CHARACTERISTIC DATA SETTING DEVICE, ROBOT, TERMINAL DEVICE, AND CHARACTERISTIC DATA SETTING METHOD

Abstract

To provide a technology to cause a robot to have personality recognized by human perception.SOLUTION: A feature data setting system 200 includes a robot group 202 including a plurality of robots 100, a terminal device 204 capable of communicating with the robots 100, and a server 206 capable of communicating with the terminal device 204, and sets, to the robots 100, feature data recognized by human perception by being output from the robots 100. The feature data setting system 200 sets, to an object robot 100A, feature data unique to the object robot 100A in the robot group 202 including the plurality of robots 100.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a feature data setting device, a robot, a terminal device, and a feature data setting method. [Background technology]

[0002] In recent years, there has been a great deal of development of devices capable of interacting with humans. One such device is an autonomous robot that acts as a substitute for a pet.

[0003] Robots that serve as pet substitutes are required to have a rich range of expressions. Patent Document 1 discloses a technique for enhancing the expressiveness of a robot's eyes by placing monitors at the position of the robot's eyes to display eye images and express a variety of eye image movements. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2018 / 097089 Summary of the Invention [Problem to be solved by the invention]

[0005] Actual pets such as dogs and cats each have their own unique personality. Personality is expressed as internal characteristics such as character and disposition, as well as external characteristics. Take appearance as one external characteristic. For example, even if dogs are of the same breed, they may look similar in appearance, such as ears, eyes, nose, mouth, and coat color, but each one is unique, and no two dogs have the same appearance. On the other hand, industrially manufactured robots generally have no difference in appearance if they are the same model.

[0006] An object of the present invention is to provide a technology for endowing a robot with a personality that can be recognized by human perception. [Means for solving the problem]

[0007] The feature data device of the present invention sets, to a target robot, feature data that is specific to a target robot in a robot group that includes a plurality of the robots, among feature data indicating the characteristics of the robot that is output from an output device in a form that can be perceived by a user.

[0008] This configuration sets feature data indicating the features of the robot, which is output from the output device in a form that can be perceived by the user. Feature data is information that can be recognized by human perception, such as information that can be recognized by the five human senses (sight, hearing, touch, taste, and smell), and more specifically, image data, sound information, tactile information, taste information, and smell information. According to this configuration, feature data unique to a target robot in a robot group including multiple robots is set for the target robot, so that the robot can have a personality that can be recognized by human perception.

[0009] In the feature data device of the present invention, the feature data may be image data showing a predetermined image to be displayed on an image display device. With this configuration, the predetermined image that can be visually recognized by a human can be made unique to a robot.

[0010] In the feature data device of the present invention, the image data may be treated as eye image feature data representing the eyes of the robot. With this configuration, the eyes of the robot can be made unique to the robot.

[0011] In the feature data device of the present invention, the predetermined image may be formed by combining a plurality of images. With this configuration, it is possible to widen the range of expression by the predetermined image.

[0012] In the feature data device of the present invention, the predetermined image may be a combination of a still image and a moving image. With this configuration, the range of expression by the predetermined image can be expanded.

[0013] The feature data device of the present invention may include an output means for outputting to the output device, in a form perceptible by the user, feature data candidates different from the feature data being set for the other robots included in the robot group. This configuration outputs feature data candidates to the output device corresponding to the robot, for example, when the robot is started for the first time or when the user wishes to set feature data automatically. With this configuration, the user can easily set unique feature data for the target robot.

[0014] The feature data device of the present invention may include an acquisition means for acquiring feature data selected by a user, and the output means may output, when the feature data acquired by the acquisition means is set in another robot, the feature data that is within a predetermined similarity range to the feature data to the output device. With this configuration, even if the feature data selected by the user is being set in another robot, the user can easily set unique feature data for the target robot.

[0015] In the feature data device of the present invention, the output means may output to the output device the feature data that is within a predetermined similarity range to the feature data being set for the robot used by another user. With this configuration, a user can easily set, for a target robot, feature data similar to the feature data being set for a robot used by another user.

[0016] In the feature data device of the present invention, the output means may output to the output device the feature data based on user-related information related to a user who uses the target robot. The user-related information in this configuration is, for example, property information indicating the user's properties, such as the user's biometric information, the user's preferences, the user's age, sex, date of birth, etc., and according to this configuration, feature data according to the user's information can be output.

[0017] The feature data device of the present invention may further include a generating means for generating new feature data that can be set in the target robot based on the feature data being set in the first robot and the feature data being set in the second robot. With this configuration, the new feature data generated from the feature data being set in the two robots can be set in the target robot.

[0018] In the feature data device of the present invention, the generating means may generate the new feature data when the first robot and the second robot satisfy a predetermined condition. According to this configuration, the new feature data is generated only when the condition is satisfied.

[0019] The feature data device of the present invention may set, to the target robot, feature data different from the feature data set to the second robot located within a predetermined area including the location of the first robot. According to this configuration, feature data being set to another robot located within a predetermined area including the location of the target robot becomes feature data that cannot be set to the target robot.

[0020] The feature data device of the present invention may determine a range in which the feature data can be set close to the feature data being set for the other robots depending on the number of the robots included in the robot group. With this configuration, the range of the feature data that can be set changes depending on the number of robots.

[0021] In the feature data device of the present invention, the feature data may be sound data representing a sound output from a speaker. With this configuration, a sound that can be recognized by a human ear can be made unique to a robot.

[0022] In the feature data device of the present invention, the sound data may be voice feature data indicating a voice of the robot. With this configuration, the voice output from the robot can be made unique to the robot.

[0023] In the feature data device of the present invention, value information indicating a value based on a setting state of the feature data may be associated with the feature data. With this configuration, a concept of value can be imparted to the feature data being set for the robot.

[0024] The feature data device of the present invention may be configured such that one of the robots performs an action related to the other robot in accordance with the intimacy level with the other robot, and the intimacy level is higher when the features of the one robot and the features of the other robot are similar than when the features of the one robot and the features of the other robot are dissimilar. With this configuration, a user of one robot can learn of the existence of another robot with which his or her robot has become intimate.

[0025] In the feature data device of the present invention, the feature data may be data showing a change in a feature of the target robot. With this configuration, the change in the feature of the robot can be made into a feature of the robot.

[0026] In the feature data device of the present invention, a part or all of the feature data may change according to a predetermined rule over time after the feature data is set. With this configuration, the user can be given the sensation that the robot is a living thing (a feeling of life).

[0027] The feature data device of the present invention may not allow the user of the target robot to change the feature data before a predetermined condition is satisfied, and may allow the user of the target robot to change a part or all of the feature data after the predetermined condition is satisfied. With this configuration, the user can be given the impression that the features of the robot are features that the robot 100 has acquired either innately or acquiredly.

[0028] In the feature data device of the present invention, a range of the feature data that can be set for the target robot may be determined according to an attribute of a user of the target robot. With this configuration, the feature data that can be set for the robot can be made different depending on the attribute of the user.

[0029] In the feature data device of the present invention, the feature data may be data including a time-dependent element. With this configuration, it is possible to impart a change over time to the feature data.

[0030] The robot of the present invention includes an output device, and outputs to the output device characteristic data representing the robot's own characteristics, the characteristic data being output from the output device in a form perceivable by a user, based on characteristic data unique to the robot in a robot group including a plurality of robots. With this configuration, the robot can be endowed with a personality that can be recognized by human perception.

[0031] The terminal device of the present invention transmits to the robot characteristic data unique to the robot in a robot group including a plurality of the robots, among the characteristic data indicating the characteristics of the robot output from the output device in a form perceivable by the user, and causes the robot to set the characteristic data. With this configuration, the characteristic data set in the robot can be made unique to the robot.

[0032] In the terminal device of the present invention, the feature data may be image data of the eyes of the robot, and may be specified by at least one of a shape and a color, and at least one of the shape and the color may be made unique to the target robot. With this configuration, a user can easily make the image of the robot's eyes unique to the robot.

[0033] The terminal device of the present invention may be configured to transmit to the robot decorative image data indicating a decorative image to be superimposed on the image data of the eye. With this configuration, the user can give more individuality to the image of the robot's eye.

[0034] The feature data setting method of the present invention transmits to a robot feature data unique to itself in a robot group including a plurality of robots, among the feature data indicating the features of the robot itself output from an output device in a form perceptible by a user, and sets the data to the robot. With this configuration, it is possible to give the robot an individuality that can be recognized by human perception. [Brief description of the drawings]

[0035] [Figure 1] FIG. 2 is an external view of a robot according to a first embodiment, where (a) is a front external view of the robot, and (b) is a side external view of the robot. [Diagram 2] FIG. 1 is a system configuration diagram of a robot according to a first embodiment. [Diagram 3] FIG. 2 is an external view of an eye image of the robot according to the first embodiment. [Figure 4] 1 is a configuration diagram of a feature data setting system according to a first embodiment. [Diagram 5] 1 is a functional block diagram of a feature data setting system according to a first embodiment. [Figure 6] These are app images related to setting eye images displayed on a terminal device of the first embodiment, where (a) is an app image displayed on the display when a robot app is launched to set the eye image, and (b), (c), (d), and (e) are app images that change in response to operations on the app image shown in (a). [Figure 7] 6 is a flowchart showing a flow of an eye image setting process in the first embodiment. [Figure 8] 13 is a flowchart showing the flow of an eye image setting process in the second embodiment. [Figure 9] FIG. 13 is a functional block diagram of a feature data setting system according to a third embodiment. [Figure 10] These are application images relating to audio settings displayed on a terminal device of the fourth embodiment, where (a) is an application image displayed on the display when launching a robot application to set audio settings, and (b) and (c) are application images that change in response to operation of the application image shown in (a). [Figure 11] 13 is an application image displayed on a terminal device when a user customizes a voice output from a robot of a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] Hereinafter, a feature data setting device, a robot, a terminal device, and a feature data setting method according to the embodiments of the present invention will be described with reference to the drawings. Note that in the following embodiments, the feature data will be described as an eye image of a robot as an example.

[0037] (First embodiment) A first embodiment of the present invention will be described below. Fig. 1 is an external view of a robot 100 according to this embodiment, and Fig. 1(a) is a front external view of the robot 100. Fig. 1(b) is a side external view of the robot 100.

[0038] The robot 100 of this embodiment is an autonomous robot that determines its behavior and gestures based on the external environment and internal state. The external environment is recognized by various sensors such as a camera and a thermo sensor. The robot 100's activity range is, for example, inside a house.

[0039] The body 104 of the robot 100 has an overall rounded shape and includes an outer skin formed of a soft and elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed in clothing. By making the body 104 round, soft, and pleasant to the touch, the robot 100 provides the user with a sense of security and a comfortable tactile sensation. The total weight of the robot 100 is 15 kilograms or less, preferably 10 kilograms or less, and more preferably 5 kilograms or less.

[0040] The robot 100 has three wheels for three-wheeled driving. As shown in the figure, the robot 100 includes a pair of front wheels, a left wheel 102a and a right wheel 102b (when the left wheel 102a and the right wheel 102b are not distinguished from each other, they are referred to as the front wheels 102) and one rear wheel 103. The front wheel 102 is a driving wheel, and the rear wheel 103 is a driven wheel. The front wheel 102 does not have a steering mechanism, but the rotation speed and rotation direction can be individually controlled. The rear wheel 103 is a so-called omniwheel, and is freely rotatable to move the robot 100 forward, backward, left, and right. By making the rotation speed of the right wheel 102b higher than that of the left wheel 102a, the robot 100 can turn left or rotate counterclockwise. By making the rotation speed of the left wheel 102a higher than that of the right wheel 102b, the robot 100 can turn right or rotate clockwise.

[0041] The front wheels 102 and rear wheels 103 can be completely stored in the body 104 by a drive mechanism (rotation mechanism, link mechanism). Even when the robot 100 is moving, most of the wheels are hidden by the body 104, but when the wheels are completely stored in the body 104, the robot 100 is unable to move. That is, as the wheels are stored, the body 104 descends and sits on the floor F. In this seated state, a flat seating surface 108 (ground contact surface) formed on the bottom of the body 104 comes into contact with the floor F.

[0042] The robot 100 has two hands 106. The hands 106 do not have the function of grasping an object. The hands 106 are capable of simple actions such as lifting, shaking, and vibrating. The two hands 106 can also be controlled individually.

[0043] The eye 110 is capable of displaying images using a liquid crystal element or an organic electroluminescence element. In this embodiment, the eye 110 is anti-reflective by attaching an anti-reflective film onto a flat monitor on which an organic electroluminescence element is arranged. A convex lens on which an anti-reflective treatment has been applied may be attached onto the monitor. The robot 100 is equipped with various sensors, such as a microphone array and an ultrasonic sensor, that can identify the direction of a sound source. It also has a built-in speaker and can emit simple sounds.

[0044] Horns 112 are attached to the head of the robot 100. As described above, the robot 100 is lightweight, so a user can lift the robot 100 by grabbing the horns 112. A panoramic camera is attached to the horns 112, and can capture an image of the entire upper area of ​​the robot 100 at once.

[0045] 2 is a diagram showing the hardware configuration of the robot 100. The robot 100 includes an internal sensor 128, a communication unit 126, a storage device 124, a processor 122, a drive mechanism 120, and a battery 118. Each unit is connected to each other by a power line 130 and a signal line 132. The battery 118 supplies power to each unit via the power line 130. Each unit transmits and receives control signals via the signal line 132. The battery 118 is a lithium ion secondary battery, and is the power source of the robot 100.

[0046] The internal sensor 128 is a collection of various sensors built into the robot 100. Specifically, the sensors include a camera (panoramic camera), a microphone array, a distance sensor (infrared sensor), a thermosensor, a touch sensor, an acceleration sensor, and an odor sensor. The touch sensor is installed between the outer skin and the main body frame of the robot 100, and detects the touch of the user. The odor sensor is a known sensor that applies the principle that electrical resistance changes due to the adsorption of molecules that are the source of odor.

[0047] The communication unit 126 is a communication module that performs wireless communication with various external devices such as a user's mobile device. The storage device 124 is composed of a non-volatile memory and a volatile memory, and stores computer programs and various setting information. The processor 122 is a means for executing computer programs. The drive mechanism 120 is an actuator that controls the internal mechanism. In addition, a display, a speaker, etc. are also installed.

[0048] The processor 122 selects the behavior of the robot 100. Various external information obtained by the internal sensor 128 also affects the behavior selection. The drive mechanism 120 mainly controls the wheels (front wheels 102) and the head (head frame). The drive mechanism 120 changes the moving direction and moving speed of the robot 100 by changing the rotation speed and rotation direction of each of the two front wheels 102. The drive mechanism 120 can also raise and lower the wheels (front wheels 102 and rear wheels 103). When the wheels are raised, they are completely stored in the body 104, and the robot 100 abuts against the floor surface F at the seating surface 108, and is in a seated state. The drive mechanism 120 also controls the hands 106 via wires 134.

[0049] The speaker 171 outputs sounds such as the voice of the robot 100 .

[0050] The processor 122 also controls the virtual line of sight of the robot 100 (hereinafter, appropriately referred to as "line of sight of the robot 100"). Various external information obtained by the internal sensor 128 also affects the control of the line of sight of the robot 100. The line of sight of the robot 100 may be a line of sight according to the action selection of the robot 100 (for example, a line of sight toward the movement direction), or may be a line of sight according to various external information obtained by the internal sensor 128 (for example, a line of sight toward a specific object indicated in the external information).

[0051] The monitor 170 is disposed at the position of the face of the robot 100, and is an image display device that displays an eye image 174 that is displayed as the eye 110 of the robot 100. The eye image 174 is formed by superimposing a plurality of elements of the eye. The respective elements are, for example, the white of the eye, the iris, the pupil, the highlight, the eyelid, etc., and the eye image 174 is generated by superimposing them. In the robot 100, a plurality of parameters indicating the internal state are constantly fluctuating in response to various stimuli obtained from the internal sensor 128. The plurality of parameters indicating the internal state are, for example, curiosity, fear, and a desire for recognition, and changes in these parameters are one factor that determine the behavior of the robot 100. This internal state is, so to speak, the feelings of the robot 100, and is constantly fluctuating depending on the passage of time and the external environment. On the other hand, the eyes of living things have a role of conveying feelings by the movement of the gaze and eyelids in addition to the role of seeing things. People can sense the mind from the eyes and can communicate without using words. In anticipation of such communication, the robot 100 dynamically generates eye images 174 in conjunction with the internal state, and can move the robot 100's gaze in a direction that interests it, and close, open, or deform its eyelids according to happiness or sadness. In other words, the eyes 110 are output devices that reflect the internal state, and function as an organ of communication by displaying the eye images 174 dynamically generated in conjunction with the internal state.

[0052] 3 is an external view of the eye image 174. In this embodiment, the eye image 174 is generated by superimposing five images, namely, a white image, an iris image, a pupil image, a highlight image, and a reflection image. In addition, an eyelid image is superimposed on these five images. (L1) White of the eye image The white-of-eye image is the bottom-most image, and corresponds to the white-of-eye portion (peripheral image 168) of eye image 174. The white-of-eye image is a fixed image that does not follow the movement of the robot 100's line of sight. (L2) Iris image The iris image is an image that is overlaid on the white of the eye image. The iris image corresponds to the iris region 162 of the eye image 174. The iris image moves up, down, left, and right in the eye image 174 in accordance with the movement of the robot 100's line of sight. (L3) Pupil image The pupil image is overlaid on top of the iris image. The pupil image corresponds to pupil region 158 of eye image 174. The pupil image moves up, down, left, and right in eye image 174 as robot 100 moves its gaze. (L4) Highlight image The highlight image is overlaid on the pupil image. The highlight image corresponds to the catchlight 166 in the eye image 174. The highlight image does not follow the gaze movement of the robot 100. When the orientation of the robot 100 changes, the processor 122 adjusts the position of the catchlight 166 by moving the highlight image to match the direction of the incident light. (L5) Reflection image The reflected image is superimposed on the highlight image. The reflected image is a reflection in the eye. The processor 122 corrects distortions and the like in the captured image of the front of the robot 100, and then superimposes the reflected image on the highlight image. The reflected image does not follow the movement of the robot 100's line of sight. When the orientation of the robot 100 changes, the processor 122 changes the reflected image to match the captured image.

[0053] In summary, the white of the eye image is fixed as a "base" for the eye image 174. The pupil image and the iris image move in accordance with the line of sight of the robot 100. The highlight image and the reflection image move according to the orientation of the robot 100, regardless of the line of sight of the robot 100. Also, the pupil image and the iris image move in the same direction, but the amount of movement does not have to be the same. In this embodiment, when the iris image is moved in the first direction by a first amount of movement, the pupil image is moved in the first direction by a second amount of movement. At this time, the second amount of movement is greater than the first amount of movement. By creating a slight difference between the movement of the pupil and the movement of the iris, the lifelikeness and realism of the eye image 174 can be further enhanced.

[0054] Each element image forming the eye image 174 is image data having shape and color information, and may be a raster image or a vector image. For each element image, a plurality of images with different combinations of shape and color are prepared. An arbitrary image is selected for each element image, and the element images are superimposed in a predetermined order to form eye images 174 with various types of characteristics. Even when the eye image 174 is generated by reflecting the internal state, the process of moving and superimposing each element image remains the same, so eye images 174 with various appearances are dynamically generated. The eye image 174 generated in this manner changes depending on the direction of the gaze, but the visual characteristics created by the combination of colors and shapes are maintained.

[0055] For example, "white" and "pink" images are prepared as the white of the eye image, and "black" and "blue" images are prepared as the iris image. The eye image 174 may be formed by selecting "white" as the white of the eye image and "blue" as the iris image, or the eye image 174 may be formed by selecting "pink" as the white of the eye image and "black" as the iris image. The eye image 174 thus formed is identifiable by human vision and is a characteristic of each individual robot 100. Since the eye image 174 is formed by overlapping a plurality of elemental images, a large number of visually different types of eye images 174 can be formed by adjusting the type of each elemental image or the number of elemental images forming the eye image 174, and it is possible to form a virtually infinite number of eye images 174.

[0056] FIG. 4 is an overall view of the feature data setting system 200 of this embodiment. The feature data setting system 200 displays a unique eye image 174 for each robot 100 in a robot group 202 including a plurality of robots 100. The robot group 202 may be one or may be multiple based on a predetermined condition. Each robot 100 can display a unique eye image 174 that does not overlap with the robot group 202 to which it belongs. As the saying goes, "eyes are the mirror of the soul," eyes are considered to be an important element for knowing a person. Even if the target of communication is the robot 100, if the robot 100 has eyes, people will unconsciously look at the eyes and try to communicate with the robot 100. In this way, by displaying unique eyes on a device that expresses eyes that are particularly noticeable in communication, it is possible to give an intuitive individuality to the robot 100 manufactured as an industrial product. This is expected to make the user aware of the robot 100 as a special existence, and encourage the user to form an attachment to the robot 100 in the same way as with pets such as dogs and cats.

[0057] The feature data setting system 200 includes a robot group 202 including multiple robots 100A, 100B, 100C, and 100D, a terminal device 204 capable of communicating with the robot 100, and a server 206 capable of communicating with the terminal devices 204A, 204B, and 204C, and sets feature data to the robots 100A, 100B, 100C, and 100D that is output from the robots 100A, 100B, 100C, and 100D and is recognized by human perception.

[0058] In the following description, when the robots 100A, 100B, 100C, and 100D are to be distinguished from each other, any of the letters A to D will be added to the end of the reference numeral, and when the robots 100A, 100B, 100C, and 100D are not to be distinguished from each other, A to D will be omitted. Also, in the following description, when the terminal devices 204A, 204B, and 204C are to be distinguished from each other, any of the letters A to C will be added to the end of the reference numeral, and when the terminal devices 204A, 204B, and 204C are not to be distinguished from each other, A to D will be omitted. Also, the number of robots 100 included in the robot group 202 shown in FIG. 4 is merely an example, and is not limited thereto.

[0059] The server 206 is capable of communicating with each robot 100. Furthermore, each robot 100 is also capable of communicating with other robots 100 that are in close proximity to each other.

[0060] Each user of the robot 100 is given identification information (hereinafter referred to as "identification ID") for identifying the user. The identification ID is, for example, a combination of a plurality of letters and numbers. The identification ID is associated with the robot 100, and the ability to change the settings of the associated robot 100 and view the state of the robot 100 is registered. More specifically, the identification ID is classified according to authority, for example, a first authority that allows the user to change all settings of the robot 100, a second authority that allows the user to change some settings, and a third authority that does not allow the user to change settings. In this embodiment, all identification IDs are allowed to view the state of the robot 100. In this embodiment, the change of the feature data described below is allowed by the identification ID with the first authority registered.

[0061] In addition, the setting change and status viewing of the robot 100 are performed via the terminal device 204. That is, the user can access the robot 100 associated with the identification ID through the terminal device 204 by inputting the identification ID given to the user into the terminal device 204. Then, the user changes the setting and views the status of the robot 100 through the terminal device 204. In the example of FIG. 4, the terminal device 100A is the terminal device 204 to which the identification ID associated with the robot 100A is input and which can access the robot 100A. Similarly, the terminal device 204B can access the robot 100B, and the terminal device 204C can access the robot 100C. In addition, the terminal device 204 of this embodiment is capable of inputting a plurality of identification IDs, and is capable of accessing a plurality of robots 100 with one terminal device. For example, the terminal device 204C shown in FIG. 4 can selectively switch between the robot 100C and the robot 100D and access them.

[0062] Here, feature data is information that is recognized by human perception, for example, information that can be recognized by the five human senses (sight, hearing, touch, taste, and smell), and more specifically, image data, sound data, tactile data, taste data, and smell data.

[0063] The feature data setting system 200 of this embodiment sets, to the target robot 100A, feature data unique to the target robot (hereinafter referred to as the "target robot") 100A in the robot group 202 including a plurality of robots 100, among the feature data indicating the features of the robot 100 output from the output device in a form that can be perceived by the user. In other words, the feature data of the target robot 100A is unique and different from the other robots 100B, 100C, and 100D. As a result, the feature data setting system 200 makes the feature data of the target robot 100A unique to the target robot 100A and does not overlap with the other robots 100B, 100C, and 100D, and can give the robot 100 a personality that is recognized by human perception. In the following description, when the other robots 100B, 100C, and 100D are to be distinguished, any one of B to D is added to the end of the reference numeral, and when the other robots 100B, 100C, and 100D are not to be distinguished, B to D is omitted and it is simply called the other robot 100.

[0064] The feature data of the robot 100 is unique within the range of the robot group 202 in which the robot 100 is included. Here, the server 206 manages the feature data being set for the robots 100 included in the robot group 202. In other words, the robot group 202 is a group of the robots 100 managed by the server 206.

[0065] The robot group 202 only needs to be composed of at least two robots 100, and the range of robots 100 included in the robot group 202 is arbitrarily determined, for example, by the manufacturer of the robot 100, and is determined based on objective conditions. For example, the robots 100 included in the robot group 202 may be all the robots 100 that have been manufactured, may be specified by the region in which the robots 100 are located, or may be specified by the model of the robot 100, a manufacturing date within a predetermined range, items of the robot 100 such as the color and type of clothes worn by the robot 100 detected by a sensor of the robot 100, or other setting values ​​for giving individuality to the robot 100, such as the gender set for the robot 100.

[0066] The feature data of this embodiment is, as an example, feature data of an image that is a basis for constructing the eye image 174 displayed on the monitor 170 of the robot 100. That is, the eye image 174 is generated based on the feature data of the image (a set of parameters indicating each feature of the image), and as shown in the enlarged view of the eye image 174 in FIG. 4 (the eye image 174 within the dashed line), the eye images 174 of the robots 100 included in the robot group 202 are different from each other. The monitor 170 corresponds to an example of the "output device" of the present invention. The eye image 174 corresponds to an example of the "robot feature" of the present invention. As described above, the feature of the robot can be generated based on the feature data.

[0067] As described above, eye image 174 in this embodiment is composed of a combination of multiple images, and parameters are set for each of these images.

[0068] The parameters are values ​​for specifying, for example, the shape, color, saturation, brightness, etc. of the eye image 174. More specifically, the eye image 174 is composed of five images (layers), namely, a white image, an iris image, a pupil image, a highlight image, and a reflection image, as described above as an example. One or more types of parameters are set for each of these images (layers), and each image is generated according to the set parameters. Note that one or more parameters set for each image are also collectively referred to as a parameter set. That is, the eye image feature data for generating the eye image 174 of this embodiment is generated by five parameter sets (first parameter set to fifth parameter set). Note that the parameter set is composed of one or more types of parameters. A parameter set being different from other parameter sets means that the value of at least one type of parameter included therein is different from each other.

[0069] In this manner, the feature data setting system 200 of the present embodiment sets the combination of multiple parameter sets for generating the eye image 174 to the target robot 100A so that the combination is unique and different from any combination of parameter sets of other robots 100 belonging to the same robot group 202 as the target robot 100A. Specifically, the terminal device 204A communicates with the server 206, and the server 206 determines whether the combination of parameter sets of the setting candidates is different from any combination of parameter sets set to the robot group 202 to which the target robot 100A belongs and any combination of parameter sets set to other robots 100 belonging to the same robot group 202. If the determination result is positive (different from any combination), the terminal device 204A sets the eye image feature data generated by the combination of parameter sets to the target robot 100A, and transmits the set combination of parameter sets to the server 206.

[0070] Also, eye image 174 generated from eye image feature data may be configured by a combination of a still image and a moving image, and a parameter set may be set for each of the still image and the moving image. For example, an eyelid image is displayed superimposed on eye image 174 on monitor 170 of robot 100, and opening and closing of the eyelids is expressed by a moving image. The shape and color of the eyelids, the opening and closing speed, the opening and closing interval, etc. can be set by the parameter set.

[0071] As described above, the mechanism for ensuring that the eye image 174 of the robot 100 is unique for each robot 100 makes the robot 100 a one-of-a-kind entity, and the user can feel that the robot 100 is a special entity that belongs only to him / her. As a result, for example, users can bring their own robots 100 together and compare the robots 100 they use, thereby feeling the difference in appearance, and recognizing the difference in appearance is one opportunity to try to find the inner differences between the robots. Furthermore, the user's awareness of the robot 100 helps the user form affection and attachment for the robot 100.

[0072] Next, the terminal device 204 and the server 206 that constitute the characteristic data setting system 200 will be described in detail.

[0073] The terminal device 204 is associated with one or more robots 100. For this reason, an application program (hereinafter referred to as a "robot app") is installed in the terminal device 204 for performing various settings for the associated robot 100 and displaying the state of the associated robot 100 on a display. Note that, as an example, the terminal device 204 is a mobile terminal device such as a smartphone having a touch panel display 210 as a display, but it is not limited to a smartphone and may be other information processing devices such as a laptop computer or a desktop computer as long as it is an information processing device capable of communicating with the robot 100.

[0074] The server 206 transmits and receives various data related to the robot 100 to and from the terminal device 204. The server 206 stores the various data transmitted from the terminal device 204, executes processing based on the data received from the terminal device 204, and transmits the generated various data to the terminal device 204.

[0075] The terminal device 204 and the server 206 are composed of, for example, a processor such as a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a computer-readable storage medium, etc. A series of processes for realizing various functions is stored in the storage medium, etc., in the form of a program, for example, and the CPU reads out this program into the RAM, etc., and executes information processing and arithmetic processing, thereby realizing various functions.

[0076] 5 is a functional block diagram of the characteristic data setting system 200. Each function of the characteristic data setting system 200 is realized by the CPU of the terminal device 204 and the server 206 and the processor 122 of the robot 100 executing a program.

[0077] The terminal device 204 includes a communication unit 212 , a storage unit 214 , an image display control unit 216 , an input operation receiving unit 218 , and an eye image setting instruction unit 220 in addition to the above-mentioned touch panel display 210 .

[0078] The communication unit 212 is a communication module that transmits and receives various data to and from the target robot 100A that is registered in advance, the server 206, and other information processing devices.

[0079] The storage unit 214 is a computer-readable storage medium, and stores various information related to the robot application and the robot 100.

[0080] The image display control unit 216 controls the touch panel display 210 to display an image based on the image data (for example, an application image 260, the details of which will be described later).

[0081] The input operation receiving unit 218 receives an input operation to the terminal device 204 by the user. Specifically, the input operation receiving unit 218 receives an input of eye image feature data to be set in the robot 100 by the user via an application image displayed on the touch panel display 210. The eye image feature data received by the input operation receiving unit 218 is transmitted to the server 206 via the communication unit 212. Then, as will be described in detail later, the server 206 determines whether or not the eye image feature data is being set in another robot 100, that is, whether or not the eye image feature data can become eye image feature data unique to the target robot 100A.

[0082] The eye image setting instruction unit 220 transmits eye image feature data unique to the target robot 100A to the robot 100 via the communication unit 212.

[0083] The server 206 includes a communication unit 230 , a memory unit 232 , an eye image determination unit 234 , a selected eye image acquisition unit 236 , and an eye image output unit 238 .

[0084] The communication unit 230 is a communication module that transmits and receives various data to and from the terminal device 204 and other information processing devices.

[0085] The storage unit 232 is a computer-readable storage medium, and stores various information related to the robot 100 and the user of the robot 100 transmitted from the terminal device 204. The server 206 receives the eye image feature data set for each robot 100 included in the robot group 202 from the terminal device 204, and stores it in the storage unit 232. The eye image feature data that is no longer set for the robot 100 may be deleted from the storage unit 232 of the server 206, or a flag indicating that the eye image feature data is not being set may be associated with the eye image feature data, thereby managing the usage status of the eye image feature data. The storage unit 232 may also accumulate the usage history of the eye image feature data. For example, the storage unit 232 records, for each eye image feature data, the date and time when the data was set for the robot 100, an identification ID for identifying the robot 100, and the date and time when the setting was released from the robot 100. By storing the history of use of eye image feature data in the memory unit 232, it is possible to tally up the period during which each eye image feature data was set on the robot 100, and to statistically infer the tendency of users who prefer eye image feature data from the attributes of the users who own the robot 100.

[0086] The eye image determination unit 234 determines whether the eye image feature data to be set to the target robot 100A is unique eye image feature data different from any of the eye image feature data currently set to the other robots 100 belonging to the same robot group 202. Specifically, the eye image determination unit 234 determines whether the eye image feature data (selected eye image feature data) that the user wishes to set to the target robot 100A is different from any of the eye image feature data currently set to the other robots 100 stored in the storage unit 232.

[0087] The selected eye image acquisition unit 236 acquires eye image feature data (hereinafter referred to as "selected eye image feature data") selected by the user using the terminal device 204. Note that acquiring eye image feature data means acquiring parameters for generating the eye image feature data.

[0088] The eye image output unit 238 outputs candidates for eye image feature data (hereinafter referred to as "candidate eye image feature data") different from any of the eye image feature data set for the other robots 100 included in the robot group 202 to an output device perceivable by the user. That is, the eye image output unit 238 generates candidate eye image data, transmits the candidate eye image feature data via the communication unit 230 to the terminal device 204 to which the identification ID of the target robot 100A has been input, and outputs the candidate eye image feature data to the user via the touch panel display 210 of the terminal device 204. That is, in this embodiment, the output device perceivable by the user is the touch panel display 210 of the terminal device 204.

[0089] The eye image output unit 238 outputs candidates for eye image feature data to the touch panel display 210, for example, when the robot 100 is started for the first time, when the expiration date of the eye image feature data is about to expire, or when an instruction to manually set the user's eye image feature data is received via the touch panel display 210 of the terminal device 204. This allows the user to easily set the eye image feature data. The eye image output unit 238 may also output a plurality of different candidate eye image feature data to the user at one time. When a plurality of candidate eye image feature data are output, the user selects one of the plurality of candidate eye image feature data as the eye image feature data to be set for the robot 100.

[0090] When the eye image feature data acquired by the selected eye image acquisition unit 236 is set in another robot 100, the eye image output unit 238 may output eye image feature data that is within a predetermined similarity range with respect to the eye image feature data. In this way, when the eye image feature data selected by the user has already been set in another robot 100, the eye image output unit 238 can output other candidate eye image feature data that is assumed to be preferred by the user.

[0091] The eye image feature data within the similarity range may be, for example, the following eye image feature data (1) or (2). (1) When the eye image feature data is expressed by continuous or discontinuous parameters such as RGB, numerically close eye image feature data. More specifically, eye image feature data that is within a predetermined range (e.g., within ±5%) of the parameters representing the selected eye image feature data. When the eye image feature data is expressed by multiple parameters, some of the parameters may be within a predetermined range of the corresponding parameters of the selected eye image feature data, and the remaining parameters may be the same parameters, or all of the parameters may be within a predetermined range of the corresponding parameters of the selected eye image feature data. (2) Eye image feature data that, when judged to have a similarity with selected eye image feature data, is equal to or greater than a predetermined similarity level using a model that takes two different eye image feature data as input and outputs the similarity between the two eye image feature data.

[0092] In other words, (1) can be said to be eye image feature data in which the components of the eye image feature data, namely the parameters representing the eye image feature data, are within a similar range, and (2) can be said to be eye image feature data in which the human evaluation of the eye image feature data itself is within a similar range, for example, when a model is used that has been trained using human-assessed similarity as training data.

[0093] In addition, when the eye image output unit 238 generates the eye image feature data similar to the selected eye image feature data selected by the user as the candidate eye image feature data, the range within which the eye image feature data can be set close to the eye image feature data being set by the other robots 100 (hereinafter also referred to as the "proximity range") may be determined according to the number of the robots 100 included in the robot group 202. The number of the robots 100 may be, for example, the number of the robots 100 shipped or the number of the activated robots 100, and may be determined in advance so that the proximity range of the eye image feature data becomes wider as the number of the robots 100 increases, or may be determined in advance so that the proximity range of the eye image feature data becomes narrower as the number of the robots 100 increases. In other words, the eye image feature data being set by the other robots 100 is the selected eye image feature data selected by the user of the target robot 100A. The proximity range may be the same as the similarity range, or may be narrower than the similarity range. When the proximity range is widened, when selected eye image feature data is being set by another robot 100, the number of candidate eye image feature data that can be output by the eye image output unit 238 increases, thereby broadening the range of candidate eye image feature data available to the user.

[0094] Furthermore, the eye image output unit 238 may output eye image feature data within a predetermined similarity range to eye image feature data being set for another robot 100 used by a predetermined other user or another user designated by the user. The other user may be, for example, a well-known user, and the eye image output unit 238 can output the eye image feature data being set by the other user to the touch panel display 210.

[0095] Furthermore, the eye image output unit 238 may output eye image feature data to the touch panel display 210 based on user-related information related to the user who uses the target robot 100A. The user-related information is, for example, biometric information of the user, preference information indicating the user's preferences, and property information indicating the user's properties such as the user's age, sex, and date of birth.

[0096] For example, the eye image output unit 238 may output to the touch panel display 210 eye image feature data in which part of the user-related information related to the user using the target robot 100A is the same or is within a similar range to the eye image feature data of the robot 100B being used by a user within a predetermined range.

[0097] Specifically, when the user-related information of the user using the target robot 100A stored in the storage unit 232 (user-related information associated with the identification ID of the robot 100A) is information indicating 40 years old and male, the eye image output unit 238 searches the storage unit 232 for user-related information using the conditions of 40 years old and male. The eye image output unit 238 recognizes the identification ID of the robot 100 associated with the searched user-related information. The eye image output unit 238 recognizes eye image feature data associated with the identification ID of the robot 100. The eye image output unit 238 outputs eye image feature data within a similar range of the recognized eye image feature data to the touch panel display 210 as candidate eye image feature data.

[0098] In addition, the eye image output unit 238 may estimate the eye image feature data preferred by the user of the target robot 100A based on the usage history of the eye image feature data stored in the memory unit 232, and output the eye image feature data that meets the estimated conditions as a candidate for eye image feature data.

[0099] The robot 100 includes an eye image setting unit 250 in addition to the above-mentioned storage device 124, communication unit 126, and monitor 170.

[0100] The eye image setting unit 250 sets the eye image feature data transmitted from the terminal device 204 as the eye 110. As a result, the monitor 170 displaying the eye 110 displays an eye image 174 unique to the target robot 100A.

[0101] Fig. 6 is an example of an application image related to setting of eye image 174 displayed on touch panel display 210 of terminal device 204. Note that the configuration of the application image shown in Fig. 6 and the method of setting eye image 174 using the application image are merely examples, and are not limited thereto. Also, in each application image, a preview of eye image 174 to be set for target robot 100A is appropriately displayed. Also, input operations by the user on various buttons, etc. are received by input operation receiving unit 218 provided in terminal device 204 via touch panel display 210.

[0102] 6(a) shows application image 260A displayed on touch panel display 210 when a robot application is started and eye image 174 is set. By pressing various buttons included in application image 260A, other application images 260B, 260C, 260D, and 260E corresponding to the respective buttons are displayed on touch panel display 210. Note that preview image 262A showing the entire face of robot 100 including eye image 174 currently set for target robot 100A is displayed on application image 260A.

[0103] FIG. 6(b) shows an application image 260B that is displayed when the preset button 264 of the application image 260A is pressed. In the application image 260B, the user selects one shape from among the predetermined shapes of the eye image 174. In other words, the user selects a parameter indicating the shape of the eye image 174 via the application image 260B. The shape of the eye image 174 selected by the user is displayed as a preview image 262B. More specifically, a plurality of shape images 267 indicating the shapes of the eye image 174 are displayed in the application image 260B, and the user selects one of the plurality of shape images 267. Note that, in the application image 260B of FIG. 6(b), a new shape image 267 that has not been displayed until then is displayed by the user performing a scroll operation on the touch panel display 210. In addition, when the user selects the button 268 marked "random", the shape of the eye image 174 is randomly determined. When the user presses button 269 labeled "Next" after selecting the shape of eye image 174, application image 260B changes to application image 260C shown in FIG. 6(c).

[0104] In application image 260C, preview image 262C of eye image 174 in which color has been added to the shape selected by the user in application image 260B is displayed. When the user presses enter button 270, eye image 174 displayed in preview image 262C is set for target robot 100A.

[0105] The eye image 174 previewed in the application image 260C is an eye image 174 of a unique color that is not set in other robots 100, which is automatically generated by the feature data setting system 200. The eye image output unit 238 generates candidate eye image feature data by selecting a parameter set indicating the color of the eye image 174 and combining it with a parameter set of a shape selected by the user. In addition, the shape of the eye image 174 selectable in the application image 260B and the eye image 174 output as the application image 260C may be determined according to an item of the robot 100, such as clothes worn by the target robot 100A. The item of the robot 100, such as clothes worn by the target robot 100A, is identified, for example, by a sensor provided in the target robot 100A reading a tag unique to the item. In addition, the item of the robot 100, such as clothes worn by the target robot 100A, may be identified by analyzing the color of the robot 100 from an image captured by a camera.

[0106] When the user presses button 271 labeled "Make Again," automatic generation of eye image 174 is newly performed, and preview image 262C of the new eye image 174 is displayed in application image 260C. The user presses button 271 when an eye image 174 that the user prefers has not been generated. When the user presses button 272 labeled "View with Robot," eye image 174 shown in preview image 262C is displayed on monitor 170 of target robot 100A. After pressing button 271 or button 272, the user presses decision button 270 to set eye image 174 to target robot 100A.

[0107] FIG. 6(d) shows application image 260D that is displayed when color contact lens button 266 of application image 260A is pressed. Color contact lenses are decorative images that are superimposed on eye image 174 set by preset at a predetermined transmittance. In addition, color contact lenses are displayed by transmitting decorative image data (hereinafter referred to as "color contact lens data") indicating a decorative image selected by the user in application image 260D to target robot 100A, and the decorative image is superimposed on set eye image 174 at a predetermined transmittance. The transmittance may be arbitrarily set by the user, and the lower the transmittance, the lighter the color of the color contact lens is superimposed on eye image 174. In this embodiment, color contact lenses are, for example, colors formed of a single color or multiple colors, but are not limited thereto, and may be images of patterns, stars, etc. By setting color contact lenses for eye image 174 in this way, the user can give more individuality to eye image 174 of target robot 100A.

[0108] In addition, a plurality of colored contact lens images 273 showing the colors of colored contact lenses are displayed in the application image 260D shown in Fig. 6(d). When the user performs a scroll operation on the touch panel display 210, a new colored contact lens image 273 that was not displayed until then is displayed in the application image 260D. When the user selects a button 274 marked "None", colored contact lenses are not set. When the user presses a button 275 marked "OK", the colored contact lens image 273 according to the user's selection is set on the target robot 100A.

[0109] Here, an example of whether the presets and color contacts can be changed will be described. Note that "unchangeable" means that, for example, once the settings are made at the time of initial startup after the target robot 100A is shipped from the factory, the settings of the eye image 174 cannot be changed until a certain condition, such as the passage of a certain period of time, is met or the target robot 100A is reset to the factory settings. Note that the eye image 174 of the target robot 100A is not unique at the time of shipment from the factory, in other words, in the initial state, but is a common eye image 174 (hereinafter referred to as "default eye image"). In other words, the default eye image is an eye image 174 that is allowed to overlap with other robots 100 but cannot be monopolized.

[0110] The eye image feature data set by the preset may be set at the initial startup of the target robot 100A and may not be changeable, or only some parameters such as the shape of the eye image 174 may be made changeable while other parameters may be changeable. On the other hand, the color contact lenses may be made changeable by the user.

[0111] In addition, the eye image 174 set by the preset is made unique to the target robot 100A, while the colored contact lenses may be allowed to be the same as those of other robots 100, or the colored contact lenses may be unique to the target robot 100A and different from the colored contact lenses of the other robots 100.

[0112] In addition, the eye image 174 set by the preset of this embodiment (hereinafter referred to as the "preset eye image") is displayed on the monitor 170 of the target robot 100A without delay after being set, but this is not limited thereto. For example, the currently set eye image 174 may gradually change to the preset eye image. More specifically, when a default eye image is displayed on the monitor 170, the default eye image changes to the preset eye image over a predetermined period (for example, one day). In addition, when a unique eye image 174 is already displayed on the monitor 170, the unique eye image 174 changes to the preset eye image over a predetermined period. Since the eye image 174 in the process of changing to the preset eye image is temporarily displayed as the eye image 174 of the robot 100, it may include the same eye image 174 set to another robot 100, or may not include the same eye image 174 set to another robot 100.

[0113] Furthermore, the eye image 174 in the process of changing may change based on, for example, user-related information. For example, if the user's preference information includes information on a color the user likes, the change may emphasize that color, or may emphasize a color that evokes the season corresponding to the user's date of birth (for example, white if the user was born in winter).

[0114] 6(e) shows an application image 260E that is displayed when the history button 276 of the application image 260A is pressed. The application image 260E displays a list of a plurality of eye images 174 previously set by the user. That is, the feature data setting system 200 (the terminal device 204 or the server 206) stores a history of eye image feature data previously set by the user. Then, the user can set one piece of eye image feature data (selected eye image feature data) selected from the history of eye image feature data previously set to the target robot 100A via the application image 260E.

[0115] In the application image 260E shown in FIG. 6(e), a plurality of previously set eye images 278 showing eye images 174 showing eye image feature data previously set are displayed. In the application image 260E, when the user performs a scroll operation on the touch panel display 210, previously set eye images 278 that have not been displayed up until that point are displayed. When the user presses a button 277 marked "OK", the previously set eye image 278 according to the user's selection is set for the target robot 100A. Note that the numbers displayed below the previously set eye images 278 ("3", "6", and "7" from the left in the example of FIG. 6(e)) correspond to the numbers displayed below the shape image 267 set by the application image 260B, i.e., the shapes of the eye images 174.

[0116] The eye image determination unit 234 determines whether the selected eye image feature data indicating the previously set eye image 278 selected by the user via the application image 260E is eye image feature data that is not being set to the other robots 100 of the robot group 202 including the target robot 100A. In other words, even if the eye image feature data is stored, eye image feature data that is being set by the other robots 100 cannot be set to the target robot 100A. According to this, even if the eye image feature data is stored by the user, it is allowed to be set by the other robots 100 as long as it is eye image feature data that is not being set, so the range of eye image feature data selection by the users of the other robots 100 is not limited.

[0117] In addition, if the selected eye image feature data selected by the user is being set to another robot 100, the feature data setting system 200 outputs eye image feature data that is within the similarity range of the selected eye image feature data and is not set to the other robot 100 via the eye image output unit 238, and presents it to the user via the app image 260E.

[0118] Furthermore, the feature data setting system 200 may be capable of storing multiple eye images 174 (eye image feature data) when a predetermined condition (hereinafter, "multiple storage condition") is satisfied. The multiple storage condition may be, for example, acquisition of a predetermined number of points or charging a predetermined amount of money. Furthermore, the number of eye images 174 that can be stored (the number of stocks) may increase with an increase in points, etc.

[0119] 7 is a flowchart showing an example of the flow of the eye image setting process of the present embodiment. The eye image setting process is executed, for example, when the user starts a robot application on the terminal device 204 and causes the application image 260 to be displayed on the touch panel display 210.

[0120] First, in step S100, the input operation receiving unit 218 determines whether or not a preset has been selected by pressing the preset button 264. If the preset button 264 has been pressed, the process proceeds to step S102, and if the preset button 264 has not been pressed, the process proceeds to step S112.

[0121] In the next step S102, the input operation receiving unit 218 receives the shape of the eye image 174 selected by the user via the application image 260B. Then, a parameter set indicating the shape of the eye image 174 selected by the user is transmitted to the server 206 via the communication unit 212, and the selected eye image acquisition unit 236 acquires the shape of the eye image 174.

[0122] In the next step S104, the eye image output unit 238 generates one or more candidate eye image feature data by adding color to the shape of the eye image 174 selected by the user, and outputs the data to the touch panel display 210 of the terminal device 204. In this manner, the candidate eye image feature data is presented to the user by being displayed in the application image 260C. Also, the number of candidate eye image feature data output to the touch panel display 210 may be more than one. Note that the parameter set for generating the output candidate eye image feature data is locked so that it cannot be set by another robot 100 during output. This lock is released when the user determines the candidate eye image data to be set in the target robot 100.

[0123] In the next step S106, the input operation receiving unit 218 determines whether or not the user has selected the candidate eye image feature data presented by being output (displayed in the application image 260C) on the touch panel display 210. If the user has selected the candidate eye image feature data, the process proceeds to step S108. On the other hand, if the user has not selected the candidate eye image feature data, the process returns to step S104, where the input operation receiving unit 218 outputs other candidate eye image feature data to the touch panel display 210 (displayed in the application image 260C). Note that the case where the user has not selected the candidate eye image feature data refers to the case where the user has pressed the button 271 on the application image 260C.

[0124] In step S108, the candidate eye image feature data selected by the user is set to the target robot 100A. Specifically, the eye image setting instruction unit 220 included in the terminal device 204 transmits the eye image feature data to the target robot 100A via the communication unit 212. When the target robot 100A receives the eye image feature data, the eye image setting unit 250 sets the eye image feature data as the eye 110 of the robot 100, and displays the eye image 174 on the monitor 170.

[0125] In the next step S110, the terminal device 204 transmits the eye image feature data being set for the target robot 100A to the server 206, and the server 206 stores the eye image feature data in the storage unit 232, whereupon the eye image setting process ends.

[0126] On the other hand, in step S112, which is reached if no preset is selected in step S100, input operation receiving unit 218 determines whether or not colored contact lenses have been selected by pressing colored contact lens button 266. If the determination is affirmative, the process proceeds to step S114, and if the determination is negative, the process returns to step S100.

[0127] In step S114, the input operation receiving section 218 receives the color of the colored contact lenses selected by the user via the application image 260D.

[0128] In the next step S116, the colored contact lenses selected by the user are set for the target robot 100A. Specifically, the eye image setting instruction unit 220 transmits colored contact lens data to the target robot 100A via the communication unit 212. When the target robot 100A receives the colored contact lens data, the eye image setting unit 250 displays on the monitor 170 an eye image 174 in which the colored contact lens data is superimposed on the eye image feature data.

[0129] Second embodiment Next, a second embodiment of the present invention will be described. Note that the configuration of a feature data setting system 200 of this embodiment is similar to that of the feature data setting system 200 of the first embodiment, so a description thereof will be omitted.

[0130] In the first embodiment, a form was described in which the user selects the shape of the eye 110 of the robot 100, and then selects from among the candidate eye image feature data output by the eye image output unit 238 using presets. In the present embodiment, however, a form is described in which the user selects a parameter set for generating eye image feature data, and then determines whether the selected eye image feature data thus generated is set for another robot 100.

[0131] 8 is a flowchart showing an example of the flow of the eye image setting process of this embodiment. The eye image setting process of this embodiment is executed, for example, when the user starts the robot application on the terminal device 204 and selects manual setting of the eye image 174. That is, in the robot application of this embodiment, in addition to the above-mentioned preset and color contact lens settings, manual setting can be selected.

[0132] First, in step S200, the selection of eye image feature data by the user is accepted. In this embodiment, selection images such as slide bars for the user to select the shape of the eye image 174 and the colors of the white of the eye image, the iris image, the pupil image, and the highlight image are displayed on the touch panel display 210 of the terminal device 204. The user operates the selection images displayed on the touch panel display 210, specifically, adjusts the position of the slide bar, to select the shape and color of the eye image 174.

[0133] In the next step S202, the selected eye image acquisition unit 236 of the server 206 acquires the selected eye image feature data selected by the user of the target robot 100A using the terminal device 204. This selected eye image feature data is composed of a parameter set such as the shape, color, etc. of the eye image 174 selected by the user.

[0134] In the next step S204, the eye image determination unit 234 determines whether the acquired selected eye image characteristic data is being set in another robot 100 or not.

[0135] In the next step S206, if it is determined that the selected eye image feature data is being set by another robot 100, the process proceeds to step S208, and if the eye image determination unit 234 determines that the selected eye image feature data is not being set by another robot 100, the process proceeds to step S212.

[0136] In step S208 , the eye image output unit 238 generates candidate eye image feature data and outputs it to the touch panel display 210 of the terminal device 204 .

[0137] In the next step S210, the input operation receiving unit 218 determines whether or not the user has selected the candidate eye image feature data output to the touch panel display 210. If the user has selected the candidate eye image feature data, the process proceeds to step S212. On the other hand, if the user has not selected the candidate eye image feature data, the process returns to step S200, and the selected eye image acquiring unit 236 acquires the selected eye image feature data newly selected by the user.

[0138] In step S212, the selected eye image feature data determined in step S206 to be not being set in another robot 100, or the candidate eye image feature data selected by the user in step S210, is set to the target robot 100A. Specifically, the eye image setting instruction unit 220 included in the terminal device 204 transmits the eye image feature data to the target robot 100A via the communication unit 212. When the target robot 100A receives the eye image feature data, the eye image setting unit 250 sets the eye image feature data as the eye 110 of the robot 100, and displays the eye image 174 on the monitor 170.

[0139] In the next step S214, the terminal device 204 transmits the eye image feature data being set for the target robot 100A to the server 206, and the server 206 stores the eye image feature data in the storage unit 232, whereupon the eye image setting process ends.

[0140] The eye image feature data set in this embodiment is reflected when the target robot 100A closes and opens its eyelids. That is, before the eyelids are closed, the previously newly set eye image 174 is displayed on the monitor 170, but after the eyelids are closed and opened, the newly set eye image 174 is displayed on the monitor 170. When the eyelids are closed to switch the eye image 174, a different movement (hereinafter referred to as a "switching motion") from when the eyelids are simply closed for blinking may be involved. For example, as a switching motion, the eyelids may be opened and closed when the target robot 100A turns its face from a downward facing state to a forward facing state. By incorporating the switching motion into a series of motions, a function unique to the robot 100, that is, the state of the eyes changes, which does not occur in a general living thing, can be realized without impairing the sense of life.

[0141] In addition, the motion that the target robot 100A can select may differ depending on the impression felt from the design of the newly set eye image 174. When a person visually recognizes a design formed by combining colors, shapes, and the like, he or she often intuitively has some impression of the design. For example, a person who visually recognizes a robot 100 having a large round eye image 174 often has a young and lively impression of the robot 100. Also, a person who visually recognizes an oval, slightly drooping eye image 174 often has a calm and gentle impression of the robot 100. Also, a person often has some impression from the motion of the robot 100. For example, if the robot 100 moves quickly and with large movements, the person often has a lively impression of the robot 100. If the robot 100 moves slowly, the person often has a calm impression of the robot 100. If the impression felt by such a person by perceiving the features of the robot 100, such as the eye image 174, deviates from the impression felt by the motion of the robot 100, the person may feel uncomfortable with the robot 100. In order to allow people to unconsciously accept the robot 100, it is preferable to adjust the eye image 174 and the motion corresponding thereto so that the impression given from the features of the robot 100, such as the eye image 174, does not diverge from the impression given from the motion. In view of this, the eye image feature data may be associated with a corresponding motion in advance, or an attribute value indicating the impression of the eye image feature data may be associated with the eye image feature data, and an attribute value indicating the impression may be associated with the motion. For example, the attribute values ​​may be values ​​indicating impressions such as "energetic," "relaxed," and "gentle," and each of the attribute values ​​may be associated with a motion that matches that impression.

[0142] Third embodiment A third embodiment of the present invention will be described. Fig. 9 is a functional block diagram of a feature data setting system 200 of this embodiment. As shown in Fig. 9, the server 206 includes a communication unit 230, a storage unit 232, an eye image determination unit 234, an eye image output unit 238, a selected eye image acquisition unit 236, and a mixed eye image generation unit 240.

[0143] The mixed eye image generating unit 240 generates new eye image feature data (hereinafter referred to as "mixed eye image feature data") that can be set to the target robot 100A based on the eye image feature data being set in the target robot 100A and the eye image feature data being set in the other robots 100. That is, the mixed eye image generating unit 240 generates new eye image feature data from two different eye image feature data being set in the two robots 100. The new eye image feature data generated from the eye image feature data being set in the two robots 100 can be set to the target robot 100A. Furthermore, this may generate eye image feature data that the user does not expect. The generated mixed eye image feature data is transmitted to the terminal device 204 as candidate eye image feature data via the communication unit 230 and output to the touch panel display 210 of the terminal device 204.

[0144] As a method of generating the mixed eye image feature data, for example, the server 206 receives the eye image feature data being set in the target robot 100A and the eye image feature data being set in the other robots 100 via the terminal device 204. Then, the mixed eye image generating unit 240 calculates new parameters by performing a calculation using a predetermined calculation formula with parameters representing the two received eye image feature data as variables, and generates the eye image feature data represented by the parameters as the mixed eye image feature data. The mixed eye image feature data is unique and is not set in any of the robots 100. Therefore, if the generated mixed eye image feature data becomes the same as the eye image feature data being set in the other robots 100, it is regenerated using a different calculation formula (for example, a calculation formula with a changed coefficient). In addition, the mixed eye image feature data may be generated not only by the calculation formula, but also by, for example, AI. Furthermore, the mixed eye image feature data may be gradually changed by morphing and displayed on the touch panel display 210 of the terminal device 204, and the user may select the mixed eye image feature data that he / she prefers from the changing mixed eye images.

[0145] In addition, the mixed eye image feature data may inherit the features of the two eye image feature data. Specifically, the mixed eye image feature data may be generated by maintaining the most visually characteristic part of the two eye image feature data and newly setting another parameter set. The most visually characteristic part is, for example, a shape, which is a part that is set in advance. This allows the generation of the mixed eye image feature data to have a genetic concept.

[0146] In addition, the mixed eye image feature data may be generated such that the influence of the eye image data that has been set for a longer period of time is greater than that of the two eye image feature data as an example of the inherited feature. The greater influence means that the generated mixed eye image feature data is similar to the eye image data that has been set for a longer period of time. However, the mixed eye image feature data may be generated such that the influence of the eye image feature data that has been set for a shorter period of time is greater than that of the two eye image feature data.

[0147] In addition, as an example of the inherited features, the mixed eye image feature data may be generated so that the features of both images are reflected for images with relatively low similarity in the two eye image feature data. The image with relatively low similarity among the two eye image feature data is, for example, an image with relatively low similarity to the corresponding image among the white-eye image, iris image, pupil image, and highlight image constituting one eye image feature data (for example, an image with the smallest similarity among the white-eye image, iris image, pupil image, and highlight image). For example, when the similarity of the white-eye image among the two eye image feature data is the smallest, the image that is intermediate between the two white-eye images may be set as the white-eye image of the mixed eye image feature data, and the other images (iris image, pupil image, and highlight image) may be randomly selected from the respective images included in the two eye image feature data. In addition, without being limited to this, the mixed eye image feature data may be generated so that the features of both images are reflected for an image having a relatively high similarity between the two eye image feature data.

[0148] The mixed eye image feature data generated in this manner may be set to only one of the two robots 100, or may be set to both of the two robots 100. Furthermore, without being limited to this, the mixed eye image feature data may be set to a robot 100 different from the two robots 100. In this case, the robot 100 to which the mixed eye image feature data is set has a concept of a parent-child relationship in which the robot 100 is a child of the two robots 100 as parents.

[0149] In addition, the mixed eye image generating unit 240 generates mixed eye image feature data when the target robot 100A and the other robot 100 satisfy a predetermined condition (hereinafter referred to as "mix trigger condition"). According to this, new mixed eye image feature data is generated only when the mix trigger condition is satisfied. Furthermore, new mixed eye image feature data can be set at any timing of the user. The mix trigger condition is, for example, when it is detected from a captured image that the target robot 100A and the other robot 100 have approached within a predetermined distance (e.g., 30 cm), or when it is detected from a contact sensor that a predetermined part (stomach, forehead) of the target robot 100A has come into contact with a predetermined part (stomach, forehead) of the other robot 100. In addition, a condition may be that the users of the target robot 100A and the other robot 100 for which the mixed eye image feature data is generated are different users.

[0150] In addition, the intimacy between the two robots 100 may be set to a predetermined value or more as a mix trigger condition, and mixed eye image feature data may be generated based on the two eye image feature data set in the two robots 100. The intimacy is improved by, for example, transmitting and receiving data by short-distance wireless communication between the robots 100. For example, the transmitted and received data is an identification ID set in the robot 100. In addition, when one robot 100 transmits an action command to the other robot 100, a probability determination may be made as to whether or not the other robot 100 executes the action command, and when the other robot 100 executes the action command, the intimacy between the two robots 100 may be improved more than when the other robot 100 does not execute the action command. Note that the action command is, for example, an instruction to the other robot 100 to take an action, such as lining up behind one robot 100.

[0151] (Fourth embodiment) A fourth embodiment of the present invention will be described. In this embodiment, voice feature data indicating a sound output from the speaker 171 of the robot 100 is set in the target robot 100A as feature data specific to the target robot 100A. In this embodiment, the voice feature data to be the feature data is set as voice feature data for generating a voice to be output from the robot 100. That is, the voice generated from this voice feature data and output from the speaker 171 by the target robot 100A is a voice specific to the target robot 100A that does not overlap with other robots 100. This makes it possible to make the voice output from the robot 100 and recognizable by human hearing unique to the robot 100. The speaker 171 corresponds to an example of the "output device" of the present invention. Also, the voice output from the speaker 171 corresponds to an example of the "robot feature" of the present invention.

[0152] In addition, the eye image setting instruction unit 220 shown in Figure 5 of the first embodiment functions as an audio setting instruction unit, the eye image judgment unit 234 functions as an audio judgment unit, the selected eye image acquisition unit 236 functions as a selected audio acquisition unit, the eye image output unit 238 functions as an audio output unit, and the eye image setting unit 250 functions as an audio setting unit.

[0153] Fig. 10 is an example of an application image 280 relating to audio setting displayed on the terminal device 204 of the present embodiment. Note that the configuration of the application image 280 shown in Fig. 10 and the method of setting audio using the application image 280 are merely examples, and are not limited thereto.

[0154] FIG. 10(a) shows an application image 280A displayed on the touch panel display 210 when setting the voice by activating a robot application. When the user presses a button 281 labeled "Select Voice", multiple types (four types in this embodiment) of voice feature data with randomly selected parameters are automatically generated. All of the generated voice feature data are voice feature data that do not overlap with voice feature data being set in other robots 100. When the user presses the button 281 and multiple types (four types in this embodiment) of voice are generated, the application image 280A changes to application image 280B shown in FIG. 10(b). The parameters (parameter set) constituting the voice feature data will be described later.

[0155] In addition, when the user presses a button 282 labeled "Current Voice" displayed on the application image 280A, the user can check the voice generated based on the voice feature data currently being set for the target robot 100A. This confirmation voice is output from the speaker 171 of the target robot 100A, which is an output device that can be perceived by the user.

[0156] In the application image 280B shown in FIG. 10(b), voice selection buttons 283A to 283D are displayed, which allow the user to select one of the generated voice feature data. When the user presses any of the voice selection buttons 283A to 283D to select it, the corresponding voice is output. This allows the user to confirm the voice that he or she prefers. When the user presses the button 284 marked "OK" with any of the voice selection buttons 283A to 283D selected, the voice feature data selected by the user is set for the target robot 100A.

[0157] In addition, a button for regenerating voice feature data (hereinafter referred to as the "regenerate button") may be displayed on the application image 280B. The user presses the regenerate button when voice feature data that generates a voice that the user prefers has not been generated. When the user presses the regenerate button, new voice feature data is generated, and the newly generated voice feature data is associated with the voice selection buttons 283A to 283D.

[0158] 10(c) shows an application image 280C that is displayed when the history button 285 of the application image 280A is pressed. The application image 280C displays a list of voice selection buttons 286 for selecting a plurality of voice feature data previously set by the user. That is, the feature data setting system 200 (terminal device 204 or server 206) stores a history of voice feature data previously set by the user. As an example, the maximum number of selectable past voice feature data is determined in advance.

[0159] The voice selection buttons 286 display the date on which the voice feature data was set in the target robot 100A. This allows the user to recognize the difference between the voices corresponding to the voice selection buttons 286. Furthermore, when the user performs a scroll operation on the touch panel display 210, the voice selection buttons 286 corresponding to the voice feature data set in the past that had not been displayed until then are displayed. Then, when the user presses the button 287 labeled "OK", the voice feature data corresponding to the voice selection button 286 selected by the user is set in the target robot 100A.

[0160] It is determined whether the voice feature data selected by the user via the application image 280C is voice feature data that is not being set to the other robots 100 of the robot group 202 including the target robot 100A. In other words, even if the voice feature data is stored, the voice feature data that is being set by the other robots 100 cannot be set to the target robot 100A.

[0161] 11 shows an application image 280D displayed on the terminal device 204 when the user customizes the voice output from the target robot 100A. The application image 280D displays voice feature data (a combination of values ​​of multiple parameters) for generating the voice so that the user can select them. As an example, the user selects the parameter values ​​by moving slide bars 288A to 288F corresponding to each parameter left and right. In other words, the user does not automatically generate the voice to be set for the target robot 100A, but manually generates it according to his or her own preferences.

[0162] In the example of Fig. 11, speed, pitch, pitch range, brightness, lip vibration, and vocal cord length are set as parameters that can be selected by the user. These multiple parameters are treated as one parameter set, and a parameter set of a voice that is not set in another robot 100 can be set as the voice of the target robot 100A. This parameter set is the same as the parameters of the voice feature data generated when the user presses button 281 on the above-mentioned application image 280A.

[0163] Speed ​​is the speaking speed per sound unit. In language, a sound unit is a syllable. The larger this value, the faster the speaking speed.

[0164] Pitch is the average pitch of a sound. The higher this value, the higher the pitch.

[0165] The pitch range is the range of pitches that can be produced. The larger this value, the larger the range of pitches.

[0166] Brightness is a parameter that indicates the brightness of a voice (sound). The brightness of a sound can be changed by changing some of the frequency components of the sound being pronounced (for example, harmonic components). The higher this value, the easier it is for the voice (sound) to be perceived as bright.

[0167] Lip vibration is the degree of lip vibration in a pronunciation structure that mimics the human vocalization structure (mouth). The larger this value, the greater the reflection rate of sound within the human vocalization structure.

[0168] The length of the vocal cords is a parameter that indicates the length of the vocal cords in a pronunciation structure that mimics the human vocalization structure (mouth). The larger this value, the more low frequency components there will be in the sound, making the voice sound more mature.

[0169] When the user presses a button 289 labeled "Listen with robot", a voice generated from the selected voice feature data (parameter set) is output from the speaker 171 of the target robot 100A. When a pressing operation of the decision button 290 is detected, the selected parameter set is set to the target robot 100A. Note that voice feature data generated manually is also set to a voice that does not overlap with voice feature data being set in the other robots 100. Specifically, the server 206 acquires the voice feature data (parameter set) selected by the user from the terminal device 204, determines whether or not the voice feature data overlaps with voice feature data set in the other robots 100, and transmits the determination result to the terminal device 204. When voice feature data (parameter set) that overlaps with that of the other robots 100 is selected, the terminal device 204 disables the decision button 290 and outputs a display indicating that the data is being used by the other robots on the touch panel display 210. In this case, the server 206 may generate voice feature data similar to the voice feature data selected by the user, and a button for playing the generated voice feature data may be displayed on the touch panel display 210.

[0170] In addition, customization of the voice using the application image 280D may be possible for a user who satisfies a predetermined condition, such as a user who has used the robot 100 for a period of time that has exceeded a predetermined period, a user who has acquired a predetermined number of points, or a user who has paid a predetermined amount of money.

[0171] (Variation 1) The feature data setting system 200 may associate value information indicating a value based on the setting state of the eye image feature data with the eye image feature data. This allows the concept of value to be given to the eye image feature data being set in the robot 100. In the above embodiment, the mechanism for occupying the eye image feature data has been described, but the length of the occupancy period varies depending on the user's impression of the eye image 174. If the user likes the robot 100 having the eye image 174, the user will continue to use the eye image 174 for a long period of time, and if the user does not like it, it is expected that the user will change it immediately. The eye image 174 that the user wants to use for a long time is what is called a "favorite," and it is often highly likely that multiple people feel the same eye image 174 as a favorite. By providing a mechanism for occupying the eye image feature data, market principles come into play and value is created in the eye image feature data.

[0172] The value information may be setting period information indicating the period during which the eye image feature data is being set, user-related information related to the user using the robot 100, parameters set by a relatively large number of users (some of the multiple parameters that represent the eye image feature data (e.g., parameters related to shape)), etc., but is not limited to these and may be other information as long as it can provide a concept of value. For example, eye image feature data that has been set for a long period of time, eye image feature data set by a famous designer, parameters that have been set by many users, etc. are considered to be of high value. In addition, eye image feature data set by a celebrity who is loved by many fans is also considered to be of high value to fans.

[0173] In addition, eye image feature data that has been set for a longer period of time may be evaluated as being more valuable. In addition, if the user-related information satisfies a predetermined condition (for example, if the user is a famous user or if the number of items in common with the user-related information of the user of the target robot 100A is a predetermined number or more), the eye image feature data associated with the user-related information may be evaluated as being more valuable than if the user-related information does not satisfy the predetermined condition. In addition, the parameter that has been used by a larger number of users may be evaluated as being more valuable.

[0174] When updating the eye image feature data of the target robot 100A, the feature data setting system 200 may present to the user of the target robot 100A eye image feature data having the same value as the value of the eye image feature data previously set in the target robot 100A or a value within a predetermined range. As an example, when the value is determined based on the length of the occupancy period, eye image feature data that has been occupied as long as the eye image feature data of the target robot 100A is extracted and output to the touch panel display 210. In other words, eye image feature data that has been favorited to the same extent as the current eye image feature data is presented to the user.

[0175] Also, a mechanism may be provided for exchanging the occupyable eye image feature data for something having monetary value, such as points.

[0176] (Variation 2) The eye image feature data being set in the robot 100 may be made unusable if the setting period information exceeds a predetermined period. This prevents the same eye image feature data from being set for a period longer than the predetermined period, and thus encourages the user to set new eye image feature data. Note that even if the eye image feature data has setting period information that exceeds the predetermined period, the same eye image feature data may be made unusable under certain conditions (such as earning points or charging).

[0177] (Variation 3) The feature data setting system 200 may be able to set the eye image feature data to the target robot 100A even if the eye image feature data is being set by another robot 100, if permission is given from the user of the other robot 100. In this way, even if the eye image feature data is being set by the other robot 100, it can be set to the target robot 100A. Note that the eye image feature data being set to the other robot 100 for which permission has been given may not be able to be continuously set, or may be able to be continuously set. If it is possible to continuously set, the same eye image feature data will be set to multiple robots 100.

[0178] (Variation 4) The types of eye image feature data that can be selected by the user may increase in accordance with an increase in the number of robots 100 included in the robot group 202. For example, when the number of robots 100 included in the robot group 202 exceeds a predetermined number, the types of shapes and colors of the eye images 174 that can be selected by the user increase. Thus, the more the number of robots 100 increases, the more types of eye image feature data that can be set by the user increases.

[0179] (Variation 5) The feature data setting system 200 may set feature data for the target robot 100A that is different from the feature data set for the other robots 100 located within a predetermined area including the location of the target robot 100A. Therefore, feature data being set for the other robots 100 located within a predetermined area including the location of the target robot 100A cannot be set for the target robot 100A. The predetermined area here refers to a predetermined range based on an area such as a prefecture or a city, town, or village, or an installation location of a device such as the server 206. Therefore, even if the same eye image feature data as the eye image feature data selected by the user is being set for the other robots 100, the selected eye image feature data can be set for the target robot 100A if the other robots 100 are located outside the predetermined area, so that the selection range of eye image feature data that can be set for the target robot 100A is expanded.

[0180] The location of the robot 100 may be determined, for example, by a GPS provided in the robot 100, or may be determined based on the location of a charging device for the robot 100.

[0181] The charging device is installed in a house where the robot 100 moves. When the charging rate of the battery 118 falls below a predetermined value, the robot 100 moves to the charging device by itself and charges the battery 118 at a predetermined position of the charging device. The charging device also has a function of an information processing device and can communicate with the robot 100, the terminal device 204, and the server 206. For example, the location of the charging device identified from an IP address assigned to the charging device may be regarded as the location where the robot 100 is located.

[0182] (Variation 6) The charging device of the robot 100 may have the functions of the eye image determination unit 234, the selected eye image acquisition unit 236, the eye image output unit 238, and the mixed eye image generation unit 240 that the server 206 has.

[0183] In this modification, when the server 206 receives eye image feature data being set from another robot 100 included in the robot group 202, the server 206 transmits the eye image feature data to the charging device. This allows the charging device to know the eye image feature data being set in the other robot 100. When setting eye image feature data for the target robot 100A, the terminal device 204 sets unique eye image feature data for the target robot 100A by communicating with the charging device.

[0184] (Variation 7) The feature data setting system 200 may not include the server 206, and the feature data being set by the robot 100 (hereinafter, eye image feature data as an example) may be transmitted and received between the terminal devices 204, so that the terminal device 204 or the robot 100 may store the eye image feature data being set by the other robots 100, and set eye image feature data different from the stored eye image feature data being set to the target robot 100A. A collection of eye image feature data in which the eye image feature data being set by the other robots 100 has been stored is called an "eye image list." In other words, the terminal device 204 or the robot 100 holds the eye image list, and the terminal device 204 or the robot 100 has the same function as the server 206. As a result, the terminal device 204 or the robot 100 grasps the eye image feature data being set by the other robots 100, and therefore the server 206 is not required in the configuration of the feature data setting system 200.

[0185] Also, the robots 100 belonging to the same robot group 202 may autonomously change the eye image feature data to avoid duplication of eye image feature data. For example, the target robot 100A avoids duplication of eye image feature data between other robots 100 that have transmitted and received its own eye image feature data. This avoids duplication of eye image feature data in the target robot 100A's living area (user's living area). The "user's living area" is the range or area in which the user acts in life, and is expressed by physical location information and time information in life, such as frequently visited stores and time periods. In other words, even if people live in the same area, their living areas are different if they use different stores.

[0186] In the case where the feature data setting system 200 does not include the server 206, the robot group 202 to which the target robot 100A belongs is formed by actually meeting other robots 100 in the user's living space. That is, in order for the target robot 100A to form the robot group 202, the target robot 100A moves from place to place accompanied by the user, and gradually forms the robot group 202 by recognizing other robots 100 at the moving destination. In general, a person's living space is generally fixed, and after a certain period of time, the robots 100 present in the user's living space can be grasped. The robot group 202 thus formed is determined based on subjective conditions. By forming the robot group 202 on the condition that the robots are present in the user's living space, it is possible to avoid duplication of eye image feature data within the robot group 202. In other words, the target robot 100A has a unique eye image 174 in the user's living space. The robot group 202 thus formed is mainly based on the target robot 100A, and even if the robots 100 are present in the same area, they will become different robot groups 202 if the users' living spaces are different.

[0187] For example, the robot 100 may change the eye image feature data after a certain period of time has elapsed since the power was turned on and the robot group 202 has been constructed. This reduces the probability of the eye image feature data being duplicated. Only the default eye image may be set for a certain period of time, and the eye image 174 may be changed when the certain period of time has elapsed. In addition to the certain period of time, the robot group 202 may be constructed when the number of times the robot 100 has been taken to another location by the user exceeds a certain number, or when the number of other robots 100 registered in the robot group 202 exceeds a certain number. In addition, the eye image lists held by the robots 100 that are close to each other within a certain distance may be exchanged.

[0188] (Variation 8) One robot 100 may perform an action related to the other robot 100 depending on the intimacy with the other robot 100. The intimacy may be higher when the characteristics of the one robot 100 and the characteristics of the other robot 100 are similar than when the characteristics of the one robot 100 and the characteristics of the other robot 100 are dissimilar.

[0189] An action related to other robots 100 is, for example, an action performed by the robot 100 when there is another robot 100 in the vicinity of the robot 100 with an intimacy level equal to or higher than a predetermined value, and is an action performed by the robot 100 to make its own user aware of the other robots 100 with a high intimacy level and the users of the other robots 100 (hereinafter referred to as an "introduction action").

[0190] For example, when the intimacy between the robot 100 and another robot 100 reaches a predetermined value or more and the robot 100 detects the presence of its own user, the robot 100 informs its own user of the other robot 100 with which the intimacy has reached the predetermined value or more or the user of the other robot 100. This allows the user of the robot 100 to know the presence of the other robot 100 with whom the robot 100 has become intimate or the user of the other robot 100. This creates an opportunity for the users to interact with each other.

[0191] In addition, the robot 100 detects the presence of its user when, for example, a camera provided in the robot 100 captures an image of its user, when the voice of its user is input into a microphone provided in the robot 100, or when the communication unit 126 provided in the robot 100 receives an ID output from a terminal device 204 used by its user.

[0192] The introduction action of informing the user of another robot 100 or the user of the other robot 100 whose intimacy with the robot 100 has reached a predetermined value or above is performed, for example, by a predetermined gesture by the robot 100 or by sending predetermined information to the terminal device 204 used by the user.

[0193] The predetermined gestures include, for example, the robot 100 running around the other robot 100, the robot 100 facing the other robot 100, the robot 100 moving the hand 106 toward the other robot 100, etc. The transmission of the predetermined information includes, for example, displaying a face photo of the user of the other robot 100, displaying an eye image 174 unique to the other robot 100, etc. Data showing the face photo of the user of the other robot 100 and the eye image 174 unique to the other robot 100 are shared between the robots 100 whose intimacy level is equal to or greater than a predetermined value.

[0194] The introduction action of the robot 100 may be, for example, as follows.

[0195] First introduction action: The robot 100 performs a predetermined gesture toward another robot 100. The predetermined gesture in this case is, for example, the robot 100 running around the other robot 100.

[0196] Second introduction action: The robot 100 performs a predetermined gesture toward the user of the other robot 100. The predetermined gesture in this case is, for example, the robot 100 running around the user of the other robot 100. Also, the robot 100, for example, acquires image data showing the face of the user of the other robot 100 from the other robot 100, and identifies the user of the other robot 100 by face recognition based on image data captured by a camera. Alternatively, the other robot 100 transmits position information of the terminal device 204 held by its own user to the robot 100, and the robot 100 identifies the user of the other robot 100 by the position information.

[0197] Third introduction action: The robot 100 performs a predetermined gesture toward its own user and the other robots 100. The predetermined gesture in this case is, for example, turning toward its own user and the other robots 100 alternately.

[0198] Fourth introduction action: The robot 100 performs a predetermined gesture toward its own user and toward the user of the other robot 100. The predetermined gesture in this case is, for example, turning toward its own user and toward the user of the other robot 100 alternately.

[0199] Moreover, when the characteristics of the robot 100 are similar to those of another robot 100, the intimacy level increases, which means that the intimacy level increases between the robots 100 that have similar characteristic data, such as eye image characteristic data and voice characteristic data. The increase in intimacy level in this case may be set higher than the increase in intimacy level due to the transmission and reception of the identification ID as described above. As a result, the intimacy level between the robots 100 that have similar eye image characteristic data increases rapidly.

[0200] Furthermore, the degree of improvement of the intimacy varies depending on the degree of similarity of the features, i.e., the higher the similarity, the more the intimacy improves, and when the similarity is low (dissimilar), the intimacy does not change.

[0201] (Variation 9) The feature data may be not only eye image feature data generated by parameters (parameter set) but also eye image feature data generated by AI. Note that even if the feature data is generated by AI, the feature data is specified by parameters.

[0202] Furthermore, the feature data is not limited to eye image feature data or voice feature data, but may be data including a time-dependent element. This allows the feature data to change over time. The data including a time-dependent element is, for example, the behavior (motion) of the robot 100, and the feature data may be a combination of a motion parameter set indicating the action of the robot 100 0 seconds, 1 second, 2 seconds, etc., after the start timing of the behavior. Note that the data including a time-dependent element of the robot 100 is not limited to the behavior of the robot 100, but may be other time-dependent changes such as the movement of the eyelids of the robot 100 or facial expressions when the face of the robot 100 is displayed on a display.

[0203] In this case, the front wheels and rear wheels that operate in accordance with the behavior and the drive mechanism for operating these correspond to the "output device" of the present invention.

[0204] Furthermore, the feature data may be texture data configured from control parameters indicating the texture (feel) of the robot 100, habit data configured from control parameters indicating the habit of the movement of the robot 100, voice feature data generated by the robot 100 generated from phoneme parameters, taste data configured from control parameters indicating the taste output by the robot 100, and smell data configured from control parameters indicating the smell output by the robot 100. Note that the feel of the robot 100 is reproduced, for example, by piezoelectric elements arranged on the surface of the robot 100, the taste of the robot 100 is reproduced by food produced by a 3D printer capable of manufacturing food, and the smell of the robot 100 is an smell reproduced by an olfactory display.

[0205] (Variation 10) The device for which the feature data is unique may be a device other than the robot 100. The device is, for example, a terminal device 204 that displays an icon image of the robot 100 on a display. The icon image is, for example, assigned to each identification information (ID) indicating the user of the robot 100 or to each terminal device 204. The feature data that is unique is, for example, the eye image 174 of the icon indicating the robot 100. In addition, the design of the virtual character displayed on the display of the terminal device 204 (the color and shape of the eyes, the color and shape of the clothes, the hairstyle, the contour of the face, and the like, and at least one combination of these) may be the unique feature data. Furthermore, the design of the virtual character displayed on the 3D hologram display device may be the unique feature data.

[0206] (Variation 11) The setting of the feature data may be performed by a device other than the terminal device 204. For example, the robot 100 may be provided with an input device such as a touch panel display, and the feature data may be set by an input operation on the touch panel display.

[0207] (Variation 12) The feature data may be data indicating a change in the feature of the robot 100. For example, the feature data may be a value (for example, a value indicating a difference in hue over a certain period) that provides a basis for a change in a parameter (for example, hue) constituting the eye of the robot 100 over a certain period. In this way, the change in the robot 100 can be regarded as a feature of the robot 100.

[0208] (Variation 13) The feature data setting system 200 may change part or all of the feature data of the robot 100 according to a predetermined rule as time passes after the feature data is set. For example, if the feature is an eye, the feature data setting system 200 may intermittently or continuously make the iris image of the robot 100 smaller as the time that has passed since the feature data was set increases. Also, if the feature is a voice, the feature data setting system 200 may intermittently or continuously make the pitch of the robot 100 higher as the time that has passed since the feature data was set increases. By changing the feature of the robot 100 according to a predetermined rule as time passes, if the user recognizes the tendency of the robot's feature to change over time, the user may be given the sensation that the robot 100 is a living thing (a feeling of life).

[0209] In this case, the characteristic data setting system 200 may make it possible to set characteristic data to a robot 100 other than the one robot 100, which is not identical or similar to the characteristic data of the one robot 100 after the change, but is identical or similar to the characteristic data of the one robot 100 before the change.

[0210] Furthermore, it is preferable that the range in which feature data exists when no time has passed (start time) is a range that is partially or entirely different from the range in which feature data exists after a certain period of time has passed.

[0211] In this manner, the occupation of the feature data at the start point is released over time, so that the feature data can be set for a new robot 100 while enhancing the lifelike feel of the robot 100.

[0212] Furthermore, the feature data may be changed so as not to deviate from the range of similarity, or may be changed so as to deviate from the range of similarity. When the feature data is changed so as to deviate from the range of similarity, it is preferable that it takes a predetermined period of time to deviate from the range of similarity, and that the feature data is changed in stages. For example, it may take one year to deviate from the range of similarity, and the parameter to be changed may be set to the amount of change per unit period (e.g., one day) that is "a value obtained by dividing the amount until the range of similarity is deviated by the number of unit periods (e.g., 365 for the number of days) included in the predetermined period."

[0213] Also, a pseudo age may be set for the robot 100, and the settable characteristic data may change according to the pseudo age. That is, the range of parameters that can be set may differ according to the age of the robot 100. As an example, the pseudo age is incremented according to the time that has elapsed since the robot 100 was activated. In this case, the progression of actual time and the progression of the age of the robot 100 do not have to match, for example, the age of the robot 100 is incremented by one every three months.

[0214] As the age of the robot 100 increases, the settable voice feature data changes, for example, from a higher pitch to a lower pitch. This makes it easier to release the exclusive use of feature data of a robot 100 that has been in use for a long time, and increases the number of feature data that can be used by a new robot 100 (a younger robot 100). Note that as the robot 100 becomes old, the settable eye image 174 may change so that the eyelids of the robot 100 droop.

[0215] (Variation 14) The feature data setting system 200 may change the feature data so that the features are easily recognized by elderly people.

[0216] For example, as people age, their eyesight tends to deteriorate, making it difficult for them to recognize certain colors, such as yellow. In view of this, the feature data setting system 200 may change the feature data in a case where the feature is an eye, so that the iris image or pupil image becomes larger. In this way, when a user uses the robot 100 for a long period of time, the iris image or pupil image of the eye image 174 displayed on the robot 100 becomes relatively larger over time, so that the eye image 174 of the robot 100 can become an image that is easy for the user to see, even if the user's eyesight has deteriorated due to aging.

[0217] Also, for example, as people age, they tend to have difficulty hearing high-frequency sounds. In view of this, the feature data setting system 200 may change the feature data in the case where the feature is voice so that the frequency of the voice to be produced is lowered. In this way, when the user uses the robot 100 for a long period of time, the voice generated by the robot 100 becomes a relatively low-frequency voice over time, so that even if the user has difficulty hearing high-frequency sounds due to age-related hearing loss, the voice of the robot 100 can become easy for the user to hear.

[0218] (Variation 15) The feature data setting system 200 may change the feature data of the robot 100 based on information acquired by sensors such as a camera, a microphone, and a contact sensor after the feature of the robot 100 is output, so that the user's reaction is a positive reaction. For example, the feature data setting system 200 classifies the user's reaction into three types, positive, neutral, and negative, based on information acquired by sensors such as a camera, a microphone, and a contact sensor after the feature of the robot 100 is output. Positive, neutral, and negative are classified, for example, based on at least one of the number of times or time the user touches the robot 100, the number of times or time the user speaks to the robot 100, and the number of times or time the user looks at the robot 100 within a predetermined time after the robot 100 outputs the feature. As an example, the more times the user touches the robot 100, or the longer the time for these, the more positive the user's reaction is. In addition, positive, neutral, and negative may be classified based on the user's facial expression, the feature amount of the user's voice (high and low voice), and the like.

[0219] Thereafter, the feature data setting system 200 changes the feature data based on the feature space, for example, so that the user's reaction becomes positive. The feature space is a space based on the parameter values ​​of the feature data, and has positive, negative, and neutral regions (hereinafter referred to as "response regions"). This response region is determined according to the user's past reaction to the feature data set in the target robot 100A. Then, the feature data setting system 200 changes the feature data so that it approaches the center of the positive region. Without being limited to this, the feature data setting system 200 may change the feature data for which the user's reaction was negative so that it falls outside the negative region, that is, so that it is included in the positive or neutral region.

[0220] The reaction area in the feature space dynamically changes according to the set feature data and the user's reaction to the data. That is, the more feature data set in the target robot 100A, the more user reactions to the feature data the feature data setting system 200 can obtain, and the reaction area is changed accordingly. As a result, the reaction area becomes more in line with the user's preferences as the number of feature data set in the target robot 100A increases.

[0221] (Variation 16) The feature data setting system 200 may not allow the user to change the feature data before a predetermined condition is satisfied, and may allow the user to change a part or all of the feature data after the predetermined condition is satisfied. It is preferable that the feature data that can be changed by the user does not overlap with the feature data that changes automatically as described above. The predetermined condition is, for example, until a predetermined time has elapsed since the user started using the robot 100, or when the user has acquired a predetermined number of points or has been charged a predetermined amount of money.

[0222] In this way, by limiting the range of characteristic data that the user can change, the user may be given the impression that the characteristics of the robot 100 are not easily changeable by the user, and thus that the characteristics are characteristics that the robot 100 has acquired either innately or acquiredly.

[0223] (Variation 17) The feature data setting system 200 may determine a range of feature data that can be set in the robot 100 according to the attributes of the user, such as age, sex, and residential area. This allows the feature data that can be set in the robot 100 to differ depending on the attributes of the user. For example, if the age of the user of the robot 100 is a predetermined age or older, the feature data setting system 200 may prohibit setting, in the robot 100, feature data that indicates features that are difficult for people of the same age as the user. If there are multiple users, the feature data setting system 200 may prohibit setting, in the robot 100, feature data that indicates features that are difficult for any of the multiple users to recognize.

[0224] In this case, the feature data setting system 200 may limit the feature data that can be set to the robot 100 by referring to a database that stores the user's attributes, such as age, sex, and residential area, in association with the feature data that can be set to the robot 100. For example, the feature data setting system 200 may recognize a frequency band that the user tends to like or dislike for each user attribute, and output information to the terminal device 204 or the like that prompts the user to set feature data such that the frequency of the generated voice is included in or deviates from that frequency band.

[0225] (Variation 18) The features of the robot 100 are those that are generated according to predetermined rules based on feature data and that are perceptible to humans, such as the eye images 174, voice, behavior, and facial expressions described above, but may also have the following properties:

[0226] Features are generated by adding the output of a function that uses time as a variable to the feature data. Here, examples of the output of a function with time as a variable are data indicating the internal state of the robot 100 at a certain point in time (preference for humans, the excitement level of the robot 100, point of gaze, etc.) or data output from a sensor provided on the robot 100 at a certain point in time.

[0227] This feature may change over time because it is generated taking into account the output of a function with time as a variable. However, features generated from the same feature data have a certain commonality, so they may give the same or nearly the same impression to a person who perceives the feature. For example, an eye image 174 generated from the same eye image feature data may change in the position or shape of the iris image depending on the line of sight (or gaze point) of the robot 100. However, if there is a commonality between the multiple eye images 174 generated, such as the inner image having a darker color than the outer image, the multiple eye images 174 may give the same or nearly the same impression to a person who views the multiple eye images 174.

[0228] As a result, a person who perceives the characteristics generated from the characteristic data specific to the robot 100 can be given an impression specific to the robot 100.

[0229] Although the present invention has been described above using the above-mentioned embodiment and modified examples, the technical scope of the present invention is not limited to the scope described in the above-mentioned embodiment and modified examples. Various modifications or improvements can be made to the above-mentioned embodiment and modified examples without departing from the gist of the invention, and the forms with such modifications or improvements are also included in the technical scope of the present invention. [Industrial Applicability]

[0230] The present invention is useful, for example, when setting data in a device such as a robot. [Explanation of symbols]

[0231] 100 Robots 100A Target Robot (Target Robot) 100B Other Robots 100C Other Robots 100D Other Robots 171 Speakers 174 Eye image (prescribed image) 200 Feature data setting system (feature data setting device) 204 Terminal Equipment 236 Selected eye image acquisition unit (acquisition means) 238 Eye image output unit (output means) 240 Mixed eye image generation unit (generation means)

Claims

1. Feature data indicating the features of the robot is output from the output device in a form that can be perceived by the user. Among these, the unique feature data of the target robot in a robot group including a plurality of the robots A characteristic data setting device for setting data to a target robot, The value of the characteristic data set as the candidate for change is the same as or within a predetermined range of the value of the characteristic data set so far for the target robot. A feature data setting device that sets feature data of a value within the feature data setting device.

2. Feature data showing the features of the robot that is output from an output device in a form that can be perceived by a user. Among these, the unique feature data of the target robot in a robot group including a plurality of the robots A characteristic data setting device for setting data to a target robot, Feature data that gives benefits to the user of the robot on the condition that the currently set feature data is released. Data setting device.

3. Feature data showing the features of the robot that is output from an output device in a form that can be perceived by a user. Among these, the unique feature data of the target robot in a robot group including a plurality of the robots A characteristic data setting device for setting data to a target robot, The longer the period of use of the characteristic data, the higher the value of the characteristic data will be, either continuously or intermittently. A feature data setting device to be evaluated.

4. A method for producing a robot according to the present invention, comprising: Among these, the unique feature data of the target robot in a robot group including a plurality of the robots A characteristic data setting device for setting data to a target robot, When the user of the robot is a specific user, the user of the robot A characteristic data setting device that sets value information of a higher value than when the user is not a user.

5. A method for producing a robot according to the present invention, comprising: providing an output device that outputs, from the output device, characteristic data indicating the characteristics of the robot in a form that can be perceived by a user; Among these, the unique feature data of the target robot in a robot group including a plurality of the robots A characteristic data setting device for setting data to a target robot, The characteristic data is determined according to a usage ratio of a parameter indicating the characteristic data in the robot group. A feature data setting device that sets the value of the data.

6. A method for producing a robot according to the present invention, comprising: providing an output device that outputs, from the output device, characteristic data indicating the characteristics of the robot in a form that can be perceived by a user; Among these, the unique feature data of the target robot in a robot group including a plurality of the robots A characteristic data setting device for setting data to a target robot, A feature data setting device that sets value information according to user-related information of a user of the robot.

7. A feature data setting device according to any one of claims 1 to 6, If the feature data or related information of the feature data satisfies a predetermined condition, the feature The data or related information of the characteristic data is valued higher than if the data or related information of the characteristic data did not satisfy the specified conditions. A feature data setting device that sets value information.

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