WO2018047900A1 - ゲストを受け入れる自律行動型ロボット - Google Patents
ゲストを受け入れる自律行動型ロボット Download PDFInfo
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- WO2018047900A1 WO2018047900A1 PCT/JP2017/032245 JP2017032245W WO2018047900A1 WO 2018047900 A1 WO2018047900 A1 WO 2018047900A1 JP 2017032245 W JP2017032245 W JP 2017032245W WO 2018047900 A1 WO2018047900 A1 WO 2018047900A1
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- robot
- guest
- unit
- server
- host
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/28—Arrangements of sound-producing means in dolls; Means in dolls for producing sounds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H2200/00—Computerized interactive toys, e.g. dolls
Definitions
- the present invention relates to a robot that autonomously selects an action according to an internal state or an external environment.
- the present invention is an invention completed based on the above recognition, and its main object is to propose a mechanism in which a host robot receives a guest robot as a companion.
- the autonomous action type robot includes an operation selection unit for selecting a motion, a drive mechanism for executing the motion selected by the operation selection unit, a host robot after authentication by the host robot. And an access management unit that acquires an access right to a resource accessible by the robot.
- the autonomous behavior type robot includes a behavior characteristic receiving unit that receives behavior characteristic information from a server, an operation selection unit that selects a motion according to the behavior characteristic information, and an operation selection unit.
- a drive mechanism that executes the selected motion, an authentication unit that executes authentication processing on the guest robot, and an access management unit that, after authentication, sets the access right to the predetermined resource to the guest robot, Equipped with
- An autonomous-action robot includes a near-field wireless communication unit that makes the first distance a communicable distance, and a communicable distance that makes a second distance longer than the first distance. Communication is possible by both of the distance wireless communication means.
- This robot includes an authentication unit that authenticates the guest robot via the short distance wireless communication means, and an access management unit that sets an access right to a predetermined resource to the guest robot after authentication.
- a server includes a behavior characteristic transmitting unit for transmitting behavior characteristic information to a host robot, and a connection unit for connecting to a guest robot on condition that the guest robot has been authenticated by the host robot. And.
- the behavior characteristic transmission unit transmits, to the guest robot, behavior characteristic information for setting a constraint condition that is not present in the host robot.
- the server is connected to both of the first robot and the second radio communication circuit in a frequency band different from the first radio communication circuit, for the autonomous behavior robot.
- a behavior characteristic transmission unit for transmitting behavior characteristic information defining a behavior selection method of an autonomous behavior robot via both the unit and the first and second wireless communication circuits.
- An access control program includes a function of authenticating a first device, a function of setting an access right to a predetermined resource to the first device after authentication of the first device, Under the condition that the second device is authenticated by the first device, the computer is made to exhibit the function of setting the access right to the resource to the second device.
- the behavior control program includes a function of transmitting behavior characteristic information defining an action selection method to a host robot, and a guest robot on condition that the guest robot has been authenticated from the host robot.
- the computer is made to exhibit a function of transmitting behavior characteristic information for setting a constraint condition that the host robot does not have.
- FIG. 2 is a cross-sectional view schematically illustrating the structure of a robot. It is a block diagram of a robot system. It is a conceptual diagram of an emotion map. It is a hardware block diagram of a robot. It is a schematic diagram for demonstrating the authentication process of the guest robot by a host robot. It is a schematic diagram which shows the authentication aspect of the guest robot by a host robot. It is a functional block diagram of a robot system. It is a screen figure of a restrictions setting screen. It is a flowchart which shows the authentication process process performed when a host robot detects robot ID of a guest robot.
- the autonomous behavior type robot in this embodiment functions as a guest robot as well as a host robot that receives the guest robot.
- the house to which the host robot belongs is called "home X”.
- FIG. 1A is a front external view of the robot 100.
- FIG. FIG. 1 (b) is a side external view of the robot 100.
- the robot 100 in the present embodiment is an autonomous action robot that determines an action or gesture (gesture) based on an external environment and an internal state.
- the external environment is recognized by various sensors such as a camera and a thermo sensor.
- the internal state is quantified as various parameters representing the emotion of the robot 100. These will be described later.
- the robot 100 takes an indoor range of an owner's home as an action range.
- a human being related to the robot 100 is referred to as a "user”
- a user who is a member of a home to which the robot 100 belongs is referred to as an "owner”.
- the body 104 of the robot 100 has an overall rounded shape, and includes an outer shell formed of a soft and elastic material such as urethane, rubber, resin, or fiber.
- the robot 100 may be dressed. By making the body 104 round and soft and have a good touch, the robot 100 provides the user with a sense of security and a pleasant touch.
- the robot 100 has a total weight of 15 kilograms or less, preferably 10 kilograms or less, and more preferably 5 kilograms or less.
- the average weight of a 13-month-old baby is just over 9 kilograms for boys and less than 9 kilograms for girls. Therefore, if the total weight of the robot 100 is 10 kilograms or less, the user can hold the robot 100 with almost the same effort as holding a baby that can not walk alone.
- the average weight of babies less than 2 months old is less than 5 kilograms for both men and women. Therefore, if the total weight of the robot 100 is 5 kg or less, the user can hold the robot 100 with the same effort as holding an infant.
- the various attributes such as appropriate weight, roundness, softness, and good touch realize an effect that the user can easily hold the robot 100 and can not hold it.
- it is desirable that the height of the robot 100 is 1.2 meters or less, preferably 0.7 meters or less.
- being able to hold it is an important concept.
- the robot 100 includes three wheels for traveling three wheels. As shown, a pair of front wheels 102 (left wheel 102a, right wheel 102b) and one rear wheel 103 are included.
- the front wheel 102 is a driving wheel
- the rear wheel 103 is a driven wheel.
- the front wheel 102 does not have a steering mechanism, but its rotational speed and rotational direction can be individually controlled.
- the rear wheel 103 is a so-called omni wheel, and is rotatable in order to move the robot 100 back and forth and right and left.
- the robot 100 can turn left or rotate counterclockwise.
- the rotational speed of the left wheel 102a larger than that of the right wheel 102b, the robot 100 can turn right or rotate clockwise.
- the front wheel 102 and the rear wheel 103 can be completely housed in the body 104 by a drive mechanism (a rotation mechanism, a link mechanism). Even when traveling, most of the wheels are hidden by the body 104, but when the wheels are completely housed in the body 104, the robot 100 can not move. That is, the body 104 descends and is seated on the floor surface F along with the storing operation of the wheels. In this sitting state, the flat seating surface 108 (grounding bottom surface) formed on the bottom of the body 104 abuts on the floor surface F.
- a drive mechanism a rotation mechanism, a link mechanism
- the robot 100 has two hands 106.
- the hand 106 does not have the function of gripping an object.
- the hand 106 can perform simple operations such as raising, shaking and vibrating.
- the two hands 106 are also individually controllable.
- the eye 110 incorporates a camera.
- the eye 110 can also display an image with a liquid crystal element or an organic EL element.
- the robot 100 incorporates various sensors such as a microphone array and an ultrasonic sensor that can identify the sound source direction.
- it has a built-in speaker and can emit a simple voice.
- a horn 112 is attached to the head of the robot 100. As described above, since the robot 100 is lightweight, the user can lift the robot 100 by grasping the tongue 112. An omnidirectional camera is attached to the horn 112 so that the entire upper portion of the robot 100 can be imaged at one time.
- FIG. 2 is a cross-sectional view schematically showing the structure of the robot 100.
- the body 104 of the robot 100 includes a base frame 308, a body frame 310, a pair of resin wheel covers 312 and a shell 314.
- the base frame 308 is made of metal and constitutes an axial center of the body 104 and supports an internal mechanism.
- the base frame 308 is configured by connecting an upper plate 332 and a lower plate 334 by a plurality of side plates 336 up and down.
- the plurality of side plates 336 is sufficiently spaced to allow air flow.
- a battery 118, a control circuit 342 and various actuators are accommodated.
- the body frame 310 is made of a resin material and includes a head frame 316 and a body frame 318.
- the head frame 316 has a hollow hemispherical shape and forms a head skeleton of the robot 100.
- the body frame 318 has a stepped cylindrical shape and forms the body frame of the robot 100.
- the body frame 318 is integrally fixed to the base frame 308.
- the head frame 316 is assembled to the upper end of the body frame 318 so as to be relatively displaceable.
- the head frame 316 is provided with three axes of a yaw axis 320, a pitch axis 322 and a roll axis 324, and an actuator 326 for rotationally driving each axis.
- the actuator 326 includes a plurality of servomotors for individually driving each axis.
- the yaw shaft 320 is driven for swinging motion
- the pitch shaft 322 is driven for loosening motion
- the roll shaft 324 is driven for tilting motion.
- a plate 325 supporting the yaw axis 320 is fixed to the top of the head frame 316.
- the plate 325 is formed with a plurality of vents 327 for ensuring ventilation between the top and bottom.
- a metallic base plate 328 is provided to support the head frame 316 and its internal features from below.
- the base plate 328 is connected to the plate 325 via the cross link mechanism 329 (pantograph mechanism), and is connected to the upper plate 332 (base frame 308) via the joint 330.
- Torso frame 318 houses base frame 308 and wheel drive mechanism 370.
- the wheel drive mechanism 370 includes a pivot shaft 378 and an actuator 379.
- the lower half of the body frame 318 is narrow to form a storage space S of the front wheel 102 with the wheel cover 312.
- the outer cover 314 is made of urethane rubber and covers the body frame 310 and the wheel cover 312 from the outside.
- the hand 106 is integrally molded with the skin 314.
- an opening 390 for introducing external air is provided at the upper end of the shell 314.
- FIG. 3 is a block diagram of the robot system 300.
- the robot system 300 includes a robot 100, a server 200 and a plurality of external sensors 114.
- a plurality of external sensors 114 (external sensors 114a, 114b, ..., 114n) are installed in advance in the house.
- the external sensor 114 may be fixed to the wall of the house or may be mounted on the floor.
- position coordinates of the external sensor 114 are registered. The position coordinates are defined as x, y coordinates in a house assumed as the action range of the robot 100.
- the server 200 is installed in a house.
- the server 200 and the robot 100 in the present embodiment usually correspond one to one.
- the server 200 determines the basic behavior of the robot 100 based on the information obtained from the sensors contained in the robot 100 and the plurality of external sensors 114.
- the external sensor 114 is for reinforcing the senses of the robot 100, and the server 200 is for reinforcing the brain of the robot 100.
- the external sensor 114 periodically transmits a wireless signal (hereinafter referred to as a “robot search signal”) including the ID of the external sensor 114 (hereinafter referred to as “beacon ID”).
- a wireless signal hereinafter referred to as a “robot search signal”
- the robot 100 sends back a radio signal (hereinafter referred to as a “robot reply signal”) including a beacon ID.
- the server 200 measures the time from when the external sensor 114 transmits the robot search signal to when the robot reply signal is received, and measures the distance from the external sensor 114 to the robot 100. By measuring the distances between the plurality of external sensors 114 and the robot 100, the position coordinates of the robot 100 are specified. Of course, the robot 100 may periodically transmit its position coordinates to the server 200.
- FIG. 4 is a conceptual view of the emotion map 116.
- the emotion map 116 is a data table stored in the server 200.
- the robot 100 selects an action according to the emotion map 116.
- An emotion map 116 shown in FIG. 4 indicates the size of a bad feeling for the location of the robot 100.
- the x-axis and y-axis of emotion map 116 indicate two-dimensional space coordinates.
- the z-axis indicates the size of the bad feeling. When the z value is positive, the preference for the location is high, and when the z value is negative, it indicates that the location is disliked.
- the coordinate P1 is a point (hereinafter, referred to as a “favory point”) in the indoor space managed by the server 200 as the action range of the robot 100, in which the favorable feeling is high.
- the favor point may be a "safe place” such as a shade of a sofa or under a table, a place where people easily gather like a living, or a lively place. In addition, it may be a place which has been gently boiled or touched in the past.
- the definition of what kind of place the robot 100 prefers is arbitrary, generally, it is desirable to set a place favored by small children such as small children and dogs and cats.
- a coordinate P2 is a point at which a bad feeling is high (hereinafter, referred to as a “disgust point”).
- Aversion points are places with loud noise such as near a television, places that are easy to get wet like baths and washrooms, closed spaces or dark places, places that lead to unpleasant memories that have been roughly treated by users, etc. It may be.
- the definition of what place the robot 100 hates is also arbitrary, it is generally desirable to set a place where small animals such as small children, dogs and cats are scared as a disappointment point.
- the coordinate Q indicates the current position of the robot 100.
- the server 200 may grasp how far the robot 100 is from which external sensor 114 and in which direction.
- the movement distance of the robot 100 may be calculated from the number of revolutions of the front wheel 102 or the rear wheel 103 to specify the current position, or the current position may be determined based on an image obtained from a camera. It may be specified.
- the emotion map 116 shown in FIG. 4 is given, the robot 100 moves in the direction in which it is drawn to the favor point (coordinate P1) and in the direction away from the aversion point (coordinate P2).
- the emotion map 116 changes dynamically.
- the z-value (favorable feeling) at the coordinate P1 decreases with time.
- the robot 100 can reach the favor point (coordinate P1), and emulate the biological behavior of "feeling of emotion” being satisfied and eventually "being bored” at the place.
- bad feelings at coordinate P2 are also alleviated with time.
- new favor points and aversion points are created, whereby the robot 100 makes a new action selection.
- the robot 100 has an "interest" at a new favor point and continuously selects an action.
- the emotion map 116 expresses the ups and downs of emotion as the internal state of the robot 100.
- the robot 100 aims at the favor point, avoids the disgust point, stays at the favor point for a while, and then takes the next action again.
- Such control can make the behavior selection of the robot 100 human and biological.
- the map that affects the behavior of the robot 100 (hereinafter collectively referred to as “action map”) is not limited to the emotion map 116 of the type shown in FIG. 4.
- action map is not limited to the emotion map 116 of the type shown in FIG. 4.
- various action maps such as curiosity, fear of fear, feeling of relief, feeling of calmness and dimness, feeling of physical comfort such as coolness and warmth, and so on.
- the destination point of the robot 100 may be determined by weighted averaging the z values of each of the plurality of action maps.
- the robot 100 has parameters indicating the magnitudes of various emotions and senses separately from the action map. For example, when the value of the emotion parameter of loneliness is increasing, the weighting coefficient of the behavior map for evaluating a safe place is set large, and the value of the emotion parameter is lowered by reaching the target point. Similarly, when the value of the parameter indicating a feeling of being boring is increasing, the weighting coefficient of the behavior map for evaluating a place satisfying the curiosity may be set large.
- FIG. 5 is a hardware configuration diagram of the robot 100.
- the robot 100 includes an internal sensor 128, a communicator 126, a storage device 124, a processor 122, a drive mechanism 120 and a battery 118.
- the drive mechanism 120 includes the wheel drive mechanism 370 described above.
- Processor 122 and storage 124 are included in control circuit 342.
- the units are connected to each other by a power supply line 130 and a signal line 132.
- the battery 118 supplies power to each unit via the power supply line 130. Each unit transmits and receives control signals through a signal line 132.
- the battery 118 is a lithium ion secondary battery and is a power source of the robot 100.
- the internal sensor 128 is an assembly of various sensors incorporated in the robot 100. Specifically, the camera (high resolution camera and omnidirectional camera), microphone array, infrared sensor, thermo sensor, touch sensor, acceleration sensor, odor sensor, and the like.
- the odor sensor is a known sensor to which the principle that the electric resistance is changed by the adsorption of the molecule that is the source of the odor is applied. The odor sensor classifies various odors into multiple categories.
- the communication device 126 is a communication module that performs wireless communication for various external devices such as the server 200, the external sensor 114, and a portable device owned by a user.
- the storage device 124 is configured by a non-volatile memory and a volatile memory, and stores a computer program and various setting information.
- the processor 122 is an execution means of a computer program.
- the drive mechanism 120 is an actuator that controls an internal mechanism. In addition to this, indicators and speakers will also be installed.
- the processor 122 performs action selection 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 behavior selection.
- the drive mechanism 120 mainly controls the wheel (front wheel 102) and the head (head frame 316).
- the drive mechanism 120 changes the rotational direction and the rotational direction of the two front wheels 102 to change the moving direction and the moving speed of the robot 100.
- the drive mechanism 120 can also raise and lower the wheels (the front wheel 102 and the rear wheel 103). When the wheel ascends, the wheel is completely housed in the body 104, and the robot 100 abuts on the floor surface F at the seating surface 108 to be in the seating state.
- FIG. 6 is a schematic view for explaining an authentication process of the guest robot 100b by the host robot 100a.
- the robot system 300 including the server 200 and the host robot 100a can receive a new guest robot 100b.
- the server 200 is installed at home X, and the host robot 100a is a robot 100 that receives action support by the server 200 at home X.
- "accept" means that the guest robot 100b, who is a foreigner, connects to the server 200, and accesses the resources (hardware, software, and data) managed by the server 200 to support the action from the server 200.
- the server 200 will support the actions of the two robots 100 of the host robot 100a and the guest robot 100b.
- Each robot 100 includes the “robot ID” in the robot reply signal and transmits it.
- the robot ID may be information that uniquely identifies the robot 100, such as a MAC address (Media Access Control address) or a serial number.
- the server 200 can identify each of the two robots 100.
- the guest robot 100b is brought to the home X serving as a base of the robot system 300 (server 200 and host robot 100a).
- the guest robot 100b can temporarily join the home X robot system 300 if it is authenticated by the host robot 100a.
- the host robot 100 a is connected to the server 200.
- the host robot 100a authenticates the guest robot 100b (S1). Details of the authentication method will be described later.
- the host robot 100a generates a guest password, and the host robot 100a transmits setting information for connecting to the server 200 to the guest robot 100b.
- the setting information includes the IP address (Internet Protocol address) of the server 200, a port number, and a guest password.
- the host robot 100a acquires the robot ID of the guest robot 100b.
- the host robot 100a notifies the server 200 that the guest robot 100b has been authenticated (S2). At this time, the host robot 100a transmits the robot ID and the guest password of the guest robot 100b to the server 200. The server 200 registers the robot ID and guest password of the guest robot 100b.
- the guest robot 100b connects to the server 200 based on the setting information (IP address and port number) received from the host robot 100a (S3).
- the guest robot 100 b transmits the robot ID and the guest password to the server 200.
- the server 200 collates the robot ID and the guest password, and permits connection with the guest robot 100b.
- FIG. 7 is a schematic view showing an authentication aspect of the guest robot 100b by the host robot 100a.
- a chip corresponding to NFC is embedded in the forehead of the robot 100 (short distance wireless communication means).
- NFC is an international standard of near field communication technology, and in the present embodiment, it is possible to perform near field communication of about 10 centimeters at 13.56 MHz.
- the robot 100 periodically transmits a robot ID by an NFC chip.
- the host robot 100 a detects the robot ID of the guest robot 100 b.
- the “authentication” in this embodiment is completed when the host robot 100 a detects the robot ID of the guest robot 100 b.
- the guest robot 100b can be easily accepted into the robot system 300 simply by bringing the host robot 100a and the guest robot 100b close to each other.
- machine information of the guest robot 100b is transmitted from the guest robot 100b to the host robot 100a.
- the machine information is specification information such as the version number and manufacture date of the guest robot 100b, and installed software and hardware.
- authentication may be performed on the condition that the forehead is brought close while the host robot 100a and the guest robot 100b are held by their respective owners.
- the robot 100 recognizes the owner by the camera, detects that it is gripped by the temperature sensor, and can recognize that it is lifted by the acceleration sensor. If the owner's hug is a condition, it is possible to prevent the guest robot 100b from accidentally approaching the host robot 100a and being authenticated.
- the authentication may be performed on condition that the host robot 100a is held, or may be performed on the condition that the guest robot 100b is held, or the host robot 100a and the guest robot 100b may be operated.
- the authentication may be performed on condition that both of the robots 100b are held.
- the act of "embed” is a sign of authentication permission by the owner, and can be regarded as an instruction to the host robot 100a that "the guest robot 100b may access a resource". In this manner, the guest robot 100b can be received by the owner's natural action.
- the robot 100 stores the front wheel 102 (the left wheel 102a and the right wheel 102b) in the body 104 for safety when detecting holding.
- FIG. 8 is a functional block diagram of the robot system 300.
- robot system 300 includes robot 100, server 200, and a plurality of external sensors 114.
- Each component of the robot 100 and the server 200 includes computing devices such as a CPU (Central Processing Unit) and various co-processors, storage devices such as memory and storage, hardware including wired or wireless communication lines connecting them, and storage It is stored in the device and implemented by software that supplies processing instructions to the computing unit.
- the computer program may be configured by a device driver, an operating system, various application programs located in the upper layer of them, and a library that provides common functions to these programs.
- Each block described below indicates not a hardware unit configuration but a function unit block.
- Some of the functions of the robot 100 may be realized by the server 200, and some or all of the functions of the server 200 may be realized by the robot 100.
- the server 200 includes a communication unit 204, a data processing unit 202, a constraint setting unit 224, and a data storage unit 206.
- the constraint setting unit 224 sets an action constraint (described later) on the guest robot 100b.
- the communication unit 204 takes charge of 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 of the communication unit 204, the constraint setting unit 224, and the data storage unit 206.
- the communication unit 204 includes a behavior characteristic transmission unit 240 and a connection unit 226.
- the behavior characteristic transmission unit 240 transmits "action characteristic information" to the guest robot 100b.
- the action characteristic information is information serving as a guideline for selecting the action of the robot 100 (details will be described later).
- the connection unit 226 receives a connection request from the robot 100 and establishes a communication line with the robot 100.
- the communication unit 204 of the server 200 includes the communication unit 142 of the robot 100, the first communication line 302 (first wireless communication line: first long-distance wireless communication means), and the second communication line 304 (first wireless communication line). It connects by two types of communication lines of 2nd wireless communication lines: 2nd long-distance wireless communication means).
- the first communication line 302 is a 920 MHz ISM frequency (Industrial, Scientific and Medical Band) communication line.
- the second communication line 304 is a 2.4 GHz communication line. Since the first communication line 302 has a frequency lower than that of the second communication line 304, radio waves can easily get around and stable communication is expected, but the communication speed is low.
- the communication distance of each of the first communication line 302 and the second communication line 304 (far-distance wireless communication means) is longer than that of NFC (short-distance wireless communication means).
- 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 motion patterns (motions). A variety of motions are defined such as shaking the hand 106, approaching the owner while meandering, staring at the owner while holding the neck, and the like.
- the motion storage unit 232 stores a "motion file" that defines control content of motion. Each motion is identified by a motion ID. The motion file is also downloaded to the motion storage unit 160 of the robot 100. Which motion is to be performed may be determined by the server 200 or the robot 100.
- the motions of the robot 100 are configured as complex motions including a plurality of unit motions.
- the robot 100 may be expressed as a combination of a unit motion that turns toward the owner, a unit motion that approaches while raising the hand, a unit motion that approaches while shaking the body, and a unit motion that sits while raising both hands. .
- the combination of such four motions realizes a motion of “close to the owner, raise your hand halfway, and finally sit down with your body shaking”.
- the rotation angle and angular velocity of an actuator provided in the robot 100 are defined in association with the time axis.
- Various motions are represented by controlling each actuator with the passage of time according to a motion file (actuator control information).
- the transition time when changing from the previous unit motion to the next unit motion is called “interval".
- the interval may be defined according to the time required for unit motion change and the contents of the motion.
- the length of the interval is adjustable.
- settings relating to behavior control of the robot 100 such as when to select which motion, output adjustment of each actuator for realizing the motion, and the like are collectively referred to as “behavior characteristics”.
- the behavior characteristics of the robot 100 are defined by a motion selection algorithm, a motion selection probability, a motion file, and the like.
- the motion storage unit 232 stores, in addition to the motion file, a motion selection table that defines motion to be executed when various events occur.
- a motion selection table that defines motion to be executed when various events occur.
- one or more motions and their selection probabilities are associated with an event.
- the map storage unit 216 stores, in addition to a plurality of action maps, a map indicating the arrangement of obstacles such as chairs and tables.
- the personal data storage unit 218 stores information of the user, in particular, the owner. Specifically, various parameters such as familiarity with the user, physical characteristics and behavioral characteristics of the user are stored. Other attribute information such as age and gender may be stored.
- the robot system 300 (the robot 100 and the server 200) identifies the user based on the physical or behavioral characteristics of the user.
- the robot 100 always images the surroundings with a built-in camera. Then, physical features and behavioral features of the person shown in the image are extracted. Physical features may be visual features associated with the body, such as height, preferred clothes, glasses, skin color, hair color, ear size, average body temperature or Other features such as smell, voice quality, etc. may also be included.
- the behavioral feature is a feature that accompanies the action, such as the place the user likes, the activity activity, and the presence or absence of smoking.
- the robot system 300 clusters users who frequently appear as “owners” based on physical features and behavioral features obtained from a large amount of image information and other sensing information.
- the method of identifying a user by a user ID is simple and reliable, it is premised that the user has a device capable of providing the user ID.
- the method of identifying the user based on the physical characteristics and the behavioral characteristics has an advantage that even a user who does not possess a portable device although it has a large image recognition processing load can identify it. Only one of the two methods may be adopted, or the user identification may be performed using the two methods in combination in a complementary manner.
- users are clustered from physical features and behavioral features, and the users are identified by deep learning (multilayer neural network). Details will be described later.
- the robot 100 has an internal parameter called familiarity for each user.
- familiarity for each user.
- an action indicating favor with itself such as raising itself or giving a voice
- familiarity with the user is increased.
- the closeness to the user who is not involved in the robot 100, the user who is violent, and the user who is infrequently encountered is low.
- the data processing unit 202 includes a position management unit 208, a map management unit 210, a recognition unit 212, an operation control unit 222, a closeness management unit 220, an emotion management unit 244, and a security management unit 242.
- the position management unit 208 specifies the position coordinates of the robot 100 by the method described with reference to FIG.
- the position management unit 208 may also track the user's position coordinates in real time.
- the emotion management unit 244 manages various emotion parameters that indicate the emotion (the loneliness, the fun, the fear, etc.) of the robot 100. These emotional parameters are constantly fluctuating. The importance of the plurality of action maps changes according to the emotion parameter, the movement target point of the robot 100 changes according to the action map, and the emotion parameter changes according to the movement of the robot 100 or the passage of time.
- the emotion management unit 244 sets the weighting coefficient of the behavior map for evaluating a safe place large.
- the emotion management unit 244 reduces the emotion parameter indicating the loneliness.
- various emotional parameters are also changed by the response action described later. For example, the emotion parameter indicating loneliness declines when being "held" from the owner, and the emotion parameter indicating loneliness gradually increases when the owner is not viewed for a long time.
- the map management unit 210 changes the parameter of each coordinate in the method described with reference to FIG. 4 for a plurality of action maps.
- the recognition unit 212 recognizes the external environment.
- the recognition of the external environment includes various recognitions such as recognition of weather and season based on temperature and humidity, recognition of an object shade (safety area) based on light quantity and temperature.
- the recognition unit 156 of the robot 100 acquires various types of environment information by the internal sensor 128, performs primary processing on the environment information, and transfers the information to the recognition unit 212 of the server 200. Specifically, the recognition unit 156 of the robot 100 extracts an image corresponding to a moving object, in particular, a person or an animal from the image, and sends the extracted image to the server 200.
- the recognition unit 212 of the server 200 extracts the feature of the person appearing in the extracted image.
- the recognition unit 212 further includes a person recognition unit 214 and a response recognition unit 228.
- the person recognition unit 214 recognizes a person from an image captured by the built-in camera of the robot 100, and extracts physical features and behavioral features of the person. Then, based on the body feature information and the action feature information registered in the personal data storage unit 218, the captured user, ie, the user who is looking at the robot 100 corresponds to any person such as a father, a mother, a eldest son, etc. Determine if you want to
- the person recognition unit 214 includes an expression recognition unit 230.
- the facial expression recognition unit 230 estimates the user's emotion by performing image recognition on the user's facial expression.
- the person recognition unit 214 also performs feature extraction on a moving object other than a person, for example, a cat or a dog that is a pet.
- the response recognition unit 228 recognizes various response actions made to the robot 100, and classifies them as pleasant and unpleasant actions.
- the response recognition unit 228 also classifies into a positive / negative response by recognizing the owner's response to the behavior of the robot 100.
- the pleasant and unpleasant behavior is determined depending on whether the user's response behavior is comfortable or unpleasant as a living thing. For example, holding is a pleasant act for the robot 100, and kicking is an unpleasant act for the robot 100.
- the positive / negative response is determined depending on whether the user's response indicates a user's pleasant emotion or an unpleasant emotion. For example, being held is a positive response indicating the user's pleasant feeling, and kicking is a negative response indicating the user's unpleasant feeling.
- the motion control unit 222 of the server 200 cooperates with the motion control unit 150 of the robot 100 to determine the motion of the robot 100.
- the motion control unit 222 of the server 200 creates a movement target point of the robot 100 and a movement route for the movement based on the action map selection by the map management unit 210.
- the operation control unit 222 may create a plurality of movement routes, and then select one of the movement routes.
- the motion control unit 222 selects the motion of the robot 100 from the plurality of motions of the motion storage unit 232.
- Each motion is associated with a selection probability for each situation. For example, a selection method is defined such that motion A is executed with a probability of 20% when a pleasant action is made by the owner, and motion B is executed with a probability of 5% when the temperature reaches 30 degrees or more. .
- a movement target point and a movement route are determined in the action map, and a motion is selected by various events described later.
- the closeness management unit 220 manages closeness for each user. As described above, the intimacy degree is registered in the personal data storage unit 218 as part of the personal data. When a pleasant act is detected, the closeness management unit 220 increases the closeness to the owner. The intimacy is down when an offensive act is detected. In addition, the closeness of the owner who has not viewed for a long time gradually decreases.
- the guest robot 100b can obtain various information by connecting with the server 200 that manages the host robot 100a.
- the security management unit 242 instructs the guest robot 100b to invalidate the data acquired after the guest robot 100b has connected to the server 200.
- the robot 100 functions as both the host robot 100a and the guest robot 100b.
- the robot 100 includes a communication unit 142, a data processing unit 136, a data storage unit 148, an internal sensor 128, and a drive mechanism 120.
- the communication unit 142 corresponds to the communication device 126 (see FIG. 5), and takes charge of communication processing with the external sensor 114, the server 200, and the other robot 100.
- the data storage unit 148 stores various data.
- the data storage unit 148 corresponds to the storage device 124 (see FIG. 5).
- the data processing unit 136 executes various processes based on the data acquired by the communication unit 142 and the data stored in the data storage unit 148.
- the data processing unit 136 corresponds to a processor 122 and a computer program executed by the processor 122.
- the data processing unit 136 also functions as an interface of the communication unit 142, the internal sensor 128, the drive mechanism 120, and the data storage unit 148.
- the communication unit 142 includes an instruction transmission unit 134, an instruction reception unit 138, and an action characteristic acquisition unit 140.
- the instruction transmission unit 134 transmits an action instruction to the guest robot 100b (described later).
- the instruction receiving unit 138 receives an action instruction from the host robot 100a.
- the behavior characteristic acquisition unit 140 receives behavior characteristic information from the behavior characteristic transmission unit 240 of the server 200.
- the data storage unit 148 includes a motion storage unit 160 that defines various motions of the robot 100.
- Various motion files are downloaded from the motion storage unit 232 of the server 200 to the motion storage unit 160 of the robot 100.
- Motion is identified by motion ID.
- a state in which the front wheel 102 is accommodated which causes the robot 100 to rotate by having only the front wheel 102 housed and seated, lifting the hand 106, rotating the two front wheels 102 in reverse, or rotating only one front wheel 102
- various motions such as shaking by rotating the front wheel 102 at a time, stopping and turning back once when leaving the user, operation timing, operation time, operation direction, etc. of various actuators (drive mechanism 120) Temporarily defined in motion file.
- the data processing unit 136 includes a recognition unit 156, an operation control unit 150, an access management unit 172, an invalidation processing unit 152, and an authentication unit 154.
- the motion control unit 150 of the robot 100 determines the motion of the robot 100 in cooperation with the motion control unit 222 of the server 200. Some motions may be determined by the server 200, and other motions may be determined by the robot 100. Also, although the robot 100 determines the motion, the server 200 may determine the motion when the processing load of the robot 100 is high. The base motion may be determined at server 200 and additional motion may be determined at robot 100. How to share the motion determination process in the server 200 and the robot 100 may be designed according to the specification of the robot system 300.
- the motion control unit 150 of the robot 100 determines the moving direction of the robot 100 together with the motion control unit 222 of the server 200.
- the movement based on the action map may be determined by the server 200, and the immediate movement such as turning off the obstacle may be determined by the movement control unit 150 of the robot 100.
- the drive mechanism 120 drives the front wheel 102 in accordance with an instruction from the operation control unit 150 to direct the robot 100 to the movement target point.
- the operation control unit 150 of the robot 100 instructs the drive mechanism 120 to execute the selected motion.
- the drive mechanism 120 controls each actuator according to the motion file.
- the motion control unit 150 can also execute a motion to lift both hands 106 as a gesture that encourages "hug” when a user with high intimacy is nearby, and when the "hug” gets tired, the left and right front wheels 102 By alternately repeating reverse rotation and stop while being accommodated, it is also possible to express a motion that annoys you.
- the drive mechanism 120 causes the robot 100 to express various motions by driving the front wheel 102, the hand 106, and the neck (head frame 316) according to the instruction of the operation control unit 150.
- the authentication unit 154 executes the authentication process described in connection with FIGS.
- the authentication unit 154 periodically transmits the robot ID from the NFC chip.
- the guest robot 100b is authenticated when a robot ID is received from another robot 100 (guest robot 100b).
- the authentication unit 154 may transmit the robot ID on condition that the recognition unit 156 detects the hug of the robot 100. In this case, the guest robot 100b can not be authenticated by the host robot 100a unless it is being held. Further, the authentication unit 154 may receive the robot ID on condition that the recognition unit 156 detects the holding of the robot 100. In this case, the host robot 100a does not authenticate the guest robot 100b unless it is being held.
- the access management unit 172 sets an access right to the server 200 to the guest robot 100b after authentication.
- the access right to the server 200 is acquired from the host robot 100a after authentication.
- the “access right” is a right to use a resource managed by the server 200.
- the guest robot 100b can access the server 200 by the setting information provided by the host robot 100a. Note that the action restriction described later is set in the access right of the guest robot 100b.
- the invalidation processing unit 152 invalidates data acquired after connection with the server 200 (described later).
- the recognition unit 156 of the robot 100 interprets external information obtained from the internal sensor 128.
- the recognition unit 156 is capable of visual recognition (visual unit), odor recognition (olfactory unit), sound recognition (hearing unit), and tactile recognition (tactile unit).
- the recognition unit 156 periodically images the outside world with the built-in camera (internal sensor 128), and detects a moving object such as a person or a pet.
- the image of the moving object is transmitted to the server 200, and the person recognition unit 214 of the server 200 extracts physical features of the moving object. It also detects the smell of the user and the voice of the user. Smells and sounds (voices) are classified into multiple types by known methods.
- the recognition unit 156 recognizes this by the built-in acceleration sensor, and the response recognition unit 228 of the server 200 recognizes that the "abuse act" is performed by the user in the vicinity. Even when the user holds the tongue 112 and lifts the robot 100, it may be recognized as a violent act.
- the response recognition unit 228 of the server 200 may recognize that the “voice call action” has been performed on itself.
- the temperature around the body temperature is detected, it is recognized that the user has made “contact action”, and when the upward acceleration is detected in the state where the contact is recognized, it is recognized that "handing” is made.
- the physical contact when the user lifts the body 104 may be sensed, or the holding on the front wheel 102 may be recognized by lowering the load.
- the response recognition unit 228 of the server 200 recognizes various responses of the user to the robot 100.
- some typical response actions correspond to pleasure or discomfort, affirmation or denial.
- most pleasurable actions are positive responses, and most offensive actions are negative.
- Pleasure and discomfort are related to intimacy, and affirmative and negative responses affect the action selection of the robot 100.
- the recognition unit 156 of the robot 100 selects and classifies information necessary for recognition, and interpretation processes such as analysis and judgment are executed by the recognition unit 212 of the server 200. Be done.
- the recognition processing may be performed only by the recognition unit 212 of the server 200, or may be performed only by the recognition unit 156 of the robot 100, or both perform the above-mentioned recognition processing while sharing roles. It is also good.
- the closeness management unit 220 of the server 200 changes the closeness to the user.
- the intimacy with the user who has performed pleasure is increased, and the intimacy with the user who has performed offensive activity decreases.
- the recognition unit 212 of the server 200 determines the comfort / discomfort according to the response, and the map management unit 210 changes the z value of the point where the comfort / discommitment was performed in the action map expressing “attachment to a place”. May be For example, when a pleasant act is performed in the living, the map management unit 210 may set a favor point in the living with a high probability. In this case, a positive feedback effect is realized in that the robot 100 prefers a living and enjoys an activity in the living, and thus prefers a living more and more.
- the person recognition unit 214 of the server 200 detects a moving object from various data obtained from the external sensor 114 or the internal sensor 128, and extracts its features (physical features and behavioral features). Then, a plurality of moving objects are subjected to cluster analysis based on these features. As moving objects, not only humans but also pets such as dogs and cats may be analyzed.
- the robot 100 periodically takes an image, and the person recognition unit 214 recognizes a moving object from those images, and extracts features of the moving object.
- a moving object is detected, physical features and behavioral features are also extracted from an odor sensor, a built-in sound collection microphone, a temperature sensor, and the like. For example, when moving objects appear in the image, bearded, working in the early morning, wearing red clothes, smelling of perfume, loud voice, wearing glasses, wearing skirts A variety of features are extracted, such as white-haired, tall, fat, tan, and being on a couch.
- a moving object with a beard (user) is likely to be active early in the morning (early rising) and less likely to wear a red dress, so a cluster with a beard growing early and not wearing much red dress (user)
- the first profile of can be made.
- moving objects wearing glasses often wear skirts, but if these moving objects have no beards, clusters wearing glasses wearing skirts but no absolute beards
- the second profile (user) can be created.
- the robot 100 does not have to recognize that the first profile is "father". It is only necessary to be able to recognize the figure of "a cluster with a beard and often getting up early, and a cluster that rarely wears red clothes”.
- the robot 100 newly recognizes a moving object (user) while such cluster analysis is completed.
- the person recognition unit 214 of the server 200 performs feature extraction from sensing information such as an image obtained from the robot 100, and which profile of the moving object near the robot 100 is obtained by dive learning (multilayer neural network). To determine if it corresponds to a cluster). For example, when a moving object with a beard is detected, the moving object is likely to be a father. If this moving object is acting in the early morning, it is more certain that it corresponds to the father. On the other hand, when detecting a moving object wearing glasses, the moving object may be a mother. If the moving object has a beard, it is not a mother but a father, so it is determined to be a new person not subjected to cluster analysis.
- cluster analysis the fitting to clusters involved in feature extraction
- deep learning the fitting to clusters involved in feature extraction
- the robot 100 sets a high degree of intimacy for people who frequently meet, people who frequently touch, and people who frequently speak. On the other hand, the intimacy with the people who rarely see, those who do not touch very much, the violent people, the people who speak loudly becomes low.
- the robot 100 changes the intimacy degree of each user based on various external information detected by sensors (vision, touch, hearing).
- the actual robot 100 autonomously performs complex action selection in accordance with the action map.
- the robot 100 acts while being influenced by a plurality of action maps based on various parameters such as loneliness, boredom and curiosity.
- the robot 100 tries to approach people with high intimacy and leaves people with low intimacy, in principle, when the influence of the action map is excluded or in an internal state where the influence of the behavior map is small. I assume.
- the behavior of the robot 100 is categorized as follows according to closeness.
- Cluster robot 100 with very high intimacy approaches the user (hereinafter referred to as “proximity action”), and by performing a love behavior pre-defined as a gesture showing favor with people Express strongly.
- Cluster robot 100 with relatively high intimacy performs only proximity action.
- Cluster robot 100 with relatively low intimacy does not take any particular action.
- the cluster robot 100 with particularly low intimacy performs a leaving action.
- the robot 100 when the robot 100 finds a user with high intimacy, it approaches that user, and conversely, when finding a user with low intimacy, it leaves the user.
- it is possible to express so-called "human sight" behavior.
- the robot 100 may move away from the visitor and head toward the family (user B with high intimacy).
- the user B can feel that the robot 100 is aware of strangers and feels uneasy, and relies on himself.
- Such a behavioral expression evokes the user B the joy of being selected and relied upon, and the accompanying attachment.
- the user A who is a visitor frequently visits, calls and makes a touch the intimacy with the user A of the robot 100 gradually increases, and the robot 100 does not act as an acquaintance with the user A (disengagement behavior) .
- the user A can also have an attachment to the robot 100 by feeling that the robot 100 has become familiar with himself.
- the robot 100 may not select the behavior influenced by the intimacy because the action map for finding a place satisfying the curiosity is emphasized. .
- the external sensor 114 installed at the entrance detects that the user has returned home, the user may be asked to give priority to the user's meeting action.
- FIG. 9 is a screen view of the constraint setting screen 180.
- the server 200 displays the constraint setting screen 180 on a monitor (not shown).
- the owner A of the host robot 100a can impose an action constraint on the guest robot 100b.
- the owner A sets “action constraint information” on the constraint setting screen 180 displayed by the server 200.
- the action restriction information is information that defines an action that can be performed when the guest robot 100b is connected to the server 200 of the home X.
- the constraint setting unit 224 acquires and stores action constraint information via the constraint setting screen 180.
- behavior restriction information is transmitted to the guest robot 100b as part of the behavior characteristic information.
- the motion control unit 150 of the guest robot 100b selects an action according to the action restriction information.
- the guest robot 100b may be prohibited from taking pictures of home X with a built-in camera.
- the shooting prohibition setting is made, when the guest robot 100b cuts off the connection with the server 200, the invalidation processing unit 152 of the guest robot 100b discards the captured image acquired after the connection with the server 200.
- the action restriction By imposing the action restriction, the privacy can be protected for the home X, so the owner A of the home X can welcome the guest robot 100b with confidence.
- the moving speed of the guest robot 100b may be set to a lower speed than usual, or the range of movement of the guest robot 100b may be limited. For example, limiting the movement range of the guest robot 100b to the living room and the dining room also contributes to the protection of privacy.
- the guest robot 100b can move only in the living room, and the connection time of the server 200 and the guest robot 100b is limited to 30 minutes.
- the action constraint information set in the constraint setting screen 180 functions as a "commitment" that the guest robot 100b should protect at home X, so to speak.
- FIG. 10 is a flowchart showing an authentication process performed when the host robot 100a detects the robot ID of the guest robot 100b.
- the host robot 100a and the guest robot 100b come close to each other, and the authentication unit 154 of the host robot 100a detects the robot ID of the guest robot 100b, the guest robot 100b is authenticated, and then the authentication process shown in FIG. To be executed.
- the authentication unit 154 of the host robot 100a detects machine information including the robot ID, and executes a security check of the guest robot 100b (S10).
- S10 a security check of the guest robot 100b
- By executing the security check it is possible to prevent the guest robot 100b infected with the computer virus from connecting to the server 200.
- the access management unit 172 of the host robot 100a If the security check is passed, the authentication is completed (Y in S12), and the access management unit 172 of the host robot 100a generates a guest password (S14).
- the access management unit 172 of the host robot 100a notifies the server 200 of the guest password and the robot ID of the guest robot 100b (S14).
- the server 200 registers the guest password and the robot ID.
- a time limit is set for the guest password and the registration period.
- the access management unit 172 of the host robot 100a transmits the setting information of the server 200 to the guest robot 100b (S18).
- the setting information includes the IP address and port number of the server 200, and the guest password. If the security check has not passed (N at S12), the processing after S14 is skipped. At this time, the guest robot 100 b can not connect to the server 200.
- the host robot 100a may not detect the robot ID or transmit a guest password or the like to the guest robot 100b unless the host robot 100a is being held. In this case, the authentication process is not executed unless the recognition unit 156 detects a hug.
- FIG. 11 is a flowchart showing an authentication process performed when the guest robot 100b detects the robot ID of the host robot 100a.
- the guest robot 100b executes the authentication process shown in FIG.
- the authentication process of the host robot 100a shown in FIG. 10 and the authentication process of the guest robot 100b shown in FIG. 11 are simultaneously executed.
- the authentication unit 154 of the guest robot 100b transmits the machine information to 100a (S20).
- the host robot 100a executes a security check (see FIG. 10) based on the machine information. If the security check is passed (Y in S22), the setting information is transmitted from the host robot 100a, and the communication unit 142 receives the setting information (S24).
- the access management unit 172 transmits a connection request to the server 200 based on the setting information (S26). At this time, the robot ID and the guest password are transmitted.
- the connection unit 226 of the server 200 permits connection of the guest robot 100b when the robot ID and the guest password match, and the guest robot 100b connects with the server 200.
- the guest robot 100 b connects to the server 200 through two communication lines, the first communication line 302 and the second communication line 304.
- the behavior characteristic acquisition unit 140 receives behavior characteristic information from the server 200 (S28).
- the guest robot 100b may not detect the robot ID or may not transmit the robot ID unless it is being held. In this case, the authentication process is not executed unless the recognition unit 156 detects a hug.
- the map management unit 210 of the server 200 After connection with the guest robot 100b, the map management unit 210 of the server 200 generates an action map for the guest robot 100b. In addition, the operation control unit 222 of the server 200 prepares a motion file and a motion selection table for the guest robot 100b.
- the behavior map may be created by copying the behavior map of the host robot 100a or may be created anew. The same applies to motion files and motion selection tables.
- the behavior characteristic information provided from the server 200 to the guest robot 100b includes (1) motion file and motion selection table (2) behavior restriction information (3) knowledge information.
- the motion file and the motion selection table are stored in the motion storage unit 160 of the guest robot 100b in the same manner as the host robot 100a.
- the action restriction information is the information described in relation to FIG.
- the knowledge information is information on home X.
- the knowledge information in the present embodiment is the profile of the owner of home X (physical feature and behavioral feature), the closeness of the host robot 100a to each owner, and the floor plan of home X.
- the knowledge information may be inherent knowledge preset in the host robot 100a, or acquired knowledge acquired by sensing by the host robot 100a as a result of activity in the home X.
- the guest robot 100b can know the profile (physical and behavioral characteristics) of one or more owners of the home X by acquiring the knowledge information, and can therefore recognize the owner of the home X from the first meeting.
- the server 200 may manage all or part of the knowledge information given to the guest robot 100b for the guest robot 100b instead of storing it in the guest robot 100b. By acquiring the floor plan, the guest robot 100b can quickly grasp the actionable range in the home X.
- the closeness management unit 220 may set the closeness to the first meeting owner A of the guest robot 100b to 72 of that 80%. Since the preference for the owner A of the host robot 100a is also transferred to the guest robot 100b, the guest robot 100b can exhibit an action characteristic of being actively involved with the owner A. Since the owner A who is liked by the host robot 100a is also liked by the first guest robot 100b, the owner A can have a self-consciousness "it is easy to be liked by the robot 100".
- the security check of the host robot 100a is not passed (N in S22)
- the processes after S24 are skipped, and the guest robot 100b can not receive the action support of the server 200.
- the guest robot 100b may act in a stand-alone manner in accordance with the behavior characteristic information held by itself.
- FIG. 12 is a flowchart showing a communication line backup process.
- the server 200 and the robot 100 are connected by two communication lines, a first communication line 302 and a second communication line 304. If the first communication line 302 is not disconnected (N in S30), the communication unit 204 of the server 200 transmits and receives data via the first communication line 302 (S34). Even when the first communication line 302 is disconnected (Y in S30), if the second communication line 304 is maintained (N in S32), the server 200 and the robot 100 transmit data via the second communication line 304. Sending and receiving (S36). When the second communication line 304 is also disconnected (Y in S32), the connection unit 226 reports an error (S38).
- first communication line 302 and the second communication line 304 When both the first communication line 302 and the second communication line 304 are disconnected, reconnection processing by the first communication line 302 and the second communication line 304 may be executed, or reconnection after a predetermined time has elapsed. Processing may be performed. Further, the communication connection may be made in another frequency band different from the first communication line 302 and the second communication line 304, or the owner may be instructed to wire connect the server 200 and the robot 100. In addition to the case where the first communication line 302 is disconnected, switching from the first communication line 302 to the second communication line 304 may be performed when the first communication line 302 malfunctions, such as a decrease in communication throughput. .
- FIG. 13 is a sequence diagram showing a process of instructing the guest robot 100b to perform an action from the host robot 100a.
- the host robot 100a selects a motion at any time (S40).
- startup motion a specific motion
- the instruction transmission unit 134 of the host robot 100a transmits an "action instruction" to the guest robot 100b (S42).
- the action instruction is notified of a motion ID of a motion (hereinafter, referred to as “linked motion”) that is associated in advance with the activation motion.
- the activation motion is not selected (N in S41)
- the action instruction is not transmitted.
- the host robot 100a executes the selected activation motion (S46).
- the operation control unit 150 of the guest robot 100b selects the specified interlocking motion (S44), and instructs execution of the interlocking motion (S48) .
- the guest robot 100b executes the interlocking motion associated with the startup motion, so that the coordinated behavior of the host robot 100a and the guest robot 100b is realized.
- the host robot 100a when the host robot 100a executes an activation motion rotating to the right, the host robot 100a may execute an interlocking motion rotating to the guest robot 100b to the left.
- the guest robot 100b When the host robot 100a starts to rotate, the guest robot 100b also starts to rotate, so that it is possible to express an action as if implicit communication was established between the host robot 100a and the guest robot 100b.
- the guest robot 100b may execute an action to chase the host robot 100a.
- the guest robot 100b raises the hand 106
- the guest robot 100b also raises the hand 106. May be
- the action instruction may be transmitted whenever the host robot 100a selects the activation motion among a plurality of types of motion, or the action instruction may be transmitted with a predetermined probability when the activation motion is selected.
- the motion selection table a plurality of interlocking motions are associated with the activation motion, and when the host robot 100a selects the activation motion, any one of a plurality of interlocking motions correlated with the activation motion is randomly selected. You may choose.
- the action instruction may be made from the host robot 100a to the guest robot 100b by ad hoc communication, or may be sent from the host robot 100a to the guest robot 100b via the server 200.
- FIG. 14 is a flowchart showing the process of terminating the connection of the guest robot 100b.
- the connection time between the guest robot 100b and the server 200 is limited to 30 minutes.
- the invalidation condition is satisfied, and the communication unit 142 of the guest robot 100b terminates the connection with the server 200 (S50).
- the invalid processing unit 152 invalidates the data acquired after the connection with the server 200 and is stored in the data storage unit 148 (nonvolatile memory) of the guest robot 100b (S52).
- Invalidation in this embodiment means to completely erase data from the storage device.
- storage (takeout) of knowledge information captured image data of home X, recording data, and the like is prohibited by the action restriction information, such information is also invalidated.
- the operation control unit 150 executes a by-by motion that shakes the hand 106 as a farewell greeting (S54).
- a by-by motion that shakes the hand 106 as a farewell greeting
- various motions such as bowing, attaching the body to the owner of the host robot 100a or the host robot 100a, heading to the entrance, etc. can be considered.
- the guest robot 100b can be easily received by the robot system 300 of the home X simply by bringing the host robot 100a and the guest robot 100b close to each other.
- the user is involved with the robot 100, the user is not aware of the existence of the server 200, and the server 200 does not want the user to recognize it.
- the authentication process can be executed by the host robot 100a and the guest robot 100b instead of the server 200 and the guest robot 100b, there is an advantage that it is difficult for the user to notice the server 200 also in the authentication process.
- the proximity action between the host robot 100a and the guest robot 100b enables an effect as if implicit communication was established between the host robot 100a and the guest robot 100b.
- the robot 100 acts as the host robot 100 a for the server 200 to which it belongs, and becomes non-affiliated when the communication with the server 200 is disconnected, for example, when it is separated from the server 200 by a predetermined distance or more.
- the robot 100 acts as a guest robot 100b to the server 200 to which the robot 100 belongs.
- the guest robot 100b can not access the resources managed by the server 200.
- Information leakage from the server 200 can be suppressed by setting the access right setting to the resource of the server 200 as a condition of such physical authentication of “close”.
- the guest robot 100b After connecting with the server 200, the guest robot 100b acquires behavior characteristic information from the server 200. Since the floor plan of the home X and the profile of the resident of the home X who has met for the first time can be obtained for the guest robot 100 b, the guest robot 100 b can easily take appropriate action in the home X early.
- the server 200 and the robot 100 are doubly connected by two communication lines of a first communication line 302 and a second communication line 304. Even when one of the first communication line 302 and the second communication line 304 fails, communication can be continued using the other, so that communication between the server 200 and the robot 100 can be made robust.
- the present invention is not limited to the above-described embodiment and modification, and the components can be modified and embodied without departing from the scope of the invention.
- Various inventions may be formed by appropriately combining a plurality of components disclosed in the above-described embodiment and modifications. Moreover, some components may be deleted from all the components shown in the above-mentioned embodiment and modification.
- the robot system 300 is described as being configured of one robot 100, one server 200, and a plurality of external sensors 114, part of the functions of the robot 100 may be realized by the server 200, or the functions of the server 200 A part or all of may be assigned to the robot 100.
- One server 200 may control a plurality of robots 100, or a plurality of servers 200 may cooperate to control one or more robots 100.
- a third device other than the robot 100 or the server 200 may have a part of the function. It is also possible to grasp the collection of each function of the robot 100 and each function of the server 200 described in FIG. 8 as one “robot” as a whole. How to allocate a plurality of functions necessary to realize the present invention to one or more hardwares will be considered in view of the processing capability of each hardware, the specifications required of the robot system 300, etc. It should be decided.
- the “robot in a narrow sense” refers to the robot 100 not including the server 200
- the “robot in a broad sense” refers to the robot system 300.
- Many of the functions of the server 200 may be integrated into the robot 100 in the future.
- Various resources can be considered as resources that can be accessed by the guest robot 100b after authentication, in addition to behavior maps, floor plans, profiles, and closeness information. For example, if temperature distribution information of Home X is given, the guest robot 100b can immediately grasp a cool place or a warm place without measuring the temperature by itself. A variety of information may be provided, such as a safe and less visible place surrounded by a wall.
- the host robot 100a may check whether the guest robot 100b is not loaded with unauthorized application software such as spyware.
- the unauthorized application software may be registered in the server 200 in advance as an unauthorized list.
- the host robot 100a accesses 200 and refers to the unauthorized list to check whether the guest robot 100b has loaded an unauthorized application.
- the firmware (Firmware) version of the guest robot 100b may be checked, or it may be checked whether the guest robot 100b is a genuine product by inquiring the manufacturer of the guest robot 100b from the manufacturer. You may When the guest robot 100b is loaded with application software that is prohibited from being used at home X, the host robot 100a may refuse to connect the guest robot 100b to the server 200, The connection to the server 200 may be permitted on condition that the use of the application is stopped. For example, in the case where the software for transmitting the image to the outside is prohibited in Home X, when the guest robot 100b has the image transmission software installed, the security management unit 242 of the server 200 sends a message to the guest robot 100b. It may instruct to stop the execution of the process of the image transmission software.
- the access right to the server 200 is provided from the host robot 100a to the guest robot 100b as setting information.
- the server 200 may authenticate the guest robot 100b. After authentication, the server 200 may provide setting information to the guest robot 100b, and the guest robot 100b may connect to the server 200 based on the setting information.
- the server 200 may perform the security check of the guest robot 100b.
- the host robot 100a or the server 200 casts a question regarding security to the guest robot 100b, and the guest robot 100b executes a security check by returning an answer about it to the host robot 100a or the server 200. May be
- the host robot 100a inquires of the guest robot 100b about the serial number, and the guest robot 100b sends its serial number back to the server 200.
- the server 200 determines whether the serial number is a legitimate product or not.
- the authentication of the guest robot 100b may be performed by inquiring to the maker of the above.
- the action restriction information provided from the server 200 to the guest robot 100b includes the resolution limitation of the camera, the designation of the shooting prohibited place, the designation of the action possible range, the prohibition of taking out and external transmission of data, and the non-volatile memory of data. Various settings such as prohibition of saving are possible.
- the guest robot 100b When the guest robot 100b is connected to the server 200, the guest robot 100b may be inhibited from establishing a communication line with an apparatus other than the host robot 100a and the server 200.
- the robot 100 may have two operation modes, a normal mode and a suppression mode.
- various action restrictions such as movement speed restriction, communication restriction, and use restriction of a camera or a microphone are set.
- the guest robot 100b may change the setting to the suppression mode.
- the host robot 100a or the server 200 security managing unit 242 may change the guest robot 100b to the suppression mode. You may be instructed to
- a plurality of host robots 100 a may be connected to the server 200. If the two-dimensional code is described in the instruction manual of the robot system 300 and the first host robot 100a (hereinafter referred to as the "first host robot 100a1") captures an image of the two-dimensional code with the camera, the first The host robot 100 a 1 is connected to the server 200. The server 200 registers the robot ID of the first host robot 100a1 as a "host”. When the second host robot 100 a (hereinafter referred to as “second host robot 100 a 2”) captures a two-dimensional code with a camera, the second host robot 100 a 2 is also connected to the server 200. Also at this time, the server 200 registers the robot ID of the second host robot 100a2 as the "host".
- the user may further purchase the second host robot 100a2 after purchasing the first host robot 100a1.
- the first host robot 100a1 corresponds to the "brother or sister”
- the second host robot 100a2 corresponds to the "brother or sister”.
- the guest robot 100b is a "friend”.
- Such a relationship is also effective in causing the plurality of robots 100 to project images of human relationships and related relationships.
- the action restriction may be set until the second host robot 100a2 gets used to the home.
- the server 200 may monitor and display a two-dimensional code.
- the server 200 may register the first host robot 100a1 as a host.
- the robot 100 that has accessed secret information such as a two-dimensional code may be registered as the “host”, and the robot 100 authenticated by the host robot 100 a may be registered as the “guest”.
- the server 200 and the robot 100 are connected by two types of communication lines having different frequency bands.
- one of the communication lines fails, data transmission / reception is performed by the other communication line.
- the same data may be transmitted and received simultaneously on two communication lines.
- the robot 100 executes reconnection to the server 200 by the first communication line 302. Reconnection may be performed from the server 200 to the robot 100.
- the action instruction from the host robot 100a to the guest robot 100b may be a selection instruction of interlocked motion to the guest robot 100b, or may represent "play" by two or more robots 100.
- the host robot 100a may run away from the room, and the guest robot 100b may instruct a "legend" to chase the host robot 100a.
- the guest robot 100b and the host robot 100a detect contact with each other by the built-in touch sensor.
- the guest robot 100b touches the host robot 100a the guest robot 100b runs away and the host robot 100a becomes an "oni" to chase the guest robot 100b.
- the host robot 100a may hide in a place surrounded by a wall or a ceiling, such as behind a sofa or under a table, and execute a "show-and-seek" in which the guest robot 100b finds it.
- the guest robot 100b may instruct the host robot 100a to perform an action.
- the guest robot 100b may issue an action instruction to the host robot 100a.
- the data storage unit 206 of the server 200 has a robot information storage unit (not shown).
- the robot information storage unit stores various types of robot information related to the connected robot 100, such as robot ID, date of manufacture, distinction between host and guest, failure history, manufacturing point (place of birth) and the like.
- the communication unit 142 of the robot 100 transmits robot information held by itself when connecting with the server 200.
- the robot information registration unit (not shown) of the server 200 records robot information of the newly connected robot 100 in the robot information storage unit.
- the communication unit 204 of the server 200 transmits robot information of each robot 100 to one or more connected robots 100. By such control, a plurality of robots 100 connected to the same server 200 share robot information with each other.
- the recognition unit 156 of the robot 100 compares robot information (production date) of another robot 100 with own robot information (production date). When the date of manufacture is older than that of the partner robot 100, the operation control unit 150 transmits an action instruction to the “young robot 100” via the instruction transmission unit 134. On the other hand, no action instruction is sent to the "older robot 100" whose date of manufacture is older. Such a relationship is also effective in projecting images of the upper and lower relationship on a plurality of robots 100.
- the guest robot 100b may receive an action instruction from the host robot 100a or may reject it with a predetermined probability.
- the robot 100 may manage the intimacy with other robots 100.
- the intimacy degree management unit 220 of the server 200 collectively manages the intimacy degree between the robot 100 and the robot 100.
- the server 200 individually manages the closeness of the host robot 100a to the guest robot 100b and the closeness of the guest robot 100b to the host robot 100a.
- a high degree of intimacy may be set for the robot 100 frequently encountered and the robot 100 that has sent many action instructions. The higher the closeness, the lower the probability that the action instruction is rejected, or the higher the frequency with which the action instruction may be transmitted.
- the guest robot 100b acts on the host robot 100a
- the instructions may be sent.
- the communication unit 142 of the robot 100 inquires the server 200 about the closeness with respect to the robot 100 that issued the action instruction, and the operation control unit 150 accepts or does not accept the action instruction according to the closeness with respect to the robot 100 judge.
- the host robot 100a and the guest robot 100b may execute the activation motion and the interlocking motion at the same execution timing.
- the execution timing of the interlocking motion may be designated as "after 3 seconds”. Then, the host robot 100a can execute the activation motion at the same timing to express "a coordinated behavior in which the user breathes in harmony.”
- the data may be completely erased from the non-volatile memory, or may be in a writable (non-stored) state.
- the data to be deleted is all or part of the data acquired after connection with the server 200. Data acquired after connection with the server 200 may be recordable only in volatile memory.
- Data invalidation may be performed when a predetermined time limit has elapsed since the guest robot 100b was connected to the server 200, or is performed when the guest robot 100b is separated from the server 200 by a predetermined distance or more. It is also good. For example, when the guest robot 100b is not detected by any of the external sensors 114 managed by the server 200, the security management unit 242 of the server 200 may instruct the guest robot 100b to invalidate data. .
- Data invalidation may be executed by the guest robot 100b itself when a predetermined invalidation condition is satisfied, or even if the security management unit 242 of the server 200 instructs the guest robot 100b to invalidate data. Good. For example, when the guest robot 100b collides with a thing at home X, when it detects an abnormal signal from the guest robot 100b when it is separated from the host robot 100a by a predetermined distance or more, the security management unit 242 instructs data invalidation. You may
- the guest robot 100 b may present the data held at the time of termination of connection with the server 200 to the server 200.
- the owner of the home X may check data displayed on the server 200, for example, a captured image, recording data, a profile, etc., and select data to be invalidated.
- the security management unit 242 instructs the guest robot 100b to invalidate the data selected by the owner.
- the server 200 gives the host robot 100a an authentication right, and the host robot 100a authenticates the guest robot 100b as a proxy of the server 200.
- the guest robot 100b acquires an access right to the server 200 by being authenticated by the host robot 100a.
- Such an authentication method is applicable to other than the robot system 300.
- the mobile terminal A authenticates another mobile terminal B (second device) while the content server and the mobile terminal A (first device) are connected
- the mobile terminal B becomes a content server. It may be accessible.
- the user of the mobile terminal B can connect to the content server only by being authenticated from the mobile terminal A without accessing the content server itself. Also at this time, restrictions may be set on resources accessible by the mobile terminal B and access time.
- the guest robot 100b may store the profile of the owner B of the guest robot 100b and bring it into the home X. Then, the guest robot 100b may transmit the profile of the owner B to the host robot 100a. In this case, the host robot 100a can easily recognize the owner B even if they meet for the first time. When the guest robot 100b cuts off the connection with the server 200, the security management unit 242 of the server 200 may voluntarily invalidate the owner B's profile.
- the robot system 300 does not have to be equipped with an authentication function, an action instruction function, and the like from the time of factory shipment. After shipment of the robot system 300, the functional enhancement of the robot system 300 may be realized by downloading an action control program for realizing these functions via a communication network.
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Abstract
Description
このロボットは、近距離無線通信手段を介してゲスト・ロボットを認証する認証部と、認証後、ゲスト・ロボットに対して所定のリソースへのアクセス権を設定するアクセス管理部を備える。
行動特性送信部は、ゲスト・ロボットに対してホスト・ロボットにはない制約条件を設定する行動特性情報を送信する。
本実施形態におけるロボット100は、外部環境および内部状態に基づいて行動や仕草(ジェスチャー)を決定する自律行動型のロボットである。外部環境は、カメラやサーモセンサなど各種のセンサにより認識される。内部状態はロボット100の感情を表現するさまざまなパラメータとして定量化される。これらについては後述する。
図2に示すように、ロボット100のボディ104は、ベースフレーム308、本体フレーム310、一対の樹脂製のホイールカバー312および外皮314を含む。ベースフレーム308は、金属からなり、ボディ104の軸芯を構成するとともに内部機構を支持する。ベースフレーム308は、アッパープレート332とロアプレート334とを複数のサイドプレート336により上下に連結して構成される。複数のサイドプレート336間には通気が可能となるよう、十分な間隔が設けられる。ベースフレーム308の内方には、バッテリー118、制御回路342および各種アクチュエータが収容されている。
ロボットシステム300は、ロボット100、サーバ200および複数の外部センサ114を含む。家屋内にはあらかじめ複数の外部センサ114(外部センサ114a、114b、・・・、114n)が設置される。外部センサ114は、家屋の壁面に固定されてもよいし、床に載置されてもよい。サーバ200には、外部センサ114の位置座標が登録される。位置座標は、ロボット100の行動範囲として想定される家屋内においてx,y座標として定義される。
外部センサ114はロボット100の感覚器を補強するためのものであり、サーバ200はロボット100の頭脳を補強するためのものである。
もちろん、ロボット100が自らの位置座標を定期的にサーバ200に送信する方式でもよい。
感情マップ116は、サーバ200に格納されるデータテーブルである。ロボット100は、感情マップ116にしたがって行動選択する。図4に示す感情マップ116は、ロボット100の場所に対する好悪感情の大きさを示す。感情マップ116のx軸とy軸は、二次元空間座標を示す。z軸は、好悪感情の大きさを示す。z値が正値のときにはその場所に対する好感が高く、z値が負値のときにはその場所を嫌悪していることを示す。
ロボット100がどのような場所を好むかという定義は任意であるが、一般的には、小さな子どもや犬や猫などの小動物が好む場所を好意地点として設定することが望ましい。
ロボット100がどのような場所を嫌うかという定義も任意であるが、一般的には、小さな子どもや犬や猫などの小動物が怖がる場所を嫌悪地点として設定することが望ましい。
図4に示す感情マップ116が与えられた場合、ロボット100は好意地点(座標P1)に引き寄せられる方向、嫌悪地点(座標P2)から離れる方向に移動する。
ロボット100は、内部センサ128、通信機126、記憶装置124、プロセッサ122、駆動機構120およびバッテリー118を含む。駆動機構120は、上述した車輪駆動機構370を含む。プロセッサ122と記憶装置124は、制御回路342に含まれる。各ユニットは電源線130および信号線132により互いに接続される。バッテリー118は、電源線130を介して各ユニットに電力を供給する。各ユニットは信号線132により制御信号を送受する。バッテリー118は、リチウムイオン二次電池であり、ロボット100の動力源である。
サーバ200およびホスト・ロボット100aを含むロボットシステム300は、新たなゲスト・ロボット100bを受け入れることができる。サーバ200はホームXに設置され、ホスト・ロボット100aはホームXのサーバ200により行動支援を受けるロボット100である。ここでいう「受け入れる」とは、外来者であるゲスト・ロボット100bが、サーバ200に接続し、サーバ200が管理するリソース(ハードウェア、ソフトウェアおよびデータ)にアクセスすることでサーバ200からの行動支援を受けることが可能となることをいう。サーバ200は、ホスト・ロボット100aおよびゲスト・ロボット100bの2つのロボット100の行動を支援することになる。各ロボット100は、ロボット返答信号に「ロボットID」を含めて送信する。ロボットIDは、MACアドレス(Media Access Control address)や製造番号など、ロボット100を一意に識別する情報であればよい。これにより、サーバ200は2つのロボット100それぞれを特定できる。
ロボット100の額には、NFC(Near Field Communication)に対応するチップが埋め込まれている(近距離無線通信手段)。NFCは、近距離無線通信技術の国際標準規格であり、本実施形態においては13.56MHzにて10センチメートル程度の近距離通信が可能である。ロボット100は、定期的にロボットIDをNFCチップにより発信する。ホスト・ロボット100aの額にゲスト・ロボット100bの額を近づけると、ゲスト・ロボット100bのロボットIDがホスト・ロボット100aにより検出される。本実施形態における「認証」は、ホスト・ロボット100aがゲスト・ロボット100bのロボットIDを検出することにより完了する。ホスト・ロボット100aとゲスト・ロボット100bの額を近づけるだけで簡単にゲスト・ロボット100bをロボットシステム300に受け入れることができる。
ロボット100は、抱っこを検出したときには、安全のために前輪102(左輪102aおよび右輪102b)をボディ104に収納する。
上述のように、ロボットシステム300は、ロボット100、サーバ200および複数の外部センサ114を含む。ロボット100およびサーバ200の各構成要素は、CPU(Central Processing Unit)および各種コプロセッサなどの演算器、メモリやストレージといった記憶装置、それらを連結する有線または無線の通信線を含むハードウェアと、記憶装置に格納され、演算器に処理命令を供給するソフトウェアによって実現される。コンピュータプログラムは、デバイスドライバ、オペレーティングシステム、それらの上位層に位置する各種アプリケーションプログラム、また、これらのプログラムに共通機能を提供するライブラリによって構成されてもよい。以下に説明する各ブロックは、ハードウェア単位の構成ではなく、機能単位のブロックを示している。
ロボット100の機能の一部はサーバ200により実現されてもよいし、サーバ200の機能の一部または全部はロボット100により実現されてもよい。
サーバ200は、通信部204、データ処理部202、制約設定部224およびデータ格納部206を含む。
制約設定部224は、ゲスト・ロボット100bに対する行動制約(後述)を設定する。通信部204は、外部センサ114およびロボット100との通信処理を担当する。データ格納部206は各種データを格納する。データ処理部202は、通信部204により取得されたデータおよびデータ格納部206に格納されるデータに基づいて各種処理を実行する。データ処理部202は、通信部204、制約設定部224およびデータ格納部206のインタフェースとしても機能する。
ロボット100は、複数の動作パターン(モーション)を有する。手106を震わせる、蛇行しながらオーナーに近づく、首をかしげたままオーナーを見つめる、などさまざまなモーションが定義されている。
以下、いつ、どのモーションを選ぶか、モーションを実現する上での各アクチュエータの出力調整など、ロボット100の行動制御に関わる設定のことを「行動特性」と総称する。ロボット100の行動特性は、モーション選択アルゴリズム、モーションの選択確率、モーションファイル等により定義される。
ロボットシステム300は、大量の画像情報やその他のセンシング情報から得られる身体的特徴および行動的特徴に基づいて、高い頻度で出現するユーザを「オーナー」としてクラスタリングする。
本実施形態においては、身体的特徴と行動的特徴からユーザをクラスタリングし、ディープラーニング(多層型のニューラルネットワーク)によってユーザを識別する。詳細は後述する。
位置管理部208は、ロボット100の位置座標を、図3を用いて説明した方法にて特定する。位置管理部208はユーザの位置座標もリアルタイムで追跡してもよい。
行動マップAを行動マップBの5倍重視するときには、座標R1の合計z値は4×5-1=19、座標R2の合計z値は3×5+3=18であるから、ロボット100は座標R1の方向に向かう。
なお、人物認識部214は、人物以外の移動物体、たとえば、ペットである猫や犬についても特徴抽出を行う。
快・不快行為は、ユーザの応対行為が、生物として心地よいものであるか不快なものであるかにより判別される。たとえば、抱っこされることはロボット100にとって快行為であり、蹴られることはロボット100にとって不快行為である。肯定・否定反応は、ユーザの応対行為が、ユーザの快感情を示すものか不快感情を示すものであるかにより判別される。たとえば、抱っこされることはユーザの快感情を示す肯定反応であり、蹴られることはユーザの不快感情を示す否定反応である。
行動マップに移動目標地点や移動ルートが決定され、後述の各種イベントによりモーションが選択される。
ロボット100は、ホスト・ロボット100aとしてもゲスト・ロボット100bとしても機能する。
ロボット100は、通信部142、データ処理部136、データ格納部148、内部センサ128および駆動機構120を含む。
通信部142は、通信機126(図5参照)に該当し、外部センサ114、サーバ200および他のロボット100との通信処理を担当する。データ格納部148は各種データを格納する。データ格納部148は、記憶装置124(図5参照)に該当する。データ処理部136は、通信部142により取得されたデータおよびデータ格納部148に格納されているデータに基づいて各種処理を実行する。データ処理部136は、プロセッサ122およびプロセッサ122により実行されるコンピュータプログラムに該当する。データ処理部136は、通信部142、内部センサ128、駆動機構120およびデータ格納部148のインタフェースとしても機能する。
指示送信部134は、ロボット100がホスト・ロボット100aであるとき、ゲスト・ロボット100bに対して行動指示を送信する(後述)。指示受信部138は、ロボット100がゲスト・ロボット100bであるとき、ホスト・ロボット100aから行動指示を受信する。行動特性取得部140は、サーバ200の行動特性送信部240から行動特性情報を受信する。
ロボット100のモーション格納部160には、サーバ200のモーション格納部232から各種モーションファイルがダウンロードされる。モーションは、モーションIDによって識別される。前輪102を収容して着座する、手106を持ち上げる、2つの前輪102を逆回転させることで、あるいは、片方の前輪102だけを回転させることでロボット100を回転行動させる、前輪102を収納した状態で前輪102を回転させることで震える、ユーザから離れるときにいったん停止して振り返る、などのさまざまなモーションを表現するために、各種アクチュエータ(駆動機構120)の動作タイミング、動作時間、動作方向などがモーションファイルにおいて時系列定義される。
ロボット100の動作制御部150は、サーバ200の動作制御部222と協働してロボット100のモーションを決める。一部のモーションについてはサーバ200で決定し、他のモーションについてはロボット100で決定してもよい。また、ロボット100がモーションを決定するが、ロボット100の処理負荷が高いときにはサーバ200がモーションを決定するとしてもよい。サーバ200においてベースとなるモーションを決定し、ロボット100において追加のモーションを決定してもよい。モーションの決定処理をサーバ200およびロボット100においてどのように分担するかはロボットシステム300の仕様に応じて設計すればよい。
認識部156は、内蔵カメラ(内部センサ128)により定期的に外界を撮像し、人やペットなどの移動物体を検出する。移動物体の画像はサーバ200に送信され、サーバ200の人物認識部214は移動物体の身体的特徴を抽出する。また、ユーザの匂いやユーザの声も検出する。匂いや音(声)は既知の方法にて複数種類に分類される。
以上は、簡単な設例であるが、上述の方法により、父親に対応する第1のプロファイルと母親に対応する第2のプロファイルが形成され、この家には少なくとも2人のユーザ(オーナー)がいることをロボット100は認識する。
このとき、サーバ200の人物認識部214は、ロボット100から得られる画像等のセンシング情報から特徴抽出を行い、ディーブラーニング(多層型ニューラルネットワーク)により、ロボット100の近くにいる移動物体がどのプロファイル(クラスタ)に該当するかを判断する。たとえば、ひげが生えている移動物体を検出したとき、この移動物体は父親である確率が高い。この移動物体が早朝行動していれば、父親に該当することはいっそう確実である。一方、メガネをかけている移動物体を検出したときには、この移動物体は母親である可能性もある。この移動物体にひげが生えていれば、母親ではなく父親でもないので、クラスタ分析されていない新しい人物であると判定する。
移動物体(ユーザ)からどのような行為をされるかによってそのユーザに対する親密度が変化する。
(1)親密度が非常に高いクラスタ
ロボット100は、ユーザに近づき(以下、「近接行動」とよぶ)、かつ、人に好意を示す仕草としてあらかじめ定義される愛情仕草を行うことで親愛の情を強く表現する。
(2)親密度が比較的高いクラスタ
ロボット100は、近接行動のみを行う。
(3)親密度が比較的低いクラスタ
ロボット100は特段のアクションを行わない。
(4)親密度が特に低いクラスタ
ロボット100は、離脱行動を行う。
サーバ200は、制約設定画面180をモニタ(不図示)に表示させる。ホスト・ロボット100aのオーナーAは、ゲスト・ロボット100bに行動制約を課すことができる。オーナーAは、サーバ200が表示する制約設定画面180において「行動制約情報」を設定する。行動制約情報は、ゲスト・ロボット100bがホームXのサーバ200に接続しているときに実行可能な行動を定義する情報である。
ホスト・ロボット100aとゲスト・ロボット100bが近接し、ホスト・ロボット100aの認証部154がゲスト・ロボット100bのロボットIDを検出したときゲスト・ロボット100bを認証し、続いて図10に示す認証処理が実行される。
ホスト・ロボット100aは、抱っこされているときでなければ、ロボットIDを検出しない、あるいは、ゲスト・パスワード等をゲスト・ロボット100bに発信しないとしてもよい。この場合には、認識部156が抱っこを検出していなければ、認証処理は実行されない。
ホスト・ロボット100aとゲスト・ロボット100bが近接し、ゲスト・ロボット100bの認証部154がホスト・ロボット100aのロボットIDを検出したとき、ゲスト・ロボット100bは図11に示す認証処理を実行する。図10に示すホスト・ロボット100aの認証処理と図11に示すゲスト・ロボット100bの認証処理は同時実行される。
ゲスト・ロボット100bは、抱っこされているときでなければ、ロボットIDを検出しない、あるいは、ロボットIDを発信しないとしてもよい。この場合には、認識部156が抱っこを検出していなければ、認証処理は実行されない。
サーバ200およびロボット100は、第1通信回線302および第2通信回線304の2つの通信回線により接続される。サーバ200の通信部204は、第1通信回線302が切断されていなければ(S30のN)、サーバ200とロボット100は第1通信回線302を介してデータを送受する(S34)。第1通信回線302が切断されている場合でも(S30のY)、第2通信回線304が維持されていれば(S32のN)、サーバ200とロボット100は第2通信回線304を介してデータを送受する(S36)。第2通信回線304も切断されているときには(S32のY)、接続部226はエラーを報知する(S38)。
第1通信回線302が切断される場合のほか、通信スループットの低下など、第1通信回線302が不調となったときに第1通信回線302から第2通信回線304への切換えを行ってもよい。
ホスト・ロボット100aは、随時、モーションを選択する(S40)。特定のモーション(以下、「起動モーション」とよぶ)が選択されたとき(S41のN)、ホスト・ロボット100aの指示送信部134は「行動指示」をゲスト・ロボット100bに送信する(S42)。行動指示には、起動モーションにあらかじめ対応づけられるモーション(以下、「連動モーション」とよぶ)のモーションIDが通知される。起動モーションが選択されなかったときには(S41のN)、行動指示は送信されない。その後、ホスト・ロボット100aは、選択した起動モーションを実行する(S46)。
本実施形態においては、ゲスト・ロボット100bとサーバ200の接続時間は30分に制限される。制限時間の30分が経過すると、無効化条件が成立し、ゲスト・ロボット100bの通信部142はサーバ200との接続を終了させる(S50)。無効処理部152は、サーバ200との接続後に取得したデータであって、ゲスト・ロボット100bのデータ格納部148(不揮発性メモリ)に保存されているデータを無効化する(S52)。本実施形態における無効化とは、記憶装置からデータを完全消去することを意味する。知識情報、ホームXの撮像画像データや録音データ等の保存(持ち出し)が行動制約情報によって禁止されている場合は、これらの情報も無効化される。
本実施形態によれば、ホスト・ロボット100aおよびゲスト・ロボット100bを近づけるだけで、ゲスト・ロボット100bを簡単にホームXのロボットシステム300に受け入れることができる。ロボットシステム300において、ユーザが関わるのはロボット100であり、ユーザはサーバ200の存在を意識することはなく、また、サーバ200はユーザに認識させたくないものである。サーバ200とゲスト・ロボット100bではなく、ホスト・ロボット100aとゲスト・ロボット100bで認証処理を実行できるため、認証処理に際してもユーザにサーバ200を意識させにくいというメリットがある。また、ホスト・ロボット100aとゲスト・ロボット100bの近接行為により、ホスト・ロボット100aとゲスト・ロボット100bの間で暗黙のコミュニケーションが成立したかのような演出が可能となる。
同様に、ホスト・ロボット100aがソファの後ろやテーブルの下など、壁や天井に囲まれた場所に隠れ、それをゲスト・ロボット100bが見つける「かくれんぼ」を実行してもよい。
モバイル端末Bのユーザは、コンテンツ・サーバ本体にアクセスしなくても、モバイル端末Aから認証されるだけでコンテンツ・サーバに接続できる。このときにも、モバイル端末Bがアクセス可能なリソースやアクセス時間については制限を設定してもよい。
Claims (20)
- モーションを選択する動作選択部と、
前記動作選択部により選択されたモーションを実行する駆動機構と、
ホスト・ロボットによる認証後、前記ホスト・ロボットがアクセス可能なリソースへのアクセス権を取得するアクセス管理部と、を備えることを特徴とする自律行動型ロボット。 - 前記ホスト・ロボットの行動特性を決定するサーバから、行動特性情報を受信する行動特性取得部、を更に備え、
前記動作選択部は、前記行動特性情報にしたがってモーションを選択することを特徴とする請求項1に記載の自律行動型ロボット。 - 前記行動特性取得部は、更に、ロボットの行動に対する制約を受信することを特徴とする請求項2に記載の自律行動型ロボット。
- 所定の無効化条件が成立したとき、前記アクセス権の取得後に取得されたデータを無効化する無効処理部、を更に備えることを特徴とする請求項1に記載の自律行動型ロボット。
- 前記ホスト・ロボットから行動指示を受信する指示受信部、を更に備え、
前記動作選択部は、前記行動指示に対応するモーションを選択することを特徴とする請求項1に記載の自律行動型ロボット。 - 第1の無線通信回線と、前記第1の無線通信回線とは異なる周波数帯の第2の無線通信回線の双方にてサーバと接続し、
前記第1の無線通信回線が不調のときには前記第2の無線通信回線を介して前記サーバと通信することを特徴とする請求項1に記載の自律行動型ロボット。 - サーバから行動特性情報を受信する行動特性受信部と、
前記行動特性情報にしたがってモーションを選択する動作選択部と、
前記動作選択部により選択されたモーションを実行する駆動機構と、
ゲスト・ロボットを認証する認証部と、
認証後、前記ゲスト・ロボットに対して所定のリソースへのアクセス権を設定するアクセス管理部と、を備えることを特徴とする自律行動型ロボット。 - 前記認証部は、前記ゲスト・ロボットが所定距離以内に位置したことを条件として前記ゲスト・ロボットを認証することを特徴とする請求項7に記載の自律行動型ロボット。
- 抱え上げを認識する認識部、を更に備え、
前記認証部は、更に、当該ロボットが抱え上げられていることを条件として、前記ゲスト・ロボットを認証することを特徴とする請求項7に記載の自律行動型ロボット。 - 前記ゲスト・ロボットに行動指示を送信する指示送信部、を更に備えることを特徴とする請求項7に記載の自律行動型ロボット。
- 前記認証部は、認証に際して、前記ゲスト・ロボットのセキュリティ・チェックを実行することを特徴とする請求項7に記載の自律行動型ロボット。
- 第1距離を通信可能距離とする近距離無線通信手段と、前記第1距離よりも長い第2距離を通信可能距離とする遠距離無線通信手段の双方により通信可能であって、
前記近距離無線通信手段を介してゲスト・ロボットを認証する認証部と、
認証後、前記ゲスト・ロボットに対して所定のリソースへのアクセス権を設定するアクセス管理部と、を備えることを特徴とする自律行動型ロボット。 - 抱え上げを認識する認識部、を更に備え、
前記認証部は、更に、当該ロボットが抱え上げられていることを条件として、前記ゲスト・ロボットを認証することを特徴とする請求項12に記載の自律行動型ロボット。 - ホスト・ロボットに行動特性情報を送信する行動特性送信部と、
前記ホスト・ロボットによりゲスト・ロボットが認証されたことを条件として、前記ゲスト・ロボットと接続する接続部と、を備え、
前記行動特性送信部は、前記ゲスト・ロボットに対して前記ホスト・ロボットにはない制約条件を設定する行動特性情報を送信することを特徴とするサーバ。 - 前記行動特性情報は、前記ホスト・ロボットが有する知識情報を含むことを特徴とする請求項14に記載のサーバ。
- 前記ゲスト・ロボットに対して、データの無効化を指示するセキュリティ管理部、を更に備えることを特徴とする請求項14に記載のサーバ。
- 自律行動型ロボットに対して第1の無線通信回線と、前記第1の無線通信回線とは異なる周波数帯の第2の無線通信回線の双方にて接続する接続部と、
第1および第2の無線通信回線の双方を介して、前記自律行動型ロボットの行動選択方法を定義する行動特性情報を送信する行動特性送信部と、を備えることを特徴とするサーバ。 - 前記行動特性送信部は、前記第1の無線通信回線を介して前記自律行動型ロボットに前記行動特性情報を送信し、前記第1の無線通信回線が不調であるときに限り、前記第2の無線通信回線を介して前記自律行動型ロボットに前記行動特性情報を送信することを特徴とする請求項17に記載のサーバ。
- 第1の装置を認証する機能と、
前記第1の装置の認証後、前記第1の装置に対して所定のリソースへのアクセス権を設定する機能と、
前記第1の装置により第2の装置が認証されたことを条件として、前記第2の装置に対して前記リソースへのアクセス権を設定する機能と、をコンピュータに発揮させることを特徴とするアクセス制御プログラム。 - ホスト・ロボットに行動選択方法を定義する行動特性情報を送信する機能と、
ゲスト・ロボットが前記ホスト・ロボットから認証されたことを条件として、前記ゲスト・ロボットに対して前記ホスト・ロボットにはない制約条件を設定する行動特性情報を送信する機能と、をコンピュータに発揮させることを特徴とする行動制御プログラム。
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- 2017-09-07 CN CN201780055038.0A patent/CN109689174B/zh active Active
- 2017-09-07 JP JP2018538464A patent/JP6574970B2/ja active Active
- 2017-09-07 DE DE112017004554.1T patent/DE112017004554B4/de active Active
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CN109689174B (zh) | 2020-12-29 |
GB2567791A (en) | 2019-04-24 |
JP2020014845A (ja) | 2020-01-30 |
GB2567791B (en) | 2021-10-13 |
US20190202065A1 (en) | 2019-07-04 |
JP6574970B2 (ja) | 2019-09-18 |
JP7055402B2 (ja) | 2022-04-18 |
DE112017004554T5 (de) | 2019-05-23 |
US11135726B2 (en) | 2021-10-05 |
GB201903072D0 (en) | 2019-04-24 |
JPWO2018047900A1 (ja) | 2018-11-01 |
DE112017004554B4 (de) | 2020-12-03 |
CN109689174A (zh) | 2019-04-26 |
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