Electronics and Robotics

Abstract

This spring extending / retracting mechanism (SM) has an outer ring (OR), a wire (WR), a spring (SP), and an outer ring drive mechanism (RPT). The wire (WR) is connected to the outer peripheral surface of the outer ring (OR). The spring (SP) is connected to the outer ring (OR) via the wire (WR). The spring (SP) is compressed due to the wire (WR) being wound around the outer ring (OR). The outer ring drive mechanism (RPT) comes into firm contact with the outer ring (OR) and transmits rotational motive force to the outer ring (OR). The outer ring drive mechanism (RPT) releases the outer ring (OR) from the state of firm contact, allowing the outer ring (OR) to rotate freely.

Description

[Technical Field]

[0001] The present invention relates to a spring expansion / contraction mechanism, a robot, and an electronic device. [Background technology]

[0002] A spring expansion / contraction mechanism is known that uses a cam and an arm to enable winding and releasing of a spring with only one power source (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-229113 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above method, a large force is applied to the cam when the spring is released, which makes the cam prone to failure. Furthermore, the cam diameter increases depending on the amount of spring deflection, making it difficult to miniaturize the device. Another issue is that the amount of spring deflection cannot be adjusted.

[0005] Therefore, this disclosure proposes a spring expansion / contraction mechanism, a robot, and an electronic device that can adjust the amount of spring deflection and are small and less likely to break down. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a spring extension / contraction mechanism including an outer ring, a wire connected to the outer peripheral surface of the outer ring, a spring connected to the outer ring via the wire and compressed when the wire is wound around the outer ring, and an outer ring drive mechanism that tightly contacts the outer ring to transmit rotational power to the outer ring and releases the outer ring from the tight contact state to allow the outer ring to rotate freely. Also according to the present disclosure, there is provided a robot and an electronic device that include the spring extension / contraction mechanism and an operation control unit that controls the spring extension / contraction mechanism. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 2] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 3] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 4] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 5] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 6] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 7] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 8] FIG. 10 is a diagram illustrating an example of a spring expansion / contraction mechanism. [Figure 9] 10A and 10B are diagrams illustrating the expansion and contraction operation of a spring by a spring expansion and contraction mechanism. [Figure 10] 10A and 10B are diagrams illustrating the expansion and contraction operation of a spring by a spring expansion and contraction mechanism. [Figure 11] 10A and 10B are diagrams illustrating the expansion and contraction operation of a spring by a spring expansion and contraction mechanism. [Figure 12] 10A and 10B are diagrams illustrating the expansion and contraction operation of a spring by a spring expansion and contraction mechanism. [Figure 13] FIG. 1 is a diagram illustrating a configuration of an autonomous moving body that is an example of a robot. [Figure 14] FIG. 2 is a block diagram illustrating an example of the functional configuration of an autonomous moving body. [Figure 15] 10A and 10B are diagrams illustrating an example of control of a spring expansion / contraction mechanism by an operation control unit. [Figure 16] 10A and 10B are diagrams illustrating another example of control of the spring expansion / contraction mechanism. [Figure 17] 10A and 10B are diagrams illustrating an example of the shape of the bottom of the exterior. [Figure 18] 10A and 10B are diagrams illustrating an example of the shape of the bottom of the exterior. [Figure 19] 10A and 10B are diagrams illustrating an example in which a spring expansion / contraction mechanism is used to overcome an obstacle. [Figure 20] FIG. 10 is a diagram showing a control flow by an operation control unit. [Figure 21] 10A and 10B are diagrams illustrating an example in which a spring expansion / contraction mechanism is used to absorb shock when dropped. [Figure 22] FIG. 10 is a diagram showing a control flow by an operation control unit. [Figure 23] 10A and 10B are diagrams illustrating an example in which a spring expansion / contraction mechanism is used for recovery from a fallen state. [Figure 24] FIG. 10 is a diagram showing a control flow by an operation control unit. [Figure 25] 10A and 10B are diagrams illustrating examples in which the spring expansion / contraction mechanism is applied to other operations of an autonomous moving body. [Figure 26] 10A and 10B are diagrams illustrating examples in which the spring expansion / contraction mechanism is applied to other operations of an autonomous moving body. [Figure 27] FIG. 10 is a diagram showing a control flow for attracting the user's attention. [Figure 28] 10A and 10B are diagrams illustrating an example in which a spring expansion / contraction mechanism is applied to an information processing terminal. [Figure 29] 10A and 10B are diagrams illustrating an example in which a spring expansion / contraction mechanism is applied to a massager. [Figure 30] 10A and 10B are diagrams illustrating an example in which a spring expansion / contraction mechanism is applied to an acoustic device. [Figure 31] FIG. 10 is a diagram showing an example in which the spring expansion / contraction mechanism is applied to a futon beater. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the following embodiments, the same components are designated by the same reference numerals, and redundant description will be omitted.

[0009] The explanation will be given in the following order. [1. Spring extension mechanism] [1-1. Configuration of the spring extension / contraction mechanism] [1-2. Spring extension and contraction action] [1-3.Effects] [2. Application example 1 of spring expansion / contraction mechanism] [2-1. Robot configuration] [2-2. Overcoming obstacles] [2-3. Shock absorption when dropped] [2-4. Recovery from a Fall] [2-5. Examples of application to other operations] [2-6. Effects] [3. Application example 2 of spring extension / contraction mechanism] [3-1. Information Processing Terminal] [3-2. Massager] [3-3. Sound equipment] [3-4. Futon Beater] [3-5. Effects]

[0010] [1. Spring extension mechanism] [1-1. Configuration of the spring extension / contraction mechanism] 1 to 8 are diagrams showing an example of a spring expansion / contraction mechanism SM.

[0011] As shown in FIGS. 1 and 2, the spring expansion / contraction mechanism SM includes a first motor MT1, a first reducer RD1, a rotational power transmission mechanism PTM, a spring SP, and an adjustment mechanism AM.

[0012] The rotational power transmission mechanism PTM switches the connection state between the first motor MT1 and the spring SP depending on the rotation direction of the first motor MT1. By switching the connection state, the operation mode of the spring expansion / contraction mechanism SM is switched between a transmission mode and a transmission release mode.

[0013] The transmission mode is an operating mode in which the first motor MT1 and the spring SP are connected via the rotational power transmission mechanism PTM, and the rotational power of the first motor MT1 can be transmitted to the spring SP. In the transmission mode, the spring SP is compressed by the rotational power of the first motor MT1. The transmission release mode is an operating mode in which the connection between the first motor MT1 and the spring SP is cut off by the rotational power transmission mechanism PTM, and the rotational power of the first motor MT1 is not transmitted to the spring SP. In the transmission release mode, no stress is applied to the spring SP. Therefore, if the spring SP was compressed, it is released from its compressed state and instantly extends to its natural length.

[0014] 1 to 3, the rotational power transmission mechanism PTM includes a shaft RA, a first screw MS, a second screw FS, an outer ring OR, a ratchet RT, and a plurality of bearings BG (e.g., a first bearing BG1 to a fourth bearing BG4). The rotational power transmission mechanism PTM is connected to a first motor MT1 via a first reducer RD1.

[0015] The first screw MS is, for example, a male screw. The first screw MS is attached to the shaft RA via a first bearing BG1. A first flange FL1 is provided at the end of the first screw MS opposite the first bearing BG1 side. A gear portion SEG that meshes with a first reducer RD1 is provided at the end of the first screw MS on the first bearing BG1 side. Rotational power of a first motor MT1 is transmitted to the first screw MS via the first reducer RD1. The rotation direction of the first screw MS can be switched by switching the rotation direction of the first motor MT1. As shown in FIGS. 5 and 6, the first motor MT1 can rotate the first screw MS in a first direction D1 and a second direction D2 opposite to the first direction D1.

[0016] Hereinafter, the rotation of the first motor MT1 when rotating the first screw MS in the first direction D1 will be referred to as "forward rotation." The rotation of the first motor MT1 when rotating the first screw MS in the second direction D1 will be referred to as "reverse rotation."

[0017] As shown in Figures 1 and 2, the second screw FS is, for example, a female screw. The second screw FS threadably engages with the first screw MS. A second flange FL2 is provided at the end of the second screw FS on the first screw MS side. The end of the second screw FS opposite the first screw MS side is fitted into the ratchet RT. The ratchet RT is attached to the shaft RA via a fourth bearing BG4. The relative rotation between the second screw FS and the ratchet RT is restricted by a key KY. Therefore, the second screw FS and the ratchet RT rotate together around the shaft RA.

[0018] As shown in Figure 6, the rotation direction of the ratchet RT is restricted to a first direction D1 by the pawl PW and the gear portion RG. The rotation direction of the second screw FS is limited to the first direction D1 by the ratchet RT. The second screw FS and the ratchet RT rotate only in the first direction D1 and do not rotate in a second direction D2 opposite to the first direction D1.

[0019] As shown in Figures 1 to 4, an outer ring OR is provided on the outside of the second screw FS. A spring SP is connected to the outer ring OR via a wire WR. The spring SP is compressed by winding the wire WR around the outer ring OR.

[0020] A third flange FL3 is provided at the end of the outer ring OR on the side of the first thread MS. The end of the outer ring OR on the side of the first thread MS (the third flange FL3 in the example of FIG. 2) is attached to the first thread MS via a second bearing BG2. The end of the outer ring OR opposite the first thread MS is attached to the second thread FS via a third bearing BG3. The third flange FL3 is sandwiched between the first flange FL1 and the second flange FL2 when the first thread MS is rotated in the first direction D1 to tightly engage the first thread MS and the second thread FS.

[0021] In Figure 7, the friction force at the contact portion (first contact portion CP1) between the first flange FL1 and the third flange FL3 is designed to be small. The friction force at the contact portion (second contact portion CP2) between the second flange FL2 and the third flange FL2 is designed to be large. In the transmission mode, the strong friction force at the second contact portion CP2 causes the outer ring OR to rotate integrally with the first screw MS and the second screw FS. In the transmission release mode, contact between the first screw MS and the outer ring OR is maintained, but because the friction force at the first contact portion CP1 is small, even if the first screw MS rotates, the rotation of the first screw MS does not significantly affect the operation of the outer ring OR.

[0022] As shown in Figures 1 to 3, the outer wheel drive mechanism RPT is made up of the first screw MS, the second screw FS, and the ratchet RT. The outer wheel drive mechanism RPT switches between transmitting and cutting off rotational power to the outer wheel OR based on the state of contact between the outer wheel OR and the first screw MS and second screw FS. For example, in the transmission mode, the outer wheel drive mechanism RPT transmits the rotational power of the first motor MT1 to the outer wheel OR by bringing the first screw MS and the second screw FS into close contact with the outer wheel OR. This causes the wire WR to be wound around the outer wheel OR and compresses the spring SP. In the transmission release mode, the outer wheel drive mechanism RPT releases the outer wheel OR from its state of contact with the first screw MS and the second screw F, allowing the outer wheel OR to rotate freely. This releases the spring SP from its compressed state and causes it to instantly expand.

[0023] 1, 2 and 8, the adjustment mechanism AM adjusts the orientation of the spring SP. The adjustment mechanism AM has a second motor MT2, a second reducer RD2 and a casing CS.

[0024] The casing CS has a casing main body MB and a spring shaft SA. The casing main body MB has a cylindrical structure that houses the first motor MT1, the first reducer RD1, and the rotary power transmission mechanism PTM. The casing main body MB is fixed to the shaft RA. The casing main body MB rotates integrally with the shaft RA.

[0025] The spring shaft SA protrudes from the outer peripheral surface of the casing body MB in the radial direction of the casing body MB (a direction perpendicular to the shaft RA). A through hole TH for inserting the wire WR is provided at the center of the spring shaft SA. The spring shaft SA has a hollow structure for inserting the wire WR along the through hole TH.

[0026] A spiral spring SP is fitted onto the outside of the spring shaft SA. The end (first end) of the spring SP on the casing body MB side is in contact with the casing body MB at the base end of the spring shaft SA. The length of the spring SP in an uncompressed state is longer than the length of the spring shaft SA. The tip end of the spring SP in an uncompressed state protrudes from the tip end of the spring shaft SA.

[0027] One end (first end) of the wire WR is connected to the outer peripheral surface of the outer ring OR. The other end (second end) of the wire WR is connected to the end (second end) of the spring SP opposite the casing main body MB side. In the transmission mode, the wire WR is wound around the outer ring OR, and the second end of the wire WR pulls the second end of the spring SP toward the casing main body MB side. This compresses the spring SP. In the transmission release mode, the outer ring OR is released from the rotational power of the first motor MT1, and the outer ring OR rotates freely. This causes the compressed spring SP to instantly expand and return to its natural length.

[0028] The casing main body MB is provided with a gear unit CEG that meshes with the second reducer RD2. The rotational power of the second motor MT2 is transmitted to the casing CS via the second reducer RD2. The second motor MT2 rotates the casing CS together with the first motor MT1, the first reducer RD1, the rotational power transmission mechanism PTM, and the spring SP, which are held in the casing CS, in the circumferential direction of the shaft RA. This adjusts the orientation of the spring SP along the circumferential direction of the shaft RA. The rotational direction of the casing CS can be changed by changing the rotational direction of the second motor MT2.

[0029] [1-2. Spring extension and contraction action] 9 to 12 are diagrams showing the expansion and contraction operation of the spring SP by the spring expansion and contraction mechanism SM.

[0030] 9, when the first motor MT1 is rotated forward to rotate the first screw MS in the first direction D1, the second screw FS is tightened into the first screw MS. As a result, the second screw FS moves in a direction (third direction D3) approaching the first screw MS. The outer ring OR is in contact with the first screw MS at the first contact portion CP1, but because the frictional force at the first contact portion CP1 is small, the outer ring OR does not rotate even when the first screw MS rotates.

[0031] As shown in Figure 10, when the second screw FS moves a predetermined distance in the third direction D3, the third flange FL3 of the outer ring OR is sandwiched between the first flange FL1 of the first screw MS and the second flange FL2 of the second screw FS. The third flange FL3 tightly contacts the first flange FL1 and the second flange FL2, uniting the outer ring OR with the first screw MS and the second screw FS. Because the frictional force between the second flange FL2 and the third flange FL3 at the second contact portion CP2 is large, the outer ring OR is unlikely to rotate relative to the second screw FS. As a result, the outer ring OR is firmly fixed to the second screw FS.

[0032] As shown in Figure 11, when the first screw MS further rotates in the first direction D1 with the third flange FL3 sandwiched between the first flange FL1 and the second flange FL2, the second screw FS, the outer ring OR, and the ratchet RT rotate integrally in the first direction D1 in response to the rotation of the first screw MS. The rotation of the outer ring OR causes the wire WR connected to the outer ring OR to be wound around the outer ring OR. This compresses the spring SP connected to the wire WR.

[0033] As shown in Figure 12, when the rotation direction of the first motor MT1 is reversed while the spring SP is compressed, the first screw MS rotates in a second direction D2, opposite to the first direction D1. The rotation direction of the second screw FS is limited to the first direction D1 by the ratchet RT. Therefore, even if the first screw MS rotates in the second direction D2, the second screw FS cannot rotate in the second direction D2 together with the first screw MS, and instead moves in a direction away from the first screw MS (fourth direction D4). A gap is generated between the second flange FL2 and the third flange FL3 at the second contact portion CP2, reducing the contact force between the third flange FL3 and the first flange FL1 and second flange FL2.

[0034] Although contact between the outer ring OR and the first screw MS is maintained at the first contact point CP1, the frictional force at the first contact point CP1 is small. Therefore, when the adhesion between the first screw MS and the outer ring OR is reduced, the outer ring OR does not rotate even when the first screw MS rotates. The outer ring OR is separated from the outer ring drive mechanism RPT and can rotate freely. The compressive stress applied to the spring SP via the wire WR is also eliminated, allowing the spring SP to stretch freely. As the spring SP stretches, the outer ring OR rotates, but because the outer ring OR is separated from the outer ring drive mechanism RPT, no stress is generated that inhibits the rotation of the outer ring OR. Therefore, the spring SP stretches instantaneously and returns to its original length.

[0035] [1-3.Effects] The spring extension / contraction mechanism SM has an outer ring OR, a wire WR, a spring SP, and an outer ring drive mechanism RPT. The wire WR is connected to the outer surface of the outer ring OR. The spring SP is connected to the outer ring OR via the wire WR. The spring SP is compressed when the wire WR is wound around the outer ring OR. The outer ring drive mechanism RPT comes into close contact with the outer ring OR and transmits rotational power to the outer ring OR. The outer ring drive mechanism RPT releases the outer ring OR from the close contact state, allowing the outer ring OR to rotate freely.

[0036] With this configuration, the transmission and interruption of rotational power is switched based on the state of contact between the outer wheel drive mechanism RPT and the outer wheel OR. When the contact force between the outer wheel drive mechanism RPT and the outer wheel OR is reduced, the connection between the spring SP and the outer wheel drive mechanism RPT is released, and the deflection of the spring SP is instantly released. When the spring SP is released, the force is not transmitted to the outer wheel drive mechanism RPT, making it less likely to malfunction. The spring SP is compressed by winding the wire WR around the outer wheel OR, so the amount of deflection of the spring SP is adjusted by the amount of rotation of the outer wheel OR. Because the amount of deflection can be freely controlled by the amount of rotation of the outer wheel OR, it is easy to miniaturize the device even if the amount of deflection of the spring SP is large.

[0037] The outer wheel drive mechanism RPT has a first screw MS, a second screw FS, and a ratchet RT. The second screw FS is threadedly engaged with the first screw MS, and when the first screw MS rotates in the first direction D1, the second screw FS clamps the outer wheel OR between the first screw MS and the second screw FS. The ratchet RT limits the rotation direction of the second screw FS to the first direction D1.

[0038] This simple configuration allows for switching between transmission and interruption of rotational power to the outer ring OR. For example, when the first thread MS rotates in the first direction D1, the second thread FS moves toward the first thread MS (third direction D3), and the outer ring OR is sandwiched between the first thread MS and the second thread FS. Rotational power is supplied to the outer ring OR via the first thread MS and the second thread FS, which are in close contact with the outer ring OR, and the outer ring OR rotates in the first direction D1 together with the first thread MS and the second thread FS. When the first thread MS rotates in the second direction D2, the second thread FS moves away from the first thread MS (fourth direction D4), and the outer ring OR is released from its close contact with the first thread MS and the second thread FS. This releases the connection between the outer ring OR and the first thread MS and the second thread FS, eliminating the stress applied to the outer ring OR. This allows the outer ring OR to rotate freely.

[0039] The spring extension / contraction mechanism SM has a first motor MT1. The first motor MT1 is capable of rotating a first screw MS in a first direction D1 and a second direction D2 opposite to the first direction D1.

[0040] According to this configuration, a small-sized spring expansion / contraction mechanism SM is provided that uses the first motor MT1 as a rotational power source.

[0041] The spring expansion / contraction mechanism SM has an adjustment mechanism AM that adjusts the orientation of the spring SP.

[0042] According to this configuration, the restoring force of the spring SP can be exerted in an appropriate direction.

[0043] The adjustment mechanism AM has a casing CS and a second motor MT2. The casing CS has a hollow spring shaft SA through which the wire WR passes. The second motor MT2 rotates the casing CS.

[0044] According to this configuration, the orientation of the spring SP can be adjusted with a simple configuration.

[0045] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0046] [2. Application example 1 of spring expansion / contraction mechanism] An example in which the spring extension / contraction mechanism SM is applied to a robot will be described below.

[0047] [2-1. Robot configuration] FIG. 13 is a diagram showing the configuration of an autonomous mobile body 10, an example of a robot. The autonomous mobile body 10 is an agent-type robot with an oblong shape that travels autonomously on wheels. The autonomous mobile body 10 performs various types of communication, including presenting information, by performing autonomous actions according to the user, its surroundings, and its own situation, for example. The autonomous mobile body 10 may be a small robot that is large and heavy enough for a user to easily lift with one hand. The autonomous mobile body 10 has the spring extension / contraction mechanism SM described above for use in obstacle avoidance operations, shock absorption when dropped, and recovery from a fallen state.

[0048] 13 is a side view of the autonomous moving body 10. The autonomous moving body 10 has two eyes 510 corresponding to the right and left eyes on the upper part of the main body. The eyes 510 are realized by, for example, LEDs, and can express gaze, blinking, etc. Note that the eyes 510 are not limited to the above example, and may be realized by, for example, a single or two independent OLEDs (Organic Light Emitting Diodes).

[0049] The autonomous moving body 10 is equipped with two cameras 515 above the eye unit 510. The cameras 515 have the function of capturing images of the user and the surrounding environment. Furthermore, the autonomous moving body 10 can realize SLAM (Simultaneous Localization and Mapping) based on the images captured by the cameras 515.

[0050] The eye 510 and the camera 515 are disposed on a substrate 505 that is disposed inside the exterior surface. The exterior surface of the autonomous moving body 10 is basically formed using an opaque material, but a head cover 550 made of a transparent or semi-transparent material is provided on the portion of the substrate 505 on which the eye 510 and the camera 515 are disposed. This allows the user to recognize the eye 510 of the autonomous moving body 10, and also allows the autonomous moving body 10 to capture images of the outside world.

[0051] The autonomous moving body 10 is equipped with a ToF sensor 520 at the bottom front. The ToF sensor 520 has a function of detecting the distance to an object present in front. The ToF sensor 520 can detect the distance to various objects with high accuracy, and can also detect steps and the like to prevent the autonomous moving body 10 from falling or tipping over.

[0052] The autonomous moving body 10 may be provided on its rear surface with a connection terminal 555 for an external device and a power switch 560. The autonomous moving body 10 can connect to an external device via the connection terminal 555 and communicate information with the external device.

[0053] The autonomous mobile body 10 is provided with two wheels 570 on its bottom surface. The two wheels 570 are each driven by a different motor. This allows the autonomous mobile body 10 to perform moving actions such as moving forward, backward, turning, and rotating. The wheels 570 are provided so that they can be stored inside the main body and protrude to the outside. For example, the autonomous mobile body 10 can perform a jumping action by forcefully protruding the two wheels 570 to the outside.

[0054] The autonomous mobile body 10 performs movement operations such as forward and backward movement, turning movement, and rotational movement while maintaining a forward tilted posture. For example, the autonomous mobile body 10 performs movement operations while tilting forward by an angle θ in the vertical direction. The angle θ is, for example, 10°. The movement control unit 160, which will be described later, controls the movement operation of the autonomous mobile body 10 so that the center of gravity CoG of the autonomous mobile body 10 is positioned vertically above the rotation axis of the wheels 570.

[0055] FIG. 14 is a block diagram showing an example of the functional configuration of the autonomous moving body 10.

[0056] The autonomous moving body 10 includes a sensor unit 110 , an input unit 120 , a light source 130 , an audio output unit 140 , a drive unit 150 , and an operation control unit 160 .

[0057] The sensor unit 110 has a function of collecting various sensor information related to the user and the surroundings. To this end, the sensor unit 110 includes, for example, a camera 515, a ToF sensor 520, a microphone, an inertial sensor (IMU: Inertial Measurement Unit), etc. In addition to the above, the sensor unit 110 may include various other sensors, such as a geomagnetic sensor, a touch sensor, various optical sensors including an infrared sensor, a temperature sensor, a humidity sensor, etc.

[0058] The input unit 120 has a function of detecting a physical input operation by a user. The input unit 120 includes, for example, a button such as a power switch 560.

[0059] The light source 130 expresses the eye movement of the autonomous moving body 10. For this purpose, the light source 130 includes two eyes 510.

[0060] The audio output unit 140 has a function of outputting various sounds including voice, and for this purpose, the audio output unit 140 includes a speaker 535, an amplifier, and the like.

[0061] The driving unit 150 expresses the physical movement of the autonomous moving body 10. To this end, the driving unit 150 includes two wheels 570, a plurality of motors for driving the wheels, a spring expansion / contraction mechanism SM, and the like.

[0062] The operation control unit 160 has a function of controlling each component included in the autonomous moving body 10. For example, the operation control unit 160 performs an action plan based on sensor information collected by the sensor unit 110, and controls eye expressions by the light source 130 and audio output by the audio output unit 140. The operation control unit 160 may also control the operation of the drive unit 150 based on the action plan.

[0063] FIG. 15 is a diagram showing an example of control of the spring expansion / contraction mechanism SM by the operation control unit 160.

[0064] In the example of Fig. 15, the rotation direction of the first motor MT1 is controlled to compress and expand the spring SP. The state on the left side of Fig. 15 is a state in which the outer ring OR is rotated in the first direction D1 by the first motor MT1, and the spring SP is compressed. In this state, the spring SP does not protrude from the bottom BT of the exterior ET of the autonomous moving body 10. Therefore, the autonomous moving body 10 can move on the wheels 570 without being obstructed by the spring SP.

[0065] The state on the right side of Fig. 15 is a state in which the outer ring OR is rotated in the second direction D2 by the first motor MT1, and the spring SP is released from its compressed state. In this state, the spring SP protrudes from the bottom part BT of the exterior ET toward the ground. The autonomous moving body 10 can jump up by pushing the ground with force with the tip of the spring SP.

[0066] FIG. 16 is a diagram showing another example of control of the spring expansion / contraction mechanism SM.

[0067] In the example of FIG. 16, the orientation of the spring SP is adjusted by controlling the rotation of the second motor MT2. In the example on the left side of FIG. 15, the autonomous moving body 10 moves with the spring SP compressed. In this state, rotational power must be continuously applied to the spring SP throughout the movement. In the example of FIG. 16, the orientation of the spring SP is changed to the horizontal direction. In this configuration, even when the spring SP is extended, the spring SP does not protrude from the bottom BT of the exterior ET. The autonomous moving body 10 can move without being hindered by the spring SP, even without applying rotational power to the spring SP. This reduces power consumption.

[0068] 17 and 18 are diagrams showing an example of the shape of the bottom part BT of the exterior ET.

[0069] The symbol L is the natural length of the spring SP. The symbol L1 indicates the length by which the spring SP protrudes from the bottom part BT when the spring SP is extended from the bottom part BT toward the ground with the spring SP facing vertically downward. The symbol L2 indicates the length by which the spring SP protrudes from the bottom part BT when the spring SP is extended from the bottom part BT toward the ground with the spring SP tilted from the vertical direction.

[0070] FIG. 17 shows an example in which the width of the bottom part BT is longer than the height. In the example of FIG. 17, the length L1 is longer than the length L2. Therefore, the force that causes the ball to jump straight up is stronger than the force that causes the ball to jump diagonally. FIG. 18 shows an example in which the width of the bottom part BT is shorter than the height. In the example of FIG. 18, the length L2 is longer than the length L1. Therefore, the force that causes the ball to jump diagonally is stronger than the force that causes the ball to jump straight up. In this way, by adjusting the shape of the bottom part BT, the strength of the jump can be varied depending on the direction of the jump.

[0071] The operation control unit 160 controls the amount of deflection (amount of compression), direction of extension, and timing of extension of the spring SP based on the situation of the autonomous mobile body 10. Various situations are conceivable that may trigger control. Examples of the above-mentioned situations include passive situations such as changes in the operating environment, and active situations such as interacting with others. With this configuration, the spring extension / contraction mechanism SM can be made to perform appropriate operations according to the situation of the autonomous mobile body 10. An example of controlling the spring extension / contraction mechanism SM according to the situation will be described below.

[0072] [2-2. Overcoming obstacles] FIG. 19 is a diagram showing an example in which the spring expansion / contraction mechanism SM is used for climbing over an obstacle OT.

[0073] When the operation control unit 160 detects a situation in which an obstacle OT exists ahead of the autonomous moving body 10 based on the image of the camera 515, it calculates the amount of deflection of the spring SP based on the height of the obstacle OT. The operation control unit 160 calculates the extension direction and extension timing of the spring SP based on the distance to the obstacle OT. This configuration allows the autonomous moving body 10 to overcome the obstacle OT.

[0074] FIG. 20 is a diagram showing a control flow by the operation control unit 160.

[0075] In step S1, the movement control unit 160 detects an obstacle OT ahead in the direction of movement using the camera 515. In step S2, the movement control unit 160 calculates the amount of deflection of the spring SP required to jump over the obstacle OT from the height of the obstacle OT. In step S3, the movement control unit 160 determines whether the spring SP is currently sufficiently compressed to be able to jump over the obstacle OT.

[0076] If it is determined in step S3 that the spring SP is sufficiently compressed (step S3: Yes), the process proceeds to step S4. If it is determined in step S3 that the spring SP is not sufficiently compressed (step S3: No), the process proceeds to step S5. In step S5, the operation control unit 160 rotates the first motor MT1 in the forward direction to sufficiently compress the spring SP. Then, the process proceeds to step S4.

[0077] In step S4, the operation control unit 160 calculates the angle at which the spring SP pushes against the ground GD according to the calculated amount of deflection. Next, in step S6, the operation control unit 160 uses the second motor MT2 to rotate the spring SP to the calculated angle. In step S7, the operation control unit 160 reverses the first motor MT1 to forcefully extend the spring SP. As a result, in step S8, the spring SP pushes against the ground GD, causing the autonomous moving body 10 to jump up. Then, in step S9, the autonomous moving body 10 lands on the obstacle OT with the spring SP stretched. The stretched spring SP absorbs the impact when landing.

[0078] [2-3. Shock absorption when dropped] FIG. 21 is a diagram showing an example in which the spring expansion / contraction mechanism SM is used to absorb shock when dropped.

[0079] When the operation control unit 160 detects a situation in which the autonomous mobile body 10 is falling based on the measurement data of the IMU, it calculates the direction in which the autonomous mobile body 10 will land as the extension direction. The operation control unit 160 extends the spring SP before the autonomous mobile body 10 lands. With this configuration, the spring SP can absorb the impact caused by the fall.

[0080] FIG. 22 is a diagram showing a control flow by the operation control unit 160.

[0081] In step S11, the operation control unit 160 detects that the autonomous moving body 10 is falling based on the measurement data of the IMU. In step S12, the operation control unit 160 rotates the spring SP in the falling direction using the second motor MT2. In step S13, the operation control unit 160 determines whether the spring SP is currently stretched (not compressed).

[0082] If it is determined in step S13 that the spring SP is stretched (step S13: Yes), the process proceeds to step S14. If it is determined in step S13 that the spring SP is not stretched (compressed) (step S13: No), the process proceeds to step S15. In step S15, the operation control unit 160 reverses the first motor MT1 to stretch the spring SP. Then, the process proceeds to step S14.

[0083] In step S14, the autonomous moving body 10 lands on the ground GD with the spring SP stretched. The impact at the time of landing is absorbed by the stretched spring SP.

[0084] [2-4. Recovery from a Fall] FIG. 23 is a diagram showing an example in which the spring expansion / contraction mechanism SM is used for recovery from a fallen state.

[0085] When the operation control unit 160 detects a situation in which the autonomous moving body 10 has fallen over based on the measurement data of the IMU, it calculates the amount of deflection and the extension direction of the spring SP to raise the autonomous moving body 10. With this configuration, the autonomous moving body 10 that has fallen over can be raised up.

[0086] FIG. 24 is a diagram showing a control flow by the operation control unit 160.

[0087] In step S21, the operation control unit 160 detects that the autonomous moving body 10 is in a fallen state based on the measurement data of the IMU. In step S22, the operation control unit 160 determines whether the spring SP is currently compressed by an amount sufficient to raise the autonomous moving body 10.

[0088] If it is determined in step S22 that the spring SP is sufficiently compressed (step S22: Yes), the process proceeds to step S23. If it is determined in step S22 that the spring SP is not sufficiently compressed (step S22: No), the process proceeds to step S24. In step S24, the operation control unit 160 rotates the first motor MT1 in the forward direction, and compresses the spring SP by an amount necessary to raise the autonomous moving body 10. Then, the process proceeds to step S23.

[0089] In step S23, the operation control unit 160 rotates the spring SP in the falling direction using the second motor MT2. The operation control unit 160 calculates the tilt angle of the spring SP required to raise the autonomous moving body 10, and rotates the spring SP until the spring SP is tilted with respect to the ground GD by the calculated tilt angle.

[0090] Next, in step S25, the operation control unit 160 reverses the rotation of the first motor MT1 to forcefully extend the spring SP, which causes the spring SP to push against the ground GD and raise the autonomous moving body 10 in step S26.

[0091] [2-5. Examples of application to other operations] 25 and 26 are diagrams showing examples in which the spring expansion / contraction mechanism SM is applied to other operations of the autonomous moving body 10. In FIG.

[0092] In the examples of Fig. 25 and Fig. 26, the spring extension / contraction mechanism SM is used to attract the user's attention. For example, in the example of Fig. 25, the autonomous mobile body 10 gently taps the user's hand HD to attract the user's attention tactilely. The autonomous mobile body 10 may also attract the user's attention auditorily by tapping on a desk. In the example of Fig. 26, the autonomous mobile body 10 bounces at a regular rhythm to attract the user's attention visually.

[0093] When the operation control unit 160 detects a situation that should attract the user's attention, it controls the amount of deflection, the direction of extension, and the timing of extension of the spring SP according to what the user wants to recognize and the type of object OB that the extended spring SP will collide with. With this configuration, the movement of the autonomous moving body 10 caused by the extension and contraction of the spring SP can attract the user's attention.

[0094] For example, in the example of Figure 25, the object OB to be hit is the user's hand HD. Therefore, the stress at the time of release (the amount of deflection of the spring SP) is set as small as possible within a range that can be perceived by the user. In the example of Figure 26, the object OB to be hit is the ground GD. If the ground GD is made of a hard material, the spring SP can be compressed greatly to make the user jump higher.

[0095] FIG. 27 is a diagram showing a control flow for attracting the user's attention.

[0096] In step S31, the movement control unit 160 determines the strength with which to poke the object OB to be hit. In step S32, the movement control unit 160 calculates the amount of deflection of the spring SP according to the determined strength. In step S33, the movement control unit 160 rotates the first motor MT1 in the forward direction to compress the spring SP by the calculated amount of deflection. In step S34, the movement control unit 1600 rotates the first motor MT1 in the reverse direction to forcefully extend the spring SP, and pokes the object OB with the extended spring SP.

[0097] In step S35, the operation control unit 160 determines whether the object OB has been poked the required number of times. If it is determined in step S35 that the object OB has been poked the required number of times (step S35: Yes), the process ends. If it is determined in step S35 that the object OB has not been poked the required number of times (step S35: No), the process returns to step S33, and the above process is repeated until the object OB has been poked the required number of times.

[0098] [2-6. Effects] The autonomous moving body 10 has a spring expansion / contraction mechanism SM and an operation control unit 160. With this configuration, the amount of deflection of the spring SP can be adjusted, and an autonomous moving body 10 that is small and less likely to break down is provided.

[0099] [3. Application example 2 of spring extension / contraction mechanism] An example in which the spring extension / contraction mechanism SM is applied to an electronic device ED will be described below. The electronic device ED has a spring extension / contraction mechanism SM and an operation control unit. The operation control unit controls the spring extension / contraction mechanism SM and has a configuration similar to that of the operation control unit 160 described above.

[0100] [3-1. Information Processing Terminal] FIG. 28 is a diagram showing an example in which the spring extension / contraction mechanism SM is applied to an information processing terminal ED1 such as a smartphone or a tablet terminal. The information processing terminal ED1 has the spring extension / contraction mechanism SM as a vibration means. The operation control unit notifies the user by using vibrations caused by the extension / contraction of the spring SP. For example, when the information processing terminal ED1 receives an incoming call, the spring SP is caused to protrude at a constant rhythm and strike the surface of the desk TB on which the information processing terminal ED1 is placed. The user recognizes the incoming call by the vibration or vibrating sound of the information processing terminal ED1. With this configuration, large vibrations are generated by the extension / contraction of the spring SP, so that the user can be reliably notified.

[0101] The spring extension / contraction mechanism SM can also be built into a game controller. This configuration can generate powerful vibrations that cannot be achieved with conventional vibration means, resulting in a highly entertaining game.

[0102] [3-2. Massager] FIG. 29 shows an example in which the spring extension / contraction mechanism SM is applied to a massager ED2. The massager ED2 has a vibration unit BP that uses vibrations generated by the extension / contraction of a spring SP to massage the user HM's head, shoulders, back, hips, legs, and other target areas. The spring extension / contraction mechanism SM is built into the vibration unit BP. This configuration provides a compact massager ED2 in which the strength of the massage can be controlled by the amount of deflection of the spring SP.

[0103] [3-3. Sound equipment] FIG. 30 shows an example in which the spring extension / contraction mechanism SM is applied to an audio device ED3. The audio device ED3 has a membrane FM that vibrates due to the expansion and contraction of a spring SP, generating sound SD. The operation control unit controls the amount of deflection and timing of extension of the spring SP based on an audio signal. With this configuration, the spring extension / contraction mechanism SM can be used as a sound source. The intensity of the sound SD can be adjusted by the amount of deflection of the spring SP. This provides a compact audio device ED3 with adjustable sound SD intensity. Furthermore, by strongly deflecting the spring SP, it is possible to generate powerful sounds SD that cannot be expressed using piezoelectric elements, for example. For example, it is possible to hit the membrane FM as if hitting a drum, producing a realistic drum sound.

[0104] [3-4. Futon Beater] FIG. 31 shows an example in which the spring extension / contraction mechanism SM is applied to a futon beater ED4. The futon beater ED4 has a vibration unit BP that beats the futon MA using vibrations generated by the expansion and contraction of a spring SP. The spring extension / contraction mechanism SM is built into the vibration unit BP. This configuration provides a compact futon beater ED4 in which the strength with which the futon MA is beaten can be controlled by the amount of deflection of the spring SP. By strongly deflecting the spring SP, the futon MA can be beaten with force. This allows for better removal of dust, mites, and the like.

[0105] [3-5. Effects] The electronic device ED has the spring expansion / contraction mechanism SM of the present disclosure. With this configuration, the amount of spring deflection can be adjusted, and the electronic device ED is small and less likely to break down.

[0106] [Note] The present technology can also be configured as follows. (1) The outer ring and a wire connected to the outer peripheral surface of the outer ring; a spring connected to the outer ring via the wire and compressed when the wire is wound around the outer ring; an outer ring drive mechanism that comes into close contact with the outer ring to transmit rotational power to the outer ring and releases the outer ring from the close contact state to allow the outer ring to rotate freely; A spring extension mechanism having: (2) The outer wheel drive mechanism includes: A first screw; a second screw that threadably engages with the first screw and sandwiches the outer ring between the first screw and the second screw when the first screw rotates in a first direction; a ratchet that limits the rotation direction of the second screw to the first direction; having The spring extension / contraction mechanism described in (1) above. (3) a first motor that can rotate the first screw in the first direction and in a second direction opposite to the first direction; The spring mechanism according to (2) above. (4) an adjustment mechanism for adjusting the orientation of the spring; The spring expansion / contraction mechanism according to any one of (1) to (3) above. (5) The adjustment mechanism includes: a casing having a hollow spring shaft through which the wire passes; a second motor that rotates the casing; having The spring extension / contraction mechanism described in (4) above. (6) A spring extension / contraction mechanism according to any one of (1) to (5) above; an operation control unit that controls the spring expansion / contraction mechanism; A robot having: (7) the operation control unit controls the amount of deflection, the direction of extension, and the timing of extension of the spring based on the state of the robot. The robot according to (6) above. (8) When the operation control unit detects the presence of an obstacle ahead of the robot based on the image captured by the camera, it calculates the amount of deflection of the spring based on the height of the obstacle, and calculates the direction and timing of extension of the spring based on the distance to the obstacle. The robot according to (7) above. (9) When the operation control unit detects that the robot is falling based on the measurement data of the IMU, it calculates the direction in which the robot will land as the extension direction, and extends the spring before the robot lands. The robot according to (7) above. (10) When the operation control unit detects that the robot is falling down based on the measurement data of the IMU, it calculates the deflection amount and the extension direction of the spring to raise the robot. The robot according to (7) above. (11) When the operation control unit detects a situation that should attract the user's attention, the operation control unit controls the amount of deflection, the direction of extension, and the timing of extension of the spring according to the content that the user is to be made aware of and the type of object that the extended spring will collide with. The robot according to (7) above. (12) A spring extension / contraction mechanism according to any one of (1) to (5) above; an operation control unit that controls the spring expansion / contraction mechanism; An electronic device having: (13) The operation control unit notifies the user by using vibrations generated by the expansion and contraction of the spring. The electronic device according to (12) above. (14) a membrane that vibrates and generates sound due to the expansion and contraction of the spring; The operation control unit controls the amount of deflection and the timing of extension of the spring based on the acoustic signal. The electronic device according to (12) above. (15) A vibration unit that hits or massages an object using vibrations generated by the expansion and contraction of the spring. The electronic device according to (12) above. [Explanation of symbols]

[0107] 10 Autonomous Mobile Objects (Robots) 160 Motion control section AM adjustment mechanism BP vibration part CS casing ED electronic equipment FM membrane FS 2nd screw MS 1st screw MT1 First motor MT2 Second motor OR outer ring OT Obstacles RPT outer wheel drive mechanism RT Ratchet SA spring shaft SM spring extension mechanism SP Spring WR Wire

Claims

1. A spring extension / contraction mechanism and an operation control unit that controls the spring extension / contraction mechanism, The spring expansion / contraction mechanism includes: The outer ring and a wire connected to the outer peripheral surface of the outer ring; a spring connected to the outer ring via the wire and compressed when the wire is wound around the outer ring; an outer ring drive mechanism that comes into close contact with the outer ring to transmit rotational power to the outer ring and releases the outer ring from the close contact state to allow the outer ring to rotate freely; having electronic equipment.

2. The outer wheel drive mechanism includes: A first screw; a second screw that is threadedly engaged with the first screw and that sandwiches the outer ring between the first screw and the second screw when the first screw rotates in a first direction; a ratchet that limits the rotation direction of the second screw to the first direction; having The electronic device according to claim 1 .

3. a first motor that can rotate the first screw in the first direction and in a second direction opposite to the first direction; The electronic device according to claim 2 .

4. an adjustment mechanism for adjusting the orientation of the spring; The electronic device according to claim 1 .

5. The adjustment mechanism includes: a casing having a hollow spring shaft through which the wire passes; a second motor that rotates the casing; having 5. The electronic device according to claim 4.

6. The operation control unit notifies the user using vibrations generated by the expansion and contraction of the spring. The electronic device according to claim 1 .

7. A membrane that vibrates and generates sound due to the expansion and contraction of the spring, The operation control unit controls the amount of deflection and the timing of extension of the spring based on the acoustic signal. The electronic device according to claim 1 .

8. A vibration unit that hits or massages an object using vibrations generated by the expansion and contraction of the spring. The electronic device according to claim 1 .

9. A spring extension / contraction mechanism and an operation control unit that controls the spring extension / contraction mechanism, The spring expansion / contraction mechanism includes: The outer ring and a wire connected to the outer peripheral surface of the outer ring; a spring connected to the outer ring via the wire and compressed when the wire is wound around the outer ring; an outer ring drive mechanism that comes into close contact with the outer ring to transmit rotational power to the outer ring and releases the outer ring from the close contact state to allow the outer ring to rotate freely; having robot.

10. the operation control unit controls the amount of deflection, the direction of extension, and the timing of extension of the spring based on the state of the robot. The robot according to claim 9.

11. When the operation control unit detects the presence of an obstacle ahead of the robot based on the image captured by the camera, it calculates the amount of deflection of the spring based on the height of the obstacle, and calculates the direction and timing of extension of the spring based on the distance to the obstacle. The robot of claim 10.

12. When the operation control unit detects a situation in which the robot is falling based on the measurement data of the IMU, it calculates a direction in which the robot will land as the extension direction, and extends the spring before the robot lands. The robot of claim 10.

13. When the operation control unit detects that the robot is falling down based on the measurement data of the IMU, it calculates the deflection amount and the extension direction of the spring to raise the robot. The robot of claim 10.

14. When the operation control unit detects a situation that should attract the user's attention, the operation control unit controls the amount of deflection, the direction of extension, and the timing of extension of the spring according to the content that the user is to be made aware of and the type of object that the extended spring will collide with. The robot of claim 10.

Images