JP6317266B2 - Robot control device and robot - Google Patents

Description

  The present invention relates to a robot control device and a robot.

  In recent years, robots such as pet-type robots that heal and entertain users and life support robots that perform housework and nursing care have gradually permeated people's lives. Some of these robots have a voice recognition function and can communicate with the user. For example, there is a robot that has a face, changes its facial expression according to the output voice, and expresses emotions such as emotions. Further, for example, there is a robot that makes a user a suggestion for changing the environment by outputting a sound such as “turn on an air conditioner” by detecting a built-in sensor.

JP2012-178092 (released on September 13, 2012) JP 2006-43780 (released February 16, 2006)

  However, with conventional robots, it is convenient for the user, but it feels as if the proposal from the robot seems to be instructed or commanded by the robot, and the user does not hesitate or develop familiarity with the robot, so it is difficult to accept the proposal. Sometimes.

  Accordingly, the present invention has been made in view of the above problems, and an object thereof is to provide a robot control device and a robot capable of controlling the robot so as to prompt the user to take spontaneous action.

  In order to solve the above problems, a robot control apparatus according to one aspect of the present invention is a robot control apparatus that controls a robot including a sensor unit that detects a surrounding environment and a display unit that displays a face image. When the output value indicating the detection result by the sensor unit is out of a predetermined range, the display control displays on the display unit a facial image of a facial expression that prompts the user to perform an action according to the output value from the sensor unit. A degree setting unit configured to set a degree of prompting the user to perform the action based on at least one of the output value and an elapsed time after the output value is out of the predetermined range, The display control unit displays a facial image of an expression corresponding to the set degree on the display unit.

  According to the above configuration, when the output value from the sensor unit of the robot is out of the predetermined range, a facial image of a facial expression corresponding to the degree of prompting the user to act according to the output value from the sensor unit is displayed. Therefore, the display of the facial image of the facial expression according to the degree of prompting can inform the user that the output value of the sensor unit is out of the predetermined range, and the user can behave according to the output value from the sensor unit. Can be urged. By setting the predetermined range to a value that is comfortable or safe for the user, it is possible to prevent an unfavorable environment such as discomfort and danger for the user. Furthermore, since the user is prompted by facial expressions, it is not intimidating, and the user can be urged while being softened or healed. Thus, according to the above configuration, it is possible to control the robot so as to prompt the user to take spontaneous action.

It is a figure which shows schematic structure of the robot which concerns on Embodiment 1 of this invention. It is a figure which shows the use condition of the said robot. It is an example of the face image which the said robot displays, (a) And (b) is a figure of the facial image of the expression which urges a user to operate an air conditioner and to carry out heating operation. It is an example of the face image which the said robot displays, (a) And (b) is a figure of the face image of the expression which urges a user to operate an air-conditioner and to perform dehumidification operation. It is an example of the face image which the said robot displays, (a) And (b) is a figure of the facial image of the expression which prompts the user to light up lighting equipment. It is an example of the face image which the said robot displays, (a) is a figure of a surprise expression, (b) is a sad expression, (c) is a figure of a joy expression. It is an example of the face image which the said robot displays, (a) is a figure of the face image of a gentle expression and (b) a grimace. It is a figure which shows schematic structure of the robot which concerns on Embodiment 2 of this invention. It is a figure which shows schematic structure of the robot which concerns on Embodiment 3 of this invention.

[Embodiment 1]
Hereinafter, it will be as follows if one Embodiment of this invention is described based on FIGS.

(Robot configuration)
The robot 1 according to the present embodiment is a robot capable of expressing a facial expression, and its appearance is a snowman type having a head and a torso as shown in FIG. An arm part is attached to the body part. Note that the appearance of the robot 1 is not limited to the illustrated one, and for example, the appearance of FIG. 2 may further include legs. Alternatively, it may be a humanoid type or a pet type.

  In the robot 1, a face image is displayed on the face area of the head, and the expression change is performed based on an output value indicating a detection result by a sensor unit 60 described later. Also, the facial expression changes based on the content of the dialogue with the user. In addition to the original emotions, the robot 1 can display facial images that are sweating or trembling, thereby enabling the expression of an expression closer to a human being. Thus, since the robot 1 can change the facial expression in various ways, the robot 1 can appear to have emotions. Therefore, the user can touch the robot 1 with more familiarity and attachment.

  Furthermore, the robot 1 has a voice recognition function and an utterance function. When a voice (voice signal) is input, the robot 1 performs voice recognition and utters according to the recognition result. Therefore, the user can interact with the robot 1 by voice using natural language.

  Next, details of the configuration of the robot 1 will be described. FIG. 1 is a diagram showing a configuration of a robot 1 according to the present embodiment. The robot 1 includes a control unit (robot control device) 10, a display unit 20, a voice output unit 30, a voice input unit 40, an operation unit 50, a sensor unit 60, a camera unit 70, and a data storage unit 80.

  The control unit 10 is a block that controls each unit of the robot 1. For example, the control unit 10 includes a computer device including an arithmetic processing unit such as a CPU (Central Processing Unit) or a dedicated processor. The control unit 10 comprehensively controls the operation of each unit of the robot 1 by reading and executing a program for performing various controls in the robot 1 stored in the data storage unit 80. The control unit 10 also has functions as a display control unit 11, a degree setting unit 12, an utterance control unit (voice control unit) 13, and a voice recognition unit 14. Details of these will be described later.

  The display unit 20 is a block that displays various facial images using facial field image data in the face area of the robot 1, thereby expressing facial expressions such as emotions in the robot 1. In the present embodiment, the display unit 20 projects a face image on the face area of the robot 1 by a built-in projector by a rear projection method, but is not limited thereto.

  The audio output unit 30 is an audio output device such as a speaker, and the audio input unit 40 is an audio input device such as a microphone.

  The operation unit 50 is a block that executes various operations of the robot 1. Examples of the operation in the robot 1 executed by the operation unit 50 include an operation of rotating the head or the whole or moving the hand, but is not limited thereto. The operation of the robot 1 means that at least a part of the robot 1 physically moves.

  The sensor unit 60 is a device for detecting the environment around the robot 1. In the present embodiment, it is assumed that the sensor unit 60 includes a temperature sensor, a humidity sensor, and a degree sensor. Sensors other than these may be included. The camera unit 70 is an imaging device that captures still images and moving images.

  The data storage unit 80 includes a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), and the like, and is a block that stores various information (data) used in the robot 1. Further, the data storage unit 80 stores a database 81 of face image data displayed in the face area of the robot 1 and a database 82 of speech data uttered by the robot 1.

  The display control unit 11 is a block that controls the display unit 20 to display face image data in the face area of the head of the robot 1. The display control unit 11 is a facial image of a facial expression that prompts the user to take an action according to the output value from the sensor unit 60 when the output value indicating the detection result by the sensor unit 60 is out of a predetermined range. A face image having a facial expression corresponding to the degree set in is displayed on the display unit 20. The expression that prompts the user to take an action according to the output value from the sensor unit 60 is, for example, when the output value from the sensor unit 60 is temperature, sweats the user to operate the air conditioner to perform a cooling operation. Such as a painful expression, an expression that prompts the user to operate the air conditioner and perform a heating operation, and a pale and trembling expression. The display of facial images of facial expressions according to the degree of prompting will be described later using specific examples.

  The degree setting unit 12 responds to the output value from the sensor unit 60 based on at least one of the output value from the sensor unit 60 and the elapsed time after the output value from the sensor unit 60 is out of the predetermined range. This is a block for setting the degree of prompting the user to take the action. The setting of the degree of prompting will be described later using a specific example.

  The utterance control unit 13 reads the utterance data corresponding to the output value from the sensor unit or the information acquired by the camera unit 70 or the utterance data corresponding to the recognition result of the voice recognition unit 14 from the data storage unit 80, This block generates voice data (voice, voice information) (voice synthesis) and outputs the voice data from the voice output unit 30. Note that when the speech data is generated as speech data (recorded speech), the speech control unit 13 does not perform speech synthesis.

  The voice recognition unit 14 is a block that recognizes an input voice from the user. Specifically, the voice recognition unit 14 converts voice data input from the voice input unit 40 into text data, analyzes the text data, and extracts words and phrases. A known technique can be used for voice recognition processing.

  The face image data database 81 is a database in which image data of face images with various expressions to be displayed on the display unit 20 is registered for each degree of prompting the user to perform an action according to the output value from the sensor unit 60. .

  The utterance data database 82 is a database in which utterance data is registered so as to correspond to the degree of prompting the user to perform an action corresponding to the output value from the sensor unit 60. In the utterance data database 82, utterance data associated with words and phrases is registered. Not only one corresponding to one word but also one corresponding to a combination of a plurality of words may be registered. Further, a plurality of utterance data may be registered corresponding to a certain word or a certain phrase, and in this case, what is actually outputted as a sound may be selected. Note that the utterance data may be stored as text data. Known techniques can be used for constructing such a database.

(Specific examples of facial expressions according to the degree of prompting)
The display of a facial expression according to the degree of prompting the user to act according to the output value from the sensor unit 60 will be described using a specific example.

  Below, the case where the sensor part 60 detects temperature is demonstrated. When the output value from the sensor unit 60 is a high temperature outside a predetermined range set for the temperature, the degree setting unit 12 sets the degree of prompting the user to perform the cooling operation of the air conditioner according to the output value. . The degree setting unit 12 sets the degree to which the predetermined range set for the temperature is less than 28 ° C. and the output value from the sensor unit 60 is 28 ° C. or more and less than 30 ° C. as “small”. The degree of prompting is set as “medium”. Thus, first, the degree setting unit 12 sets the degree of prompting the user to take an action according to the output value from the sensor unit 60 based on the output value from the sensor unit 60.

  In accordance with the setting of the degree setting unit 12, the display control unit 11, when the degree of prompting is small, is slightly a little sweat with a little sweat shown in FIG. A facial image with a facial expression that turns red is displayed. At this time, the utterance control unit 13 outputs sound data associated with the case where the degree is small, for example, “It is hot today”. When the degree of prompting is medium, the display control unit 11 has a facial expression that is slightly reddish with a little more sweat as shown in FIG. Display a face image. At this time, the utterance control unit 13 is voice data associated when the degree of prompting is medium, and more voice data than the voice data associated when the degree of prompting is small, for example, "I sweat a lot."

  When the output value of the sensor unit 60 after the elapse of a predetermined time after displaying the face image of FIG. 3A is the same as or higher than the previous time, the degree setting unit 12 sets the degree of soot to “medium”. The display control unit 11 displays the face image shown in FIG. 3B, and the utterance control unit 13 outputs the voice data associated with the voice data when the degree of prompting is medium. To do.

  When the output value from the temperature sensor of the sensor unit 60 after the elapse of a predetermined time after displaying the face image of FIG. 3B is the same as or higher than the previous time, the degree setting unit 12 determines the degree of reduction. Set as “large”, the display control unit 11 displays the facial expression face image that turns red in the face with a lot of sweat shown in FIG. Then, the utterance control unit 13 outputs voice data associated when the degree of prompting is large, for example, “Hot, sweaty and face turned red”. Further, when the output value from the temperature sensor of the sensor unit 60 after the predetermined time has passed is the same as or higher than the previous time, the display of the facial image of the facial expression of (c) of FIG. 3 may be repeated. Further, an expression that encourages a greater degree may be displayed, or the display may be stopped. Such a display is performed to prompt the user to perform the cooling operation of the air conditioner.

  In the above description, the case of high temperature has been described as an example, but the degree of prompting the user to perform the heating operation of the air conditioner is set similarly in the case of low temperature, and facial images of facial expressions corresponding to the set degree of prompting are set. Show it. Further, in the above, when starting from the display of the face image of FIG. 3A, the degree is increased in three stages, and when starting from the display of the face image of FIG. 3B, the degree is increased in two stages. Although it is large, it can be changed in any number of steps. In addition, the degree is decreased in accordance with the output value from the sensor unit 60 in the middle of increasing the degree stepwise, and conversely, the degree in accordance with the output value from the sensor unit 60 in the middle of decreasing the degree stepwise. You may enlarge it.

  As described above, the degree setting unit 12 responds to the output value from the sensor unit 60 based on at least one of the output value from the sensor unit 60 and the elapsed time after the output value is out of the predetermined range. Set the degree of prompting the user to take action. Then, when the output value is out of the predetermined range, the display control unit 11 displays a facial image having a facial expression corresponding to the degree of prompting set by the degree setting unit 12. Therefore, the display of the facial image of the expression according to the degree of prompting can inform the user that the output value of the sensor unit is out of the predetermined range, and the user can behave according to the output value from the sensor unit 60. Can be encouraged. By setting the predetermined range to a value that is comfortable or safe for the user, it is possible to prevent an unfavorable environment such as discomfort and danger for the user. Furthermore, since the user is prompted by facial expressions, it is not intimidating, and the user can be urged while being softened or healed. As described above, the control unit 10 can control the robot 1 so as to prompt the user to take spontaneous action.

  A facial expression that prompts the user to take an action according to the output value from the sensor unit 60 is an expression that prompts the user to take an action to return the output value from the sensor unit 60 within a predetermined range (in the above example, to lower the temperature). If the output value from the sensor unit 60 of the robot 1 is out of the predetermined range, the face image having a facial expression corresponding to the degree of prompting is displayed to prompt the user to take an action for returning to the predetermined range. Can do.

  Further, by outputting audio data corresponding to the degree of prompting, the user can be prompted more effectively.

  Further, the degree setting unit 12 sets the degree of promotion to be increased stepwise according to the length of the elapsed time until the output value from the sensor unit returns to a predetermined range. By setting to increase in steps, it is possible to prompt the user effectively.

  The degree setting unit 12 sets the degree to be smaller than the previous value when the output value from the sensor unit changes in a direction approaching the predetermined range, and the output value from the sensor unit 60 is set to the predetermined range. The degree may be set to be greater than the previous time when the distance is changed away from the previous position.

  In this way, by reducing or enhancing the degree of prompting according to the change in the output value from the sensor unit 60, it is possible to display a facial image with a greater degree of prompting. Another facial expression image that is displayed when the output value from the sensor unit 60 changes in a direction approaching a predetermined range is, for example, a facial expression with a joyful expression to convey that discomfort is being resolved. May be. Moreover, the facial image of the expression of joy may change stepwise.

  Further, the degree setting unit 12 may change the degree of prompting based on the voice recognition result by the voice recognition unit 14. With such a configuration, the degree of prompting is changed according to the input voice by the user, and the facial expression is changed accordingly. Therefore, increasing the variation variation makes the facial expression richer and makes the user more loving the robot.

  In addition, you may make it display the face image of the facial expression according to the degree of prompting only when the robot 1 detects a user. The user may be detected by the camera unit 70 or, if the sensor unit 60 is provided with a human sensor, the human sensor.

  Similarly to the above, when the sensor unit 60 detects humidity, when the output value from the sensor unit 60 is high humidity outside the predetermined range set for humidity, the degree setting unit 12 outputs the output value. The degree of prompting the user to perform the dehumidifying operation of the air conditioner is set according to. In accordance with this degree, the display control unit 11 displays facial images of facial expressions. When the degree of prompting is “small”, the face image of the slightly sweated expression shown in FIG. 4A associated with the case where the degree of prompting is small is displayed, and the degree of prompting is “medium” In such a case, a face image with a slightly sweated expression shown in FIG. 4B associated with the case where the degree of prompting is medium is displayed. In addition, when the output value of the sensor unit 60 after a predetermined time has elapsed since the face image of FIG. 4A is displayed is the same as or higher than the previous time, the display control unit 11 ( The face image of b) is displayed. When the output value of the sensor unit 60 after the elapse of a predetermined time after displaying the face image of FIG. 4B is the same as or higher than the previous time, the display control unit 11 determines that the display control unit 11 of FIG. A face image with a lot of sweating expression is displayed.

  Also in these cases, the utterance control unit 13 performs step-by-step voice data associated with the degree of prompting, for example, “Do not steam”, “Steamed, sticky”, or “Steamed, unpleasant”. Audio output. Such a display is performed to prompt the user to perform a dehumidifying operation of the air conditioner. Similarly, in the case of low humidity, the degree of prompting the user to operate the humidifier may be set, and a facial image of a facial expression corresponding to the set degree of prompting may be displayed.

  Even when the sensor unit 60 detects illuminance, as described above, when the output value from the sensor unit 60 is low outside the predetermined range set for illuminance, the degree setting unit 12 determines whether the output value is low. The degree of prompting the user to turn on the lighting device is set. In accordance with this degree, the display control unit 11 displays facial images of facial expressions as follows. When the degree of prompting is “small”, the face image of the facial expression with open eyes shown in FIG. 5A and the face image with closed eyes shown in FIG. 5B are alternately displayed. The face image that blinks is displayed at a low frequency. When the degree of prompting is “medium”, the facial image shown in FIG. 5A and the facial image shown in FIG. The face image of is displayed. When the degree of prompting is “medium”, the frequency of alternately displaying the face image shown in FIG. 5A and the face image shown in FIG. Display facial images of facial expressions. Also in these cases, the utterance control unit 13 outputs voice data associated with the degree of prompting, for example, “has not darkened”, “has become invisible”, or “cannot be seen” step by step. . Such a display is performed to prompt the user to turn on the lighting device.

  The above is merely an example, and the display of a facial image of an expression according to the degree of prompting is not limited to the above. Further, in the above description, the case where facial expressions according to the output values from the temperature sensor, humidity sensor, and illuminance sensor are used individually has been described, but complex facial expressions are displayed according to the output values from a plurality of sensors. It may be configured to.

  Further, the sensor unit 60 may be provided with an acceleration sensor. In this case, evacuation can be promoted by detecting an earthquake with an acceleration sensor and displaying a face image with a surprising expression as shown in FIG. Moreover, you may output the audio | voice data according to the condition.

  Furthermore, a contact from a user may be detected by an acceleration sensor, and a facial image of a facial expression corresponding to the detection result may be displayed. In this case, for example, when it is detected that the player is hit, a face image with a sad expression as shown in FIG. 6B is displayed. For example, when it is detected that the player is stroked or lifted, FIG. The face image of the expression of joy as shown in (c) of FIG. Moreover, you may output the audio | voice data according to these situations.

  Further, the sensor unit 60 may be provided with a barometric pressure sensor. In this case, when the output value of the atmospheric pressure sensor deviates from a predetermined range provided for the atmospheric pressure (predicting the collapse of the weather), a facial image with a dull expression as shown in FIG. May be displayed to prompt countermeasures against the weather (for example, take in laundry, refrain from unnecessary going out, etc.). Moreover, you may output the audio | voice data according to the condition.

  Further, the sensor unit 60 may be provided with an odor sensor or a dust sensor. In this case, when the output value of the odor sensor or dust sensor deviates from the predetermined range provided for odor (odor) or dust, a frown face image as shown in (b) of FIG. 7 is displayed. You may encourage cleaning. Moreover, you may output the audio | voice data according to the condition.

  In this way, the sensor unit 60 includes a sensor that can detect a state close to the human living environment, and by setting the predetermined range to a value comfortable for the user, the robot 1 can The user can be encouraged to take spontaneous action to create a safe and comfortable space around the user.

  Furthermore, the robot 1 may change the facial expression according to the internal state of the robot 1 such as detection of the remaining battery level or failure, or the time. For example, a full expression may be displayed when the remaining battery level is abundant, and a facial image with a hungry expression may be displayed as the remaining battery level decreases. In addition, when a failure is detected, a facial image with a facial expression indicating bad mood may be displayed. When the robot is activated, or at midnight or early morning, a facial image with a sleepy expression may be displayed. Moreover, you may output the audio | voice data according to the condition.

  The robot 1 may be configured to analyze the user's facial expression and position from the image input from the camera unit 70 and interact with the user based on the analysis. For example, when it is recognized that the position of the user is rightward when viewed from the front of the robot 1, the robot head is actually turned to the right, or a state in which the face moves to the right is displayed on the head. Thus, the configuration may be such that the user is facing the user, that is, can respond.

[Embodiment 2]
Hereinafter, a robot according to still another embodiment of the present invention will be described. For convenience of explanation, members having the same functions as those explained in the first embodiment are given the same reference numerals and explanations thereof are omitted.

  As shown in FIG. 8, the robot 1 a according to the present embodiment includes a communication unit 90 that performs communication with the outside via a communication network in addition to the configuration of the robot 1. For example, the Internet can be used as the communication network. In addition, a telephone line network, a mobile communication network, a CATV (Cable Television) communication network, a satellite communication network, and the like can be used.

  The robot 1a is connected to a management server device (not shown) from the communication unit 90. Therefore, the robot 1a can be managed from the external management server device.

  If the communication unit 90 is configured to acquire the update data of the face image data and the utterance data from the management server, the variation of the expression data and the variation of the utterance can be further increased. Further, some functions of the control unit 10 of the robot 1a may be performed by the management server device. With such a configuration, it is possible to express with a complex expression without improving the processing capability of the robot 1 and expanding the capacity of the data storage unit 80. Further, it may be configured such that complex emotions can be expressed by facial expressions as the usage time of the robot 1a increases (for example, the number of times of dialogue or contact).

  Furthermore, the robot 1a may be configured to communicate with a mobile terminal such as a user's mobile phone, smartphone, or tablet terminal via an external management server device (not shown). In this case, for example, a mother who is outside the user's home 4 obtains information on the child at the user's home 4 from the smartphone 1a at any time using a smartphone, and prompts the child to study from the smartphone. It is also possible to use the robot 1a by remote-controlling so that the face image is displayed so that the degree of promotion increases stepwise.

[Embodiment 3]
Hereinafter, a robot according to still another embodiment of the present invention will be described. For convenience of explanation, members having the same functions as those described in the first or second embodiment are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 9, the robot 1 b includes a home appliance operation unit 95 in addition to the configuration of the robot 1 of the first embodiment. The home appliance operation unit 95 is a block for operating home appliances around the robot 1b, for example, in a space where the robot 1b such as the user's home 4 is located. The home appliance operation unit 95 transmits an operation signal for operating the home appliance by infrared communication or wireless LAN communication.

  The robot 1b has a home appliance operation mode capable of operating home appliances for each home appliance, determines a home appliance to be operated from an output value from the sensor unit 60, and sets the own device to the home appliance operation mode of the determined home appliance To do. Home appliances that can be operated by the robot 1b are, for example, air conditioners (air conditioners), washing machines, refrigerators, cooking utensils, lighting devices, hot water supply devices, photographing devices, various AV (Audio-Visual) devices, and various households other than the own device. Robots (for example, cleaning robots, housework support robots, animal type robots, etc.). In the present embodiment, description will be made using an air conditioner 5-1 and a lighting device 5-2 as examples of home appliances. In addition, the data storage unit 80 of the robot 1b stores information for setting the own device so that the home appliance can be operated for each home appliance.

  The robot 1b is configured to be able to operate home appliances when the user does not act even after a predetermined time has elapsed after displaying a facial image of an expression corresponding to the degree on the display unit 20. In this case, it is preferable that the home appliance is operated by itself only when a user is detected in a space where the robot 1b is present. The user may be detected by the camera unit 70 or, if the sensor unit 60 is provided with a human sensor, the human sensor.

  Even if the user cannot operate the home appliance due to his / her inability to operate due to his / her old age or illness, for example, when his / her hand is occupied by another work, the robot 1b can respond (operate). For example, when the robot 1b operates the air conditioner 5-1, the user can be prevented from heat stroke and dehydration.

  Moreover, the robot 1b may be configured to determine a home appliance to be operated from the input voice input from the voice input unit 40, and set the own device in the home appliance operation mode of the determined home appliance. In this case, when it is inferred that the robot 1b wants to operate the air conditioner 5-1 from the dialog with the user, the robot 1b can be operated by setting the robot 1b to the home appliance operation mode for operating the air conditioner 5-1. It becomes.

  When operating the air conditioner 5-1 or the lighting device 5-2 from the robot 1b, the position of the air conditioner 5-1 or the lighting device 5-2 may be detected using infrared rays, or the camera unit 70 of the robot 1b. The position of the air conditioner 5-1 or the lighting device 5-2 may be detected using the information obtained from.

  Before the operation of the air conditioner 5-1 from the robot 1b, a sound for confirming the execution of the operation, for example, sound data such as “Can you turn on the air conditioner?” Is output from the robot 1b, and the execution is permitted by the user. The operation is executed when a positive voice such as “Turn on”, “Turn on”, “OK” or the like is input. As described above, it is preferable to secure the user's confirmation before executing the operation of the home appliance in order to ensure safety.

[Embodiment 4]
Each of the robots 1, 1a, 1b described in the first to third embodiments may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or a CPU (Central Processing Unit). ) May be implemented by software.

  In the latter case, each of the robots 1, 1 a, and 1 b includes a CPU that executes instructions of a program that is software that realizes each function, and a ROM (the above-described program and various data are recorded so as to be readable by a computer (or CPU) Read only memory) or a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

  The present invention is not limited to the above-described embodiments, and various modifications are possible, and the present invention also relates to embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is included in the technical scope. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

[Summary]
A robot control device (control unit 10) according to an aspect 1 of the present invention includes a robot (1) including a sensor unit (60) that detects a surrounding environment and a display unit (20) that displays a face image. When the output value indicating the detection result by the sensor unit is out of a predetermined range, the display unit displays a facial image of a facial expression that prompts the user to perform an action according to the output value from the sensor unit. A degree of setting the degree of prompting the user to perform the action based on at least one of the display control unit (11) to be displayed on the display, the output value, and the elapsed time since the output value is out of the predetermined range A setting unit (12), wherein the display control unit causes the display unit to display a facial image of an expression corresponding to the set degree.

  According to the above configuration, when the output value from the sensor unit of the robot is out of the predetermined range, a facial image of a facial expression corresponding to the degree of prompting the user to act according to the output value from the sensor unit is displayed. The degree of prompting is set based on at least one of an output value from the sensor unit and an elapsed time after the output value is out of a predetermined range.

  Therefore, the display of the facial image of the facial expression according to the degree of prompting can inform the user that the output value of the sensor unit is out of the predetermined range, and the user can behave according to the output value from the sensor unit. Can be urged. By setting the predetermined range to a value that is comfortable or safe for the user, it is possible to prevent an unfavorable environment such as discomfort and danger for the user. Furthermore, since the user is prompted by facial expressions, it is not intimidating, and the user can be urged while being softened or healed. Thus, according to the above configuration, it is possible to control the robot so as to prompt the user to take spontaneous action.

  Since facial expressions are displayed as images, it is easy to prepare a wide variety of facial expressions, and the facial expressions can be changed in various ways without complicated processing in the robot.

  In the robot control device according to aspect 2 of the present invention, in the above aspect 1, the action according to the output value from the sensor unit is an action for returning the output value from the sensor unit within the predetermined range. .

  According to the above configuration, when the output value from the sensor unit of the robot is out of the predetermined range, the facial image of the facial expression corresponding to the degree of prompting is displayed to prompt the user to return to the predetermined range. Can do.

  The robot control apparatus according to aspect 3 of the present invention is the robot control apparatus according to aspect 1 or 2, wherein the robot further including an audio output unit is a control target, and the audio information set according to the degree of prompting is output as the audio output. A voice control unit for outputting from the unit.

  According to the above configuration, the user can be prompted more effectively by voice in addition to the face image whose facial expression changes according to the degree of prompting.

  The robot control device according to aspect 4 of the present invention is the robot control apparatus according to any one of the aspects 1 to 3, wherein the degree setting unit determines the elapsed time until the output value from the sensor unit returns to the predetermined range. The degree of promotion is set to increase stepwise according to the length.

  According to the above configuration, the degree of prompting facial expression in the face image increases stepwise according to the length of time that has elapsed since the output value from the sensor unit deviates from the predetermined range, so the user is effectively prompted be able to.

  The robot control device according to aspect 5 of the present invention is the robot control apparatus according to any one of the aspects 1 to 4, wherein the degree setting unit changes the output value from the sensor unit in a direction approaching the predetermined range. The degree is set to be smaller than the previous time, and when the output value from the sensor unit changes in a direction away from the predetermined range, the degree is set to be larger than the previous time.

  According to the above configuration, the degree of prompting is weakened or strengthened compared to the previous time according to the change in the output value from the sensor unit. Therefore, it is possible to display a facial image with an expression that is more urged. When the output value from the sensor unit changes in a direction approaching a predetermined range, another facial expression image that is displayed is, for example, a facial image of a joyful expression to convey that discomfort is being resolved. Also good. Moreover, the facial image of the expression of joy may change stepwise.

  The robot control device according to aspect 6 of the present invention is the robot control apparatus according to any one of the aspects 1 to 5, wherein the sensor unit includes a temperature sensor, a humidity sensor, an illuminance sensor, an acceleration sensor, an atmospheric pressure sensor, an odor sensor, a dust sensor, At least one of the following.

  According to the above configuration, when at least one output value of the temperature sensor, the humidity sensor, the illuminance sensor, the acceleration sensor, the atmospheric pressure sensor, the odor sensor, and the dust sensor is out of the predetermined range, the user is prompted to take an action according to the output value. Can do. Temperature, humidity, and illuminance, such as earthquakes, atmospheric pressure, odors, and dust that can be detected by an acceleration sensor, are closely related to the human living environment. Therefore, by setting the value within a predetermined range to a value comfortable for the user, the user can be encouraged to take a spontaneous action to create a safe and comfortable space around the user.

  The robot control device according to aspect 7 of the present invention is the robot control device according to any one of the aspects 1 to 6, wherein the robot includes a voice input unit, and voice recognition that recognizes voice input from the voice input unit. The degree setting unit changes the degree of prompting based on a voice recognition result by the voice recognition unit.

  According to the above configuration, the degree of prompting is changed according to the user's voice, and the facial expression is changed accordingly. By increasing the variation, the expression becomes richer and the user can be more attached to the robot.

  A robot according to an eighth aspect of the present invention includes a sensor unit that detects the surrounding environment, a display unit that displays a face image, and the robot control device according to any one of the first to sixth aspects. It is characterized by that.

  According to the above configuration, it is possible to provide a robot that has the same effect as the robot control device and can prompt the user to act spontaneously.

  In addition, the robot control device according to each aspect of the present invention may be realized by a computer, and in this case, a program for realizing the robot control device by the computer by causing the computer to operate as each unit included in the robot control device. , And computer-readable recording media on which it is recorded also fall within the scope of the present invention.

  INDUSTRIAL APPLICABILITY The present invention can be used for a robot control apparatus and a robot that control a robot including a sensor unit that detects the surrounding environment and a display unit that displays a face image.

1, 1a, 1b Robot 4 User house 5-1 Air conditioner (home appliance)
5-2 Lighting equipment (home appliances)
10 Control unit (robot control device)
DESCRIPTION OF SYMBOLS 11 Display control part 12 Degree setting part 13 Speech control part (voice control part)
DESCRIPTION OF SYMBOLS 14 Voice recognition part 20 Display part 30 Voice output part 40 Voice input part 50 Operation | movement part 60 Sensor part 90 Communication part 95 Home appliance operation part

Claims (5)

A robot control device that controls a robot including a sensor unit that detects the surrounding environment and a display unit that displays a face image,
A display control unit that displays a facial image of a facial expression that prompts the user to act according to the output value from the sensor unit when an output value indicating a detection result by the sensor unit is out of a predetermined range;
A degree setting unit that sets a degree of prompting the user to perform the action based on at least one of the output value and an elapsed time since the output value is out of the predetermined range;
The display control unit causes the display unit to display a facial image of an expression corresponding to the set degree.   The robot control apparatus according to claim 1, wherein the action according to the output value from the sensor unit is an action for returning the output value from the sensor unit to the predetermined range. The robot further includes a voice output unit,
The robot control apparatus according to claim 1, further comprising a voice control unit that outputs voice information set according to the degree of prompting from the voice output unit.   The degree setting unit is configured to set the degree of promotion to increase stepwise according to the length of the elapsed time until the output value from the sensor unit returns to the predetermined range. The robot control apparatus according to any one of claims 1 to 3. A sensor unit for detecting the surrounding environment;
A display for displaying a face image;
A robot comprising: the robot control device according to claim 1.

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