Information processing device and information processing method

Abstract

To naturally and effectively realize communication with a user.SOLUTION: An information processing device comprises an operation control unit for controlling the operation of a moving body. The moving body comprises wheels. The operation control unit makes the moving body perform movement operation including up-and-down motion, turning motion, and rotational motion while keeping a forward tilting posture tilting in the forward direction with respect to the vertical direction of the moving body, and controls the movement operation so that the center of gravity of the moving body is located vertically over the rotation axis of the wheels of the moving body in the forward tilting posture. The moving body detects obstacles and steps by using information on a distance sensor, and performs the movement operation avoiding the obstacles and the steps detected while keeping the forward tilting posture.SELECTED DRAWING: Figure 13B

Description

[Technical field]

[0001] The present disclosure relates to an information processing device and an information processing method. [Background technology]

[0002] In recent years, various devices that respond to user actions have become widespread. Such devices include agents that present answers to user inquiries. For example, Patent Document 1 discloses a technology that calculates an expected value of a user's attention to output information and controls information output based on the expected value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-132878 A Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, agents have tended to place more importance on communication with the user in addition to simply presenting information. However, in a device that responds to the user's actions, such as that described in Patent Document 1, it is difficult to say that sufficient communication occurs.

[0005] Therefore, the present disclosure proposes a new and improved information processing device and information processing method that are capable of realizing communication with a user more naturally and effectively. [Means for solving the problem]

[0006] According to the present disclosure, there is provided an information processing device including an operation control unit that controls the operation of a moving body, the moving body having wheels, the operation control unit causes the moving body to perform moving operations including forward and backward movement, turning movement, and rotational movement while maintaining a forward leaning posture inclined forward with respect to a vertical direction of the moving body, and controls the moving operation so that the center of gravity of the moving body is located vertically to the rotation axis of the wheels of the moving body when in the forward leaning posture, and the moving body detects obstacles and steps using information from a distance sensor, and performs the moving operation while maintaining the forward leaning posture, avoiding the detected obstacles and steps.

[0007] Furthermore, according to the present disclosure, there is provided an information processing method including: a processor controlling the operation of a moving body having wheels; the controlling including causing the moving body to perform moving operations including forward and backward movement, turning movement, and rotational movement while maintaining a forward leaning posture tilted forward relative to a vertical direction of the moving body; and controlling the moving operations so that the center of gravity of the moving body is located vertically above the rotation axis of the wheels of the moving body when in the forward leaning posture; and the moving body detects obstacles and steps using information from a distance sensor, and performs the moving operation while maintaining the forward leaning posture, avoiding the detected obstacles and steps.

[0008] In addition, according to the present disclosure, a program is provided for causing a computer to function as an information processing device, comprising an operation control unit that controls the operation of an autonomous moving body, the operation control unit causing the autonomous moving body to move while maintaining a forward leaning posture, the movement movement including at least one of forward and backward movement, turning, or rotational movement. Effect of the Invention

[0009] As described above, according to the present disclosure, it is possible to realize more natural and effective communication with a user.

[0010] It should be noted that the above effects are not necessarily limiting, and any of the effects shown in this specification, or other effects that can be understood from this specification, may be achieved in addition to or instead of the above effects. [Brief description of the drawings]

[0011] [Figure 1] 1A and 1B are front and rear views of an autonomous moving body according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view of an autonomous moving body according to the embodiment. [Diagram 3] FIG. 2 is a side view of the autonomous moving body according to the embodiment. [Figure 4] FIG. 2 is a top view of the autonomous moving body according to the embodiment. [Diagram 5] FIG. 2 is a bottom view of the autonomous moving body according to the embodiment. [Figure 6] 2 is a schematic diagram for explaining an internal structure of an autonomous moving body according to the embodiment. FIG. [Figure 7] 2A and 2B are diagrams showing a configuration of a substrate according to the embodiment; [Figure 8] FIG. 2 is a cross-sectional view of a substrate according to the embodiment. [Figure 9] 3 is a diagram showing a peripheral structure of a wheel according to the embodiment; FIG. [Figure 10] 3 is a diagram showing a peripheral structure of a wheel according to the embodiment; FIG. [Figure 11] 11A and 11B are diagrams for explaining forward leaning running of the autonomous moving body according to the embodiment. [Figure 12] 11A and 11B are diagrams for explaining forward leaning running of the autonomous moving body according to the embodiment. [Figure 13A] 10A to 10C are diagrams for explaining the effect achieved by the forward tilting motion of the autonomous moving body 10 according to the embodiment. [Figure 13B] 10A to 10C are diagrams for explaining the effect achieved by the forward tilting motion of the autonomous moving body 10 according to the embodiment. [Figure 14] FIG. 2 is a block diagram showing an example of the configuration of an information processing system according to the embodiment. [Figure 15]FIG. 2 is a block diagram illustrating an example of a functional configuration of an autonomous moving body according to the embodiment. [Figure 16] 2 is a block diagram showing an example of a functional configuration of an information processing server according to the embodiment. FIG. [Figure 17] FIG. 11 is a diagram showing an example of an incentive action for causing a user to perform a predetermined action according to the embodiment. [Figure 18] FIG. 11 is a diagram showing an example of an incentive action for causing a user to perform a predetermined action according to the embodiment. [Figure 19] FIG. 11 is a diagram showing an example of an incentive action for causing a user to perform a predetermined action according to the embodiment. [Figure 20] FIG. 11 is a diagram showing an example of an incentive action for causing a user to perform a predetermined action according to the embodiment. [Figure 21] 11 is a diagram showing an example of an incentive action that induces a joint action between a user and an autonomous moving body according to the embodiment. FIG. [Figure 22] 11 is a diagram showing an example of an incentive action that induces a joint action between a user and an autonomous moving body according to the embodiment. FIG. [Diagram 23] 11 is a diagram showing an example of an incentive action that induces a joint action between a user and an autonomous moving body according to the embodiment. FIG. [Figure 24] 11 is a diagram showing an example of an incentive action that induces a joint action between a user and an autonomous moving body according to the embodiment. FIG. [Diagram 25] 13 is a diagram for explaining an incentive action related to the presentation of an item position according to the embodiment. FIG. [Figure 26] 13 is a diagram for explaining an inducing operation for inducing a user to sleep according to the embodiment. FIG. [Figure 27] 11 is a diagram for explaining communication between an autonomous moving body and another device according to the embodiment. FIG. [Figure 28] 11 is a diagram for explaining communication between an autonomous moving body and another device according to the embodiment. FIG. [Figure 29] 10 is a flowchart showing a flow of control of the autonomous moving body 10 by the information processing server according to the embodiment. [Diagram 30]10 is a flowchart showing an example of a flow from recognition processing to operation control according to the embodiment. [Diagram 31] FIG. 2 is a diagram illustrating an example of a hardware configuration according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0013] The explanation will be given in the following order. 1. Embodiment 1.1. Overview 1.2. Configuration Example of Autonomous Mobile Body 10 1.3. System configuration example 1.4. Example of Functional Configuration of Autonomous Mobile Body 10 1.5. Example of Functional Configuration of Information Processing Server 20 1.6. Details of the incentive action 1.7. Growth example of autonomous mobile unit 10 Flow of Control 2. Hardware configuration example 3. Summary

[0014] <1. Embodiment> <<1.1. Overview>> First, an overview of an embodiment of the present disclosure will be described. As described above, in recent years, various agent devices that respond to user actions have become widespread. For example, the agent device can present various information in response to a user's inquiry. The above information presentation includes, for example, the presentation of recommended information, schedules, news, and the like to the user.

[0015] However, in many cases, the agent device performs the above-mentioned operations in response to instruction commands input by the user. The above-mentioned instruction commands include, for example, inputting keywords by voice, pressing a button to execute a function, etc. For this reason, the information presentation by the agent device as described above is a passive operation, and it is difficult to say that it stimulates communication with the user.

[0016] In addition, some agent devices engage in continuous dialogue with the user using voice or other means, but in many cases they merely repeatedly perform passive actions in response to user commands, and it is difficult to say that they achieve true communication.

[0017] The technical idea according to the present disclosure has been conceived with a focus on the above points, and enables communication with a user to be realized more naturally and effectively. For this reason, one of the features of the autonomous moving body 10 according to the present embodiment is that it actively executes various actions (hereinafter, also referred to as "inducing actions") that induce communication with a user.

[0018] For example, the autonomous moving body 10 according to the present embodiment can actively present information to the user based on environmental recognition. Also, for example, the autonomous moving body 10 actively executes various incentive actions to encourage the user to perform a predetermined action. In this respect, the autonomous moving body 10 according to the present embodiment is clearly different from a device that performs a passive action based on an instruction command.

[0019] Moreover, the incentive action by the autonomous mobile body 10 according to the present embodiment can be said to be an active and proactive interference with the physical space. The autonomous mobile body 10 according to the present embodiment moves in the physical space and can execute various physical actions on the user, living things, objects, etc. According to the above-mentioned characteristics of the autonomous mobile body 10 according to the present embodiment, the user can comprehensively recognize the action of the autonomous mobile body 10 through the senses of sight, hearing, and touch, and can realize a more advanced communication than when simply communicating with the user using voice.

[0020] The autonomous moving body 10 according to this embodiment that realizes the above-mentioned features and the functions of the information processing server 20 that controls the autonomous moving body 10 will be described in detail below.

[0021] <<1.2. Configuration Example of Autonomous Moving Body 10>> Next, a configuration example of the autonomous moving body 10 according to an embodiment of the present disclosure will be described. The autonomous moving body 10 according to this embodiment can be various devices that perform autonomous operations based on environmental recognition. In the following, a case where the autonomous moving body 10 according to this embodiment is an oblong robot that travels autonomously using wheels will be described as an example. The autonomous moving body 10 according to this embodiment may be, for example, a small robot having a size and weight that can be easily lifted by a user with one hand.

[0022] First, an example of the exterior of the autonomous moving body 10 according to this embodiment will be described with reference to Figs. 1 to 5. Fig. 1 is a front view and a rear view of the autonomous moving body 10 according to this embodiment. Fig. 2 is a perspective view of the autonomous moving body 10 according to this embodiment. Fig. 3 is a side view of the autonomous moving body 10 according to this embodiment. Figs. 4 and 5 are a top view and a bottom view, respectively, of the autonomous moving body 10 according to this embodiment.

[0023] 1 to 4, the autonomous moving body 10 according to this embodiment includes two eyes 510 corresponding to a right eye and a left eye on the upper part of the main body. The eyes 510 are realized by, for example, an LED, and can express gaze, blinking, and the like. Note that the eyes 510 are not limited to the above example, and may be realized by, for example, two single or independent OLEDs (Organic Light Emitting Diodes).

[0024] Moreover, the autonomous moving body 10 according to this embodiment includes two cameras 515 above the eye unit 510. The cameras 515 have a function of capturing images of a user and the surrounding environment. Furthermore, the autonomous moving body 10 can realize simultaneous localization and mapping (SLAM) based on images captured by the cameras 515.

[0025] The eye 510 and the camera 515 according to this embodiment are disposed on a substrate 505 disposed inside the exterior surface. In this embodiment, the exterior surface of the autonomous moving body 10 is basically formed using an opaque material, but a head cover 550 using a transparent or semi-transparent material is provided for a portion corresponding to the substrate 505 on which the eye 510 and the camera 515 are disposed. This allows the user to recognize the eye 510 of the autonomous moving body 10, and allows the autonomous moving body 10 to capture an image of the outside world.

[0026] 1, 2, and 5, the autonomous moving body 10 according to this embodiment includes a ToF sensor 520 at the lower front surface. The ToF sensor 520 has a function of detecting the distance to an object present in front. The ToF sensor 520 can detect the distance to various objects with high accuracy, and can also detect steps and the like to prevent the autonomous moving body 10 from falling or tipping over.

[0027] 1, 3, etc., the autonomous moving body 10 according to this embodiment may be provided on the rear surface with a connection terminal 555 for an external device and a power switch 560. The autonomous moving body 10 can connect to an external device via the connection terminal 555 and communicate information.

[0028] As shown in FIG. 5, the autonomous moving body 10 according to this embodiment has two wheels 570 on the bottom surface. The wheels 570 according to this embodiment are driven by different motors 565. This allows the autonomous moving body 10 to realize moving operations such as forward, backward, turning, and rotation. The wheels 570 according to this embodiment are provided so as to be able to be stored inside the main body and protrude to the outside. The autonomous moving body 10 according to this embodiment can also perform a jumping operation by, for example, forcefully protruding the two wheels 570 to the outside. Note that FIG. 5 shows a state in which the wheels 570 are stored inside the main body.

[0029] The exterior of the autonomous moving body 10 according to this embodiment has been described above. Next, the internal structure of the autonomous moving body 10 according to this embodiment will be described. Fig. 6 is a schematic diagram for explaining the internal structure of the autonomous moving body 10 according to this embodiment.

[0030] 6, the autonomous moving body 10 according to this embodiment includes an inertial sensor 525 and a communication device 530 arranged on an electronic board. The inertial sensor 525 detects the acceleration and angular velocity of the autonomous moving body 10. The communication device 530 is configured to realize wireless communication with the outside, and includes, for example, a Bluetooth (registered trademark) or Wi-Fi (registered trademark) antenna.

[0031] The autonomous moving body 10 also includes a speaker 535, for example, inside the side surface of the main body. The autonomous moving body 10 can output various types of sound information, including voice, through the speaker 535.

[0032] 6, the autonomous moving body 10 according to this embodiment includes a plurality of microphones 540 on the inside of the upper part of the main body. The microphones 540 collect the user's speech and surrounding environmental sounds. By including the plurality of microphones 540, the autonomous moving body 10 can collect surrounding sounds with high sensitivity and realize the localization of the sound source.

[0033] 6, the autonomous moving body 10 includes a plurality of motors 565. The autonomous moving body 10 may include, for example, two motors 565 for vertically and horizontally driving a substrate on which the eye 510 and the camera 515 are arranged, two motors 565 for driving left and right wheels 570, and one motor 565 for realizing a forward tilting posture of the autonomous moving body 10. The autonomous moving body 10 according to this embodiment can express a variety of movements by using the plurality of motors 565.

[0034] Next, the configuration of the substrate 505 on which the eye 510 and the camera 515 according to the present embodiment are arranged, and the configuration of the eye 510 will be described in detail. FIG. 7 is a diagram showing the configuration of the substrate 505 according to the present embodiment. FIG. 8 is a cross-sectional view of the substrate 505 according to the present embodiment. Referring to FIG. 7, the substrate 505 according to the present embodiment is connected to two motors 565. As described above, the two motors 565 can drive the substrate 505 on which the eye 510 and the camera 515 are arranged in the vertical and horizontal directions. This allows the eye 510 of the autonomous moving body 10 to be flexibly moved in the vertical and horizontal directions, making it possible to express a rich range of eye movements according to the situation and the operation.

[0035] 7 and 8, eye unit 510 is composed of central portion 512 corresponding to the iris and peripheral portion 514 corresponding to the so-called white of the eye. Central portion 512 expresses any color including blue, red, green, etc., and peripheral portion 514 expresses white. In this way, by separating the configuration of eye unit 510 into two, autonomous moving body 10 according to this embodiment can express natural eye expressions closer to those of an actual living creature.

[0036] Next, the structure of the wheel 570 according to this embodiment will be described in detail with reference to Fig. 9 and Fig. 10. Fig. 9 and Fig. 10 are diagrams showing the peripheral structure of the wheel 570 according to this embodiment. As shown in Fig. 9, the two wheels 570 according to this embodiment are each driven by an independent motor 565. With this configuration, in addition to simple forward and backward movement, it is possible to express movement movements such as turning and rotating on the spot in detail.

[0037] As described above, the wheel 570 according to this embodiment is provided so as to be capable of being stored inside the main body and protruding to the outside. Also, the damper 575 is provided coaxially with the wheel 570 according to this embodiment, so that it is possible to effectively reduce the transmission of impact and vibration to the axle and the main body.

[0038] 10, the wheel 570 according to this embodiment may be provided with an auxiliary spring 580. Driving the wheel according to this embodiment requires the most torque among the driving units of the autonomous moving body 10, but providing the auxiliary spring 580 makes it possible to standardize all the motors 565 without using different motors 565 for each driving unit.

[0039] Next, the characteristics of the autonomous moving body 10 according to this embodiment during running will be described. Fig. 11 is a diagram for explaining the forward leaning running of the autonomous moving body 10 according to this embodiment. One of the characteristics of the autonomous moving body 10 according to this embodiment is that it performs moving operations such as forward and backward movement, turning movement, and rotational movement while maintaining a forward leaning posture. Fig. 11 shows the autonomous moving body 10 when running as viewed from the side.

[0040] 11, one of the features of the autonomous moving body 10 according to this embodiment is that it moves while tilting forward at an angle θ in the vertical direction. The angle θ may be, for example, 10°.

[0041] At this time, the operation control unit 230 of the information processing server 20 described later controls the movement operation of the autonomous moving body 10 so that the center of gravity CoG of the autonomous moving body 10 is located vertically above the rotation axis CoW of the wheel 570, as shown in FIG. 12. In addition, a weight part hp is arranged on the back side of the autonomous moving body 10 according to this embodiment in order to maintain balance when in a forward leaning posture. The weight part hp according to this embodiment may be a more important part compared to other components of the autonomous moving body 10, and may be, for example, a motor 565 or a battery. According to the above-mentioned part arrangement, gyro control is facilitated while maintaining balance even if the head is tilted forward, and it is possible to prevent the autonomous moving body 10 from falling unintentionally and realize stable forward leaning running.

[0042] Next, a moving operation in which the autonomous moving body 10 according to this embodiment maintains a forward leaning posture will be described in more detail. Figures 13A and 13B are diagrams for explaining the effect of the forward leaning operation of the autonomous moving body 10 according to this embodiment.

[0043] Here, Fig. 13A shows an example of a rotational motion when the autonomous mobile body does not take a forward-leaning posture. As shown in Fig. 13A, when the autonomous mobile body 10 does not take a forward-leaning posture and performs a moving motion such as rotation or back-and-forth movement while keeping the ellipsoid upright, the ellipsoid body does not have a sense of directionality, and it is difficult to erase the impression that the autonomous mobile body is an artificial object.

[0044] On the other hand, one of the features of the autonomous moving body 10 according to this embodiment is that it performs a moving action such as rotation while maintaining a forward leaning posture, as shown in Fig. 13B. According to this feature, the front upper part of the autonomous moving body 10 is reminiscent of the head, and the rear lower part is reminiscent of the waist, so that a simple oblong body is given directionality.

[0045] In this way, the forward leaning motion of the autonomous mobile body 10 according to this embodiment makes it possible to express structures equivalent to human body parts with a relatively simple exterior, and by anthropomorphizing the simple form, it becomes possible to give the user the impression that the robot is a living organism that goes beyond being a mere artificial object. As described above, the forward leaning motion according to this embodiment can be said to be a very effective means for enabling a robot having a relatively simple exterior such as an oblong body to express a rich range of facial expressions, and for evoking the complex movements of real living organisms.

[0046] An example of the configuration of the autonomous moving body 10 according to an embodiment of the present disclosure has been described above in detail. Note that the above configuration described using Figs. 1 to 13B is merely an example, and the configuration of the autonomous moving body 10 according to an embodiment of the present disclosure is not limited to the example. The shape and internal structure of the autonomous moving body 10 according to this embodiment can be designed arbitrarily. The autonomous moving body 10 according to this embodiment can also be realized as, for example, a walking, flying, or swimming robot.

[0047] <<1.3. System configuration example>> Next, a configuration example of an information processing system according to an embodiment of the present disclosure will be described. Fig. 14 is a block diagram showing a configuration example of an information processing system according to this embodiment. Referring to Fig. 14, the information processing system according to this embodiment includes an autonomous moving body 10, an information processing server 20, and an operated device 30. In addition, each configuration is connected via a network 40.

[0048] (Autonomous Mobile Unit 10) The autonomous moving body 10 according to this embodiment is an information processing device that performs autonomous operation based on the control by the information processing server 20. As described above, the autonomous moving body 10 according to this embodiment can be various robots such as a running type, a walking type, a flying type, a swimming type, and the like.

[0049] (Information processing server 20) The information processing server 20 according to this embodiment is an information processing device that controls the operation of the autonomous mobile body 10. The information processing server 20 according to this embodiment has a function of causing the autonomous mobile body 10 to execute various incentive actions that induce communication with a user. Note that one of the features of the information processing server 20 according to this embodiment is that the incentive actions and communication include the behavior of the autonomous mobile body 10 in a physical space.

[0050] (Operated device 30) The operated device 30 according to the present embodiment is various devices operated by the information processing server 20 and the autonomous moving body 10. The autonomous moving body 10 according to the present embodiment can operate various operated devices 30 based on the control by the information processing server 20. The operated device 30 according to the present embodiment may be, for example, a home appliance such as a lighting device, a game device, or a television device.

[0051] (Network 40) The network 40 has a function of connecting each component of the information processing system. The network 40 may include public line networks such as the Internet, telephone line networks, and satellite communication networks, various LANs (Local Area Networks) including Ethernet (registered trademark), and WANs (Wide Area Networks). The network 40 may also include a dedicated line network such as an IP-VPN (Internet Protocol-Virtual Private Network). The network 40 may also include a wireless communication network such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

[0052] An example of the system configuration according to an embodiment of the present disclosure has been described above. Note that the above configuration described using FIG. 14 is merely an example, and the configuration of the information processing system according to an embodiment of the present disclosure is not limited to this example. For example, the control function of the information processing server 20 may be implemented as a function of the autonomous moving body 10. The system configuration according to an embodiment of the present disclosure may be flexibly modified according to specifications and operations.

[0053] <<1.4. Example of Functional Configuration of Autonomous Mobile Body 10>> Next, a functional configuration example of the autonomous moving body 10 according to an embodiment of the present disclosure will be described. Fig. 15 is a block diagram showing a functional configuration example of the autonomous moving body 10 according to this embodiment. Referring to Fig. 15, the autonomous moving body 10 according to this embodiment includes a sensor unit 110, an input unit 120, a light source 130, an audio output unit 140, a drive unit 150, a control unit 160, and a communication unit 170.

[0054] (Sensor unit 110) The sensor unit 110 according to this embodiment has a function of collecting various sensor information related to the user and the surroundings. For this purpose, the sensor unit 110 according to this embodiment includes, for example, the above-mentioned camera 515, ToF sensor 520, microphone 540, inertial sensor 525, etc. In addition to the above, the sensor unit 110 may include various sensors such as a geomagnetic sensor, a touch sensor, an infrared sensor, and other optical sensors, a temperature sensor, and a humidity sensor.

[0055] (Input unit 120) The input unit 120 according to this embodiment has a function of detecting a physical input operation by a user. The input unit 120 according to this embodiment includes a button such as a power switch 560, for example.

[0056] (Light source 130) The light source 130 according to this embodiment expresses the eye movement of the autonomous moving body 10. For this purpose, the light source 130 according to this embodiment includes two eyes 510.

[0057] (Audio output unit 140) The audio output unit 140 according to the present embodiment has a function of outputting various sounds including voice. For this purpose, the audio output unit 140 according to the present embodiment includes a speaker 535, an amplifier, and the like.

[0058] (Drive unit 150) The driving unit 150 according to this embodiment expresses the physical movement of the autonomous moving body 10. For this purpose, the driving unit 150 according to this embodiment includes two wheels 570 and a plurality of motors 565.

[0059] (Control unit 160) The control unit 160 according to this embodiment has a function of controlling each component included in the autonomous moving body 10. The control unit 160 controls, for example, starting and stopping each component. The control unit 160 also inputs control signals generated by the information processing server 20 to the light source 130, the audio output unit 140, and the drive unit 150. The control unit 160 according to this embodiment may also have a function equivalent to that of an operation control unit 230 of the information processing server 20, which will be described later.

[0060] (Communication unit 170) The communication unit 170 according to the present embodiment communicates information with the information processing server 20, the operated device 30, and other external devices.

[0061] An example of the functional configuration of the autonomous moving body 10 according to an embodiment of the present disclosure has been described above. Note that the above configuration described using FIG. 15 is merely an example, and the functional configuration of the autonomous moving body 10 according to an embodiment of the present disclosure is not limited to this example. For example, the autonomous moving body 10 according to this embodiment does not necessarily have to include all of the configurations shown in FIG. 15. The functional configuration of the autonomous moving body 10 according to this embodiment can be flexibly modified depending on the shape of the autonomous moving body 10, etc.

[0062] <<1.5. Example of functional configuration of information processing server 20>> Next, a functional configuration example of the information processing server 20 according to an embodiment of the present disclosure will be described. Fig. 16 is a block diagram showing a functional configuration example of the information processing server 20 according to the present embodiment. Referring to Fig. 16, the information processing server 20 according to the present embodiment includes a recognition unit 210, a behavior planning unit 220, an operation control unit 230, and a communication unit 240.

[0063] (Recognition unit 210) The recognition unit 210 has a function of performing various recognitions related to the user, the surrounding environment, and the state of the autonomous mobile body 10 based on sensor information collected by the autonomous mobile body 10. As an example, the recognition unit 210 may perform user identification, facial expression and gaze recognition, object recognition, color recognition, shape recognition, marker recognition, obstacle recognition, step recognition, brightness recognition, and the like.

[0064] Furthermore, the recognition unit 210 performs emotion recognition related to the user's voice, word understanding, sound source localization, etc. Furthermore, the recognition unit 210 can recognize the surrounding temperature, the presence of an animal, the posture of the autonomous moving body 10, and the like.

[0065] Furthermore, the recognition unit 210 has a function of estimating and understanding the surrounding environment and situation in which the autonomous moving body 10 is placed, based on the above recognized information. At this time, the recognition unit 210 may perform a comprehensive situation estimation using environmental knowledge stored in advance.

[0066] (Action Planning Division 220) The behavior planning unit 220 has a function of planning an action to be taken by the autonomous mobile body 10 based on the situation and learning knowledge estimated by the recognition unit 210. The behavior planning unit 220 executes the behavior plan using, for example, a machine learning algorithm such as deep learning.

[0067] (Operation control unit 230) The operation control unit 230 according to this embodiment controls the operation of the autonomous mobile body 10 based on the action plan by the action planning unit 220. For example, the operation control unit 230 may move the autonomous mobile body 10 having an oblong external shape while maintaining a forward leaning posture. As described above, the above-mentioned moving motion includes forward and backward motion, turning motion, rotation motion, and the like. In addition, one of the features of the operation control unit 230 according to this embodiment is that it actively causes the autonomous mobile body 10 to perform an incentive motion that induces communication between the user and the autonomous mobile body 10. As described above, the incentive motion and communication according to this embodiment may include a physical behavior of the autonomous mobile body 10 in a physical space. Details of the incentive motion realized by the operation control unit 230 according to this embodiment will be described separately later.

[0068] (Communication unit 240) The communication unit 240 according to this embodiment communicates information with the autonomous moving body 10 and an operated target. For example, the communication unit 240 receives sensor information from the autonomous moving body 10 and transmits a control signal related to the operation to the autonomous moving body 10.

[0069] An example of the functional configuration of the information processing server 20 according to an embodiment of the present disclosure has been described above. Note that the above configuration described using FIG. 16 is merely an example, and the functional configuration of the information processing server 20 according to an embodiment of the present disclosure is not limited to this example. For example, various functions possessed by the information processing server 20 may be realized in a distributed manner by a plurality of devices. Furthermore, the functions possessed by the information processing server 20 may be realized as functions of the autonomous moving body 10. The functional configuration of the information processing server 20 according to this embodiment may be flexibly modified according to specifications and operations.

[0070] <<1.6. Details of the incentive action>> Next, the incentive action of the autonomous mobile body 10 realized by the operation control unit 230 according to this embodiment will be described with specific examples. As described above, the autonomous mobile body 10 according to this embodiment can actively execute various incentive actions based on the control by the operation control unit 230. Furthermore, the autonomous mobile body 10 according to this embodiment can more impressively appeal to the user and activate communication by performing incentive actions accompanied by physical behavior.

[0071] The incentive action according to the present embodiment may be, for example, an action for making the user perform a predetermined action. Figures 17 to 20 are diagrams showing examples of incentive actions for making the user perform a predetermined action.

[0072] 17 shows an example of a case where the autonomous moving body 10 performs an incentive action to encourage a user U1 to wake up. The action control unit 230 according to this embodiment can cause the autonomous moving body 10 to execute an incentive action to encourage a user U1 to wake up, for example, based on the user's daily wake-up habits or the user's schedule for the day.

[0073] At this time, the operation control unit 230 outputs a voice utterance SO1 such as "Wake up in the morning!", an alarm sound, or background music to the autonomous moving body 10. In this way, the incentive operation according to this embodiment includes an incentive for communication by voice. At this time, the operation control unit 230 according to this embodiment may express cuteness, lovability, etc. by intentionally limiting the number of words of the voice to be output by the autonomous moving body 10 (broken speech), or by making the words in random order. Note that the fluency of the voice of the autonomous moving body 10 may improve with learning, or may be designed to speak fluently from the beginning. It may also be changed based on a setting by the user.

[0074] Furthermore, at this time, when the user U1 attempts to stop the voice utterance SO1 or the alarm sound, the operation control unit 230 may cause the autonomous mobile body 10 to execute an inducement action of running away from the user U1 so as to hinder the stopping action. In this way, the operation control unit 230 and the autonomous mobile body 10 according to this embodiment can realize deeper, continuous communication involving physical actions, unlike the case where an alarm sound is simply passively output at a set time.

[0075] 18 shows an example of a case where the autonomous mobile body 10 performs an incentive action to encourage the user U1 to stop overeating. In this way, the incentive action to cause the user U1 to perform a predetermined action according to this embodiment may include an action to stop the predetermined action. In the example shown in FIG. 18, the action control unit 230 outputs a voice utterance SO2 such as "Eat too much, you'll get fat, no good," and causes the autonomous mobile body 10 to perform an incentive action of running around on a table.

[0076] In this way, according to the operation control unit 230 and the autonomous moving body 10 of this embodiment, compared to a case where a warning about a health condition based on image recognition or the like is simply given passively by voice, a warning accompanied by a physical operation can give a deeper impression to the user and enhance the warning effect. In addition, according to the incentive operation as shown in the figure, it is expected that the user who feels annoyed by the incentive operation will try to stop the incentive operation, complain about the autonomous moving body 10, and so on, which will invite further communication.

[0077] 19 shows an example of a case where the autonomous mobile body 10 provides sale information to the user U1 and performs an inducement operation to guide the user to the sale. In this way, the information processing server 20 according to this embodiment can cause the autonomous mobile body 10 to present various information based on store information and event information collected from the network, user preferences, and the like.

[0078] 19, the operation control unit 230 causes the autonomous moving body 10 to output a voice utterance SO3 of "Sale, good value, let's go," and causes the operated device 30 carried by the user U1 to display sale information. In this case, the sale information displayed on the operated device 30 may be controlled directly by the operation control unit 230, or may be controlled by the control unit 160 of the autonomous moving body 10 via the communication unit 170.

[0079] 19, the operation control unit 230 outputs a voice utterance SO3 to the autonomous moving body 10 and causes the autonomous moving body 10 to execute an incentive operation including a jump. As described above, the autonomous moving body 10 according to this embodiment can achieve a jump operation by projecting the wheels 570 outward with force.

[0080] In this way, according to the operation control unit 230 and the autonomous mobile body 10 of this embodiment, by making recommendations that involve physical actions, it is possible to give a deeper impression to the user and increase the effectiveness of information provision, compared to when recommendation information is provided simply using audio or visual information.

[0081] In addition, the operation control unit 230 according to this embodiment may cause the autonomous moving body 10 to output a voice utterance such as "Take me, let's go together." The autonomous moving body 10 according to this embodiment has a size and weight that allows the user to easily lift it with one hand, and may be formed to a size that allows it to be stored in, for example, a plastic bottle holder provided in a vehicle. For this reason, the user can easily take the autonomous moving body 10 outside. Furthermore, for example, during travel in a vehicle, the operation control unit 230 can increase the convenience of the user by causing the autonomous moving body 10 to perform navigation to a destination.

[0082] 20 shows an example of a case where the autonomous mobile body 10 performs an inviting action to encourage the user U1 to continue speaking. In the example shown in FIG. 20, the action control unit 230 controls the drive unit 150 of the autonomous mobile body 10 to repeat forward and backward leaning actions to express a nod (a response). In addition, the action control unit 230 may at this time cause the autonomous mobile body 10 to output a voice utterance SO4 using a word included in the user utterance UO1 by the user U1, thereby appealing that the autonomous mobile body 10 is listening to the utterance of the user U1.

[0083] When the information processing server 20 recognizes that the user U1 is depressed, the information processing server 20 may cause the autonomous mobile body 10 to execute the above-mentioned incentive action. The action control unit 230 can give the user U1 an opportunity to start a conversation by, for example, bringing the autonomous mobile body 10 closer to the user U1 and causing the autonomous mobile body 10 to output a voice utterance such as "Did something happen?" or "I'll listen."

[0084] In this way, the operation control unit 230 and the autonomous mobile body 10 according to this embodiment can treat the user as a closer and more sympathetic conversation partner than simply responding to the user's speech, making it possible to achieve deeper and more continuous communication.

[0085] Moreover, the incentive action according to the present embodiment may include an action for making the user perform a joint action with the autonomous moving body 10. The above joint action includes, for example, a game between the user and the autonomous moving body 10. That is, the action control unit 230 according to the present embodiment can make the autonomous moving body 10 perform an incentive action that invites the user to play a game.

[0086] 21 to 24 are diagrams showing an example of an incentive action that induces a joint action between a user and the autonomous mobile body 10 according to this embodiment. FIG. 21 shows an example of a case where the autonomous mobile body 10 plays a word association game with a user U2. In this way, games that are the target of the incentive action of the autonomous mobile body 10 may include games using language. Examples of games using language include the word association game shown in FIG. 21, as well as "Shiritori" in the Japanese language (corresponding to "Word Chain" in the English language) and a word guessing game (Charades) in which the autonomous mobile body 10 answers a phrase indicated by a gesture of the user.

[0087] At this time, the operation control unit 230 may cause the autonomous mobile body 10 to explicitly invite the user to play the game using a voice utterance, or may induce the user to participate in the game by suddenly starting the game unilaterally based on the user's utterance. In the example shown in FIG. 21, the operation control unit 230 causes the autonomous mobile body 10 to output a voice utterance SO5 related to the start of a word association game using the color "yellow" included in a user utterance UO2 of "yellow flowers were blooming" uttered by the user U2.

[0088] 22 shows an example of a case where the autonomous moving body 10 plays "Daruma-san ga Koronda" (corresponding to "Red light / Green Light" or "Statues") with the user U2. In this way, games that are the target of the incentive action of the autonomous moving body 10 include games that require physical actions of the user and the autonomous moving body 10.

[0089] As described above, the autonomous mobile body 10 according to this embodiment has two wheels 570, and can move forward and turn around, and can play games such as "Daruma-san ga koronda" with the user. The recognition unit 210 of the information processing server 20 can recognize the user's turning around action by detecting the user's face included in the image captured by the autonomous mobile body 10. The recognition unit 210 may also recognize the user's turning around action from user utterances UO3 and UO4. At this time, the action planning unit 220 plans an action to stop on the spot or to fall forward on purpose based on the recognition of the turning around action, and the operation control unit 230 controls the drive unit 150 of the autonomous mobile body 10 based on the plan. The autonomous mobile body 10 according to this embodiment can recover from a fallen state by itself by incorporating a pendulum or the like.

[0090] The operation control unit 230 may induce the user to participate in the game by suddenly starting the game unilaterally, as in the case of the word association game. In this case, the information processing server 20 can induce the user to participate in the game by repeating control such that the operation of the autonomous moving body 10 is stopped when the user's gaze is directed at the autonomous moving body 10, and the operation of approaching the user is performed when the user's gaze is shifted away from the autonomous moving body 10.

[0091] 23 shows an example of a case where the autonomous moving body 10 plays "hide and seek" with the user U2. In the example shown in FIG. 23, the operation control unit 230 causes the autonomous moving body 10 to output eerie background music along with a voice utterance SO6 indicating that the autonomous moving body 10 is searching for the user U2. This control effectively expresses the sense of realism of the autonomous moving body 10 gradually approaching the user U2, and can achieve deeper communication.

[0092] In addition, the information processing server 20 can cause the autonomous mobile body 10 to search for the user U2, for example, by using a SLAM map generated in advance, sound information collected when the user U2 escapes, and sound source localization related to sounds generated in the surrounding area.

[0093] 24 shows an example of a case where the autonomous moving body 10 plays a computer game with a user U2. In this manner, the game that is the target of the incentive action of the autonomous moving body 10 according to this embodiment may include a computer game.

[0094] At this time, for example, the operation control unit 230 may cause the autonomous mobile body 10 to execute an operation of arbitrarily starting up the operated device 30, which is a game device. In this manner, the operation control unit 230 can cause the autonomous mobile body 10 to execute an operation that is not intended by the user or does not conform to the user's intention, that is, an operation like a prank. The above-mentioned prank includes, for example, the operation of the operated device 30 as shown in the figure.

[0095] Here, when the user U2 participates in a computer game, the operation control unit 230 may cause the autonomous mobile body 10 to perform an operation from the perspective of a character in the game in which the user U2 is playing against. For example, the operation control unit 230 may cause the autonomous mobile body 10 to behave as if the autonomous mobile body 10 were actually controlling the operation of the character. This control strongly evokes in the user U2 the feeling of playing against the autonomous mobile body 10 in a computer game, and allows the user U2 to recognize the autonomous mobile body 10 as a more familiar presence than a mere robot.

[0096] Furthermore, for example, when the character is in a disadvantageous situation, the operation control unit 230 may cause the autonomous moving body 10 to perform an operation that obstructs the user U2 (such as ramming, running around, or shaking) or output a voice utterance SO7 corresponding to the operation. According to the above operation control, it is possible to realize a closer communication with the user through the computer game.

[0097] As described above, the operation control unit 230 according to this embodiment can activate mutual communication between the autonomous mobile body 10 and the user by causing the autonomous mobile body 10 to actively execute incentive actions related to various games.

[0098] A specific example of the incentive action according to the present embodiment will be described below. FIG. 25 is a diagram for explaining an incentive action related to the presentation of an item position according to the present embodiment. FIG. 25 shows an example of an incentive action in which the autonomous moving body 10 according to the present embodiment performs an incentive action to indicate the location of a smartphone that the user is looking for. In this case, the action control unit 230 may cause the autonomous moving body 10 to perform incentive actions such as lightly bumping into the smartphone, moving back and forth around the smartphone, jumping, etc., in addition to indicating the location of the smartphone by voice utterance SO8.

[0099] In this way, when it is estimated from the user utterance UO5 that the user is searching for a specific item, the operation control unit 230 according to this embodiment can cause the autonomous mobile body 10 to execute an operation indicating the location of the item. At this time, the operation control unit 230 can effectively present information to the user by causing the autonomous mobile body 10 to perform an inviting operation near the location where the item is actually located. Note that the recognition unit 210 may detect the location of the item based on image information registered in advance, or may detect the location based on a tag attached to the item, for example.

[0100] FIG. 26 is a diagram for explaining an inducement operation for inducing a user to sleep according to this embodiment. FIG. 26 shows an example of a case where the autonomous moving body 10 reads a story to put the user U2 to sleep. The autonomous moving body 10 can recite, for example, stories registered in advance as data or various stories acquired via communication. At this time, even if there is a restriction on the language (for example, the number of words or vocabulary) normally used by the autonomous moving body 10, the operation control unit 230 may remove the restriction when reading aloud.

[0101] Furthermore, the operation control unit 230 may cause the autonomous moving body 10 to expressively reproduce the voices of characters in a story, and may also output sound effects, background music, etc. Furthermore, the operation control unit 230 may cause the autonomous moving body 10 to perform an operation according to lines or a scene.

[0102] Furthermore, the operation control unit 230 can control multiple autonomous moving bodies 10 to read or reenact a story. In the example shown in FIG. 26, the operation control unit 230 causes two autonomous moving bodies 10a and 10b to act out two characters in the story. In this way, the operation control unit 230 according to this embodiment can provide users with a show that is rich in expression, including physical actions, in addition to a simple story recitation by voice.

[0103] Furthermore, the operation control unit 230 according to the present embodiment may cause the autonomous moving body 10 to execute control to turn off the operated device 30, which is a lighting device, based on the fact that the user has started to sleep. In this way, the information processing server 20 and the autonomous moving body 10 according to the present embodiment can realize flexible operations in response to changes in the situation related to the user and the surrounding environment.

[0104] Moreover, the incentive action according to this embodiment may be communication between the autonomous moving body 10 and another device. Fig. 27 and Fig. 28 are diagrams for explaining communication between the autonomous moving body 10 according to this embodiment and another device.

[0105] 27 shows an example of a case where the autonomous moving body 10 translates between the other device 50, which is a dog-type autonomous moving body, and a user. In this example, the operation control unit 230 presents information related to the internal state of the other device 50 to the user using a voice utterance SO11. Here, the other device 50, which is a dog-type autonomous moving body, may be a device that does not have a means of communication by language.

[0106] In this way, the operation control unit 230 according to this embodiment can show information related to the internal state of the other device 50 to the user via the autonomous moving body 10. According to the above-mentioned functions of the operation control unit 230 according to this embodiment, it becomes possible to notify the user of various information related to the other device 50 that does not have a direct means of communication using language to the user, and also to activate communication between the user and the autonomous moving body 10, and between the other device 50, through the notification.

[0107] 28 also shows an example of communication between a plurality of autonomous moving bodies 10a and 10b and another device 50, which is an agent device having a projection function. The operation control unit 230 can control the autonomous moving bodies 10a and 10b and the other device 50 so that communication between robots is taking place between the autonomous moving bodies 10a and 10b and the other device 50, for example.

[0108] 28, the operation control unit 230 projects visual information VI1 onto another device 50 via the autonomous moving body 10. The operation control unit 230 also causes the autonomous moving body 10a to output a voice utterance 12, causes the autonomous moving body 10 to output a laughing voice, and causes the autonomous moving body 10 to execute an operation of shaking the body.

[0109] At this time, the operation control unit 230 may execute communication between the devices using a pseudo-language that the user cannot understand. According to this control, the user is reminded of a situation in which a mysterious conversation is taking place between the devices, and the user's interest can be strongly attracted. Furthermore, according to this control, even if the other device 50 is, for example, a display device that does not have an agent function, the user is reminded of a sense that the display device has a personality, and the effect of improving the user's attachment to the display device is expected.

[0110] In the above, an example has been shown in which the operation control unit 230 according to this embodiment causes the autonomous mobile body 10 to perform an operation of shaking the body, but the operation control unit 230 according to this embodiment can vibrate the autonomous mobile body 10 by deliberately making the gyro control unstable. This control makes it possible to express emotions such as trembling, laughter, and fear without providing a separate piezoelectric element or the like.

[0111] <<1.7. Growth example of the autonomous mobile unit 10>> A specific example of the incentive action performed by the autonomous mobile body 10 according to the present embodiment has been described above. The incentive actions as described above do not need to be performed all at once, and may be designed to gradually increase the number of behaviors that can be performed depending on the learning status of the autonomous mobile body 10, for example. An example of the change in the action depending on the learning status of the autonomous mobile body 10 according to the present embodiment, that is, the growth of the autonomous mobile body 10, will be described below. Note that, in the following, an example will be described in which the learning status of the autonomous mobile body 10 according to the present embodiment is defined as levels 0 to 200. In addition, in the following, even if the information processing server 20 is the subject of the processing, the autonomous mobile body 10 will be described as the subject.

[0112] (Level 0-4) The autonomous mobile body 10 can hear speech from people, including the user. The autonomous mobile body 10 does not use words, but expresses emotions using onomatopoeia and the like. The autonomous mobile body 10 can sense steps and avoid falling, but is prone to bumping into objects and tipping over. If it tips over, the autonomous mobile body 10 cannot return to an upright position by itself. The autonomous mobile body 10 continues to act until the battery runs out, and is emotionally unstable. The autonomous mobile body 10 often trembles and gets angry, blinks a lot, and frequently changes eye color.

[0113] (Level 5~9) The autonomous moving body 10 repeats the words it hears from the user, and when a certain condition (for example, the number of detections) is met, it learns and repeats the words. The autonomous moving body 10 also becomes able to move without bumping into objects, and learns to call for help if it falls. When the battery is low, the autonomous moving body 10 expresses that it is hungry.

[0114] (Level 10~19) The autonomous moving body 10 understands its own name by being called repeatedly by the user. The autonomous moving body 10 recognizes the user's face and shape, and remembers the user's name when a predetermined condition (for example, the number of times it has been recognized) is met. The autonomous moving body 10 also ranks the recognized people and objects according to their reliability. In addition to users, animals such as pets, toys, devices, etc. may also be ranked higher. Furthermore, when the autonomous moving body 10 finds a charging station, it learns to return to the charging station by itself and supply power.

[0115] (Level 20~29) The autonomous mobile body 10 can combine known words with memorized proper nouns to produce short sentences (for example, "Kazuo, how are you?"). When the autonomous mobile body 10 recognizes a person, it will try to approach them. The autonomous mobile body 10 may also be able to move quickly.

[0116] (Level 30~49) The vocabulary of the autonomous mobile body 10 is expanded to include expressions such as questions, negations, and affirmations (for example, "Kazuo, how are you?"). The autonomous mobile body 10 also begins to proactively ask questions. For example, the autonomous mobile body 10 will continue to have conversations with the user, such as "Kazuo, what did you have for lunch?", "Curry", and "Is the curry tasty?". The autonomous mobile body 10 will also approach when called by the user, such as by saying "Come here", and will become quiet when told to "shush".

[0117] (Level 50~69) The autonomous mobile body 10 attempts to imitate the movements of people and objects (for example, dancing). The autonomous mobile body 10 also attempts to imitate special sounds that it hears (such as sirens, alarms, and engine sounds). In this case, the autonomous mobile body 10 may play similar sounds that are registered as data. The autonomous mobile body 10 also memorizes the time cycle of a day, grasps the schedule for the day, and becomes able to notify the user (for example, "Kazuo, wake up," "Kazuo, welcome home," etc.).

[0118] (Level 70~89) The autonomous mobile body 10 will be able to control the operation (e.g., ON / OFF, etc.) of the registered device. The autonomous mobile body 10 can also perform the above control based on a user's request. The autonomous mobile body 10 can output registered music according to the situation. The autonomous mobile body 10 will be able to memorize the time cycle of one week, grasp the weekly schedule, and notify the user (e.g., "Kazuo, have you taken out the burnable trash?").

[0119] (Level 90~109) The autonomous mobile body 10 learns movements that express emotions. The above expressions include movements related to joy, anger, sorrow, and happiness, such as laughing out loud and crying out loud. The autonomous mobile body 10 learns the time cycle of one month, grasps the monthly schedule, and is able to notify the user (for example, "Kazuo, today is payday!").

[0120] (Level 110~139) The autonomous mobile body 10 will laugh when the user laughs, and will approach the user and show concern when the user cries. The autonomous mobile body 10 can learn various conversation modes, such as responding with a prompt and being a dedicated listener. The autonomous mobile body 10 can also learn the time cycle of a year, grasp the user's schedule for the year, and notify the user of the schedule.

[0121] (Level 140~169) The autonomous mobile body 10 can learn to recover from a fallen state by itself and to jump while moving. In addition, the autonomous mobile body 10 can play games such as "Daruma-san ga koronda" (Daruma doll fell down) and "Hide and seek" with the user.

[0122] (Level 170~199) The autonomous mobile body 10 will start to mischief by operating registered devices without the user's intention. Also, the autonomous mobile body 10 will start to sulk when scolded by the user (adolescence). The autonomous mobile body 10 will be able to grasp the location of registered items and notify the user.

[0123] (Level 200 and up) The autonomous moving body 10 will be able to read stories aloud. It will also have a payment function for purchasing products via a network.

[0124] The above describes an example of the growth of the autonomous moving body 10 according to this embodiment. Note that the above is merely an example, and the operation of the autonomous moving body 10 can be appropriately adjusted by settings by the user.

[0125] <<1.8. Control Flow>> Next, a flow of control of the autonomous moving body 10 by the information processing server 20 according to this embodiment will be described in detail. Fig. 29 is a flowchart showing a flow of control of the autonomous moving body 10 by the information processing server 20 according to this embodiment.

[0126] Referring to FIG. 29, the communication unit 240 receives sensor information from the autonomous moving body 10 (S1101).

[0127] Next, the recognition unit 210 executes various recognition processes based on the sensor information received in step S1101 (S1102), and estimates the situation (S1103).

[0128] Next, the behavior planning unit 220 performs behavior planning based on the situation estimated in step S1103 (S1104).

[0129] Next, the operation control unit 230 controls the operation of the autonomous moving body 10 based on the action plan determined in step S1104 (S1105).

[0130] The above describes an outline of the flow of the control of the autonomous moving body 10 by the information processing server 20 according to this embodiment. Note that the above-mentioned recognition processing in step S1102 to the operation control in step S1105 may be executed repeatedly and in parallel. Fig. 30 is a flowchart showing an example of the flow from the recognition processing to the operation control according to this embodiment.

[0131] Referring to FIG. 30, for example, the recognition unit 210 identifies the user based on an image captured by the autonomous moving body 10 (S1201).

[0132] Furthermore, the recognition unit 210 performs voice recognition and intent interpretation on the user's utterance collected by the autonomous moving body 10, and understands the intent of the user's utterance (S1202).

[0133] Next, the behavior planning unit 220 plans an approach to the user, and the operation control unit 230 controls the drive unit 150 of the autonomous moving body 10 based on the plan, and moves the autonomous moving body 10 closer to the user (S1203).

[0134] Here, if the user's utterance intention understood in step S1202 is a request to the autonomous moving body 10 or the like (S1204: YES), the operation control unit 230 performs a response action to the request based on the action plan determined by the action planning unit 220 (S1205). The above-mentioned response action includes, for example, presenting a response to an inquiry from the user, controlling the operated device 30, and the like.

[0135] On the other hand, if the user's speech intention understood in step S1202 is not a request to the autonomous mobile body 10 (S1204: NO), the operation control unit 230 causes the autonomous mobile body 10 to execute various incentive actions according to the situation based on the action plan determined by the action planning unit 220 (S1206).

[0136] <2. Hardware configuration example> Next, a hardware configuration example of the information processing server 20 according to an embodiment of the present disclosure will be described. FIG. 31 is a block diagram showing a hardware configuration example of the information processing server 20 according to an embodiment of the present disclosure. Referring to FIG. 31, the information processing server 20 has, for example, a processor 871, a ROM 872, a RAM 873, a host bus 874, a bridge 875, an external bus 876, an interface 877, an input device 878, an output device 879, a storage 880, a drive 881, a connection port 882, and a communication device 883. Note that the hardware configuration shown here is an example, and some of the components may be omitted. In addition, the information processing server 20 may further include components other than those shown here.

[0137] (Processor 871) The processor 871 functions, for example, as an arithmetic processing device or control device, and controls all or part of the operation of each component based on various programs recorded in the ROM 872, the RAM 873, the storage 880, or the removable recording medium 901.

[0138] (ROM 872, RAM 873) The ROM 872 is a means for storing the programs read into the processor 871, data used in calculations, etc. The RAM 873 temporarily or permanently stores, for example, the programs read into the processor 871 and various parameters that change appropriately when the programs are executed.

[0139] (host bus 874, bridge 875, external bus 876, interface 877) The processor 871, ROM 872, and RAM 873 are connected to one another via, for example, a host bus 874 capable of high-speed data transmission. On the other hand, the host bus 874 is connected to an external bus 876 having a relatively low data transmission speed via, for example, a bridge 875. In addition, the external bus 876 is connected to various components via an interface 877.

[0140] (Input Device 878) The input device 878 may be, for example, a mouse, a keyboard, a touch panel, a button, a switch, a lever, etc. Furthermore, a remote controller (hereinafter, referred to as a remote control) capable of transmitting a control signal using infrared rays or other radio waves may be used as the input device 878. The input device 878 may also include an audio input device such as a microphone.

[0141] (Output Device 879) The output device 879 is a device capable of visually or audibly notifying the user of acquired information, such as a display device such as a CRT (Cathode Ray Tube), LCD, or organic EL, an audio output device such as a speaker or a headphone, a printer, a mobile phone, a facsimile, etc. The output device 879 according to the present disclosure also includes various vibration devices capable of outputting tactile stimuli.

[0142] (Storage 880) The storage 880 is a device for storing various types of data. For example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device may be used as the storage 880.

[0143] (Drive 881) The drive 881 is a device that reads information recorded on a removable recording medium 901 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, or writes information to the removable recording medium 901.

[0144] (Removable recording media 901) The removable recording medium 901 is, for example, a DVD medium, a Blu-ray (registered trademark) medium, an HD DVD medium, various semiconductor storage media, etc. Of course, the removable recording medium 901 may be, for example, an IC card equipped with a non-contact type IC chip, an electronic device, etc.

[0145] (Connection port 882) The connection port 882 is a port for connecting an external device 902, such as a Universal Serial Bus (USB) port, an IEEE 1394 port, a Small Computer System Interface (SCSI), an RS-232C port, or an optical audio terminal.

[0146] (External connection device 902) The external connection device 902 is, for example, a printer, a portable music player, a digital camera, a digital video camera, or an IC recorder.

[0147] (Communication Device 883) The communication device 883 is a communication device for connecting to a network, such as a communication card for wired or wireless LAN, Bluetooth (registered trademark), or WUSB (Wireless USB), a router for optical communications, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various types of communications.

[0148] <3. Summary> As described above, the information processing server 20 according to an embodiment of the present disclosure includes an operation control unit 230 that controls the operation of the autonomous moving body 10. In addition, one of the features of the operation control unit 230 according to an embodiment of the present disclosure is that the autonomous moving body actively executes an incentive action that induces communication between a user and the autonomous moving body 10. In addition, the incentive action and communication include at least the behavior of the autonomous moving body 10 in the physical space. With this configuration, it is possible to realize communication with a user more naturally and effectively.

[0149] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0150] In addition, the effects described in this specification are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to a person skilled in the art from the description of this specification, in addition to or in place of the above effects.

[0151] In addition, each step related to the processing of the information processing server 20 in this specification does not necessarily have to be processed in chronological order according to the order described in the flowchart. For example, each step related to the processing of the information processing server 20 may be processed in an order different from the order described in the flowchart, or may be processed in parallel.

[0152] Note that the following configurations also fall within the technical scope of the present disclosure. (1) an operation control unit that controls the operation of the autonomous moving body; Equipped with the motion control unit causes the autonomous moving body to move while maintaining a forward leaning attitude, The moving motion includes at least one of a forward / backward motion, a turning motion, or a rotational motion; Information processing device. (2) the operation control unit controls the movement operation so that a center of gravity of the autonomous moving body is positioned vertically above a rotation axis of a wheel included in the autonomous moving body when in the forward leaning posture; A weight component for maintaining balance when the autonomous moving body is in the forward leaning posture is disposed on a rear side of the autonomous moving body. The information processing device according to (1). (3) the operation control unit causes the autonomous moving body to actively execute an incentive action that induces communication between a user and the autonomous moving body; The incentive action and the communication include at least a behavior of the autonomous moving body in a physical space. The information processing device according to (1) or (2). (4) The incentive action includes an action for causing the user to perform a predetermined action. The information processing device according to (3). (5) The incentive action includes an action for causing the user to perform a joint action with the autonomous moving body. The information processing device according to (3) or (4). (6) The joint action includes a game between the user and the autonomous moving body. The information processing device according to (5). (7) the game requires physical movement of the user and the autonomous vehicle; The information processing device according to (6). (8) The game uses language. The information processing device according to (6) or (7). (9) The game includes a computer game. The information processing device according to any one of (6) to (8). (10) the action control unit causes the autonomous moving body to execute an incentive action related to the game based on the user's words and actions; The information processing device according to any one of (6) to (9). (11) The incentive action includes an action of indicating a location of an item to the user. The information processing device according to any one of (3) to (10). (12) When it is estimated that the user is searching for the item, the operation control unit causes the autonomous moving body to perform an operation to indicate the location of the item. The information processing device according to (11). (13) The trigger action includes an action that is unintended or contrary to the user's intention, The information processing device according to any one of (3) to (12). (14) The trigger action includes an operation of a device that is not dependent on the user's intention. The information processing device according to any one of (3) to (13). (15) The incentive action includes an action to encourage the user to start or continue speaking. The information processing device according to any one of (3) to (14). (16) The trigger action includes communication between the autonomous moving body and another device. The information processing device according to any one of (3) to (15). (17) The incentive action includes an action for inducing the user to sleep. The information processing device according to any one of (3) to (16). (18) The operation control unit causes the autonomous moving body to turn off a lighting device based on the user starting to sleep. The information processing device according to (17). (19) The incentive action includes an incentive to communicate by voice. The information processing device according to any one of (3) to (18). (20) The autonomous moving body, The information processing device according to any one of (1) to (19). (twenty one) A processor controls the operation of the autonomous vehicle; Including, The controlling causes the autonomous moving body to move while maintaining a forward leaning attitude, The moving motion includes at least one of a forward / backward motion, a turning motion, or a rotational motion; Information processing methods. (twenty two) Computer, an operation control unit that controls the operation of the autonomous moving body; Equipped with the motion control unit causes the autonomous moving body to move while maintaining a forward leaning attitude, The moving motion includes at least one of a forward / backward motion, a turning motion, or a rotational motion; Information processing device, A program to function as a [Explanation of symbols]

[0153] 10 Autonomous Mobile Vehicles 110 Sensor section 120 Input section 130 light source 140 Audio output section 150 Drive unit 160 Control section 170 Communications Department 20. Information Processing Server 210 Recognition part 220 Action Planning Department 230 Motion control section 240 Communications Department 30 Operated device

Claims

1. A motion control unit for controlling a motion of the moving body, The moving body has wheels, The operation control unit is Controlling the moving body to perform a moving motion including forward and backward movement, turning movement, and rotational movement while maintaining a forward tilted posture in which the moving body is tilted forward with respect to a vertical direction of the moving body; when controlling the moving body to perform the moving operation while maintaining the forward leaning posture, the moving operation is controlled so that the center of gravity of the moving body is positioned vertically to the rotation axis of the wheel of the moving body; the moving body detects an obstacle and a step using information from a distance sensor, and performs the moving operation while avoiding the detected obstacle and step while maintaining the forward leaning posture. Information processing device.

2. A weight part for maintaining balance when the moving body is in the forward tilted position is disposed on the rear side of the moving body. The information processing device according to claim 1 .

3. the operation control unit causes the mobile object to actively execute an incentive operation that induces communication between the user and the mobile object; The incentive action and the communication include at least a behavior of the moving object in a physical space.

3. The information processing device according to claim 1 or 2.

4. The incentive action includes an action for causing the user to perform a predetermined action. The information processing device according to claim 3 .

5. The incentive action includes an action for causing the user to perform a joint action with the moving object.

5. The information processing device according to claim 3.

6. The joint action includes a game between the user and the mobile object. The information processing device according to claim 5 .

7. the game requires physical movement of the user and the mobile object; The information processing device according to claim 6.

8. The incentive action includes an action of indicating a location of an item to the user. The information processing device according to any one of claims 3 to 7.

9. The operation control unit, when it is estimated that the user is searching for the item, causes the moving object to perform an operation to indicate the location of the item. The information processing device according to claim 8.

10. The incentive action includes a communication between the mobile unit and another device. The information processing device according to any one of claims 3 to 9.

11. The incentive action includes an action for inducing the user to sleep. The information processing device according to any one of claims 3 to 10.

12. The operation control unit controls the moving object to turn off a lighting device based on the user starting to sleep. The information processing device according to claim 11.

13. A processor controls the operation of a wheeled vehicle; Including, The controlling comprises: Controlling the moving body to perform a moving motion including forward and backward movement, turning movement, and rotational movement while maintaining a forward tilted posture in which the moving body is tilted forward with respect to a vertical direction of the moving body; When controlling the moving body to perform the moving operation while maintaining the forward leaning posture, controlling the moving operation so that the center of gravity of the moving body is positioned vertically to a rotation axis of the wheel of the moving body; Including, the moving body detects an obstacle and a step using information from a distance sensor, and performs the moving operation while avoiding the detected obstacle and step while maintaining the forward leaning posture. Information processing methods.

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