] The above description is illustrative in all respects, and the invention is not limited thereto. It is understood that countless variations not illustrated can be conceivable without falling outside the scope of this invention. [Explanation of Symbols]

[0164] 10, 110 Caregiving Robot System 20, 120, 220 caregiving robots 21 Arms 22 Hand 23 Base 26 Faces 27 Portable Tools 27A Ion Generator 27B Sprayer 27C Air Generator 27D Electric Vacuum Cleaner 27E Hand Washing Machine 27F Replacement Hand 27GB trash can 30 Control devices for caregiving robots 31 Sensors 32 Sensors for detecting the surrounding environment 33, 33A, 33B Cameras 34 Mike 35 Humidity Sensor 36. Pulse Sensor 40. Sensors for detecting robot motion 41 Pressure Sensor 42 Accelerometer 43 Angle Sensor 50 Controllers 51 Storage section 51a Program 52 processors 53 Communications Department 70. Imitation Learning Device 75 Camera 76 Position Sensor 77 Pressure Sensor 78 Accelerometer 80 Additional Learning Section 90 Care recipients 91 Clothing 92 diapers 93 Tapes 100 facilities 101 Room 102 Robot Station 105 Garbage collection station 123 Fuselage with base 123A fuselage

Claims

1. Control device for caregiving robots, A humanoid care robot that performs caregiving actions controlled by the aforementioned control device for caregiving robots, Equipped with, The control device for the care robot comprises a storage unit for storing an action program, a state variable acquisition unit for acquiring state variables corresponding to the state of the person being cared for, and a command generation unit for generating action commands for the care robot from the action program and the state variables. The aforementioned action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for. The command generation unit generates an excretion processing command corresponding to the person being cared for from the excretion processing program as the action command, The aforementioned state variables are state variables used to adjust the excretion processing command, and include state variables corresponding to the care recipient's position data, physique, and posture. The caregiving robot system includes a self-propelled torso with a base, an arm extending from the torso, a hand provided on the arm, and a face.

2. A care robot system according to claim 1, The aforementioned action program includes a patrol program that causes the care robot to autonomously patrol a facility housing multiple care recipients. A care robot system in which the excretion processing program is incorporated into the patrol program so that the excretion processing program is executed when the care robot visits each of the multiple care recipients.

3. A care robot system according to claim 2, The care robot control device is a care robot system that controls the care robot to carry a trash can and to dispose of the waste generated during diaper changes into the trash can.

4. A care robot system according to claim 3, The care robot control device is a care robot system that controls the care robot to dispose of the trash from the trash can at a trash collection station installed within the facility.

5. A care robot system according to any one of claims 1 to 4, The care robot control device comprises a care robot system which determines whether a diaper change is necessary for the person being cared for before the care robot changes the person being cared for, generates an excretion processing command if it determines that a diaper change is necessary, and controls the care robot so that it does not change the diaper if it determines that a diaper change is unnecessary.

6. A care robot system according to any one of claims 1 to 4, The control device for the care robot is a care robot system that controls the care robot so that it communicates with the person receiving care.

7. A care robot system according to any one of claims 1 to 4, The control device for the care robot controls the care robot so that it performs odor control processing, and is part of a care robot system.

8. A care robot system according to any one of claims 1 to 4, The care robot control device is a care robot system that controls the care robot so that it notifies the administrator if it detects an abnormality in itself.

9. A care robot system according to any one of claims 1 to 4, The care robot control device is a care robot system that controls the care robot to notify the administrator when the care robot detects an abnormality in the surrounding environment.

10. A care robot system according to any one of claims 1 to 4, The care robot control device controls the care robot so that it blows air onto the person being cared for after changing their diaper, thus forming a care robot system.

11. A care robot system according to any one of claims 1 to 4, The care robot control device comprises a care robot system that controls the care robot to clean around the person being cared for.

12. A care robot system according to any one of claims 1 to 4, The care robot control device comprises a care robot system that controls the care robot to clean its hand.

13. A care robot system according to any one of claims 1 to 4, The care robot control device controls the care robot so that it replaces its hand, and is part of a care robot system.

14. A control device for a care robot that controls a care robot that performs caregiving actions, A memory unit that stores the behavioral program, A state variable acquisition unit that acquires state variables according to the condition of the person receiving care, A command generation unit that generates action commands for the care robot from the action program and state variables, Equipped with, The aforementioned action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for. The command generation unit generates an excretion processing command corresponding to the person being cared for from the excretion processing program as the action command, The state variables are state variables used to adjust the excretion processing command, and include a first state variable corresponding to the care recipient's position data, physique, and posture, and a second state variable corresponding to the care recipient's gender. The control device for a care robot is used to adjust the excretion processing command relating to the mounting position of a urine leakage pad, the method of washing the genital area, or the method of wiping the genital area, as the second state variable.

15. A control device for a care robot that controls a care robot that performs caregiving actions, A memory unit that stores the behavioral program, A state variable acquisition unit that acquires state variables according to the condition of the person receiving care, A command generation unit that generates action commands for the care robot from the action program and state variables, Equipped with, The aforementioned action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for. The command generation unit generates an excretion processing command corresponding to the person being cared for from the excretion processing program as the action command, The aforementioned state variables are state variables used to adjust the excretion processing command, and include a first state variable corresponding to the position data, physique, and posture of the person being cared for. A control device for a care robot, wherein the first state variable corresponding to the physical size of the person to be cared for is set based on ID information read by a reading unit that identifies the ID information of the person to be cared for.

16. A control device for a care robot that controls a care robot that performs caregiving actions, A memory unit that stores the behavioral program, A state variable acquisition unit that acquires state variables according to the condition of the person receiving care, A command generation unit that generates action commands for the care robot from the action program and state variables, Equipped with, The aforementioned action program includes an excretion processing program for the care robot to perform excretion processing, which is the process for changing the diaper of the person being cared for. The command generation unit generates an excretion processing command corresponding to the person being cared for from the excretion processing program as the action command, The aforementioned state variables are state variables used to adjust the excretion processing command, and include a first state variable corresponding to the position data, physique, and posture of the person being cared for. A control device for a care robot that determines whether the excretion treatment is necessary based on the detection result of a change in the color or degree of dampness of the diaper, and generates the excretion treatment command if it is determined that the excretion treatment is necessary.

17. A control device for a care robot according to any one of claims 14 to 16, The excretion processing program is a machine learning program that imitates the model care behavior based on model care data in the model care behavior. The control device for a care robot includes, as described above, model care data, coordinate data of the caregiver's hand and contour data of the model care recipient during the model caregiving action.

18. A control device for a care robot according to claim 17, The aforementioned model care data includes data from at least one of an acceleration sensor and a pressure sensor attached to the caregiver's hand, and is a control device for a care robot.

19. A control device for a care robot according to any one of claims 14 to 16, The state variable is a state variable used to adjust the excretion processing command, and includes a third state variable corresponding to the emotions of the person being cared for during the excretion processing action of the care robot, in a control device for a care robot.

20. A control device for a care robot according to any one of claims 14 to 16, A control device for a care robot, further comprising an additional learning unit that outputs an updated excretion processing program based on the state variables acquired by the state variable acquisition unit during the excretion processing action of the care robot toward the person being cared for.

21. A control device for a care robot according to any one of claims 14 to 16, A care robot that performs care actions controlled by the aforementioned control device for care robots, A caregiving robot system equipped with the following features.

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