Robot that houses the moving mechanism

Abstract

To provide a structure of a robot with intension of consideration for a user.SOLUTION: A robot (100) includes: a body frame (310); an elastic body (312) that forms a closed space in between the body frame (310) and the elastic body (312); a movement mechanism (102) including a ground surface at the time of movement and provided such that the movement mechanism (102) can be accommodated in the closed space; and a drive mechanism that causes the movement mechanism (102) to advance to the outside of the closed space or retreat to the inside of the closed space. The elastic body (312) elastically deforms due to a pressing force that the elastic body (312) receives along with advance of the movement mechanism (102) to increase an opening (313) for exposing the movement mechanism (102), and elastically returns along with retreat of the movement mechanism (102) to reduce the opening (313).SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a robot equipped with a movement mechanism. [Background technology]

[0002] Development is underway on autonomous robots, such as humanoid robots and pet robots, that can interact with humans and provide comfort (see, for example, Patent Document 1). Some of these robots are beginning to appear with a sense of life, evolving their behavior by autonomously learning based on the surrounding situation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-323219 Summary of the Invention [Problem to be solved by the invention]

[0004] If we want a robot to have the familiarity of a pet, it must have physical contact with the user. It must not only have an appearance and behavior that makes it tempting to pick it up, but also be easy for the user to pick it up.

[0005] The present invention was made based on the above-mentioned problem recognition, and its main object is to provide a robot structure that takes into consideration the user. [Means for solving the problem]

[0006] One aspect of the present invention is a robot. The robot includes a main body frame, an elastic body that forms a closed space between the main body frame and the elastic body, a moving mechanism that has a contact surface during movement and is provided so as to be able to be housed in the closed space, and a drive mechanism that advances the moving mechanism to the outside of the closed space or retreats it into the closed space. The elastic body elastically deforms due to a pressing force that is applied as the moving mechanism advances, enlarging an opening for exposing the moving mechanism, and elastically returns to its original shape as the moving mechanism retreats, reducing the opening.

[0007] Another aspect of the present invention is a robot. The robot includes a body, a body-forming member that forms part of the body and has an internal storage space, a movement mechanism that has a contact surface during movement and is provided so as to be able to be housed in the storage space, and a drive mechanism that moves the movement mechanism forward and backward from the storage space. The body-forming member has a flexible portion that forms an opening that is expanded as the movement mechanism advances. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a robot structure that takes into consideration the user. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an external appearance of a robot according to an embodiment. [Figure 2] FIG. 2 is a cross-sectional view schematically illustrating the structure of the robot. [Figure 3] 3A and 3B are diagrams illustrating the structure and operation of a wheel storage mechanism. [Figure 4] FIG. 2 is a diagram illustrating a hardware configuration of the robot. [Figure 5] FIG. 2 is a functional block diagram of the robot system. [Figure 6] 10A and 10B are diagrams illustrating the structure and operation of a wheel storage mechanism. [Figure 7] FIG. [Figure 8] 10A and 10B are diagrams illustrating the structure and operation of a wheel storage mechanism. [Figure 9] 10A to 10C are diagrams illustrating a method of assembling the body. [Figure 10] FIG. 10 is a diagram illustrating a wheel storage structure according to a first modified example. [Figure 11] FIG. 10 is a diagram illustrating a wheel storage structure according to a second modified example. [Figure 12] 10A and 10B are side views showing wheel storage structures according to third and fourth modified examples. [Figure 13] FIG. 10 is a diagram illustrating a wheel storage mechanism according to a fifth modified example. [Figure 14] FIG. 10 is a diagram illustrating a wheel storage mechanism according to a fifth modified example. [Figure 15] FIG. 13 is a diagram illustrating a wheel storage mechanism according to a sixth modified example. [Figure 16] FIG. 13 is a diagram illustrating a wheel storage mechanism according to a seventh modified example. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, for convenience, the positional relationship of each structure may be expressed based on the illustrated state. In addition, in the following embodiments and their modifications, substantially identical components will be given the same reference numerals, and their description may be omitted as appropriate.

[0011] The robot of this embodiment has wheels as its mobility mechanism and is structured so that the wheels can be stored in the body. That is, covers are provided on the sides of the main body frame, and the closed space between them serves as the wheel storage space. Because the covers are flexible and elastic, they are expanded when the wheels are advanced from the wheel storage space. When the wheels are retracted into the wheel storage space, the covers return to their original shape. This flexible movement (deformation) of the covers is reminiscent of parts of a living creature, giving the user a sense of familiarity similar to that of a pet. Completely storing the wheels makes it easy to pick up the robot and also prevents the user from touching the wheel's contact surface. This embodiment provides a robot that is considerate of the user. The specific configuration of such a robot will be described below.

[0012] 1A and 1B are diagrams illustrating the appearance of a robot 100 according to an embodiment, in which Fig. 1A is a front view and Fig. 1B is a side view. The robot 100 is an autonomous robot that determines its behavior and gestures based on the external environment and its internal state. The external environment is recognized by various sensors such as cameras and thermosensors. The internal state is quantified as various parameters that express the emotions of the robot 100. The robot 100's range of activity is within the owner's home. Hereinafter, a human interacting with the robot 100 will be referred to as the "user."

[0013] The body 104 of the robot 100 has an overall rounded shape and includes an outer skin 314 made of a soft and elastic material such as urethane, rubber, resin, or fiber. The robot 100 may be dressed in clothing. The total weight of the robot 100 is approximately 5 to 15 kilograms, and the height is approximately 0.5 to 1.2 meters. The appropriate weight, roundness, softness, and pleasant feel of the robot 100 make it easy for the user to hold the robot 100, and make the user want to hold it.

[0014] The robot 100 includes a pair of front wheels 102 (left front wheel 102a and right front wheel 102b) and one rear wheel 103. The front wheels 102 are drive wheels, and the rear wheels 103 are driven wheels. The front wheels 102 do not have a steering mechanism, but the rotation speed and direction of the left and right wheels can be controlled individually. The rear wheels 103 are casters that are rotatable to move the robot 100 forward, backward, left, and right. The rear wheels 103 may be omniwheels. By increasing the rotation speed of the right front wheel 102b compared to the left front wheel 102a, the robot 100 can turn left or rotate counterclockwise. By increasing the rotation speed of the left front wheel 102a compared to the right front wheel 102b, the robot 100 can turn right or rotate clockwise.

[0015] The front wheel 102 and rear wheel 103 can be completely stored in the body 104 by a drive mechanism (rotation mechanism, link mechanism) described below. A pair of left and right covers 312 are provided on the lower half of the body 104, which form a flexible torso and can store the front wheel 102. A slit 313 (opening) that opens forward is formed in the cover 312, and the front wheel 102 can be advanced through the slit 313 and exposed to the outside. The cover 312 functions as a "body-forming member," and the area around the slit 313 functions as a "flexible portion."

[0016] Even when the robot 100 is moving, most of the wheels are hidden by the body 104, but when the wheels are completely retracted into the body 104, the robot 100 is unable to move. That is, as the wheels are retracted, the body 104 descends and sits on the floor F. In this seated state, a flat seating surface 108 (ground-contact bottom surface) formed on the bottom of the body 104 abuts against the floor F. The structure and operation of the wheel retracting mechanism will be described in detail later.

[0017] The robot 100 has two hands 106. The hands 106 do not have the ability to grasp objects. The hands 106 can perform simple actions such as lifting, shaking, and vibrating by pulling or loosening built-in wires (not shown). The two hands 106 can also be controlled individually.

[0018] Two eyes 110 are provided on the front of the head (face) of the robot 100. The eyes 110 are displayed in various expressions using liquid crystal elements or organic EL elements. The robot 100 has a built-in speaker and can emit simple sounds. A horn 112 is attached to the top of the head of the robot 100. A panoramic camera is built into the horn 112, which can capture images in all directions, up, down, left, and right, all at once. In addition, a high-resolution camera (not shown) is provided on the front of the head of the robot 100.

[0019] In addition, the robot 100 has various built-in sensors such as a temperature sensor that detects the ambient temperature, a microphone array having multiple microphones, a shape measurement sensor (depth sensor) that can measure the shape of the measurement target, and an ultrasonic sensor.

[0020] FIG. 2 is a cross-sectional view that schematically illustrates the structure of the robot 100. As shown in FIG. The body 104 includes a base frame 308, a main frame 310, an outer skin 314, and a pair of covers 312. The base frame 308 forms the axis of the body 104 and supports the internal mechanism. The base frame 308 is configured by a lower plate 334 and a plurality of side plates 336 standing on it. The inside of the base frame 308 houses the battery 118, a control circuit 342, various actuators, etc. The bottom surface of the lower plate 334 forms the seating surface 108.

[0021] The main body frame 310 includes a head frame 316 and a torso frame 318. The head frame 316 is hollow and hemispherical, forming the head skeleton of the robot 100. The torso frame 318 is rectangular and cylindrical, forming the torso skeleton of the robot 100. The lower end of the torso frame 318 is fixed to a lower plate 334. The head frame 316 is connected to the torso frame 318 via a connection mechanism 330.

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

[0023] The trunk frame 318 houses the base frame 308 and the 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 "movement mechanism" that moves the robot 100. The front wheel 102 has a direct drive motor (hereinafter referred to as "DD motor") at its center. This allows the left front wheel 102a and the right front wheel 102b to be driven independently. The front wheels 102 are rotatably supported by wheel covers 105, which are rotatably supported by the trunk frame 318.

[0024] The pair of covers 312 are provided to cover the trunk frame 318 from the left and right, and have a smoothly curved shape to round the outline of the body 104. A closed space is formed between the trunk frame 318 and the cover 312, and this closed space serves as a storage space S for the front wheel 102. The rear wheel 103 is stored in a storage space provided at the lower rear of the trunk frame 318.

[0025] The outer skin 314 covers the main body frame 310 from the outside. The outer skin 314 is thick enough that a person can feel its elasticity, and is made of a stretchy material such as urethane sponge. This allows the user to hug the robot 100 with just the right amount of softness, allowing for natural skin-to-skin contact, just like a person would with a pet. The outer skin 314 is attached to the main body frame 310 in a manner that exposes the cover 312.

[0026] Touch sensors are disposed between the main body frame 310 and the outer skin 314. Touch sensors are embedded in the cover 312. These touch sensors are all capacitance sensors that detect touches over almost the entire area of ​​the robot 100. The touch sensor may be embedded in the outer skin 314 or may be disposed inside the main body frame 310.

[0027] The hands 106 are formed integrally with the outer skin 314. An opening 390 is provided at the upper end of the outer skin 314. The lower ends of the horns 112 are connected to the head frame 316 through the opening 390.

[0028] The drive mechanism for driving the hand 106 includes a wire 134 embedded in the outer skin 314 and a drive circuit 340 (current-carrying circuit) for the wire 134. In this embodiment, the wire 134 is made of a shape memory alloy wire, which shrinks and hardens when heated and relaxes and extends when the heat is removed. Lead wires drawn from both ends of the wire 134 are connected to the drive circuit 340. When the switch of the drive circuit 340 is turned on, electricity is passed through the wire 134 (shape memory alloy wire).

[0029] Wire 134 is molded or braided so as to extend from outer cover 314 to hand 106. Lead wires are drawn from both ends of wire 134 toward the inside of body frame 318. Wire 134 may be provided one on each side of outer cover 314, or multiple wires may be provided in parallel. By passing electricity through wire 134, the arm (hand 106) can be raised, and by cutting off the electricity, the arm (hand 106) can be lowered.

[0030] Figure 3 is a diagram showing the structure and operation of the wheel storage mechanism. Figure 3(a) is a side view, and Figure 3(b) is a front view. In the figure, the dotted lines indicate the state in which the wheels have advanced from the storage space S and are ready to travel, while the solid lines indicate the state in which the wheels have been stored in the storage space S.

[0031] The wheel drive mechanism 370 includes a front wheel drive mechanism 374 and a rear wheel drive mechanism 376. The front wheel drive mechanism 374 includes a rotating shaft 378 and an actuator 379. The rotating shaft 378 is connected to the wheel cover 105. In this embodiment, a motor is used as the actuator 379. By driving the actuator 379 to rotate the wheel cover 105, the front wheel 102 can be driven to move forward and backward from the storage space S to the outside. In this way, the front wheel drive mechanism 374 functions as a "rotating mechanism."

[0032] The rear wheel drive mechanism 376 includes a rotating shaft 404 and an actuator 406. A rotating shaft 407 is supported at the center of the rotating shaft 404. A bifurcated arm 408 extends from the rotating shaft 407, and an axle 410 is integrally attached to the tip of the arm. The rear wheel 103 is rotatably supported on the axle 410. The rotating shaft 407 is rotatable around its own axis, and can arbitrarily change the orientation (direction of travel) of the rear wheel 103. By driving the actuator 406, the rear wheel 103 can be driven forward and backward from the rear storage space to the outside. In this way, the rear wheel drive mechanism 376 functions as a "link mechanism."

[0033] When the wheels are stored, the actuators 379 and 406 are driven in one direction. At this time, the wheel cover 105 rotates about the rotation shaft 378, and the front wheel 102 rises from the floor surface F. In addition, the arm 408 rotates about the rotation shaft 404, and the rear wheel 103 rises from the floor surface F (see the dashed-dotted arrow). As a result, the body 104 descends, and the seating surface 108 touches the floor surface F (see the solid-line arrow). This realizes the robot 100 in a seated state. By driving the actuators 379 and 406 in the opposite direction, the wheels are advanced, and the robot 100 can be made to stand up.

[0034] A rear cover 107 resembling a tail is provided on the outside of the rear wheel 103, and opens and closes the rear lower opening of the body 104 in conjunction with the rear wheel 103. That is, when the rear wheel 103 is advanced, the rear cover 107 opens, and when the rear wheel 103 is retracted, the rear cover 107 closes.

[0035] FIG. 4 is a diagram showing the hardware configuration of the robot 100. The robot 100 includes an internal sensor 128, a communication device 126, a memory 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 memory device 124 are included in a 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 for the robot 100.

[0036] The internal sensor 128 is a collection of various sensors built into the robot 100. Specifically, these include a camera (a panoramic camera, a high-resolution camera), a microphone array, a distance sensor (an infrared sensor), a thermosensor, a touch sensor, an acceleration sensor, and an odor sensor. The touch sensor covers most of the body 104 and detects the user's touch based on changes in capacitance. The odor sensor is a known sensor that applies the principle that electrical resistance changes due to the adsorption of odor-causing molecules.

[0037] The communicator 126 is a communication module that performs wireless communication with various external devices, such as the server 200 (described later), the external sensor 114, and mobile devices owned by the user. The storage device 124 is composed of non-volatile memory and volatile memory, and stores computer programs and various setting information. The processor 122 is a means for executing computer programs. The drive mechanism 120 is an actuator that controls the internal mechanism. In addition, a display, a speaker, etc. are also installed.

[0038] The processor 122 selects the behavior of the robot 100 while communicating with the server 200 and the external sensor 114 via the communication device 126. Various external information obtained by the internal sensor 128 also affects the behavior selection. The drive mechanism 120 mainly controls the movement of the wheels (front wheels 102) and the head (head frame 316). The drive mechanism 120 changes the direction and speed of movement of the robot 100 by changing the rotation speed and direction of each of the two front wheels 102. The drive mechanism 120 can also raise and lower the wheels (front wheels 102 and rear wheels 103). When the wheels are raised, they are completely retracted into the body 104, and the robot 100 abuts the seating surface 108 against the floor F, entering a seated state. The drive mechanism 120 also controls the hands 106 via wires 134.

[0039] FIG. 5 is a functional block diagram of the robot system 300. The robot system 300 includes a robot 100, a server 200, and multiple external sensors 114. Each component of the robot 100 and the server 200 is implemented by hardware, including computing units such as a central processing unit (CPU) and various coprocessors, storage devices such as memory and storage, and wired or wireless communication lines connecting these components, as well as software stored in the storage devices and supplying processing instructions to the computing units. Computer programs may be configured by device drivers, an operating system, various application programs located at higher levels, and libraries that provide common functions to these programs. The blocks described below represent functional blocks rather than hardware configurations. Some of the functions of the robot 100 may be implemented by the server 200, or some or all of the functions of the server 200 may be implemented by the robot 100.

[0040] A plurality of external sensors 114 are installed in advance inside the house. The position coordinates of the external sensors 114 are registered in the server 200. Based on the information obtained from the internal sensor 128 of the robot 100 and the plurality of external sensors 114, the server 200 determines the basic behavior of the robot 100. The external sensors 114 are used to augment the sensory organs of the robot 100, and the server 200 is used to augment the processing capabilities of the robot 100. The communicator 126 of the robot 100 periodically communicates with the external sensors 114, and the server 200 determines the location of the robot 100 using the external sensors 114.

[0041] (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.

[0042] The data storage unit 206 includes a motion storage unit 232, a map storage unit 216, and a personal data storage unit 218. The robot 100 has a plurality of movement patterns (motions). Various motions are defined, such as shaking the hands 106, meandering towards the user, and tilting the head while gazing at the user.

[0043] The motion storage unit 232 stores "motion files" that define the control content of a motion. Each motion is identified by a motion ID. The motion files are also downloaded to the motion storage unit 160 of the robot 100. The decision as to which motion to execute may be made by the server 200 or by the robot 100. Many of the motions of the robot 100 are composed of composite motions that include multiple unit motions.

[0044] The map storage unit 216 stores a behavior map that defines the robot's behavior depending on the situation, as well as a map showing the placement of obstacles such as chairs and tables. The personal data storage unit 218 stores user information. Specifically, it stores master information that indicates the degree of intimacy with the user and the user's physical and behavioral characteristics. Other attribute information such as age and gender may also be stored.

[0045] The robot 100 has an internal parameter called intimacy for each user. When the robot 100 recognizes that the user has shown affection for the robot 100, such as picking the robot up or talking to the robot, the robot 100's intimacy with the user increases. The robot 100's intimacy with users who do not interact with the robot 100, users who are violent, and users the robot 100 encounters infrequently decreases.

[0046] The data processing unit 202 includes a position management unit 208, a recognition unit 212, a movement control unit 222, and an intimacy management unit 220. The position management unit 208 identifies the position coordinates of the robot 100. The position management unit 208 may also track the position coordinates of the user in real time.

[0047] The recognition unit 212 recognizes the external environment. Recognition of the external environment includes various recognitions such as recognition of weather and season based on temperature and humidity, and recognition of shade (safe zone) based on the amount of light and temperature. The recognition unit 150 of the robot 100 acquires various environmental information using the internal sensor 128, performs initial processing on it, and transfers it to the recognition unit 212 of the server 200.

[0048] The recognition unit 212 further includes a person recognition unit 214 and a response recognition unit 228. The person recognition unit 214 compares a feature vector extracted from an image captured by the built-in camera of the robot 100 with the feature vectors of users (clusters) pre-registered in the personal data storage unit 218 to determine which person the captured user corresponds to (user identification process). The person recognition unit 214 includes a facial expression recognition unit 230. The facial expression recognition unit 230 recognizes the facial expressions of the user. The user's emotions are estimated by image recognition.

[0049] The response recognition unit 228 recognizes various responses made to the robot 100 and classifies them into pleasant and unpleasant responses. The response recognition unit 228 also recognizes the user's response to the behavior of the robot 100 and classifies it into positive and negative reactions. The pleasant and unpleasant responses are determined based on whether the user's response is pleasant or unpleasant from a living organism's perspective.

[0050] The movement control unit 222 cooperates with the movement control unit 152 of the robot 100 to determine the motion of the robot 100. The movement control unit 222 creates a movement destination point for the robot 100 and a movement route therefor. The movement control unit 222 may create multiple movement routes and then select one of the movement routes. The movement control unit 222 selects the motion of the robot 100 from multiple motions in the motion storage unit 232.

[0051] The intimacy management unit 220 manages the intimacy level for each user. The intimacy level is registered as part of personal data in the personal data storage unit 218. When a pleasant behavior is detected, the intimacy management unit 220 increases the intimacy level for that user. When an unpleasant behavior is detected, the intimacy level decreases. Furthermore, the intimacy level of a user who has not been viewed for a long period of time gradually decreases.

[0052] (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 communicator 126 (see FIG. 4) 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. 4). The data processing unit 136 performs various processes based on data acquired by the communication unit 142 and 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 between the communication unit 142, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.

[0053] The data storage unit 148 includes a motion storage unit 160 that defines various motions of the robot 100. Various motion files are downloaded to the motion storage unit 160 from the motion storage unit 232 of the server 200. Motions are identified by motion IDs. To express various motions, the operation timing, operation duration, operation direction, etc. of various actuators (drive mechanisms 120) are defined in chronological order in the motion files.

[0054] Various data may also be downloaded to the data storage unit 148 from the map storage unit 216 and the personal data storage unit 218 .

[0055] The data processing unit 136 includes a recognition unit 150 and an operation control unit 152. The recognition unit 150 interprets external information obtained from the internal sensor 128. The recognition unit 150 is capable of visual recognition (visual unit), smell recognition (olfactory unit), sound recognition (auditory unit), and tactile recognition (tactile unit).

[0056] The recognition unit 150 periodically captures images of the outside world using a built-in omnidirectional camera and detects moving objects such as people and pets. The recognition unit 150 extracts a feature vector from the captured image of the moving object. As described above, the feature vector is a collection of parameters (features) that indicate the physical and behavioral characteristics of the moving object. When a moving object is detected, the physical and behavioral characteristics are also extracted from an odor sensor, a built-in sound-collecting microphone, a temperature sensor, etc. These characteristics are also quantified and become feature vector components.

[0057] The intimacy management unit 220 of the server 200 changes the intimacy level with respect to the user in accordance with the interaction behavior recognized by the recognition unit 150. In principle, the intimacy level with respect to a user who has performed a pleasant behavior increases, and the intimacy level with respect to a user who has performed an unpleasant behavior decreases.

[0058] The movement control unit 152, together with the movement control unit 222 of the server 200, determines the movement direction of the robot 100. Movement based on a behavior map may be determined by the server 200, and instantaneous movement, such as avoiding obstacles, may be determined by the robot 100. The drive mechanism 120 drives the front wheels 102 (wheel drive mechanism 370) according to instructions from the movement control unit 152, thereby moving the robot 100 toward the movement destination.

[0059] The movement control unit 152 decides the motions of the robot 100 in cooperation with the movement control unit 222 of the server 200. Some motions may be decided by the server 200, and other motions may be decided by the robot 100. Alternatively, the robot 100 may decide the motions, but when the processing load of the robot 100 is high, the server 200 may decide the motions. The server 200 may decide base motions, and the robot 100 may decide additional motions. How the motion decision process is shared between the server 200 and the robot 100 may be designed according to the specifications of the robot system 300.

[0060] The movement control unit 152 instructs the drive mechanism 120 to execute the selected motion. The drive mechanism 120 controls each actuator according to the motion file. If the motion file defines head movement or forward / backward movement of the wheels, the movement control unit 152 drives the drive mechanism 120 to execute the movement control.

[0061] The movement control unit 152 can execute a motion of lifting both hands 106 as a gesture of asking to be "held" when a user with whom the robot has a high level of intimacy is nearby, and can also express a motion of refusing to be held by alternately rotating the left and right front wheels 102 in the opposite direction and stopping the wheels 102 while keeping them retracted when the robot gets tired of being held. The drive mechanism 120 drives the front wheels 102, hands 106, and neck (head frame 316) in accordance with instructions from the movement control unit 152, thereby causing the robot 100 to express various motions.

[0062] Next, the characteristic configuration and operation of the robot 100 will be described. Figures 6 to 8 are diagrams showing the structure and operation of the wheel storage mechanism. Figure 6 is a perspective view showing the lower half of the robot 100 with the outer skin 314 removed. Figure 6(a) shows the wheel storage state, and Figure 6(b) shows the wheel advanced state. Figure 7 is a side view showing the wheel advanced state. Figure 8 is a partially enlarged view of the wheel advanced operation as seen from the front. Figures 8(a) to (f) show the process of the wheel advanced.

[0063] As shown in FIG. 6(a), the pair of covers 312 are configured symmetrically with respect to the main body frame 310 and are joined at their front and rear surfaces (joint 502). These covers 312, together with the main body frame 310, form the body 104. In this embodiment, the two covers are joined by welding or adhesive, but screw fastening or other fastening methods may also be used. The covers 312 are made of a flexible and elastic resin material (rubber, silicone rubber, etc. in this embodiment). A vertical slit 313 is provided from the side surface of the cover 312 to the front surface. The slit 313 is arc-shaped (fan-shaped) when viewed from the side of the body 104.

[0064] The cover 312 has a mounting portion 510 on the inside and a bulging portion 512 on the outside, with the slit 313 as the boundary. The mounting portion 510 is fixed to the main body frame 310. The bulging portion 512 is It has a shape that bulges out in a direction away from the main body frame 310, forming a closed space between it and the main body frame 310. A spring material 514 is embedded (insert molded) in the bulging portion 512 to conform to the shape of the bulging portion. The spring material 514 is obtained by punching a metal plate (spring steel plate) into a framework shape using sheet metal processing, and then forming it into a curved shape. The spring material 514 is set in a predetermined mold, and resin material is injection molded to obtain the cover 312. The chamber of this mold also has a curved portion that conforms to the shape of the cover 312. The spring material 514 functions as the core material of the cover 312, and together with the resin material (rubber), it constitutes an "elastic body."

[0065] Additionally, multiple small holes 516 are formed at predetermined intervals along the entire length of spring material 514. These small holes 516 allow the resin material to flow around to the front and back of spring material 514 during injection molding, stabilizing the bond between spring material 514 and the resin material. Circular holes 518 are provided at both ends (top and bottom ends) of slit 313 (see FIG. 7), which relieve stress concentration at the ends when slit 313 is expanded, preventing breakage of cover 312.

[0066] In the wheel storage state, as shown in the figure, the slit 313 is closed. The front wheel 102 is completely stored inside the cover 312. The storage space S inside the cover 312 is large enough to fit just one wheel cover 105 integrated with the front wheel 102.

[0067] When the wheel is driven as shown in FIG. 6(b), the front wheel 102 protrudes from the slit 313 and is exposed outside the cover 312. As the front wheel 102 advances, the wheel cover 105 pushes the bulge 512 outward. Due to its elasticity and flexibility, the cover 312 bends around the portion where the wheel cover 105 approaches, as shown in the figure, and the portion where the wheel cover 105 passes elastically returns to its original shape. In other words, as the front wheel 102 advances, the deformation area of ​​the slit 313 changes. When the wheel is to be retracted, the wheel moves in the opposite direction to the above.

[0068] As shown in the figure, most of the front wheel 102, excluding its contact surface, is covered by wheel cover 105. The gap between wheel cover 105 and front wheel 102 is made very small to prevent surrounding objects from getting caught or pinched. By making the portion of cover 312 that comes into contact with slit 313 the wheel cover 105, rather than the front wheel 102 itself, it is possible to prevent cover 312 from getting dirty when taking the front wheel 102 in or out.

[0069] The outer surface of wheel cover 105 is provided with tapered surface 520 that slopes toward the outer surface of front wheel 102 as it moves radially outward from front wheel 102. When the wheel is advanced, the outer surface of wheel cover 105 abuts against slit 313. At this time, slit 313 can be smoothly pushed open along tapered surface 520, allowing front wheel 102 to be inserted or removed smoothly.

[0070] Furthermore, by providing the tapered surface 520, the wheel cover 105 has an outer surface that is complementary in shape to the inner surface of the bulge portion 512. As a result, even if external pressure acts on the bulge portion 512 in the wheel-stored state shown in FIG. 6(a), the wheel cover 105 supports the bulge portion 512 from the inside, preventing or suppressing deformation of the bulge portion 512. For example, when a user hugs the robot 100, the strength of the hug may cause elastic deformation of the bulge portion 512. Even in such a case, the wheel cover 105, which is a rigid body, functions as a core material, preventing excessive deformation or crushing of the bulge portion 512.

[0071] As shown in FIG. 7, the wheel cover 105 rotates around a rotation axis 522 provided near the bottom of the main body frame 310. The slit 313 is provided on the cover 312 on the track of the front wheel 102 (see the two-dot chain line). The inside of the cover 312 (more specifically, the inner surface of the mounting portion 510 and the bulging portion 512 near the slit 313) is provided with a sliding member 53. 5 is provided. The sliding member 535 is a sheet-like member made of a highly wear-resistant resin (such as polyacetal (POM)), and is disposed in the contact portion with the wheel cover 105 near the slit 313. The sliding member 535 abuts against the wheel cover 105 and smoothly guides it when the front wheel 102 is driven forward and backward, thereby preventing or suppressing wear (deterioration) of the cover 312.

[0072] The spring material 514 has an annular base portion 540 along the periphery of the bulge portion 512 and a plurality of frame forming portions 542 extending radially from the base portion 540, forming a framework structure. By ensuring appropriate spacing between the base portion 540 and the frame forming portions 542, and between adjacent frame forming portions 542, and filling them with resin (in other words, by setting the spring material 514 to an appropriate shape, thickness, and width), appropriate elasticity can be obtained for the bulge portion 512 as a whole. The base portion 540 extends along the vicinity of the slit 313.

[0073] The spring material 514 also functions as an electrode of a capacitance sensor (proximity sensor). When the user touches the cover 312, for example when picking up the robot 100, the capacitance around the electrode changes. By detecting this change, the user's touch can be determined. In this way, by arranging the spring material 514 over the entire cover 312, which corresponds to the torso of the robot 100, and ensuring a large area as a sensor electrode, the sensitivity of the touch sensor can be increased.

[0074] When the wheels are driven, the front wheels 102 are gradually pushed out from the cover 312 as shown in FIG. 8(a) → (b) → (c) → (d) → (e) → (f), eventually until most of them are exposed to the outside. When the wheels are retracted, the front wheels 102 are gradually retracted into the cover 312 as shown in FIG. 8(f) → (e) → (d) → (c) → (b) → (a), eventually until they are completely retracted. At this time, the slits 313 also close. The bulging portion 512 has a three-dimensional curved shape like a bowl, and as shown in the figure, this curved shape changes during the process of advancing and retracting the wheels. This behavior during wheel advancement and retraction allows the front wheels 102 to flexibly move in and out of the cover 312, giving the user a sense of biological softness and warmth.

[0075] Fig. 9 is a diagram that schematically shows a method for assembling the body 104. Fig. 9(a) to (c) show the assembling process. In the process of assembling the body 104, the main body frame 310 and its internal mechanisms are assembled as shown in Fig. 9(a). The front wheels 102 and wheel covers 105 are positioned in a retracted state (stored state).

[0076] 9(b), the pair of covers 312 are assembled and fixed to the left and right sides of the main frame 310. Although not explained above, the inner surface of the cover 312 is provided with a plurality of reinforcing ribs 526 in positions that do not interfere with the front wheel 102, allowing the cover 312 to be assembled stably and smoothly.

[0077] 9(c), the outer skin 314 is placed over the head. A circular opening 528 is provided on the upper front surface of the outer skin 314 to expose the facial region of the head frame 316. The outer skin 314 extends to the front and back sides of the robot 100, and is configured so that these extensions 530 do not interfere with the slits 313.

[0078] The robot 100 has been described above based on the embodiment. According to this embodiment, the cover 312 elastically deforms due to the pressing force received as the front wheels 102 advance, enlarging the slits 313, and elastically returns to its original shape as the front wheels 102 retract, reducing the size of the slits 313. The deformation of the slits 313 also evokes the movement of the soft parts of a living creature. This allows the robot 100 to have a sense of life and familiarity like a pet. By completely retracting the wheels, they do not interfere with the user when the user picks up the robot 100, and they do not stain the user's clothes. This also prevents the user from being overwhelmed, and is a great consideration for the user.

[0079] The present invention is not limited to the above-described embodiments and modifications, and the components can be modified without departing from the spirit of the invention. Various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments and modifications. Furthermore, some components can be omitted from all the components shown in the above-described embodiments and modifications.

[0080] Figure 10 shows a wheel storage structure according to a first modified example. Figure 10(a) is a side view showing the wheel storage section and its surrounding structure. Figure 10(b) is a cross-sectional view taken along the line AA in Figure 10(a). Figure 10(c) is a view (front view) taken along the line B in Figure 10(a).

[0081] As shown in FIG. 10(a), in this modification, a shielding portion 550 is provided near the upper end of the slit 313 in a position that does not interfere with the tracks of the front wheel 102 and wheel cover 105. The shielding portion 550 is made of a flexible resin material and has a pleated structure as shown in FIG. 10(b). The open end of the pleated structure is integrated with the opening of the slit 313, and the folded portion is positioned inside the slit 313. When the slit 313 is pushed open when the wheel is advanced, and when it is retracted when the wheel is retracted, the pleated structure changes between a standard state on the left side of FIG. 10(b) and an expanded state on the right side.

[0082] With this configuration, as shown in Fig. 10(c), the internal structure (mechanical structure) can be hidden when the robot 100 is viewed from the front. That is, it is possible to prevent the user from being turned off by the mechanical structure being visible when the wheels are extended. Also, when a user tries to forcefully open the slits 313, such as when a child mischief occurs, the pleated structure acts as a stopper in the open state, preventing damage to the cover 312.

[0083] Figure 11 shows a wheel storage structure according to a second modified example. Figure 11(a) shows the wheel storage state with the outer skin 314 removed. Figure 11(b) shows the wheel advanced state with the outer skin 314 removed. Figure 11(c) shows the wheel advanced state with the outer skin 314 attached.

[0084] As shown in FIGS. 11(a) and 11(b), in this modification, the cover 612 is similar to the cover 312 except that it does not have the slit 313 as in the above embodiment. In the wheel-storing state, the inner edge of the cover 612 abuts against the side of the trunk frame 318, forming a storage space S therein. When the front wheel 102 advances during wheel drive, the wheel cover 105 pushes through the gap between the trunk frame 318 and the cover 612. At this time, the lower part of the cover 612 is pushed outward, forming an opening 613 between the side of the trunk frame 318 and the cover 612. As shown in FIG. 11(c), the outer skin 314 does not interfere with the opening 613. The cover 612 functions as a "body-forming member," and the lower inner edge functions as a "flexible portion."

[0085] Even with this configuration, the cover 612 elastically deforms (flexes) due to the pressing force from the wheel cover 105 as the front wheel 102 advances, thereby enlarging the opening 613. When the opening 613 is pushed open, the cover 612 generates a biasing force in a direction to close it, and as the front wheel 102 retracts, the cover 612 elastically returns to its original position to close the opening 613. As a result, the same effects as those of the above embodiment can be obtained.

[0086] FIG. 12 is a side view showing a wheel storage structure according to a third and fourth modified example. In the third and fourth modified examples, the shape of the spring material is different from that of the spring material 514 of the above embodiment. In the third modified example shown in FIG. 12(a), a portion 644 of the base portion 640 of the spring material 614 that follows the track of the front wheel 102 is configured to be relatively separated from the slit 313. This allows the peripheral edge of the bulging portion 512 to be easily bent when it is pushed open by the wheel cover 105. With this configuration, the area where the slit 313 expands when the wheel is advanced can be more limited, making it difficult to see the internal structure from the outside.

[0087] 12(b), a portion of the base portion 740 of the spring material 714 that follows the track of the front wheel 102 is partially missing. As a result, similar to the third modification, the portion of the periphery of the bulge portion 512 that is pushed open by the wheel cover 105 is made more flexible. Furthermore, an arc-shaped tactile sensation forming portion 750 is provided on the outer surface of the bulge portion 512 near the periphery that follows the track of the front wheel 102. The tactile sensation forming portion 750 forms a soft region that is softer than other regions of the bulge portion 512, providing the user with a comfortable feel.

[0088] Figures 13 and 14 are diagrams showing a wheel storage mechanism according to Modification 5. Figure 13 shows a cross-sectional view of the robot, and Figure 14 shows an example of the operation of the robot using this mechanism. 13, in the fifth modified example, the forward and backward movement of the left and right front wheels 102 is controlled separately. That is, a rotation shaft 378a of the left front wheel 102a is connected to an actuator 379a, and a rotation shaft 378b of the right front wheel 102b is connected to an actuator 379b. The actuators 379a and 379b are each made up of an independent motor and are driven separately.

[0089] This configuration allows the timing of the forward and backward drive of the left and right wheels to be shifted. As shown in Figures 14(a) to 14(c), the robot 100 can stand up on one foot at a time while tilting its body left and right, sway up and down from a standing position, or run while swaying, allowing for a wide variety of motions. Lifelike movements can also be realized.

[0090] In the above embodiment, the front wheels 102 are exemplified as the movement mechanism accommodated in the accommodation space S, but the rear wheels 103 may be accommodated in a similar manner. That is, a closed space (accommodation space) may be provided between the rear surface of the main body frame 310 and a cover (elastic body) to accommodate the rear wheels 103. The cover elastically deforms due to the pressing force received as the rear wheels 103 advance, enlarging an opening (slit) for exposing the rear wheels 103, and elastically returns to its original shape as the rear wheels 103 retract, thereby reducing the size of the opening. Although not mentioned in the above embodiment, the rear wheels 103 may be configured as ball-shaped casters. Alternatively, other wheels that can move freely forward, backward, left, and right, such as omniwheels, may be used as the rear wheels 103.

[0091] In the above embodiment, cover 312 is obtained by insert-molding spring material 514 into resin material, but spring material 514 may be attached to the surface of the resin material. For example, spring material 514 may be fixed by adhering it to the inner surface of bulging portion 512. Alternatively, two pieces of rubber may be adhered together with spring material 514 sandwiched between them.

[0092] In the above embodiment, an example in which a pair of covers 312 are joined together has been shown. In a modified example, instead of joining the left and right covers, the left and right covers may be assembled to the left and right sides of the main body frame 310, respectively. Alternatively, a spring material may be provided in each of the left and right regions of a single piece of resin material, and the spring material may be wound around the body frame of the robot. The covers may also be integrated as part of the outer skin and placed over the robot.

[0093] In the above embodiment, the cover is made of rubber, but it may be made of a flexible material such as low-elasticity resin. The same material as the outer skin may be used as the material for the cover. Although not mentioned in the above embodiment, a magnet may be provided on the edge of the slit 313 or in the vicinity thereof. Specifically, the magnet may be placed on the edge of the slit 313 on the mounting part 510 side. This causes the metallic spring material 514 on the bulging part 512 side and the magnet on the mounting part 510 side to attract each other by magnetic force, making it easier to close the slit 313 and allowing the internal structure of the robot 100 to be seen as much as possible. This makes it easier to bring the edge of slit 313 on the bulging portion 512 side into close contact with the edge on the mounting portion 510 side. Alternatively, a magnet may also be placed on the edge of slit 313 on the bulging portion 512 side. This causes the magnet on the bulging portion 512 side and the magnet on the mounting portion 510 side to attract each other by magnetic force, making it easier to close slit 313.

[0094] In the above embodiment, an example of a framework structure for the spring material 514 was shown, but a lattice, mesh, honeycomb, or other shape may also be used. A spring material without a framework structure may be used, but the shape of the spring material can be adjusted by providing notches or the like to obtain appropriate elasticity. While a metal plate functioning as a capacitance sensor is used for the spring material 514, a spring material without a sensor function may also be used. The spring material may be a resin material with greater elasticity than the mold resin (resin for insert molding). For example, the elasticity may be improved by thermoforming a resin plate. Specifically, a mold is prepared that conforms to the shape of the bulge portion 512. The resin plate is then heated and softened while placed over the mold, and is then deformed to conform to the mold shape using vacuum or compressed air. Using a resin material as the spring material in this way reduces the springback that occurs when a metal plate is used, and individual shapes can be stabilized. Alternatively, the spring material may be molded by resin injection molding. When the spring material is made of resin in this way, the touch sensors (capacitive sensors) on both sides may be provided as separate members.

[0095] In the above embodiment, a configuration in which most of the front wheel 102 is covered by the wheel cover 105 has been exemplified. In a modified example, the wheel cover 105 may be omitted, and the opening may be expanded by the front wheel 102. In the above embodiment, a configuration in which most of the front wheel 102 is exposed from the cover 312 when the wheel is driven, but a portion is disposed inside the cover 312 has been shown. In a modified example, the entire front wheel 102 may be exposed to the outside when the wheel is driven. Even in this case, the portion of the wheel cover 105 near the pivot shaft 378 may be disposed inside the cover 312.

[0096] In the above embodiment, the robot has wheels as the "movement mechanism." In a modified example, the "movement mechanism" may be legs, allowing the robot to walk. The drive mechanism drives the legs to move forward and backward from the storage space inside the cover (elastic body, body-forming member) to the outside. As the legs move forward, an opening formed between the main frame and the cover, or in the cover itself, is pushed open. As the legs are stored, the cover elastically returns to its original position, closing the opening.

[0097] Although not mentioned in the above embodiment, the robot may be provided with a fall determination unit that determines whether the robot is falling. The fall determination unit may determine whether the robot is falling based on the detection value of an acceleration sensor, for example. That is, if it is determined that the robot is falling while the wheels are protruding from the covers (elastic bodies), the drive mechanism may quickly retract the wheels into the covers to absorb the impact when the robot falls to the floor. In particular, in a structure that does not have shock absorbers (springs, etc.) in the wheel support sections, as in the above embodiment, damage to the wheels can be prevented or mitigated. The wheel retraction control is performed for all wheels, including the front and rear wheels.

[0098] Although not mentioned in the above embodiment, a condition for storing the wheels (retraction condition) may be set as appropriate. For example, when a user is nearby, the robot may stoW the wheels spontaneously, sit down, and make a gesture as if asking to be held. Specifically, the condition may be that the robot detects the user Within a predetermined distance. Furthermore, the condition may include that the intimacy level stored for the user is equal to or greater than a reference value.

[0099] In addition, the storage condition may be set according to the manner of contact by the user, such as when the robot is picked up. Specifically, when both sides of the robot (for example, the pair of bulging portions 512) are touched, The conditions may be that the touch panel is in a state where it is in a locked position and is lifted upward. The former can be detected by a touch sensor (such as a capacitance sensor using spring material 514). The latter can be determined based on detection by an acceleration sensor.

[0100] The storage condition may include determining that a fall has occurred during or immediately after the operation of the wheels. The robot has a step detection unit (not shown) that detects steps on the floor surface. When the step detection unit detects a step, the robot changes its course to avoid falling off the detected step. However, if a force greater than a predetermined amount is applied from outside the robot, such as when the robot is pushed by a child while positioned on a step, it is expected that the robot will not be able to cope and will fall. In such a case, the fall determination unit may determine that a fall has occurred immediately after the detection and determination of the fall, and store the wheels based on the detection and determination of the fall.

[0101] The wheel extension condition may also be set as appropriate. For example, assuming that the robot is placed on the floor, the extension condition may be that the user is not detected within a predetermined distance. The condition may be that the robot is not touched by the user (that none of the touch sensors detect contact). Alternatively, the condition may be that the user is not touching a specific part of the robot (that a specific touch sensor detects contact). For example, the condition may be that both sides of the robot (such as the pair of bulges 512) are not being touched. Furthermore, an additional condition may be that a predetermined waiting time (set time) has elapsed since the establishment of such an extension condition, and the wheel extension operation is performed when the additional condition is met. By setting the waiting time in this manner, for example, even if the robot is placed in an unstable location and falls over, the wheels remain retracted, preventing unintended loads from being applied to the wheels and causing damage to the wheels.

[0102] Although not mentioned in the above embodiment, the elasticity of the cover (elastic body) can be set as appropriate. A lower elastic modulus of the cover increases the degree of deformation when the wheel is moved forward or backward, thereby reducing the opening area when the wheel is exposed. On the other hand, maintaining a high elastic modulus of the cover makes it easier to protect the inner wheel in the event of an external impact. Therefore, when the wheel moves forward or backward through the gap between the cover and the main frame, the elastic modulus of the cover on the side closer to the main frame (proximal portion) may be set lower than the elastic modulus of the farther side (remote portion).

[0103] Although not mentioned in the above embodiment, the surface of the resin material that constitutes the cover may be covered with a material that feels good to the touch, such as suede fabric.

[0104] 15A and 15B are diagrams showing a wheel storage mechanism according to a sixth modified example, in which Fig. 15(a) is a side view showing the wheel storage section and its surrounding structure, and Fig. 15(b) is a cross-sectional view showing the wheel storage state as seen from the front. As shown in FIG. 15(a), this modified example includes a cover 900. The cover 900 includes a first cover 902 and a second cover 904. The first cover 902 has a bulging portion 512 and is bowl-shaped (hemispherical) overall, but the upper end is formed flat. The rear end of the first cover 902 is fixed to the body frame 318 along its periphery (see the area indicated by the dashed dotted line), but the other parts, including the upper end, are free. The first cover 902 is fixed at a location that is least likely to deform when the front wheel 102 moves forward and backward.

[0105] The second cover 904 is disposed above the first cover 902. The second cover 904 is made of a flexible rubber sheet, and its upper half is fixed to the body frame 318 (see the area indicated by the dashed dotted line), and its lower half is free. The lower part of the second cover 904 overlaps the upper end of the first cover 902, so that even if the opening at the upper end of the first cover 902 becomes larger when the front wheel 102 moves forward or backward, it can be covered and concealed. In addition, when a flexible material that can expand and contract in response to the opening state of the opening at the upper end of the first cover 902 is used as the material for the second cover 904, In this case, the lower part of the second cover 904 may be adhered to the upper end of the first cover 902 .

[0106] 15(b), the inner edge (peripheral edge) of first cover 902 abuts against the side surface of body frame 318, forming a closed space inside bulging portion 512. This closed space functions as storage space S.

[0107] Springs 910 are interposed between the trunk frame 318 and the first cover 902. The springs 910 are arranged on the upper front side and lower rear side of the trunk frame 318 so as not to interfere with the tracks of the front wheel 102 and wheel cover 105. When the front wheel 102 advances, an opening is formed between the peripheral edge (front end and upper end) of the first cover 902 and the trunk frame 318. Each spring 910 functions as a "biasing mechanism" and biases the first cover 902 in a direction approaching the trunk frame 318 (in a direction closing the opening between them) (see solid arrow). This makes it possible to reduce the size of the opening formed when the front wheel 102 advances.

[0108] Furthermore, communication holes 912 that communicate the inside and outside are provided on the left and right sides of the body frame 318, and a fan 914 is provided inside the body frame 318. The communication holes 912 are provided with filters that prevent foreign matter from entering the inside of the body frame 318. The fan 914 is used for internal cooling, but when the first cover 902 is closed, it becomes difficult for air to flow in from the outside. By driving the fan 914, air is sucked from the storage space S (see the two-dot chain arrow). This creates a negative pressure in the storage space S, which has the effect of pulling the first cover 902 toward the body frame 318 (see the one-dot chain arrow). As a result, the opening can be closed more securely. The rotation speed of the fan 914 can be increased when the front wheel 102 is stowed or when the robot detects contact with the user. This allows the opening to be closed more reliably.

[0109] While this modified example illustrates a configuration in which the opening is reduced by the biasing force of spring 910 and the suction force of fan 914, one of these may be omitted. Also, while this modified example is applied to a structure similar to that shown in Fig. 11 (a structure in which an opening is formed between trunk frame 318 and first cover 902), it may also be applied to the structure shown in Fig. 7 (a structure in which a slit is formed in the cover itself). In that case, a spring may be placed between the trunk frame and the bulge so as not to interfere with the wheel tracks.

[0110] Fig. 16 shows a wheel storage mechanism according to a seventh modification. Fig. 16(a) is a side view showing the wheel storage section and its surrounding structure. Fig. 16(b) is a side view of the wheel, and Fig. 16(c) is a diagram showing the operation of the wheel storage mechanism. As shown in Figure 16(a), in this modified example, the robot has four wheels. The front wheels 922F are driving wheels, and the rear wheels 922R are driven wheels. When there is no particular distinction between the two, they are collectively referred to as "wheels 922." For ease of explanation, only the left wheel is shown in the figure. The right wheel is connected to the left wheel via an axle (not shown).

[0111] Most of the wheel 922, excluding the contact surface, is covered by a wheel cover 925. The wheel cover 925 is exposed on the side of the trunk frame 918 and does not move forward or backward into the storage space as in the above embodiment. Meanwhile, as shown in FIG. 16(b), a storage cover 930 is disposed inside the wheel cover 925. The storage cover 930 is roughly disk-shaped and is provided to be rotatable around a rotation shaft 932. The axis of the rotation shaft 932 coincides with the axis of the wheel 922. The storage cover 930 includes a small diameter portion 934 and a large diameter portion 936, and has a stepped shape in the circumferential direction. The small diameter portion 934 has a smaller radius of curvature than the wheel 922, and the large diameter portion 936 has a larger radius of curvature than the wheel 922. An outer frame portion 938 of a predetermined height extends from the outer periphery of the large diameter portion 936 toward the trunk frame 918. The height of the outer frame portion 938 is determined by the height of the wheel 922. is greater than the width of

[0112] As shown in FIG. 16(a), an actuator 940 is provided on the body frame 918. In this modification, a motor is used as the actuator 940. The operation control unit 152 can rotate the storage cover 930 by driving the actuator 940. During normal control, that is, when the robot is capable of running, the storage cover 930 is retracted into the wheel cover 925, exposing the wheels 922, as shown in FIG. 16(b). On the other hand, when a wheel storage condition is met, the actuator 940 is driven to rotate the storage cover 930 by a predetermined angle (180 degrees in this modification). As a result, the storage cover 930 covers and conceals the wheels 922, as shown in FIG. 16(c). The wheel storage condition is defined as detecting a state in which the running surface of the wheels 922 is not in contact with the floor, such as when the robot is lifted, when the wheels 922 are not in contact with the floor, or when the distance between the robot's seating surface (bottom surface) and the floor is greater than a predetermined distance. The robot is equipped with a storage condition determination unit (not shown) that uses various sensors to determine whether the state of the robot satisfies the wheel storage condition. When it is determined that the wheel storage condition is satisfied, the drive mechanism drives the storage cover 930 to advance. As a result, the storage cover 930 covers the wheels 922. By performing this control when the user picks up the robot, problems such as the wheels 922 interfering with the user or soiling the user's clothes can be avoided. Note that the wheel storage condition may also include the storage condition described above (such as when a fall is detected).

[0113] In this modified example, the wheels are covered by moving the covers. Therefore, when the robot is lowered onto the floor, the covers must be retracted before the robot touches the floor. Therefore, when the robot is lowered onto the floor from a state where the wheel storage condition is satisfied, the storage cover 930 is retracted inside the wheel cover 925 before the robot touches the floor. For example, the distance between the robot and the floor may be measured using a distance sensor that uses ultrasound or infrared light, or a barometer. Furthermore, by combining these sensors with an acceleration sensor, it is possible to accurately determine whether the wheels 922 are floating above the floor or are about to touch the floor from their floating state. The conditions for exposing the wheels (conditions for retracting the storage cover 930) may include the aforementioned conditions for moving out (e.g., the user not touching a specific part of the robot, the robot not falling, etc.). A posture determination unit for determining the posture of the robot may be provided. When the robot is in a specific posture, such as being held up (sideways or upright), or in a dropped state, the covers may not be retracted even if the wheels are in contact with an object, such as the floor. Alternatively, an interface such as a switch that receives direct operation from a user may be provided at a specific location on the robot, and when the switch is operated, if the wheels are exposed, the storage cover 930 may be advanced to cover and conceal the wheels 922, and if the wheels are covered, the storage cover 930 may be retracted to expose the wheels 922. In this way, direct operation by the user may also be defined as the wheel storage condition and the advancement condition.

[0114] The robot of this modified example can be expressed as the following technical concept. The robot includes a body, a movement mechanism having a contact surface during movement, a cover supported by the body so as to be able to advance or retreat from the movement mechanism and capable of covering the contact surface by being driven to advance, a storage condition determination unit that determines whether a predetermined storage condition is met, and a drive mechanism that drives the cover to advance when the storage condition is met. The robot includes a sensor that detects at least one of an internal and external state. The storage condition determination unit determines whether the storage condition is met based on detection information from the sensor. The robot may further include a storage maintenance condition determination unit (not shown) that determines whether a predetermined storage maintenance condition is met. The drive mechanism prohibits the retraction drive of the cover while the storage maintenance condition is met. The robot may further include a lift-up determination unit that determines whether the robot is in a lift-up state. The storage maintenance condition may include the robot being in a lift-up state.

[0115] It can also be expressed as follows: This robot comprises a main body frame, a first cover fixed to the main body frame, a moving mechanism supported on the main body frame so that a portion of the moving mechanism is exposed from the first cover, a second cover disposed in a space between the first cover and the main body frame, and a drive mechanism for advancing the second cover from the first cover or retracting it into the first cover, and when the second cover advances, a closed space is formed between the second cover and the first cover, and the moving mechanism is housed in the closed space.

[0116] In this modification, the body frame 918 corresponds to the "main body frame," the wheel cover 925 corresponds to the "first cover," and the wheels 922 correspond to the "movement mechanism." Additionally, the housing cover 930 corresponds to the "second cover," and the actuator 940 corresponds to the "drive mechanism." This modification solves the problem of preventing or suppressing interference with the movement mechanism when the user touches the robot, such as when picking up the robot.

[0117] In this modified example, a wheel cover 925 (a fixed cover fixed to the main body frame) and a storage cover 930 (a movable cover movably supported on the main body frame) are provided, and the movable cover is advanced from the fixed cover, thereby completely storing the wheel 922 between the two covers. In other modified examples, the fixed cover may be omitted. That is, when the movable cover is retracted, all or part of the wheel (including the contact surface) may be exposed, and when the movable cover is advanced, the entire wheel may be covered and hidden.

[0118] The concepts of the above-described embodiments and modifications can also be understood as a robot as follows. This robot includes a body, a moving mechanism having a contact surface during movement, and a cover capable of covering the contact surface of the moving mechanism. The robot includes a main body frame, a cover capable of forming a closed space between the main body frame and the cover, and a moving mechanism having a contact surface during movement, the contact surface being accommodated in the closed space and exposable from the closed space. The robot includes a drive mechanism. The drive mechanism includes at least one of a mechanism for driving the moving mechanism to move back and forth from the closed space and a mechanism for driving the cover to move back and forth relative to the moving mechanism. Although not mentioned in the above-described embodiments and modifications, the wheels may be configured to be stored in the closed space by combining a retraction drive of the wheels and an advance drive of the cover. By driving both the wheels and the cover when storing the wheels, the drive amount of each can be reduced. This reduces the space required for storing the wheels in the body, thereby saving space in the body.

Claims

1. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, the body forming member has a curved surface shape that bulges in a direction away from the main body frame and forms the space therein, The robot is characterized in that the curved shape changes as the movement mechanism advances from the inside of the space to the outside.

2. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with The body forming member has an opening for exposing the moving mechanism as the moving mechanism advances. Enlarge the mouth, The opening is made smaller as the moving mechanism is retracted, The robot is characterized in that the opening is formed between the main body frame and a peripheral edge portion of the body forming member that faces the main body frame.

3. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, The robot further comprises a biasing mechanism that biases the body forming member in a direction that closes the opening.

4. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, the moving mechanism has wheels and wheel covers; When the moving mechanism advances, the wheel cover abuts against the opening of the body forming member and pushes it open.

5. 5. The robot of claim 4, wherein the wheel cover has an outer surface that is complementary to an inner surface of the body forming member.

6. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, The robot is characterized in that the body forming member includes a spring material as a core material and a resin material into which the spring material is attached or inserted.

7. 7. The robot according to claim 6, wherein the spring material has a framework structure that is provided along the shape of the resin material.

8. the resin material has a shape that bulges in a direction away from the main body frame, 8. The robot according to claim 6, wherein the spring material has a curved shape that conforms to the shape of the resin material.

9. 9. The robot according to claim 6, wherein the spring material is made of a metal plate that functions as a capacitance sensor.

10. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, The robot is characterized in that the opening is a slit provided in the body forming member on the track of the moving mechanism.

11. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; Equipped with the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, The robot, wherein the body forming member forms a body together with the main body frame.

12. The body frame and a body forming member that forms a space between itself and the main body frame; a movement mechanism having a contact surface during movement and capable of being housed in the space; a drive mechanism that moves the moving mechanism to the outside of the space or to the inside of the space; a fall determination unit that determines whether the device itself has fallen, the body forming member has an opening enlarged to expose the moving mechanism as the moving mechanism advances; The opening is made smaller as the moving mechanism is retracted, The robot is characterized in that the drive mechanism retreats the moving mechanism into the space when a fall is determined with the moving mechanism advancing outside the space.

Images