Robot wearing clothing

Abstract

To make it easier to dress up a robot.SOLUTION: A robot includes an operation control unit for selecting motion, a drive mechanism for executing the selected motion, a mode setting unit for setting a mode of the robot, and a power source control unit. When being set in a wardrobe changing mode, the operation control unit suppresses torque of an actuator included in the drive mechanism, and the power source control unit maintains electric conduction to an electronic circuit realizing a function of the operation control unit, even during the wardrobe changing mode.SELECTED DRAWING: Figure 1A

Description

Technical Field

[0001] The present invention relates to a robot that wears clothing.

Background Art

[0002] Humans keep pets in search of comfort. On the other hand, many people give up keeping pets for various reasons such as not being able to secure enough time to take care of the pet, not having a living environment suitable for keeping a pet, having allergies, or finding it difficult to bear the separation from the pet. If there were a robot that could perform the role of a pet, it might be able to give comfort to those who cannot keep a pet, just as a pet does. (See Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Problems to be Solved by the Invention

[0004] Humans tend to dress objects that they pour love into. For example, humans try to express their love by dressing various clothes on inanimate objects such as stuffed animals. One of the reasons why small dogs are popular is that they can meet the human desire to dress them in cute clothes. Therefore, it is considered that a robot that makes people want to dress it can greatly enhance the empathy towards the robot.

[0005] The present invention is an invention completed based on the above concept, and its main object is to provide a technology for making it easier to dress a robot.

Means for Solving the Problems

[0006] An autonomous mobile robot according to an aspect of the present invention includes an operation control unit that selects a motion of the robot, a drive mechanism that executes the motion selected by the operation control unit, a mode setting unit that sets a mode of the robot, and a power control unit. When set to the changing mode, the operation control unit suppresses the torque of the actuator included in the drive mechanism. The power control unit maintains power supply to the electronic circuit that realizes the function of the operation control unit even during the changing mode.

Effects of the Invention

[0007] According to the present invention, it becomes easier to change the clothes of the robot.

Brief Description of the Drawings

[0008] The above-described object, as well as other objects, features, and advantages, will become even more apparent from the preferred embodiments described below and the accompanying drawings.

[0009]

Fig. 1A

Fig. 1B

Fig. 2

Fig. 3

Fig. 4

Fig. 5A

Fig. 5B

Fig. 5C

Fig. 5D

Fig. 6A

Fig. 6B

Mode for Carrying Out the Invention

[0010] In the robot 100 in the present embodiment, various clothes can be put on. In the case of the autonomous mobile robot 100, it is difficult to put on clothes when the robot 100 moves freely. One way is to turn off the power of the robot 100 and then put on clothes. However, in order to make the robot 100 exhibit a presence like a living thing, turning off the power of the robot 100 to put on clothes is not preferable because it makes the user aware of the "non-biological nature" of the robot 100. The robot 100 in the present embodiment performs operation control so that clothes can be easily changed without turning off the power. Hereinafter, after explaining the basic configuration of the robot 100 with reference to FIGS. 1 to 4, various action scenes of the robot 100 will be described.

[0011] [Basic Configuration] FIG. 1 is a diagram showing the appearance of the robot 100. FIG. 1A is a front view, and FIG. 1B is a side view. Robot 100 is an autonomous mobile robot that determines its actions based on the external environment and internal state. The external environment is recognized by various sensors such as cameras and thermosensors 115. The internal state is quantified as various parameters representing the emotions of robot 100. Robot 100 operates within the indoor area of the owner's home. Hereinafter, the person related to robot 100 is referred to as the "user". Among the users, the owner or administrator of robot 100 is referred to as the "owner".

[0012] The body 104 of robot 100 has an overall rounded shape and includes an outer skin 314 formed of a soft and elastic material such as urethane, rubber, resin, or fiber. Robot 100 may be dressed in clothes. The total weight of robot 100 is about 5 to 15 kilograms, and its height is about 0.5 to 1.2 meters. These attributes such as appropriate weight, roundness, softness, and pleasant touch enable the user to easily hold and desire to hold robot 100.

[0013] Robot 100 includes a pair of front wheels 102 (left wheel 102a, right wheel 102b) and one rear wheel 103. The front wheels 102 are drive wheels, and the rear wheel 103 is a driven wheel. The front wheels 102 do not have a steering mechanism, but the rotational speed and direction of the left and right wheels can be individually controlled. The rear wheel 103 is a caster and is rotatable to move robot 100 forward, backward, left, and right. The rear wheel 103 may be an omni-wheel. By increasing the rotational speed of the right wheel 102b more than that of the left wheel 102a, robot 100 can turn left or rotate counterclockwise. By increasing the rotational speed of the left wheel 102a more than that of the right wheel 102b, robot 100 can turn right or rotate clockwise.

[0014] The front wheel 102 and the rear wheel 103 can be completely housed in the body 104 by a drive mechanism (a rotation mechanism, a link mechanism). A pair of left and right covers 312 are provided at the lower half of the body 104. The cover 312 is made of a resin material (rubber, silicone rubber, etc.) having flexibility and elasticity, constitutes a soft body, and can house the front wheel 102. A slit 313 (opening) that opens from the side surface to the front surface is formed in the cover 312, and the front wheel 102 can be advanced and exposed to the outside through the slit 313.

[0015] Even during travel, most of each wheel is hidden by the body 104, but when each wheel is completely housed in the body 104, the robot 100 becomes immobile. That is, as the wheels are housed, the body 104 descends and sits on the floor surface F. In this seated state, a flat seating surface 108 (grounding bottom surface) formed at the bottom of the body 104 abuts against the floor surface F.

[0016] The robot 100 has two arms 106. There are hands at the tips of the arms 106, but they do not have the function of grasping objects. The arms 106 can perform simple operations such as raising, bending, waving, and vibrating by the drive of an actuator described later. The two arms 106 can be controlled individually.

[0017] A face area 116 is exposed on the front of the head of the robot 100. Two eyes 110 are provided in the face area 116. The eyes 110 can display images by liquid crystal elements or organic EL elements, and are devices for expressing the line of sight and expressions by moving the pupils and eyelids displayed as images. A nose 109 is provided at the center of the face area 116. An analog stick is provided on the nose 109, and in addition to all directions of up, down, left, and right, the pushing direction can also be detected. The robot 100 is provided with a plurality of touch sensors, and can detect the touch of a user over almost the entire area of the robot 100, such as the head, torso, buttocks, and arms. The robot 100 is equipped with various sensors such as a microphone array and an ultrasonic sensor that can identify the sound source direction. It also has a built-in speaker and can emit simple sounds.

[0018] A horn 112 is attached to the head of the robot 100. An omnidirectional camera 113 is attached to the horn 112, and can image the entire upper area of the robot 100 at once. The horn 112 also incorporates a thermosensor 115 (thermal camera). Further, a plurality of modules (not shown) for infrared communication are provided on the horn 112, and these modules are installed annularly facing the surroundings. For this reason, the robot 100 can perform infrared communication while recognizing directions. Furthermore, an emergency stop switch is provided on the horn 112, and the user can emergency-stop the robot 100 by pulling out the horn 112.

[0019] Figure 2 is a cross-sectional view schematically showing the structure of the robot 100. The body 104 includes a main body frame 310, a pair of arms 106, a pair of covers 312, and an outer skin 314. The main body frame 310 includes a head frame 316 and a body frame 318. The head frame 316 is in a hollow hemispherical shape and forms the head skeleton of the robot 100. The body frame 318 is in a square tube shape and forms the body skeleton of the robot 100. The lower end of the body frame 318 is fixed to a lower plate 334. The head frame 316 is connected to the body frame 318 via a connection mechanism 330.

[0020] The body frame 318 constitutes the axis of the body 104. The body frame 318 is configured by fixing a pair of side plates 336 to the left and right on the lower plate 334, and supports a pair of arms 106 and internal mechanisms. Inside the body frame 318, a battery 118, a control circuit 342, various actuators, etc. are accommodated. The bottom surface of the lower plate 334 forms a seating surface 108.

[0021] The body frame 318 has an upper plate 332 at its upper part. A bottomed cylindrical support portion 319 is fixed to the upper plate 332. The upper plate 332, the lower plate 334, a pair of side plates 336, and the support portion 319 constitute the body frame 318. The outer diameter of the support portion 319 is smaller than the interval between the left and right side plates 336. A pair of arms 106 are assembled integrally with an annular member 340 to constitute an arm unit 350. The annular member 340 is annular, and the pair of arms 106 are attached so as to be radially separated on its center line. The annular member 340 is coaxially inserted into the support portion 319 and placed on the upper end surfaces of the pair of side plates 336. The arm unit 350 is supported from below by the body frame 318.

[0022] The head frame 316 has a yaw axis 321, a pitch axis 322, and a roll axis 323. The swinging motion of the head is realized by the rotation (yawing) of the head frame 316 around the yaw axis 321, the nodding motion, the looking-up motion, and the looking-down motion are realized by the rotation (pitching) around the pitch axis 322, and the motion of tilting the head left and right is realized by the rotation (rolling) around the roll axis 323. Each axis can change its position and angle in three-dimensional space according to the driving mode of the connection mechanism 330. The connection mechanism 330 is composed of a link mechanism and is driven by a plurality of motors installed on the body frame 318.

[0023] The body frame 318 houses a wheel drive mechanism 370. The wheel drive mechanism 370 includes a front-wheel drive mechanism and a rear-wheel drive mechanism that respectively move the front wheels 102 and the rear wheels 103 in and out of the body 104. The front wheels 102 and the rear wheels 103 function as a "moving mechanism" for moving the robot 100. The front wheels 102 have a direct drive motor at their central parts. Therefore, the left wheel 102a and the right wheel 102b can be driven individually. The front wheels 102 are rotatably supported by a wheel cover 105, and the wheel cover 105 is rotatably supported by the body frame 318.

[0024] A pair of covers 312 are provided to cover the body frame 318 from the left and right, and have a smooth curved surface shape so as to round the outline of the body 104. A closed space is formed between the body frame 318 and the cover 312, and this closed space serves as the accommodation space S for the front wheels 102. The rear wheels 103 are accommodated in an accommodation space provided at the lower rear of the body frame 318.

[0025] The outer skin 314 covers the main body frame 310 and the pair of arms 106 from the outside. The outer skin 314 has a thickness such that a person can feel elasticity, and is formed of a stretchable material such as urethane sponge. Thereby, when the user hugs the robot 100, the user can feel appropriate softness and take a natural physical contact as if petting an animal. The outer skin 314 is attached to the main body frame 310 in a manner that exposes the cover 312. An opening 390 is provided at the upper end of the outer skin 314. The horn 112 is inserted through this opening 390.

[0026] Touch sensors are disposed between the main body frame 310 and the outer skin 314. Touch sensors are embedded in the cover 312. All of these touch sensors are capacitance sensors and detect touches over substantially the entire area of the robot 100. Note that the touch sensors may be embedded in the outer skin 314 or disposed inside the main body frame 310.

[0027] The arm 106 has a first joint 352 and a second joint 354, has an arm 356 between both joints, and has a hand 358 at the tip of the second joint 354. The first joint 352 corresponds to the shoulder joint, and the second joint 354 corresponds to the wrist joint. A motor is provided at each joint to drive the arm 356 and the hand 358 respectively. The drive mechanism for driving the arm 106 includes these motors and their drive circuits 344.

[0028] Figure 3 is a hardware configuration diagram of the robot 100. Robot 100 includes an internal sensor 128, a communication device 126, a storage device 124, a processor 122, a drive mechanism 120, and a battery 118. The drive mechanism 120 includes the connection mechanism 330 and the wheel drive mechanism 370 described above. The processor 122 and the storage device 124 are included in the control circuit 342. 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.

[0029] The internal sensor 128 is an aggregate of various sensors built into the robot 100. Specifically, it includes a camera, a microphone array, a distance measuring sensor (infrared sensor), a thermosensor 115, a touch sensor, an acceleration sensor, a barometric pressure sensor, a smell sensor, etc. The touch sensor corresponds to most regions of the body 104 and detects a user's touch based on a change in capacitance. The smell sensor is a known sensor that applies the principle that the electrical resistance changes due to the adsorption of odor-causing molecules.

[0030] The communication device 126 is a communication module that performs wireless communication with various external devices. 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 includes a plurality of actuators. In addition, a display, a speaker, etc. are also mounted.

[0031] The drive mechanism 120 mainly controls the wheels and the head. The drive mechanism 120 can change the moving direction and moving speed of the robot 100, and can also raise and lower the wheels. When the wheels are raised, the wheels are completely housed in the body 104, and the robot 100 abuts on the floor surface F at the seating surface 108 and enters the seating state. In addition, the drive mechanism 120 controls the arm 106.

[0032] Figure 4 is a functional block diagram of the robot system 300.​ The robot system 300 includes a robot 100, a server 200, and a plurality of external sensors 114. Each component of the robot 100 and the server 200 is realized by hardware including an arithmetic unit such as a CPU (Central Processing Unit) and various coprocessors, a storage device such as a memory and a storage, and a wired or wireless communication line connecting them, and software stored in the storage device and supplying processing instructions to the arithmetic unit. The computer program may be composed of a device driver, an operating system, various application programs located in upper layers thereof, and a library providing common functions to these programs. Each block described below indicates a block of a functional unit, not a configuration of a hardware unit. A part of the functions of the robot 100 may be realized by the server 200, and a part or all of the functions of the server 200 may be realized by the robot 100.

[0033] A plurality of external sensors 114 are installed in the house in advance. The server 200 manages the external sensors 114 and provides the detection values acquired by the external sensors 114 to the robot 100 as necessary. The robot 100 determines basic actions based on the information obtained from the internal sensor 128 and the plurality of external sensors 114. The external sensors 114 are for reinforcing the sensory organs of the robot 100, and the server 200 is for reinforcing the processing ability of the robot 100. The communication unit 126 of the robot 100 may communicate with the server 200 periodically, and the server 200 may be responsible for the process of identifying the position of the robot 100 by the external sensors 114 (see also Patent Document 2).

[0034] (Server 200) The server 200 includes a communication unit 204, a data processing unit 202, and a data storage unit 206. The communication unit 204 is responsible for communication processing with the external sensor 114 and the robot 100. The data storage unit 206 stores various data. The data processing unit 202 executes various processes based on the data acquired by the communication unit 204 and the data stored in the data storage unit 206. The data processing unit 202 also functions as an interface between the communication unit 204 and the data storage unit 206.

[0035] The data storage unit 206 includes a motion storage unit 232 and a personal data storage unit 218. The robot 100 has a plurality of motion patterns (motions). Various motions are defined, such as shaking the arm 106, approaching the owner while slithering, and staring at the owner with the head tilted.

[0036] The motion storage unit 232 stores "motion files" that define the control content of motions. Each motion is identified by a motion ID. The motion files are also downloaded to the motion storage unit 160 of the robot 100. Whether to execute which motion may be determined by the server 200 or by the robot 100.

[0037] Many of the motions of the robot 100 are composed of composite motions including a plurality of unit motions For example, when the robot 100 approaches the owner, it may be expressed as a combination of unit motions such as turning towards the owner, approaching while raising the hand, approaching while swaying the body, and sitting down while raising both hands. Such a combination of four motions realizes the motion of "approaching the owner, raising the hand halfway, and finally swaying the body and then sitting down". In the motion file, the rotation angle and angular velocity of the actuators provided in the robot 100 are defined in association with the time axis. By controlling each actuator over time according to the motion file (actuator control information), various motions are expressed.

[0038] The transition time when changing from the previous unit motion to the next unit motion is called an "interval". The interval may be defined according to the time required for unit motion change and the content of the motion. The length of the interval is adjustable. Hereinafter, the settings related to the behavior control of the robot 100, such as when to select which motion and the output adjustment of each actuator in realizing the motion, are collectively called "behavior characteristics". The behavior characteristics of the robot 100 are defined by a motion selection algorithm, a motion selection probability, a motion file, etc.

[0039] The motion storage unit 232 stores, in addition to the motion file, a motion selection table that defines the motion to be executed when various events occur. In the motion selection table, one or more motions and their selection probabilities are associated with an event.

[0040] The personal data storage unit 218 stores user information. Specifically, it stores the intimacy with the user and master information indicating the user's physical characteristics and behavioral characteristics. Other attribute information such as age and gender may also be stored.

[0041] The robot 100 has an internal parameter called intimacy for each user. When the robot 100 recognizes an action showing goodwill towards itself, such as picking itself up or speaking to it, the intimacy with that user increases. The intimacy with users who have nothing to do with the robot 100, users who act violently, or users with a low encounter frequency decreases.

[0042] The data processing unit 202 includes a position management unit 208, a recognition unit 212, an operation control unit 222, an intimacy management unit 220, and a state management unit 244. The position management unit 208 identifies the position coordinates of the robot 100. The state management unit 244 manages various internal parameters such as various physical states such as the charge rate, internal temperature, and processing load of the processor 122. In addition, the state management unit 244 manages various emotion parameters indicating the emotions (such as loneliness, curiosity, and desire for approval) of the robot 100. These emotion parameters are constantly fluctuating. The movement target point of the robot 100 changes according to the emotion parameters. For example, when loneliness is increasing, the robot 100 sets the location where the user is as the movement target point.

[0043] The emotion parameters change over time. Also, various emotion parameters change due to the coping actions described later. For example, when the owner hugs the robot, the emotion parameter indicating loneliness decreases, and when the owner is not visually recognized for a long time, the emotion parameter indicating loneliness gradually increases.

[0044] The recognition unit 212 recognizes the external environment. The recognition of the external environment includes various recognitions such as the recognition of the weather and seasons based on temperature and humidity, and the recognition of shaded areas (safe zones) based on light quantity and temperature. The recognition unit 156 of the robot 100 acquires various environmental information by the internal sensor 128, performs primary processing on this, and then transfers it to the recognition unit 212 of the server 200.

[0045] Specifically, the recognition unit 156 of the robot 100 extracts an image area corresponding to a moving object, particularly a person or an animal, from the image, and extracts a "feature vector" as a set of feature quantities indicating the physical features and behavioral features of the moving object from the extracted image area. The feature vector components (feature quantities) are numerical values obtained by quantifying various physical and behavioral features. For example, the horizontal width of a human eye is quantified in the range of 0 to 1 and forms one feature vector component. The method of extracting the feature vector from the captured image of a person is an application of known face recognition technology. The robot 100 transmits the feature vector to the server 200.

[0046] The recognition unit 212 of the server 200 determines which person the imaged user corresponds to (user identification process) by comparing the feature vector extracted from the captured image by the built-in camera of the robot 100 with the feature vectors of the users (clusters) registered in advance in the personal data storage unit 218. Further, the recognition unit 212 estimates the user's emotion by recognizing the user's facial expression in the image. The recognition unit 212 also performs user identification processing on moving objects other than people, such as cats and dogs that are pets.

[0047] The recognition unit 212 recognizes various response actions made to the robot 100 and classifies them into pleasant / unpleasant actions. The recognition unit 212 also classifies them into positive / negative reactions by recognizing the owner's response actions to the actions of the robot 100. Pleasant / unpleasant actions are discriminated based on whether the user's response action is comfortable or uncomfortable as a living being. For example, being hugged is a pleasant action for the robot 100, and being kicked is an unpleasant action for the robot 100. Positive / negative reactions are discriminated based on whether the user's response action indicates a pleasant emotion or an unpleasant emotion of the user. Being hugged is a positive reaction indicating the user's pleasant emotion, and being kicked is a negative reaction indicating the user's unpleasant emotion.

[0048] The motion control unit 222 of the server 200 collaborates with the motion control unit 150 of the robot 100 to determine the motion of the robot 100. The motion control unit 222 of the server 200 creates a moving target point for the robot 100 and a moving route therefor. The motion control unit 222 may create a plurality of moving routes and select any one of them.

[0049] The motion control unit 222 selects the motion of the robot 100 from a plurality of motions in the motion storage unit 232. A selection probability is associated with each motion for each situation. For example, when a pleasant action is performed by the owner, motion A is executed with a probability of 20%, and when the temperature reaches 30 degrees or more, motion B is executed with a probability of 5%. Such a selection method is defined.

[0050] The intimacy management unit 220 manages the intimacy for each user. As described above, the intimacy is registered as part of the personal data in the personal data storage unit 218. When a positive behavior is detected, the intimacy management unit 220 increases the intimacy with respect to its owner. When a negative behavior is detected, the intimacy decreases. Also, the intimacy of an owner who has not been visually recognized for a long time gradually decreases.

[0051] (Robot 100) The robot 100 includes a communication unit 142, a data processing unit 136, a data storage unit 148, an internal sensor 128, and a drive mechanism 120. The communication unit 142 corresponds to the communication device 126 (see FIG. 3) and is responsible for communication processing with the external sensor 114, the server 200, and other robots 100. The data storage unit 148 stores various data. The data storage unit 148 corresponds to the storage device 124 (see FIG. 3). The data pro cessing unit 136 executes various processes based on the data acquired by the communication unit 142 and the data stored in the data storage unit 148. The data processing unit 136 corresponds to the processor 122 and the computer program executed by the processor 122. The data processing unit 136 also functions as an interface for the communication unit 142, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.

[0052] The data storage unit 148 includes a motion storage unit 160 that defines various motions of the robot 100. In the motion storage unit 160 of the robot 100, various motion files are downloaded from the motion storage unit 232 of the server 200. Motions are identified by motion IDs. To express various motions such as accommodating and sitting on the front wheels 102, lifting the arm 106, rotating the two front wheels 102 in the reverse direction, or rotating only one of the front wheels 102 to rotate the robot 100, shaking by rotating the front wheels 102 in a state where the front wheels 102 are stored, and pausing and looking back once when leaving the user, the operation timing, operation time, operation direction, etc. of various actuators (drive mechanism 120) are defined in time series in the motion file. Various data may also be downloaded from the personal data storage unit 218 to the data storage unit 148.

[0053] The data processing unit 136 includes the recognition unit 156 and the motion control unit 150. The motion control unit 150 of the robot 100 determines the motion of the robot 100 in cooperation with the motion control unit 222 of the server 200. For some motions, they may be determined by the server 200, and for other motions, they may be determined by the robot 100. Also, although the robot 100 determines the motion, when the processing load of the robot 100 is high, the server 200 may determine the motion. The server 200 may determine the base motion, and the robot 100 may determine additional motions. How to distribute the motion determination process between the server 200 and the robot 100 may be designed according to the specifications of the robot system 300.

[0054] The motion control unit 150 of the robot 100 gives an execution instruction to the drive mechanism 120 for the selected motion. The drive mechanism 120 controls each actuator according to the motion file.

[0055] When a user with a high level of intimacy is nearby, the motion control unit 150 can also execute a motion of raising both arms 106 as a gesture of asking to be hugged. When it gets tired of being hugged, it can also express a motion of resisting the hug by alternately repeating reverse rotation and stopping while keeping the left and right front wheels 102 retracted. The drive mechanism 120 drives the front wheels 102, arms 106, and neck (head frame 316) according to the instructions of the motion control unit 150, causing the robot 100 to express various motions.

[0056] The recognition unit 156 of the robot 100 interprets the external information obtained from the internal sensor 128. The recognition unit 156 can perform visual recognition (vision unit), smell recognition (olfactory unit), sound recognition (auditory unit), and tactile recognition (tactile unit).

[0057] The recognition unit 156 extracts a feature vector from the captured image of the moving object. As described above, the feature vector is a set of parameters (feature quantities) indicating the physical characteristics and behavioral characteristics of the moving object. When a moving object is detected, physical characteristics and behavioral characteristics are also extracted from the odor sensor, built-in sound collection microphone, temperature sensor, etc. These features are also quantified and become feature vector components. The recognition unit 156 identifies the user from the feature vector based on known techniques described in Patent Document 2 and the like.

[0058] Among a series of recognition processes including detection, analysis, and determination, the recognition unit 156 of the robot 100 selects and extracts the information necessary for recognition, and the interpretation process such as determination is executed by the recognition unit 212 of the server 200. The recognition process may be performed only by the recognition unit 212 of the server 200, only by the recognition unit 156 of the robot 100, or the above-mentioned recognition process may be executed while both parties share the roles as described above.

[0059] When a strong impact is given to the robot 100, the recognition unit 156 recognizes this by the touch sensor and the acceleration sensor, and the recognition unit 212 of the server 200 recognizes that a "violent act" has been committed by a nearby user. When a user grabs the horn 112 and lifts the robot 100, this may also be recognized as a violent act. When a user facing the robot 100 speaks in a specific volume range and a specific frequency band, the recognition unit 212 of the server 200 may recognize that a "calling act" has been performed on the robot 100. In addition, when a temperature of about body temperature is detected, it recognizes that a "contact act" has been performed by the user, and when an upward acceleration is detected in a state where contact has been recognized, it recognizes that a "hug" has been performed. Physical contact when the user lifts the body 104 may be sensed, or a hug may be recognized by a decrease in the load on the front wheels 102. In summary, the robot 100 acquires the user's actions as physical information by the internal sensor 128, and the recognition unit 212 of the server 200 judges whether the user feels comfortable or uncomfortable. The recognition unit 212 of the server 200 also performs a user identification process based on the feature vector.

[0060] The recognition unit 212 of the server 200 recognizes various responses of the user to the robot 100. Some typical responses among the various responses are associated with pleasant or unpleasant, positive or negative. Generally, most pleasant responses are positive reactions, and most unpleasant responses are negative reactions. Pleasant and unpleasant responses are related to the degree of intimacy, and positive and negative reactions affect the robot 100's selection of actions.

[0061] The intimacy management unit 220 of the server 200 changes the intimacy with the user in response to the interaction behavior recognized by the recognition unit 156. In principle, the intimacy with a user who has performed a pleasant behavior increases, and the intimacy with a user who has performed an unpleasant behavior decreases.

[0062] Each function of the server 200 is realized by loading a program for realizing the function into the memory and instantiating it. The processing capabilities of the server 200 complement various processes performed by the robot 100. The server 200 can be used as a resource of the robot 100. How to utilize the resources of the server 200 is dynamically determined according to requests from the robot 100. For example, in the robot 100, when it is necessary to continuously generate complex motions according to detection values from a large number of touch sensors, the processing of the processor 122 in the robot 100 may be preferentially assigned to motion selection and generation, and the processing for recognizing the surrounding situation may be performed by the recognition unit 212 of the server 200. In this way, various processes of the robot system 300 can be decentralized between the robot 100 and the server 200.

[0063] A single server 200 can also control multiple robots 100. In this case, each function of the server 200 is instantiated independently for each robot 100. For example, the server 200 may prepare a recognition unit 212 for the robot 100B separately from the recognition unit 212 (instance object) for the robot 100A.

[0064] Based on the above basic configuration, next, regarding the implementation of the robot 100 in this embodiment, in particular, the description will focus on the differences between the features and objectives of this implementation and the basic configuration.

[0065] [SLAM] The robot 100 in this embodiment periodically images the surroundings by means of the omnidirectional camera 113 to obtain a large number of captured images (still images). The robot 100 forms a memory based on the captured images (hereinafter referred to as "image memory").

[0066] The image memory is a collection of a plurality of key frames. A key frame is distribution information of feature points (feature quantities) in a captured image. The robot 100 in the present embodiment forms key frames by means of a graph-based SLAM (Simultaneous Localization and Mapping) technique using image feature quantities, more specifically, a SLAM technique based on ORB (Oriented FAST and Rotated BRIEF) feature quantities (see Patent Document 5).

[0067] The robot 100 forms key frames periodically while moving, thereby forming a collection of key frames, or in other words, forming an image memory as an image feature distribution. The robot 100 estimates the current location by comparing the key frame acquired at the current location with a large number of key frames already held. That is, the robot 100 compares the captured image actually being visually recognized with the captured images (memories) visually recognized in the past, and performs "spatial recognition" by matching its current situation with past memories. The image memory formed as a collection of feature points becomes a so-called map. The robot 100 updates the map while moving while estimating the current location.

[0068] It is assumed that the robot 100 with the basic configuration recognizes its position by means of an external sensor 114 instead of a key frame. The robot 100 in the present embodiment will be described as recognizing a location based only on key frames.

[0069] The robot 100 in the present embodiment includes a "mode setting unit" for setting various modes. The robot 100 includes an "eye generation unit" for generating an eye image, an "eye display unit" for displaying the eye image on the eyes 110, and a "clothing detection unit" for detecting undressing and dressing of the robot 100. Further, the robot 100 includes a "power control circuit" for controlling conduction of a plurality of power lines 130.

[0070] [Changing clothes] Figs. 5A to 5D show icons displayed on the eyes 110 corresponding to the modes. Robot 100 has multiple modes. The robot 100 in this embodiment will be described as having four types: "normal mode (capable of shooting, capable of moving)", "first mode (shooting prohibited, capable of moving)", "second mode (shooting prohibited, movement prohibited)", and "changing mode". The user can manually set the mode of the robot 100 by means of a mode switch (ring-shaped switch: not shown) installed on the horn 112. The mode setting unit sets the mode of the robot 100 according to the input result of the mode switch.

[0071] The eye display unit causes an icon indicating the mode (hereinafter referred to as "mode icon") to be displayed on the eyes 110. When the user changes the mode, the user can check the current mode by checking the eyes 110 of the robot 100. The horn 112 includes a touch sensor. When the user touches the horn 112, the robot 100 temporarily stops. Since the user can temporarily stop the robot 100 as long as the user touches the horn 112, various input devices installed on the horn 112, such as the mode switch, can be operated steadily.

[0072] The eye display unit may display the mode icon on the eyes 110 when the horn 112 is being touched. When the hand is removed from the horn 112, the eye display unit erases the mode icon and displays a normal pupil image. The user can check the current mode of the robot 100 by touching the horn 112. Monitors may be installed on members other than the eyes 110, such as the horn 112, and the mode icons may be displayed on these monitors.

[0073] In the normal mode (capable of shooting, capable of moving), the eye display unit causes the icon shown in FIG. 5A to be displayed on the eyes 110. In the first mode (shooting prohibited, capable of moving), the eye display unit causes the icon shown in FIG. 5B to be displayed on the eyes 110. In the second mode (shooting prohibited, movement prohibited), the eye display unit causes the icon shown in FIG. 5C to be displayed on the eyes 110. In the changing mode, the eye display unit causes the icon shown in FIG. 5D to be displayed on the eyes 110.

[0074] In the replacement mode, the operation control unit 150 stores the front wheels 102 inside the cover 312. That is, in the replacement mode, the robot 100 is prohibited from moving. Further, the operation control unit 150 reduces the torque of the actuators of the arm and the neck. During the replacement mode, the overall state of the robot 100 is such that the force is released from the body. As a result, it becomes easier for the user to move the arms and neck of the robot 100, and it becomes easier to remove or put on the clothing from the robot 100. The arm can be completely de-energized by turning off the power supply to the arm actuator. Specifically, when the mode setting unit is set to the replacement mode, it may instruct the power control circuit to disconnect the connection between the arm actuator and the power line 130. Although the power supply to the neck actuator may be turned off, the power supply to the neck actuator may be maintained in order to execute various motions even in the replacement mode.

[0075] Even in the replacement mode, the energization of at least some of the actuators included in the drive mechanism 120 and the processor 122 is maintained. Since the function of the operation control unit 150 is maintained, the robot 100 can execute various motions including changes in the eye image and output of sound even during replacement. Also, motions can be executed immediately after the replacement is completed.

[0076] After setting the robot 100 to the replacement mode, the user removes the clothing of the robot 100. Then, the user puts on new clothing on the robot 100 and changes to another mode such as the normal mode from the replacement mode.

[0077] FIG. 6A and FIG. 6B show the icons displayed on the eyes 110 after wearing the clothing. When the clothing is worn correctly, the eye generation unit displays the icon shown in FIG. 6A. On the other hand, when the clothing is not worn correctly, the eye display unit displays the icon shown in FIG. 6B. An IC tag is sewn into the clothing in advance. Also, the body of the robot 100 includes an IC tag reader for communicating with the IC tag. The IC tag and the IC tag reader are aligned in advance so as to face each other when the clothing is worn correctly. The IC tag and the IC tag reader transmit and receive information by wireless communication at a short distance of about several centimeters to several meters based on RFID (Radio Frequency Identifier) technology. The IC tag reader of the robot 100 in the present embodiment is set for short-range wireless communication of about several centimeters. If the IC tag attached to a predetermined position of the clothing and the IC tag reader provided at a predetermined position of the robot do not overlap, the IC tag reader cannot read the content of the IC tag. When the IC tag reader faces the IC tag, it receives the "clothing ID" for identifying the clothing from the IC tag. When the IC tag reader cannot read the clothing ID, 100 can determine that the clothing is not worn or at least not worn correctly.

[0078] The clothing detection unit determines whether the clothing is worn correctly based on whether the IC tag reader correctly reads the signal of the IC tag of the clothing. The IC tag and the IC tag reader may be provided at a plurality of locations.

[0079] When changing clothes, when the robot 100 is once made to take off the clothing, the motion control unit 150 executes a undressing motion. As the undressing motion, for example, the robot 100 has a body shock It may be defined as a motion indicating cold, bewilderment, or surprise, such as shivering or flapping the hands. Since the power is not turned off even in the changing mode, the robot 100 can execute the undressing motion. For example, when a predetermined condition is satisfied, a shivering motion may be executed as the undressing motion. The predetermined condition may be that the temperature detected by the temperature sensor is equal to or lower than a predetermined value. Further, the predetermined condition may be that the date and time indicated by a clock function (not shown) is a predetermined time (for example, winter). Thus, the operation control unit 150 may select an appropriate undressing motion according to the temperature, season, and time zone. The undressing motion may be a motion showing shyness or a motion demanding to be dressed quickly. In any case, an undressing motion without accompanying movement may be executed so as not to interfere with the user's changing work. The undressing motion is executed between the time when the user undresses the clothing C1 from the robot 100 and the time when the user picks up the new clothing C2 to be worn and tries to dress the robot 100 with the clothing C2.

[0080] When newly dressing the robot, the motion control unit 150 executes various intermediate motions. For example, by controlling the robot 100 to turn its head towards the user or change the eye image to direct the line of sight towards the user, expressions such as the expectation for changing clothes and eye contact during the clothing change can be achieved. Also, when the touch sensor on the arm detects contact, it can be determined that the hand is passing through the sleeve, and the torque of the arm can be loosened, or the arm can be swayed to make it easier to pass through the sleeve. Also, during the clothing change, it may be necessary for the user to pick up the robot 100 and change its posture. The robot 100 may output a voice according to the posture at that time. For example, the robot 100 may measure the posture change based on the imaging image of the acceleration sensor or the omnidirectional camera 113 and output a voice in conjunction with the change in posture. In this way, even during the clothing change, the robot 100 can perform actions actively to express a sense of being a living being with intentions. Also, when changing into a favorite piece of clothing, the robot may perform cooperative intermediate motions, and when changing into a piece of clothing that is not very liked, it may perform non - cooperative intermediate motions. Through the act of changing clothes, when the user directly touches the robot 100, it becomes easier for the user to develop an attachment to the robot 100.

[0081] When the clothing change is completed, the motion control unit 150 executes a dressing motion. The dressing motion can be any arbitrary motion, such as the robot 100 turning its head towards the user, flapping its hands, or rolling its eyes. The user can feel that the robot 100 is happy to have changed clothes through the dressing motion. Also, the user can recognize that the robot seems to like the new piece of clothing. After the end of the clothing change mode, since the torque of each actuator returns, a powerful motion can be executed.

[0082] The dressing motion may be a special motion that is executed only immediately after wearing clothing. By preparing such a special motion, since the user wants to see the dressing motion, it can be expected that the user will increase the frequency of changing clothes. As the number of clothing changes increases, the time for the user to interact with the robot 100 becomes longer. The dressing motion is a motion that is executed only immediately after changing clothes, and may be prepared for each piece of clothing, or may be prepared according to seasons, trends in the world, etc. For example, the repertoire of the dressing motion of the robot 100 may be updated by appropriately downloading a motion file from an external server (not shown) to the server 200. The clothing ID and the dressing motion may be managed in association with each other.

[0083] When the user changes the setting from the changing mode to another mode after having the robot 100 change clothes, the mode setting unit changes the setting to another mode on the condition that it has detected that the user has released the hand from the horn 112. Detection of releasing the hand may be performed based on a captured image by a camera, or may be performed based on the output value of a touch sensor provided on the horn 112. According to such a control method, since the robot 100 does not suddenly start moving while the user is controlling the mode switch of the horn 112, safety is enhanced. Not limited to the changing mode, the mode control unit actually changes the mode when no touch from the horn 112 is detected.

[0084] During the changing mode, the power supply to the drive mechanism 120 may be completely turned off. Even in this case, if the power supply to the processor 122 and the eyes 110 is maintained, the eye display unit can change the eye image even during clothing change. In other words, various emotional expressions can be achieved by the eye image without accompanying the driving of the actuator.

[0085] A lock function may be provided for the actuators of the robot 100. During the changing mode, the mode setting unit may lock all or some of the actuators to rigidify the robot 100 entirely or partially. Alternatively, during the changing mode, by turning off the lock of the actuators, the control may be performed to make it easier to move each part of the robot 100.

[0086] The user may set the changing mode by voice. For example, when the user utters a voice such as "Let's change clothes", the mode setting unit may automatically set the changing mode on the condition that the voice collected via the microphone or the like of the robot 100 satisfies a predetermined condition. Also, when the user shows clothes to the robot 100, the mode setting unit may automatically set the changing mode on the condition that the clothes are detected via the camera or the like of the robot 100. In this case, a behavior pattern can be realized as if the robot 100 anticipates changing clothes by seeing the clothes. The user may send a command indicating the transition to the changing mode from a mobile terminal such as a smartphone.

[0087] When the user undresses the robot 100, the mode setting unit may set the changing mode. When the IC tag reader of the robot 100 can no longer read the IC tag of the clothes, the clothes detection unit may detect undressing. Triggered by this detection, the mode setting unit may set the changing mode. Also, when the robot 100 that has once been undressed detects dressing again, the mode setting unit may change the setting from the changing mode to the normal mode (other modes).

[0088] Even if the user manually operates the mode switch to end the changing mode while the clothes are being removed, the mode setting unit may maintain the changing mode.

[0089] The motion control unit 150 may select an intermediate motion or a dressing motion based on the clothing to be newly worn. The robot 100 may store the clothing wearing history. The wearing history is a record of when, by whom, and which clothing was put on in chronological order. The motion control unit 150 may set and change the selection probability of a plurality of types of intermediate motions based on the number of times of wearing per unit period. According to such a control method, the intermediate motion can be changed based on the "memory" of what kind of clothing has come. The same applies to the dressing motion. For example, when only the same clothing is being worn, the robot 100 may make it difficult to wear the clothing by means of intermediate motions such as becoming sluggish in movement, not aligning the eyes, or flapping the hands. By such a control method, the robot 100's preference and insistence on clothing may be expressed in its actions. Also, when wearing new clothing or favorite clothing (for example, red clothing), intermediate motions, dressing motions, or undressing motions expressing joy or expectation may be executed.

[0090] When the robot 100 is made to wear the same clothing A again after taking off clothing A, the motion control unit 150 may execute intermediate motions and dressing motions different from those when making it wear another clothing B as well.

[0091] The motion control unit 150 may select an intermediate motion or a dressing motion based on the intimacy with the user who makes the robot wear clothing. The motion control unit 150 may set and change the selection probability of a plurality of types of intermediate motions based on the intimacy with the user. According to such a control method, the intermediate motion can be changed depending on who makes the robot change clothes. The same applies to the dressing motion.

[0092] The intimacy management unit 220 may increase the intimacy with the user who makes the robot change clothes. Since the fact that the user makes the robot change clothes is evidence that the user cares about the robot 100, it is considered reasonable for the robot 100 to have a favorable impression (increase the intimacy) of such a user.

[0093] When the robot 100 is not wearing clothing, the motion control unit 150 may suppress the movement of the robot 100. For example, the range of motion of the robot 100 may be reduced, or the moving speed of the robot 100 may be decreased. Alternatively, the motion control unit 150 may refrain from moving the robot 100 when the robot 100 is not wearing clothing. According to such a control method, it becomes easier to prevent the robot 100 from getting dirty by moving around without wearing clothing. In addition, since the clothing protects the main body of the robot 100 from impacts, by keeping the robot 100 quiet when it is not wearing clothing, the chance of the unprotected robot 100 being impacted by an external object may be reduced.

[0094] Conversely, the movement of the robot 100 may be suppressed when the robot 100 is wearing clothing. In this case, since the robot 100 becomes quiet when wearing clothing, it becomes easier to prevent the robot 100 from getting dirty.

[0095] After the completion of the clothing change, the motion control unit 150 may move the robot 100 so as not to leave the user who performed the clothing change for a certain period of time. Specifically, the range of motion of the robot 100 may be temporarily restricted within a predetermined range centered on the user, or within a predetermined range in the front direction of the user (a range visible to the user). According to such a control method, it is possible to make the user feel as if the robot 100 is enjoying the fact that it wants the user to see its appearance after the clothing change or is happy to wear new clothing. The user infers the psychology of the robot 100 from such behavioral expressions, and is aroused with the desire to have the robot 100 wear new clothing.

[0096] The robot 100 may be provided with a "voice control unit". The voice control unit may emit a predetermined sound (a cry) when the robot 100 has a new piece of clothing put on its head, or when the robot 100 has its clothing removed.

[0097] When the robot 100 continues to wear the same clothing for a certain period of time, the state management unit 244 may change the emotional parameters of the robot 100. For example, the approval-seeking parameter may be increased, or the emotional parameter representing mood may be deteriorated. The motion control unit 150 of the robot 100 may control the robot 100 to move away from the user as its mood worsens, or may approach the user and actively request a change of clothes. Also, based on the clothing history, a user who is relatively willing to let the robot change clothes may be selected to appeal the necessity of a change of clothes.

[0098] After the completion of the change of clothes, the robot 100 may execute a motion directed at another robot 100. For example, the robot 100 may approach another robot 100. Also, For example, the robot 100 may face the direction where another robot 100 exists and execute motions such as raising its hand. According to such a control method, the state of the robot 100A showing off its new clothing to another robot 100B can be expressed by actions.

[0099] By changing the behavioral characteristics of the robot 100 along with the change of clothes, it is considered that the user will be more willing to actively change the clothes of the robot 100. Also, by actively creating an opportunity for the user and the robot 100 to interact, which is "changing clothes", the user's attachment to the robot 100 can be further deepened.

[0100] Note that the present invention is not limited to the above embodiments and modifications, and components can be deformed and embodied without departing from the gist. Various inventions may be formed by appropriately combining a plurality of components disclosed in the above embodiments and modifications. Also, some components may be deleted from all the components shown in the above embodiments and modifications.

[0101] Although the robot system 300 has been described as being configured by robots 100 each having a value of 1 or more and one server 200, part of the functions of the robot 100 may be realized by the server 200, or part or all of the functions of the server 200 may be assigned to the robot 100. One server 200 may control a plurality of robots 100, or a plurality of servers 200 may cooperate to control one or more robots 100.

[0102] A third device other than the robot 100 or the server 200 may assume part of the functions. The aggregate of each function of the robot 100 and each function of the server 200 described in FIG. 4 can also be grasped as one "robot" overall. How to distribute the plurality of functions necessary for realizing the present invention to one or a plurality of hardware may be determined in view of the processing capacity of each hardware, the specifications required for the robot system 300, and the like.

[0103] As described above, the "robot in the narrow sense" refers to the robot 100 that does not include the server 200, while the "robot in the broad sense" refers to the robot system 300. It is also conceivable that many of the functions of the server 200 will be integrated into the robot 100 in the future.

Claims

1. An operation control unit that selects the motion of the robot, A drive mechanism that executes the motion selected by the operation control unit, A mode setting unit that sets the mode of the robot, When wearing clothing with a relatively high usage frequency, the motion is different from that when wearing clothing with a relatively low usage frequency, The robot is characterized in that the mode setting unit maintains the robot's mode in the change mode until the wearing of the clothing is completed.

2. An operation control unit that selects the motion of the robot, A drive mechanism that executes the motion selected by the operation control unit, A mode setting unit that sets the mode of the robot, When the wearing of the clothing is completed, the operation control unit selects a specific motion as the execution target, The specific motion is a motion directed at another robot, The robot is characterized in that the mode setting unit maintains the robot's mode in the change mode until the wearing of the clothing is completed.

3. The robot according to claim 1 or 2, wherein the operation control unit selects a specific motion as the execution target when the wearing of the clothing is completed.

4. The robot includes a mode setting unit that sets the mode of the robot, The mode setting unit sets the mode in response to an input of a mode switch provided on the robot, The robot according to claim 1 or 2, wherein the mode setting unit maintains the change mode until both the condition that the completion of the wearing of the clothing is detected and the condition that the user releases the hand from the part where the mode switch is provided are satisfied.

5. The robot includes a mode setting unit that sets the mode of the robot, The robot according to claim 1 or 2, wherein the mode setting unit sets the change mode when undressing is detected. ​ ​ ​ ​ ​ ​ ​ ​ ​

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