Robot systems and robots

Abstract

This invention provides a robot system and robots that enable multiple robots associated with the same user to operate in a coordinated manner. [Solution] The robot system comprises a server and a first robot and a second robot capable of communicating with the server. The first robot and the second robot are associated with a predetermined user account. The server transmits first operation data to the first robot when predetermined conditions are met. The first robot performs a first operation based on the first operation data. The server transmits second operation data related to the first operation to the second robot. The second robot performs a second operation based on the second operation data.

Description

[[Technical Field]]

[0001] The present invention relates to a robot system and a robot. [[Background Art]]

[0002] In recent years, robots that provide various types of information by interacting with humans have been developed. For example, Patent Document 1 discloses a communication robot that processes voice input via a microphone over a network and returns a voice response to the input.

[0003] Furthermore, when a plurality of robots capable of voice interaction are used, conversation between the robots can be realized. For example, users can enjoy entertainment such as having multiple users bring their robots together to converse with one another. [[Prior Art Documents]] [[Patent Documents]]

[0004] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2015-013351 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0005] However, in the technology using a robot as disclosed in the aforementioned Patent Document 1, there remains a problem in that there is room for improvement in cooperatively operating a plurality of robots associated with the same user.

[0006] An object of the present invention is to provide a robot system and a robot capable of cooperatively operating a plurality of robots associated with the same user. [[Means for Solving the Problem]]

[0007] The robot system according to the present invention comprises: A robot system comprising a server and a first robot and a second robot capable of communicating with the server, The first robot and the second robot are associated with a predetermined user account, The server, when it meets predetermined conditions, transmits first operation data to the first robot. The first robot performs a first action based on the first action data. The server transmits second operation data related to the first operation to the second robot. The second robot performs a second action based on the second action data. [Effects of the Invention]

[0008] According to the present invention, multiple robots can be operated in a coordinated manner. [Brief explanation of the drawing]

[0009] [Figure 1] This is a diagram showing the configuration of the robot system in this embodiment. [Figure 2] This is a block diagram showing the server hardware configuration in this embodiment. [Figure 3] This is a block diagram showing the hardware configuration of the communication robot in this embodiment. [Figure 4] This is a block diagram showing the hardware configuration of the communication robot in this embodiment. [Figure 5] This is a block diagram showing the hardware configuration of the user terminal in this embodiment. [Figure 6] This flowchart shows an example of the processing performed by the server. [Figure 7] This flowchart shows an example of the processing performed by a communication robot. [Figure 8] This flowchart shows an example of the processing performed by a communication robot. [Figure 9]This flowchart shows an example of the processing performed by the server. [Figure 10] This flowchart shows an example of the processing performed by the server. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described with reference to the attached drawings. In each drawing, components denoted by the same reference numerals have the same or similar configurations.

[0011] (Configuration of Robot System 1) Figure 1 shows the configuration of the robot system 1 in this embodiment. The robot system 1 shown in Figure 1 comprises a server 10 (conversation server), communication robots 20 and 30, and a user terminal 40. The server 10, the communication robots 20 and 30, and the user terminal 40 are connected to each other via a communication line 5 such as the Internet, intranet, wireless LAN, or mobile communication. Note that the number of communication robots in the robot system 1 is not limited to two, and it may have three or more communication robots.

[0012] Furthermore, communication robot 20 functions as the "first robot" of the present invention. In this case, communication robot 30 functions as the "second robot" of the present invention. Also, communication robot 20 functions as the "second robot" of the present invention. In this case, communication robot 30 functions as the "first robot" of the present invention. Also, communication robot 20 functions as the "robot" of the present invention. In this case, communication robot 30 functions as the "other robot" of the present invention. Also, communication robot 30 functions as the "robot" of the present invention. In this case, communication robot 20 functions as the "other robot" of the present invention.

[0013] In the present embodiment, a user who uses the user terminal 40 is defined as user U. Note that the number of user terminals 40 included in the robot system 1 is not limited to one, and two or more user terminals 40 may be provided.

[0014] The user terminal 40 is an information processing terminal such as a smartphone or a tablet terminal, for example. The user U can perform initial settings and setting changes for the communication robots 20 and 30 with respect to the server 10 by using a dedicated application pre-installed on the user terminal 40. In the present embodiment, it is assumed that the user U performs a setting to associate the communication robots 20 and 30 with an administrator account corresponding to the user U (for example, a user ID, which corresponds to the "predetermined user account" of the present invention). Note that any type of terminal may be used as the user terminal 40, for example, a mobile phone, a personal computer (PC), a notebook PC, a personal digital assistant (PDA), a home game machine, or the like. The administrator account corresponding to the user U is stored, for example, in the server 10.

[0015] The communication robots 20 and 30 are home communication robots intended to perform communication such as conversation with the user U (a human) through words, motions, and the like. In particular, the communication robots 20 and 30 are good at emotionally rich healing communication that empathizes with the user U (the speaker) and shares joy, sorrow, and anger together. Note that the external appearance of the communication robots 20 and 30 is not particularly limited. The external appearance of the communication robots 20 and 30 may be a stuffed toy, a doll, or a character imitating an animal, a fictional creature, or the like, or may be a mechanical so-called robot.

[0016] The server 10 is a conversation server that understands the content of utterances made by a user U to the communication robots 20 and 30, and returns a response to the communication robots 20 and 30. Specifically, a conversation between the user U and the communication robots 20 and 30 is implemented in the following flow. First, when the user U speaks to the communication robots 20 and 30, the communication robots 20 and 30 convert the conversation of the user U into voice data, and transmit the voice data to the server 10. Next, the server 10 converts the voice data corresponding to the utterance of the user U into character string data via a voice recognition function. Thereafter, the server 10 constructs a response to the character string data (the utterance of the user U) as text data via conversation generation AI (artificial intelligence), and returns the response to the communication robots 20 and 30. Finally, the communication robots 20 and 30 use a voice synthesis function to convert the text data returned from the server 10 into voice data, and respond to the user U. The server 10 may be configured from one or a plurality of information processing devices, or may be configured using a virtual server (such as a cloud server). Further, the communication robots 20 and 30 may convert voice data corresponding to the utterance of the user U into character string data via a voice recognition function, and transmit the converted character string data to the server 10.

[0017] (Family function) Next, the "family function" included in the communication robots 20 and 30 will be described. The family function is a function that, when the user U speaks to the communication robots 20 and 30 or when the communication robots 20 and 30 speak to the user U, specifies (authenticates) a person based on the user U's voice (voiceprint) or face detected by a microphone or camera, and calls the person's name differently. The family function can be used even only by registering the voice of the user U, but the following effects can be achieved by performing face registration. ·Compared to a case where only the voice of the user U is used, the accuracy of specifying a person can be improved. This is because the content of user U's voice detected by the microphone varies significantly compared to the content of user U's face detected by the camera. Furthermore, communication robots 20 and 30 do not determine user U's position to detect his voice, nor do user U speak to communication robots 20 and 30 using pre-set phrases. • Children, the elderly, and people with disabilities who previously had difficulty registering by voice can now register. • When the communication robots 20 and 30 speak to you, it will be possible to distinguish between names, such as saying "Welcome back, [name]!"

[0018] To enable the family functions of communication robots 20 and 30, the registration of user U's voice is carried out in the following manner. 1. User U launches the dedicated application installed on user terminal 40 and presses the "Family Registration Button" displayed on the screen. 2. User U presses the "Register Voice" button displayed on the screen of the user terminal 40. This causes the communication robots 20 and 30 to switch from normal mode to voice registration mode. 3. User U reads aloud the keyword sentences displayed on the screen of the user terminal 40, or the keyword sentences that are read aloud while being guided by the communication robots 20 and 30. 4. Communication robots 20 and 30 detect the voice of user U when the keyword sentence is read aloud using a microphone and acquire audio data. If user U reads the keyword sentence incorrectly, steps 3 and 4 are repeated. 5. The communication robots 20 and 30 store the acquired voice data in their memory units and transition from voice registration mode to normal mode. This completes the voice registration process for user U.

[0019] To enable the family functions of communication robots 20 and 30, the registration of user U's face is achieved through the following process. 1. User U launches the dedicated application installed on user terminal 40 and presses the "Family Registration Button" displayed on the screen. 2. User U presses the "Register Face" button displayed on the screen of the user terminal 40. This causes the communication robots 20 and 30 to switch from normal mode to face registration mode. 3. The communication robots 20 and 30 detect the user U's face using their cameras and acquire image data. If the camera fails to detect the user U's face, the communication robots 20 and 30 will verbally instruct the user U to correct the direction of their face. 4. Based on the acquired image data, the communication robots 20 and 30 store feature data in their memory units that indicates the contours of user U's face and the features of its facial parts such as eyes, nose, and mouth, and then transition from face registration mode to normal mode. This completes the registration process for user U's face.

[0020] Note that User U's voice and face can be registered simultaneously. User U's voice and face registration is carried out in the following manner. 1. User U launches the dedicated application installed on user terminal 40 and presses the "Family Registration Button" displayed on the screen. 2. User U presses the "Register Voice and Sound" button displayed on the screen of the user terminal 40. This causes the communication robots 20 and 30 to switch from normal mode to voice and face registration mode. 3. User U reads aloud the keyword sentences displayed on the screen of the user terminal 40, or the keyword sentences that are read aloud while being guided by the communication robots 20 and 30. 4. Communication robots 20 and 30 detect the voice of user U when the keyword sentence is read aloud using a microphone and acquire audio data. If user U reads the keyword sentence incorrectly, steps 3 and 4 are repeated. 5. The communication robots 20 and 30 store the acquired voice data in their memory units. 6. The communication robots 20 and 30 detect the user U's face using their cameras and acquire image data. If the camera fails to detect the user U's face, the communication robots 20 and 30 will verbally instruct the user U to correct the direction of their face. 7. Based on the acquired image data, the communication robots 20 and 30 store feature data in their memory units that represents the contours of user U and the features of facial parts such as eyes, nose, and mouth, and then transition from face registration mode to normal mode. This completes the voice and face registration process for user U.

[0021] In this embodiment, communication robot 20 is associated with the same administrator account as communication robot 30, and can communicate with communication robot 30, such as through conversation, using words and actions, without requiring short-range wireless communication such as Bluetooth®. By limiting communication to communication robots 20 and 30 associated with the same administrator account in this way, it is possible to prevent situations where personal information relating to user U's privacy rights is obtained by a communication robot not associated with the same administrator account when user U has an intimate conversation with user U (privacy protection). Note that it does not matter whether communication robots 20 and 30 are located close to each other or far apart. For example, if communication between communication robots 20 and 30 is to be performed only when they are in close proximity, the server 10 acquires the location information of robots 20 and 30, and when communication robots 20 and 30 are below a predetermined distance, the server 10 performs communication between communication robots 20 and 30. Note that known methods can be used to acquire the location information of robots 20 and 30.

[0022] Robot system 1 is configured to enable communication between communication robots 20 and 30 (for example, when communication robot 30 performs an action after communication robot 20 performs an action) without requiring short-range wireless communication between communication robots 20 and 30 during communication. Specifically, when predetermined conditions are met, server 10 generates first action data based on the first action that communication robot 20 should perform and transmits the first action data to communication robot 20. Here, predetermined conditions include the occurrence of a utterance by user U to communication robots 20 and 30 (for example, "Let's do something together"), the arrival of a predetermined time, the absence of a utterance by user U to communication robots 20 and 30 for some time (more than a predetermined time), and the identification (authentication) of user U by the voice and face of user U detected by microphones and cameras. Then, communication robot 20 performs the first action (for example, an action such as uttering a sentence) based on the first action data received from server 10. Next, the server 10 generates second action data based on the second action that the communication robot 30 should perform in relation to the first action of the communication robot 20, and transmits the second action data to the communication robot 30. The communication robot 30 then performs the second action (for example, an action such as speaking) based on the second action data received from the server 10.

[0023] Next, we will describe the case in which communication robot 20 performs an action after communication robot 30 has performed an action. When the above predetermined conditions are met, server 10 generates first action data based on the first action that communication robot 30 should perform and transmits the first action data to communication robot 30. Then, communication robot 30 performs the first action (for example, an action such as speaking) based on the first action data received from server 10. Next, server 10 generates second action data based on the second action that communication robot 20 should perform in relation to the first action of communication robot 30 and transmits the second action data to communication robot 20. Then, communication robot 20 performs the second action (for example, an action such as speaking) based on the second action data received from server 10. In this way, communication between communication robots 20 and 30 can be continued by alternating between the entity that performs the action first and the entity that performs the action later. Examples of first action data include data that causes communication robot 20 to say, "Shall we do something?", and examples of second action data include data that causes communication robot 30 to say, "Yes, let's sing a song."

[0024] (Hardware configuration of Server 10) Figure 2 is a block diagram showing the hardware configuration of the server 10 in this embodiment. As shown in Figure 2, the server 10 is configured to include a control unit 11, a storage unit 12, a communication unit 13, an operation input unit 14, and a monitor 15.

[0025] The control unit 11 includes, for example, a CPU (Central Processing Unit), a microprocessor, a DSP (Digital Signal Processor), and controls the overall operation of the server 10.

[0026] A portion of the memory unit 12 is composed of, for example, RAM (Random Access Memory) or DRAM (Dynamic Random Access Memory), and is used as a work area when the control unit 11 executes processing based on various programs.

[0027] Furthermore, a portion of the storage unit 12 is, for example, a non-volatile memory such as ROM (Read Only Memory) or an HDD (Hard Disk Drive), which stores various data and programs used for processing by the control unit 11. The storage unit 12 can also maintain a database that includes one or more tables for recording various information and processing results.

[0028] The programs stored in the memory unit 12 include, for example, an OS (Operating System) for realizing the basic functions of the server 10, drivers for controlling various hardware, and programs for realizing various functions.

[0029] The communication unit 13 is, for example, a NIC (Network Interface Controller) and has the function of connecting to the communication line 5. Alternatively, the communication unit 13 may have functions to connect to a wireless LAN (Local Area Network), a wireless WAN (Wide Area Network), short-range wireless communication such as Bluetooth®, and infrared communication, either in place of or in conjunction with the NIC. The server 10 is connected to the communication robots 20, 30, etc. via the communication line 5 and can send and receive various types of data with the communication robots 20, 30, etc.

[0030] The operation input unit 14 consists of a keyboard and mouse, and accepts input of various operations from users using the server 10. The monitor 15 is, for example, a liquid crystal display device, and displays various images.

[0031] The control unit 11, storage unit 12, communication unit 13, operation input unit 14, and monitor 15 are electrically connected to each other via a system bus 16. Therefore, the control unit 11 can access the storage unit 12, display images on the monitor 15, understand the user's operation status on the operation input unit 14, and access various communication networks, communication robots 20, 30, and user terminals 40, etc., via the communication unit 13.

[0032] The control unit 11 determines, via the communication unit 13, whether or not it has received determination data from the communication robot 20 or 30 indicating that the predetermined conditions (for example, that a user U has spoken to the communication robots 20 or 30) have been met.

[0033] When the control unit 11 receives judgment data from the communication robot 20, it generates first action data based on the first action that the communication robot 20 should perform (for example, an action such as speaking using the speaker 25) and transmits the first action data to the communication robot 20 via the communication unit 13. Subsequently, the control unit 11 generates second action data based on the second action that the communication robot 30 should perform (for example, an action such as speaking using the speaker 35) in relation to the first action of the communication robot 20, and transmits the second action data to the communication robot 30 via the communication unit 13.

[0034] On the other hand, when the control unit 11 receives judgment data from the communication robot 30, it generates first action data based on the first action that the communication robot 30 should perform (for example, an action such as speaking using the speaker 35) and transmits the first action data to the communication robot 30 via the communication unit 13. Subsequently, the control unit 11 generates second action data based on the second action that the communication robot 20 should perform (for example, an action such as speaking using the speaker 25) in relation to the first action of the communication robot 30, and transmits the second action data to the communication robot 20 via the communication unit 13.

[0035] Instead of receiving judgment data, the control unit 11 can also receive environmental data (for example, various sound data or image data of an object) from the communication robot 20 or communication robot 30 via the communication unit 13, and determine whether or not the predetermined conditions (for example, that user U has spoken to the communication robots 20 or 30) are met.

[0036] (Hardware configuration of communication robot 20) Figure 3 is a block diagram showing the hardware configuration of the communication robot 20 in this embodiment. As shown in Figure 3, the communication robot 20 is configured to include a control unit 21, a storage unit 22, a communication unit 23, a display unit 24, a speaker 25, a microphone 26, a camera 27, and operation buttons 28.

[0037] The control unit 21 is, for example, a CPU (Central Processing Unit), a microprocessor, a DSP (Digital Signal Processor), etc., and controls the overall operation of the communication robot 20. The control unit 21 functions as the "determination unit" and "control unit" of the present invention.

[0038] A portion of the memory unit 22 is composed of, for example, RAM (Random Access Memory) or DRAM (Dynamic Random Access Memory), and is used as a work area when the control unit 21 executes processing based on various programs.

[0039] Furthermore, a portion of the storage unit 22 is, for example, non-volatile memory such as ROM (Read Only Memory) or HDD (Hard Disk Drive), which stores various data and programs used for processing by the control unit 21. The storage unit 22 can also maintain a database including one or more tables for recording various information and processing results.

[0040] The programs stored in the memory unit 22 include, for example, an OS (Operating System) for realizing the basic functions of the communication robot 20, drivers for controlling various hardware, and programs for realizing various functions.

[0041] The communication unit 23 is, for example, a NIC (Network Interface Controller) and has the function of connecting to the communication line 5. The communication unit 23, together with the NIC, also has the function of connecting to a wireless LAN (Local Area Network), a wireless WAN (Wide Area Network), short-range wireless communication such as Bluetooth®, and infrared communication. The communication robot 20 is connected to the server 10 via the communication line 5 and can send and receive various types of data with the server 10. The communication unit 23 functions as the "receiving unit" and "transmitting unit" of the present invention.

[0042] The display unit 24 is a touch panel display, LCD display, LED display, etc., and can display images and accept operations from user U. The display unit 24 can also display the emotions of the communication robot 20.

[0043] The speaker 25 outputs various sounds under the control of the control unit 21. The microphone 26 receives various sounds under the control of the control unit 21. The camera 27 captures images of the subject under the control of the control unit 21. The microphone 26 and camera 27 function as the "environment acquisition unit" of the present invention.

[0044] The operation buttons 28 are located on the side of the communication robot 20, for example, and include power buttons for starting or stopping the communication robot 20, and buttons for adjusting the volume of sound output from the speaker 25.

[0045] The control unit 21, storage unit 22, communication unit 23, display unit 24, speaker 25, microphone 26, camera 27, and operation buttons 28 are electrically connected to each other via a system bus 29. Therefore, the control unit 21 can access the storage unit 22, display images on the display unit 24, understand the operation status of the touch panel display (display unit 24) and operation buttons 28 by the user U, input sound to the microphone 26, output sound from the speaker 25, control the camera 27, and access various communication networks, the server 10, etc. via the communication unit 23.

[0046] The microphone 26 or camera 27 (functioning as an environmental data acquisition unit) acquires environmental data (for example, various sound data or image data of the subject).

[0047] The control unit 21 determines, based on environmental data acquired by the microphone 26 or camera 27, whether the predetermined conditions (for example, that user U has spoken to the communication robot 20) are met. If the control unit 21 determines that the predetermined conditions are met, it transmits determination data indicating that the predetermined conditions are met to the server 10 via the communication unit 23. Subsequently, the control unit 21 determines, via the communication unit 23, whether it has received first action data from the server 10 related to a second action (for example, an action such as speaking using the speaker 35) to be performed by the communication robot 30 associated with the same administrator account. If the control unit 21 determines that it has received first action data from the server 10, it performs control to execute the first action (for example, an action such as speaking using the speaker 25) based on the first action data.

[0048] Furthermore, the control unit 21 determines, via the communication unit 23, whether or not it has received second action data from the server 10 related to a first action (for example, an action such as speaking using the speaker 35) performed by a communication robot 30 associated with the same administrator account. If the control unit 21 determines that it has received second action data from the server 10, it performs control to execute the second action (for example, an action such as speaking using the speaker 25) based on the second action data.

[0049] (Hardware configuration of communication robot 30) Figure 4 is a block diagram showing the hardware configuration of the communication robot 30 in this embodiment. As shown in Figure 4, the communication robot 30 is configured to include a control unit 31, a storage unit 32, a communication unit 33, a display unit 34, a speaker 35, a microphone 36, a camera 37, and operation buttons 38.

[0050] The control unit 31 is, for example, a CPU (Central Processing Unit), a microprocessor, a DSP (Digital Signal Processor), etc., and controls the overall operation of the communication robot 30. The control unit 31 functions as the "determination unit" and "control unit" of the present invention.

[0051] A portion of the memory unit 32 is composed of, for example, RAM (Random Access Memory) or DRAM (Dynamic Random Access Memory), and is used as a work area when the control unit 31 executes various programs.

[0052] Furthermore, a portion of the storage unit 32 is, for example, non-volatile memory such as ROM (Read Only Memory) or HDD (Hard Disk Drive), which stores various data and programs used for processing by the control unit 31. The storage unit 32 can maintain a database including one or more tables for recording various information and processing results.

[0053] The programs stored in the memory unit 32 include, for example, an OS (Operating System) for realizing the basic functions of the communication robot 30, drivers for controlling various hardware, and programs for realizing various functions.

[0054] The communication unit 33 is, for example, a NIC (Network Interface Controller) and has the function of connecting to the communication line 5. The communication unit 33, together with the NIC, also has the function of connecting to a wireless LAN (Local Area Network), a wireless WAN (Wide Area Network), short-range wireless communication such as Bluetooth®, and infrared communication. The communication robot 30 is connected to the server 10 via the communication line 5 and can send and receive various types of data with the server 10. The communication unit 33 functions as both a "receiving unit" and a "transmitting unit" according to the present invention.

[0055] The display unit 34 is a touch panel display, LCD display, LED display, etc., and can display images and accept operations from the user U. The display unit 34 can also display the emotions of the communication robot 20.

[0056] The speaker 35 outputs various sounds under the control of the control unit 31. The microphone 36 receives various sounds under the control of the control unit 31. The camera 37 captures images of the subject under the control of the control unit 31. The microphone 36 and camera 37 function as the "environment acquisition unit" of the present invention.

[0057] The operation buttons 38 are located on the side of the communication robot 30, for example, and include power buttons for starting or stopping the communication robot 30, and buttons for adjusting the volume of sound output from the speaker 35.

[0058] The control unit 31, storage unit 32, communication unit 33, display unit 34, speaker 35, microphone 36, camera 37, and operation buttons 38 are electrically connected to each other via a system bus 39. Therefore, the control unit 31 can access the storage unit 32, display images on the display unit 34, understand the operation status of the touch panel display (display unit 34) and operation buttons 38 by the user U, input sound to the microphone 36, output sound from the speaker 35, control the camera 37, and access various communication networks, the server 10, etc. via the communication unit 33.

[0059] The microphone 36 or camera 37 (functioning as an environmental data acquisition unit) acquires environmental data (for example, various sound data or image data of the subject).

[0060] The control unit 31 determines, based on environmental data acquired by the microphone 36 or camera 37, whether the predetermined conditions (for example, that user U has spoken to the communication robot 30) are met. If the control unit 31 determines that the predetermined conditions are met, it transmits determination data indicating that the predetermined conditions are met to the server 10 via the communication unit 33. Subsequently, the control unit 31 determines, via the communication unit 33, whether it has received first action data from the server 10 related to a second action (for example, an action such as speaking using the speaker 25) to be performed by the communication robot 20 associated with the same administrator account. If the control unit 31 determines that it has received first action data from the server 10, it performs control to execute the first action (for example, an action such as speaking using the speaker 35) based on the first action data.

[0061] Furthermore, the control unit 31 determines, via the communication unit 33, whether or not it has received second action data from the server 10 related to a first action (for example, an action such as speaking using the speaker 25) performed by a communication robot 20 associated with the same administrator account. If the control unit 31 determines that it has received second action data from the server 10, it performs control to execute the second action (for example, an action such as speaking using the speaker 35) based on the second action data.

[0062] (Hardware configuration of user terminal 40) Figure 5 is a block diagram showing the hardware configuration of the user terminal 40 in this embodiment. As shown in Figure 5, the user terminal 40 is configured to include a control unit 41, a storage unit 42, a communication unit 43, a display unit 44, a speaker 45, a microphone 46, a camera 47, and operation buttons 48.

[0063] The control unit 41 is, for example, a CPU (Central Processing Unit), a microprocessor, a DSP (Digital Signal Processor), and controls the overall operation of the user terminal 40.

[0064] A portion of the memory unit 42 is composed of, for example, RAM (Random Access Memory) or DRAM (Dynamic Random Access Memory), and is used as a work area when the control unit 41 executes processing based on various programs.

[0065] Furthermore, a portion of the storage unit 42 is, for example, a non-volatile memory such as ROM (Read Only Memory) or an HDD (Hard Disk Drive), which stores various data and programs used for processing by the control unit 41. The storage unit 42 can also maintain a database including one or more tables for recording various information and processing results.

[0066] The programs stored in the memory unit 42 include, for example, an OS (Operating System) for realizing the basic functions of the user terminal 40, drivers for controlling various hardware, and programs for realizing various functions.

[0067] The communication unit 43 is, for example, a NIC (Network Interface Controller) and has the function of connecting to the communication line 5. In addition, together with the NIC, the communication unit 43 has the function of connecting to a wireless LAN (Local Area Network), a wireless WAN (Wide Area Network), short-range wireless communication such as Bluetooth (registered trademark), and infrared communication. The user terminal 40 is connected to the server 10 etc. via the communication line 5 and can send and receive various data with the server 10 etc.

[0068] The display unit 44 is a touch panel display or the like, capable of displaying images and accepting operations from the user U.

[0069] The speaker 45 outputs various sounds under the control of the control unit 41. The microphone 46 receives various sounds under the control of the control unit 41. The camera 47 captures images of the subject under the control of the control unit 41.

[0070] The operation buttons 48 are located on the side of the user terminal 40, for example, and include power buttons for starting or stopping the user terminal 40, and buttons for adjusting the volume of sound output from the speaker 45.

[0071] The control unit 41, storage unit 42, communication unit 43, display unit 44, speaker 45, microphone 46, camera 47, and operation buttons 48 are electrically connected to each other via a system bus 49. Therefore, the control unit 41 can access the storage unit 42, display images on the display unit 44, understand the operation status of the touch panel display (display unit 44) and operation buttons 48 by the user U, input sound to the microphone 46, output sound from the speaker 45, control the camera 47, and access various communication networks, the server 10, etc. via the communication unit 43.

[0072] Figure 6 is a flowchart showing an example of the processing performed by the server 10 when the communication robot 30 performs an action after the communication robot 20 has performed an action in this embodiment.

[0073] First, the control unit 11 determines whether it has received determination data from the communication robot 20 or 30 via the communication unit 13 indicating that the predetermined condition (for example, that user U has spoken to the communication robots 20 or 30) has been met (step S100). If the determination results in no determination data being received (step S100, NO), the process returns to before step S100.

[0074] On the other hand, if, for example, judgment data is received from the communication robot 20 (step S100, YES), the control unit 11 uses, for example, a conversation generation AI (artificial intelligence) to generate first action data based on the first action that the communication robot 20 should perform (for example, an action such as speaking using the speaker 25) (step S110).

[0075] Next, the control unit 11 transmits the first operation data generated in step S110 to the communication robot 20 (step S120).

[0076] Next, the control unit 11 uses, for example, a conversation generation AI (artificial intelligence) to generate second action data based on a second action that the communication robot 30 should perform in relation to the first action of the communication robot 20 (for example, an action such as speaking using the speaker 35) (step S130).

[0077] Finally, the control unit 11 transmits the second operation data generated in step S130 to the communication robot 30 (step S140). Upon completion of the process in step S140, the server 10 terminates the process shown in Figure 6.

[0078] Figure 7 is a flowchart showing an example of the processing performed by the communication robot 20 when the communication robot 30 performs an action after the communication robot 20 has performed an action in this embodiment.

[0079] First, the microphone 26 or camera 27 (functioning as an environmental data acquisition unit) acquires environmental data (for example, various sound data or image data of the subject) (step S200).

[0080] Next, the control unit 21 determines whether the predetermined conditions (for example, that user U has spoken to the communication robot 20) are met based on the environmental data acquired by the microphone 26 or camera 27 (step S210). If the determination shows that the predetermined conditions are not met (step S210, NO), the process returns to before step S200.

[0081] On the other hand, if the above predetermined conditions are met (step S210, YES), the control unit 21 sends determination data indicating that the predetermined conditions are met to the server 10 (step S220).

[0082] Next, the control unit 21 determines whether it has received first action data from the server 10 related to a second action (for example, an action such as speaking using the speaker 35) performed by the communication robot 30 associated with the same administrator account (step S230). If the determination is that the first action data has not been received (step S230, NO), the process returns to before step S230.

[0083] On the other hand, if the first operation data is received (step S230, YES), the control unit 21 performs control to execute the first operation (for example, an operation such as speaking using the speaker 25) based on the first operation data. Upon completion of the process in step S140, the communication robot 20 terminates the process shown in Figure 7.

[0084] The first action data may also contain information set for the communication robot 30 (for example, the name of the communication robot 30). In this case, the communication robot 20 will perform a speech action that includes the name of the communication robot 30 as the first action.

[0085] Figure 8 is a flowchart showing an example of the processing performed by the communication robot 30 when the communication robot 30 performs an action after the communication robot 20 has performed an action in this embodiment.

[0086] First, the control unit 31 determines whether it has received second action data from the server 10 related to a first action (for example, an action such as speaking using the speaker 25) performed by the communication robot 20 associated with the same administrator account (step S300). If the determination is that the second action data has not been received (step S300, NO), the process returns to before step S300.

[0087] On the other hand, if the second operation data is received (step S300, YES), the control unit 21 performs control to execute the second operation (for example, an operation such as speaking using the speaker 35) based on the second operation data. Upon completion of the process in step S310, the communication robot 30 terminates the process shown in Figure 8.

[0088] As explained in detail above, in this embodiment, the robot system 1 comprises a server 10 and a first robot (communication robot 20) and a second robot (communication robot 30) that can communicate with the server 10. The first robot and the second robot are associated with a predetermined user account (administrator account). When the server 10 meets a predetermined condition (for example, when user U speaks to the first robot or the second robot), it transmits first action data to the first robot. The first robot then performs a first action (for example, an action such as speaking) based on the first action data. The server 10 also transmits second action data related to the first action to the second robot. The second robot then performs a second action (for example, an action such as speaking) based on the second action data. For example, when a predetermined condition is met, the first robot performs a speaking action, and in response to the first robot's speaking action, the second robot performs a speaking action. In this case, the server 10 determines the content of the second robot's speech based on the content of the first robot's speech.

[0089] With this configuration, the first robot and the second robot can be operated based on the operation data transmitted by the server 10. Therefore, multiple robots (first robot, second robot) associated with the same user U (administrator account) can be operated in cooperation without requiring short-range wireless communication between the first robot and the second robot. In other words, multiple robots (first robot, second robot) located in different locations can be operated in cooperation. Furthermore, by limiting communication (operation) to communication robots 20 and 30 associated with the same administrator account, it is possible to prevent situations where personal information related to user U's privacy rights is obtained by robots not associated with the administrator account in the event of an intimate conversation with user U (privacy protection). The server 10 may transmit the second operation data to the second robot before the first robot performs the first operation, or it may transmit the second operation data to the second robot after the first robot performs the first operation.

[0090] In the above embodiment, the robot system 1 may further include a third robot (e.g., a communication robot) associated with the same user account (administrator account). In this case, the server 10 transmits second action data to the second robot (e.g., a communication robot 30) and transmits third action data related to the first action to the third robot. After the first action is performed by the first robot (e.g., a communication robot 20), the second robot performs a second action (e.g., an action such as speaking) based on the second action data. After the first action is performed by the first robot, the third robot performs a third action (e.g., an action such as speaking) based on the third action data. For example, in response to a speaking action by the first robot, at least one of the second robot and the third robot performs a speaking action. With this configuration, the first, second, and third robots can be operated based on the operation data transmitted by the server 10. Therefore, multiple robots (first, second, and third robots) associated with the same user U (administrator account) can be operated in coordination without requiring short-range wireless communication between the first, second, and third robots.

[0091] Furthermore, in the above embodiment, the server 10 may acquire characteristic data indicating the characteristics of the first robot (e.g., communication robot 20) and the second robot (e.g., communication robot 30) set by user U corresponding to the user account (e.g., the role and position to be played in conversation, etc.), and generate first operation data and second operation data based on the acquired characteristic data.

[0092] The characteristics of the first and second robots are set up in the following manner. 1. User U launches the dedicated application installed on user terminal 40 and presses "Role Settings" displayed on the screen. 2. User U selects and presses a role from the "Role List" displayed on the user terminal 40's screen. Roles include "Teacher, Student," "Talkative, Good Listener," "Mother, Child," "Responsible Older Brother, Mischievous Younger Brother," etc. User U selects one of these. 3. User U performs an operation to assign one of the selected roles to the first robot and the other role to the second robot.

[0093] With this configuration, multiple robots (first robot, second robot) can be operated in cooperation based on characteristics set by user U. For example, user U may use user terminal 40 to set the characteristics of the first robot (e.g., communication robot 20) and the second robot (e.g., communication robot 30) to server 10. This allows user U to set the characteristics (e.g., roles) of the first and second robots from their own terminal.

[0094] Furthermore, in the above embodiment, the server 10 may arbitrarily (randomly) select one combination of characteristics (e.g., roles, positions, etc.) from a plurality of pre-set combinations as characteristics for the first robot (e.g., communication robot 20) and the second robot (e.g., communication robot 30), and generate first operation data and second operation data based on characteristic data indicating the selected combination of characteristics. With this configuration, the effort of setting by the user U is eliminated, and multiple robots (first robot, second robot) can be operated in cooperation based on the characteristics selected by the server 10. Here, as characteristics combinations, for example, templates (tables) such as "role of giving candy" and "role of receiving candy", "role of winning at rock-paper-scissors" and "role of losing at rock-paper-scissors", "role of speaker" and "role of listener" are stored in the server 10, and the server 10 randomly selects a combination of roles (characteristics) and assigns them to the first robot (e.g., communication robot 20) and the second robot (e.g., communication robot 30), respectively.

[0095] Furthermore, when determining the characteristics of the first robot (e.g., communication robot 20) and the second robot (e.g., communication robot 30), the server 10 may not assign roles completely randomly, but rather based on conditions in the activity records of the first and second robots, such as "having spoken frequently recently." For example, the server 10 may prioritize assigning the role of "speaker" to a robot that speaks more frequently than a robot that speaks less frequently. Specifically, if the first robot and user U speak frequently, and the second robot and user U rarely speak, the server 10 may assign the role of speaker to the first robot and the role of listener (a role that involves nodding and giving affirmative responses) to the second robot. Also, if the first robot and user U play rock-paper-scissors and user U wins 80% of the time, and the second robot and user U win 20% of the time, the server 10 may assign the role of losing at rock-paper-scissors to the first robot and the role of winning at rock-paper-scissors to the second robot.

[0096] Furthermore, in the above embodiment, the server 10 may determine the content of the conversation between the first robot and the second robot by using scenario data that has been generated in advance before the above predetermined conditions are met and stored in the server 10, in a mode (first mode: scenario mode) that generates operation data based on the actions that the second robot (e.g., communication robot 30) should perform.

[0097] Alternatively, the system may select either the first mode, or a mode (second mode: conversation mode) in which the first or second robot determines the content of its response via a conversation generation AI based on the conversation content of the other robot, and generate the second action data. With this configuration, the system can generate second action data based on the second action that the second robot should perform, using action data corresponding to any of the multiple modes (first mode, second mode).

[0098] The mode can be selected by user U by launching a dedicated application installed on user terminal 40.

[0099] Furthermore, in the above embodiment, the first robot (e.g., communication robot 20) or the second robot (e.g., communication robot 20) is equipped with an imaging unit (cameras 27, 37) that images the surroundings, and the server 10 may select a first mode (e.g., scenario mode) and generate second operation data when a second user different from the first user (e.g., user U) corresponding to the user account is imaged by the imaging unit.

[0100] Figure 9 is a flowchart showing an example of the scenario mode selection process performed by server 10.

[0101] First, the server 10 receives environmental data (subject imaging data) acquired by the camera 27 of the communication robot 20 (functioning as an environment acquisition unit) (step S400).

[0102] Next, the control unit 11 determines whether or not other users are present based on the environmental data acquired by the camera 27 (step S410). If the determination is that no other users are present (step S410, NO), the process returns to before step S400. The communication robot 20 sends environmental data to the server 10 at predetermined intervals (for example, every 5 seconds).

[0103] On the other hand, if it is determined that another user exists (step S410, YES), the control unit 11 determines whether or not it is in scenario mode (step S420). If the result of the determination is that it is in scenario mode (step S420, YES), the server 10 terminates the process shown in Figure 9. On the other hand, if it is not in scenario mode, i.e., in conversation mode (step S420, NO), the control unit 11 selects scenario mode (step S430). Upon completion of the process in step S430, the server 10 terminates the process shown in Figure 9.

[0104] With this configuration, if a second user different from the first user corresponding to the user account is captured, the second action data based on the second action that the second robot should perform can be generated using the action data from the first mode. This modified version is applicable, for example, when there are other users (e.g., friends of user U) around the first or second robot, and user U wishes for the first and second robots to converse on inoffensive topics from the perspective of protecting user U's privacy. If the first robot (e.g., communication robot 20) or the second robot (e.g., communication robot 20) recognizes a voice (voiceprint) other than user U via microphones 26, 36 (means for recognizing the user's voice quality), the server 10 may select the first mode (e.g., scenario mode) to generate the second action data. In this case, the voice of user U is registered in the first robot (e.g., communication robot 20) or the second robot (e.g., communication robot 20) through the family function described above. The determination of whether or not other users are present may also be performed by the communication robot 20.

[0105] Furthermore, in the above embodiment, the first robot (e.g., communication robot 20) or the second robot (e.g., communication robot 20) is equipped with an imaging unit (cameras 27, 37) that images its surroundings, and when the second mode (e.g., conversation mode) is selected, the server 10 may generate second action data to cause the second robot to perform a speech action (second conversation mode) that does not include a predetermined topic (e.g., a topic related to privacy such as the amount of money in the account, weight, or the name of someone you like) if the imaging unit captures an image of a second user different from the first user (e.g., user U) corresponding to the user account.

[0106] Figure 10 is a flowchart showing an example of the conversation mode change process performed by server 10.

[0107] First, the server 10 receives environmental data (subject imaging data) acquired by the camera 27 of the communication robot 20 (functioning as an environment acquisition unit) (step S500).

[0108] Next, the control unit 11 determines whether or not other users are present based on the environmental data acquired by the camera 27 (step S510). If the determination is that no other users are present (step S510, NO), the process returns to before step S500. The communication robot 20 sends environmental data to the server 10 at predetermined intervals (for example, every 5 seconds).

[0109] On the other hand, if it is determined that another user exists (step S510, YES), the control unit 11 determines whether or not it is in conversation mode (step S520). If the determination is that it is not in conversation mode, i.e., in scenario mode (step S520, NO), the server 10 terminates the process shown in Figure 10. On the other hand, if it is in scenario mode (step S520, YES), the control unit 11 changes from conversation mode to second conversation mode (step S530). Upon completion of the process in step S530, the server 10 terminates the process shown in Figure 10.

[0110] With this configuration, if a second user different from the first user corresponding to the user account is captured, second action data can be generated to cause the second robot to perform a speech action that does not include a predetermined topic, while using the operation data of the second mode. For example, user U may use the user terminal 40 to set a predetermined topic with the server 10. This modified version can be applied, for example, if there are other users (e.g., friends of user U) around the first or second robot, and user U does not want the first and second robots to converse about personal topics concerning user U, even in the second mode (e.g., conversation mode), from the perspective of protecting user U's privacy (i.e., user U does not want other users to hear personal topics concerning user U).

[0111] Furthermore, in the above embodiment, the first robot (e.g., communication robot 20) or the second robot (e.g., communication robot 20) is equipped with an imaging unit (cameras 27, 37) that images its surroundings, and the server 10 may generate second action data to cause the second robot to perform a second action (e.g., an action such as speaking) using data related to the user when a user corresponding to a user account (e.g., user U) is imaged by the imaging unit. With this configuration, when a user corresponding to a user account is imaged, second action data can be generated to cause the second robot to perform a second action using data related to the user. This modified example is applicable, for example, when user U wishes for the first robot and the second robot to converse about topics related to user U.

[0112] Furthermore, in the above embodiment, the environment acquisition unit (e.g., microphone 26, camera 27) of the robot (e.g., communication robot 20) may acquire environment data, and the transmission unit (e.g., communication unit 23) of the robot may transmit the environment data to the server 10. That is, the communication robot 20 transmits the environment data to the server 10 without determining whether predetermined conditions are met based on the environment data, and the server 10 performs the determination. In this case, if the server 10 determines that predetermined conditions (e.g., that user U has spoken to communication robots 20, 30) are met based on the environment data, the robot's receiving unit (e.g., communication unit 23) receives first action data from the server 10 related to a second action to be performed by another robot (e.g., communication robot 30) associated with the user account. The robot's control unit (e.g., control unit 21) then performs control to execute a first action (e.g., an action such as speaking) based on the first action data received by the receiving unit. With this configuration, if the server 10 determines that a robot (e.g., communication robot 20) meets predetermined conditions based on environmental data acquired by the robot, it can coordinate the operation of that robot and other robots (e.g., communication robot 30) associated with the same user U.

[0113] Furthermore, the embodiments described above are merely examples of how the present invention may be implemented, and the technical scope of the present invention should not be interpreted as being limited by these embodiments. In other words, the present invention can be implemented in various forms without departing from its gist or its main features.

[0114] <Summary> [General tasks] One of the objectives of this invention is to enable multiple robots to operate in a coordinated manner.

[0115] Issues corresponding to [Appendix 1] One of the objectives of the present invention is to enable multiple robots associated with the same user to operate in a coordinated manner. [Note 1] The robot system according to this embodiment is a robot system comprising a server and a first robot and a second robot that can communicate with the server, wherein the first robot and the second robot are associated with a predetermined user account, the server transmits first operation data to the first robot when predetermined conditions are met, the first robot performs a first operation based on the first operation data, the server transmits second operation data related to the first operation to the second robot, and the second robot performs a second operation based on the second operation data. According to the above information processing device, multiple robots (first robot, second robot) associated with the same user (a predetermined user account) can be operated in a coordinated manner.

[0116] Issues corresponding to [Appendix 2] One of the objectives of the present invention is to enable multiple robots associated with the same user to operate in a coordinated manner. [Note 2] The robot system as described in Note 1, further comprising a third robot associated with a user account, wherein the server transmits second operation data to the second robot and third operation data related to the first operation to the third robot, the second robot performs the second operation based on the second operation data after the first operation is performed by the first robot, and the third robot performs the third operation based on the third operation data after the first operation is performed by the first robot. This allows multiple robots (Robot 1, Robot 2, Robot 3) associated with the same user (a designated user account) to operate in a coordinated manner.

[0117] Issues corresponding to [Appendix 3] One of the objectives of the present invention is to enable multiple robots to operate in coordination based on characteristics set by the user. [Note 3] The robot system as described in Note 1 or 2, wherein the server acquires characteristic data indicating the characteristics of the first and second robots set by the user corresponding to the user account, and generates first operation data and second operation data based on the acquired characteristic data. This allows multiple robots (first robot, second robot) to operate in coordination based on characteristics set by the user.

[0118] Issues corresponding to [Appendix 4] One of the objectives of the present invention is to enable multiple robots to operate in a coordinated manner based on characteristics selected by a server. [Note 4] The robot system described in Note 1 or 2, wherein the server selects one combination of characteristics from a set of multiple pre-configured combinations as the characteristics of the first robot and the second robot, and generates first motion data and second motion data based on characteristic data indicating the selected combination of characteristics. This allows multiple robots (first robot, second robot) to operate in coordination based on characteristics selected by the server.

[0119] Issues corresponding to [Appendix 5] One of the objectives of the present invention is to generate second motion data based on a second motion to be performed by a second robot, using motion data corresponding to any of several modes. [Note 5] The robot system described in any one of Notes 1 to 4, wherein the server generates second operation data by selecting either a first mode in which it generates operation data based on an action that the second robot should perform using predetermined operation data generated before predetermined conditions are met, or a second mode in which it generates operation data based on an action that the second robot should perform using operation data indicating the content of the first action that was generated after the first robot performed the first action. This allows the system to generate second action data based on the second action that the second robot should perform, using motion data corresponding to one of several modes (first mode, second mode).

[0120] Issues corresponding to [Appendix 6] One of the objectives of the present invention is to generate second action data based on a second action that the second robot should perform, using the first mode action data, when a second user different from the first user corresponding to the user account is present around the robot. [Note 6] The robot system as described in Note 5, wherein the first or second robot is equipped with an imaging unit that images the surroundings, and the server selects the first mode and generates second operation data when a second user different from the first user corresponding to the user account is imaged by the imaging unit. This allows the system to generate second action data based on the second action that the second robot should perform, using the first mode's action data, even if a second user different from the first user corresponding to the user account is present around the robot.

[0121] Issues corresponding to [Appendix 7] One of the objectives of the present invention is to generate second action data that causes the second robot to perform a speech action that does not include a predetermined topic, while using the operation data of the second mode, when a second user different from the first user corresponding to the user account is captured. [Note 7] The robot system as described in Note 5, wherein the first or second robot is equipped with an imaging unit that images its surroundings, and the server, when the second mode is selected, generates second action data to cause the second robot to perform a speech action that does not include a predetermined topic when the imaging unit captures an image of a second user different from the first user corresponding to the user account. This allows, when a second user different from the first user corresponding to the user account is captured, to generate second action data that causes the second robot to perform a speech action that does not include a predetermined topic, while using the operation data from the second mode.

[0122] Issues corresponding to [Appendix 8] One of the objectives of the present invention is to generate second action data that causes a second robot to perform a second action using data related to a user corresponding to a user account when that user is present around the robot. [Note 8] A robot system as described in any one of Notes 1 to 7, wherein the first or second robot is equipped with an imaging unit that images its surroundings, and the server generates second action data to cause the second robot to perform a second action using data about the user when a user corresponding to a user account is imaged by the imaging unit. This allows for the generation of second action data, which causes the second robot to perform a second action using data related to a user account, when a user corresponding to that user is imaged.

[0123] Issues corresponding to [Appendix 9] One of the objectives of the present invention is to enable multiple robots associated with the same user to operate in a coordinated manner. [Note 9] The robot according to this embodiment comprises an environment acquisition unit, a transmission unit, a reception unit, and a control unit. The robot is associated with a predetermined user account. The environment acquisition unit acquires environment data, the transmission unit transmits the environment data to a server, and the reception unit, if the server determines that predetermined conditions are met based on the environment data, receives first operation data from the server related to a second operation performed by another robot associated with the user account. The control unit performs control to execute the first operation based on the first operation data received by the reception unit. According to the robot described above, if the robot determines that certain conditions are met based on the acquired environmental data, it can coordinate the operation of that robot and other robots associated with the same user account.

[0124] Issues corresponding to [Appendix 10] One of the objectives of the present invention is to enable multiple robots associated with the same user to operate in a coordinated manner. [Note 10] The robot according to this embodiment comprises an environment acquisition unit, a transmission unit, a reception unit, and a control unit. The robot is associated with a predetermined user account. The environment acquisition unit acquires environment data, the transmission unit transmits the environment data to a server, and the reception unit, if the server determines that predetermined conditions are met based on the environment data, receives first operation data from the server related to a second operation to be performed by another robot associated with the user account. The control unit performs control to execute the first operation based on the first operation data received by the reception unit. According to the robot described above, if the server determines that certain conditions are met based on the environmental data acquired by the robot, it can coordinate the operation of that robot and other robots associated with the same user account.

[0125] Issues corresponding to [Appendix 11] One of the objectives of the present invention is to enable multiple robots associated with the same user to operate in a coordinated manner. [Note 11] The robot according to this embodiment comprises a receiving unit and a control unit, the robot is associated with a predetermined user account, the receiving unit receives second operation data from a server related to a first operation performed by another robot associated with the user account, and the control unit performs control to execute the second operation based on the second operation data received by the receiving unit. According to the above robot, it is possible to operate it in cooperation with other robots associated with the same user account. [Explanation of symbols]

[0126] 1: Robot system, 5: Communication line, 10: Server, 11, 21, 31, 41: Control unit, 12, 22, 32, 42: Memory unit, 13, 23, 33, 43: Communication unit, 14: Operation input unit, 15: Monitor, 16, 29, 39, 49: System bus, 20, 30: Communication robot, 24, 34, 44: Display unit, 25, 35, 45: Speaker, 26, 36, 46: Microphone, 27, 37, 47: Camera, 28, 38, 48: Operation buttons, 40: User terminal, U: User

Claims

1. A robot system comprising a server and a first robot and a second robot capable of communicating with the server, The first robot and the second robot are associated with a predetermined user account. The server, when it meets predetermined conditions, transmits first operation data to the first robot. The first robot performs a first action based on the first action data. The server transmits second operation data related to the first operation to the second robot. The second robot performs a second action based on the second action data. Robot system.

2. The system further comprises a third robot associated with the aforementioned user account, The server transmits the second operation data to the second robot and transmits the third operation data related to the first operation to the third robot. The second robot performs the second operation based on the second operation data after the first operation is performed by the first robot. The third robot performs a third operation based on the third operation data after the first operation is performed by the first robot. The robot system according to claim 1.

3. The server acquires characteristic data indicating the characteristics of the first robot and the second robot set by the user corresponding to the user account, and generates the first operation data and the second operation data based on the acquired characteristic data. The robot system according to claim 1.

4. The server selects one combination of characteristics from among several pre-configured combinations of characteristics as the characteristics of the first robot and the second robot. Based on characteristic data representing the selected combination of characteristics, the first operation data and the second operation data are generated. The robot system according to claim 1.

5. The server selects a first mode in which it generates operation data based on an action that the second robot should perform using predetermined operation data generated before the predetermined conditions are met, or a second mode in which it generates operation data based on an action that the second robot should perform using operation data indicating the content of the first action that was generated after the first robot performed the first action, and generates the second operation data. The robot system according to claim 1.

6. The first robot or the second robot is equipped with an imaging unit that images the surroundings, When the server captures an image of a second user different from the first user corresponding to the user account, it selects the first mode and generates the second operation data. The robot system according to claim 5.

7. The first robot or the second robot is equipped with an imaging unit that images the surroundings, When the server is in a state where the second mode is selected, if a second user different from the first user corresponding to the user account is captured by the imaging unit, the server generates the second action data for causing the second robot to perform a speech action that does not include a predetermined topic. The robot system according to claim 5.

8. The first robot or the second robot is equipped with an imaging unit that images the surroundings, When the user corresponding to the user account is captured by the imaging unit, the server generates second action data to cause the second robot to perform the second action using data relating to the user. The robot system according to claim 1.

9. A robot comprising an environment acquisition unit, a determination unit, a transmission unit, a reception unit, and a control unit, The robot is associated with a predetermined user account, The aforementioned environment acquisition unit acquires environmental data, The determination unit determines whether or not predetermined conditions are met based on the environmental data. If the transmission unit determines that the predetermined conditions are met, it sends determination data to the server indicating that fact. The receiving unit receives first action data from the server related to a second action performed by another robot associated with the user account. The control unit performs control to execute the first operation based on the first operation data received by the receiving unit. robot.

10. A robot comprising an environment acquisition unit, a transmission unit, a reception unit, and a control unit, The robot is associated with a predetermined user account, The aforementioned environment acquisition unit acquires environmental data, The transmission unit transmits the environmental data to the server. If the server determines that predetermined conditions are met based on the environmental data, the receiving unit receives first operation data from the server related to a second operation performed by another robot associated with the user account. The control unit performs control to execute the first operation based on the first operation data received by the receiving unit. robot.

11. A robot comprising a receiving unit and a control unit, The robot is associated with a predetermined user account, The receiving unit receives second action data from the server related to a first action performed by another robot associated with the user account. The control unit performs control to execute the second operation based on the second operation data received by the receiving unit. robot.

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