JP6356494B2 - robot - Google Patents

Description

  The present invention relates to a robot capable of an instruction input operation by a user.

  Mobile phones having the appearance of a robot have been widely developed. For example, Patent Document 1 discloses a mobile phone that is made of a flexible body, includes a trunk portion, a head portion, a hand portion, and a leg portion, and includes a main body with a built-in telephone board. The main body of the mobile phone has an overall shape that can be called a human minimal design.

  Patent Document 2 discloses a mobile phone having a robot shape including at least one of both ears, mouth, arms, legs, head, and eyes, and a torso.

JP 2012-29066 A (published February 9, 2012) Japanese Patent No. 4201211 (registered on Oct. 17, 2008)

  However, the mobile phone disclosed in Patent Document 1 performs a calling process based on a telephone number included in address data associated with the name when the user inputs the name of the other party by voice. It is. Therefore, it is not premised on establishing a call ready state by inputting a telephone number by pressing an input key such as a numeric keypad.

  The mobile phone described in Patent Document 2 has the appearance of a robot and includes a button (corresponding to the input key) for sending a signal to the dial input unit in the control unit. It is widely arranged in the body part. Therefore, the mobile phone has a configuration in which the robot-like atmosphere is obstructed in appearance.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a robot having an appearance that does not impair the atmosphere as a robot and having an input interface for a user to input instructions to the robot. It is to be realized.

  In order to solve the above-described problem, the robot according to one aspect of the present invention provides a support unit that the user cannot visually recognize during the autonomous operation of the robot in a state where the load of the robot is supported by the support unit. An input unit for a user to input an instruction to the robot is provided at the site.

  According to one aspect of the present invention, the robot includes an input unit at a portion of the support unit that cannot be visually recognized by the user during the autonomous operation of the robot while the load of the robot is supported by the support unit. Therefore, it is possible to realize a robot having an appearance that does not impair the atmosphere as a robot.

It is a block diagram which shows schematic structure of the robot which concerns on Embodiment 1 of this invention. (A) is a front view which shows the outline of the said robot. (B) is a rear view showing an outline of the robot. (C) is the schematic which shows an example of the usage condition of the said robot in the state which the user hold | gripped the said robot. (D) is the schematic which shows the sole part of the said robot. (A) And (b) is the schematic which shows an example of arrangement | positioning of the key input part in the said robot. (A) is an example of a data table showing a correspondence relationship between the instruction input posture information of the robot and the instruction input posture. (B) is an example of a data table showing the correspondence between the non-instruction input posture information and the non-instruction input posture of the robot. It is a flowchart which shows the process at the time of making a telephone call using the robot which concerns on Embodiment 1 of this invention. (A)-(c) is the schematic which shows an example of arrangement | positioning of the key input part according to the kind of robot which concerns on Embodiment 1 of this invention. It is a block diagram which shows schematic structure of the robot which concerns on Embodiment 2 of this invention. It is a flowchart which shows the process at the time of making a telephone call using the robot which concerns on Embodiment 2 of this invention. It is a block diagram which shows schematic structure of the robot which concerns on Embodiment 3 of this invention. It is a flowchart which shows the process at the time of mail transmission using the robot which concerns on Embodiment 3 of this invention.

Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. In the following embodiment, a description will be given assuming that the input unit is provided in a biped walking humanoid robot. However, the input unit may be provided not only in the biped walking humanoid robot but also in general robots such as an anime character battle robot or animal robot. In the following embodiment, a biped walking humanoid robot with a telephone function will be described as an example.

  (Outline of Robot) First, an outline of the robot 1 will be described with reference to FIG. FIG. 2A is a front view showing an outline of the robot 1 according to the present embodiment. FIG. 2B is a rear view showing the outline of the robot 1. FIG. 2C is a schematic diagram illustrating an example of a usage mode of the robot 1 in a state where the user holds the robot 1. Further, FIG. 2D is a schematic view showing the sole 1f of the robot 1.

  As shown in FIG. 2A, the robot 1 includes a head 1a, a torso 1b, an arm 1c, a leg 1d, and a foot 1e. The head 1a is movably connected to the body 1b via the neck 1g, the arm 1c via the shoulder joint 1h, and the leg 1d via the leg joint 1i. Further, the foot 1e is movably connected to the leg 1d via the ankle joint 1j. A servo motor 29a, which will be described later, is built in the neck portion 1g and each joint portion. When the servo motor 29a is driven, the head portion 1a, the arm portion 1c, the leg portion 1d, and the foot portion 1e are movable. .

  Next, as shown in FIG. 2B, a display unit 21 described later is provided on the back 1k constituting a part of the body 1b. Also, as shown in FIG. 2C, the robot 1 can talk when it is gripped by the user and the display surface of the display unit 21 and a key input unit 27 to be described later are in a substantially parallel state. It becomes. Further, as shown in FIG. 2D, a key input unit 27 is provided on the sole portion 1f constituting a part of the foot portion 1e.

  The position where the key input unit 27 is arranged is not limited to the sole 1f. Here, FIGS. 3A and 3B are schematic views showing an example of the arrangement of the key input unit 27 in the robot 1. As shown in FIGS. 3A and 3B, for example, a key input portion 27 is provided at a connection portion 1q of the leg portion 1d with the foot portion 1e, and the foot portion 1e is connected to the leg portion 1d. You may connect so that opening and closing is possible with respect to 1q. In this case, the foot 1 e serves as a lid that prevents the user or the like from grasping the presence of the key input unit 27 from the appearance of the robot 1. That is, the key input unit 27 may be provided in any part of the support unit that supports the load of the robot 1 so that the user or the like cannot grasp the presence of the key input unit 27 from the appearance of the robot 1. That's fine.

  (Specific Configuration of Robot) Next, a specific configuration of the robot 1 will be described with reference to FIG. FIG. 1 is a block diagram showing a specific configuration of the robot 1. As shown in FIG. 1, the robot 1 includes a control unit 10, a grip sensor 20, a display unit 21, a battery unit 22, an antenna unit 23, a transmission / reception unit 24, a microphone unit 25, a speaker unit 26, a key input unit 27, and a storage unit. 28 and a drive unit 29.

  The control unit 10 controls the robot 1 in an integrated manner, and includes a posture transition determination unit 11 and a posture control unit 12. The description of the posture transition determination unit 11 and the posture control unit 12 will be described later.

  The grip sensor 20 is, for example, a capacitance sensor or a pressure sensor, and detects whether or not the user is holding the robot 1 and transmits the detection result to the posture control means 12. The grip sensor 20a is built in, for example, the flank part 11 that constitutes a part of the body part 1b (see FIG. 2B).

  In the present embodiment, a configuration other than the grip sensor 20 may be used as means for detecting the gripping state of the robot 1 by the user. For example, an acceleration sensor is used to detect whether or not the user is gripping and moving the robot 1, or the gripping state of the robot 1 is detected by detecting an inclination angle with respect to the direction of gravity of the robot 1. You may do it. Furthermore, the gripping state of the robot 1 may be detected by detecting the angular acceleration of the robot 1 using a gyro sensor.

  The display unit 21 displays various images such as images resulting from the execution of various functions (application software) installed in the robot 1. As the display unit 21, for example, an LCD (Liquid crystal display) having a touch panel is used.

  The battery unit 22 supplies power to each unit constituting the robot 1. The transmission / reception unit 24 transmits / receives various data such as audio data via the antenna unit 23. The microphone unit 25 collects, for example, voice during a call. The speaker unit 26 is a playback unit that includes a function of reproducing information including audio data and a speaker that outputs audio so that it can be heard by anyone other than the caller. For example, the speaker unit 26 constitutes a part of the head 1a. Built in the mouth 1m (see FIG. 2A).

  The key input unit 27 acquires an input user operation, and includes a ten key 27a, a call key 27b, an incoming call notification unit 27c, an SPK key 27d, and a hold key 27e. In addition, in order to flatten the surface (hereinafter referred to as “foot back surface”) on which the key input unit 27 is provided in the sole 1f, each of the keys constituting the key input unit 27 has a capacitance touch key. Is used.

  The numeric keypad 27a is composed of numeric keys from 0 to 9, # (sharp) key, and * (asterisk) key, and is a key for mainly inputting a telephone number. The outgoing key 27b is tapped after the numeric key 27a is tapped and the telephone number is inputted or before the telephone number is inputted when it is desired to make a call to the other party desired by the user. This is the key to make the outgoing state. The incoming notification unit 27c notifies the user that there is an incoming call, for example, by blinking a lamp or the like in the incoming notification unit 27c. The SPK key 27d is a key for outputting the other party's voice from the speaker unit 26. The hold key 27e is a key for placing the call state with the other party on hold.

  Note that the configuration of the key input unit 27 is not limited to the above configuration, and may be, for example, the configuration of only the numeric keypad 27a.

  The storage unit 28 includes data (hereinafter referred to as “determination posture information”) relating to the rotational position of each servo motor 29a corresponding to the posture of the robot 1 determined by the posture transition determination means 11 (hereinafter referred to as “determination posture”). Data relating to the rotational position of each servo motor 29a corresponding to an instruction input attitude described later (hereinafter referred to as “instruction input attitude information”), various control programs executed by the control unit 10, and the like are stored. The storage unit 28 is configured by a nonvolatile storage device such as a hard disk or a flash memory.

  The drive unit 29 includes a neck portion 1g and a number of servo motors 29a corresponding to each joint portion. The servo motor 29a includes a motor unit 29b and a driver unit 29c.

  The motor unit 29b is configured to transmit a motor output generated by rotation of a shaft constituting the motor unit 29b (hereinafter, the rotation position of the shaft is referred to as “rotation position of the servo motor 29a”) to a transmission mechanism such as a coupling. Each drive part is driven by transmitting to each drive part such as the head 1a via the. The driver unit 29c compares the rotational position command from the user to the specific servo motor 29a and the rotational position of the servo motor 29a detected by the posture transition determining means 11, and determines the drive current flowing through the servo motor 29a. It is something to control.

  As the drive unit 29, an actuator such as a hydraulic cylinder, a pneumatic cylinder, or a linear actuator may be used in addition to the servo motor 29a as in the present embodiment.

  Next, a specific configuration of the control unit 10 will be described. The posture transition determination unit 11 detects the rotational position of each servo motor 29a, and determines the posture of the robot 1 when the rotational position detection process of the posture transition determination unit 11 is executed based on the detected rotational position. To do.

  When it is determined that the posture of the robot 1 has shifted to an instruction input posture suitable for an instruction input operation to the key input unit 27 by the user, the posture transition determination unit 11 performs the instruction input function of the key input unit 27. Start. On the other hand, when it is determined that the instruction input posture has not been changed, the posture change determination unit 11 activates the detection function of the grip sensor 20. Note that the instruction input posture specifically means that the back surface of the foot on which the key input unit 27 is provided faces the display surface side of the display unit 21, and the back surface of the foot and the display surface are substantially the same. The posture of the robot 1 in a state where it is on a plane.

  As a means for detecting the rotational position of the servo motor 29a, for example, an acceleration sensor or the like is used in addition to an optical encoder using a light emitting diode (LED). Details of the determination method by the posture shift determination means 11 will be described later.

  The attitude control means 12 controls the drive of each servo motor 29a based on the detection result received from the grip sensor 20. Specifically, when it is detected by the grip sensor 20 that the user has gripped the robot 1, the posture control means 12 specifies the transition to the instruction input posture so that the robot 1 assumes the instruction input posture. Servo motor 29a (each servo motor 29a built in leg joint portion 1i and foot joint portion 1j) is driven. Note that the posture control means 12 may perform control so that all the servomotors 29a are turned off after the robot 1 shifts to the instruction input posture. The same applies to the posture control means 42 described later.

  (Determination Method by Posture Transition Determination Unit) Next, a determination method by the posture shift determination unit 11 will be described with reference to FIG. The posture transition determination unit 11 refers to the instruction input posture information, compares the instruction input posture information and the determination posture information, and determines whether or not the two match, whereby the determination posture corresponds to the instruction input posture. It is determined whether or not to perform (white list method).

  Here, the instruction input posture information specifically refers to a rotational position of each servo motor 29a in a state where the foot bottom surface of the robot 1 and the display surface of the display unit 21 are substantially on the same plane. When the white list method is adopted, all the postures of the robot 1 other than the determination posture information that are not stored in the storage unit 28 are regarded as non-instruction input postures to be described later.

  Next, (a) of FIG. 4 is an example of a data table indicating the correspondence between the instruction input posture information of the robot 1 and the instruction input posture. As shown in No. 1 of FIG. 4A, when there are n servo motors 29a constituting the drive unit 29, the rotational positions α, β,..., N of the shafts of the servo motors 1, 2,. When δ is a1, b1,..., N1 (instruction input attitude information), the robot 1 is associated with the instruction input attitude A1. The instruction input attitude information associated with the instruction input attitude A1 is stored in the storage unit 28 as a determination criterion when determining whether or not the determination attitude corresponds to the instruction input attitude. In this case, “the instruction input posture information and the determination posture information match” means that the rotation positions of the servo motors 29a corresponding to the posture of the robot 1 determined by the posture shift determination unit 11 are a1, b1, ..., it means becoming n1.

  It should be noted that the rotational positions α, β,..., Δ constituting the instruction input posture information do not need to be set to specific values as in the above-described a1, b1,. For example, as indicated by No. 2 in FIG. 4A, the rotational positions α, β,..., Δ satisfy a21 <α <a22, b21 <β <b22,. Thus, it may be set to include all values within a certain range. In this case, “the instruction input posture information and the determined posture information match” means that the rotational position of each servo motor 29a corresponding to the posture of the robot 1 determined by the posture shift determining unit 11 is a21 <α <. A22, b21 <β <b21,..., n21 <δ <n22.

  In addition, a non-instruction input attitude information related to the non-instruction input attitude of the robot 1 and the determination attitude information are compared, and a blacklist method that determines that the robot 1 is in the instruction input attitude when the two do not match is used as attitude transition determination means. 11 may be adopted as the determination method. Here, the non-instruction input posture refers to, for example, a key input by the user when the foot 1e is inclined at an angle at which the key input unit 27 is difficult to visually recognize for the user viewing the display surface of the display unit 21. This means the posture of the robot 1 that is not suitable for the instruction input operation to the unit 27. When the black list method is employed, all the postures of the robot 1 other than the determination posture information that are not stored in the storage unit 28 are regarded as instruction input postures.

  Next, FIG. 4B is an example of a data table showing a correspondence relationship between the non-instruction input posture information and the non-instruction input posture of the robot 1. As shown in No. 3 of FIG. 4B, when there are n servo motors 29a constituting the drive unit 29, the rotational positions α, β,..., N of the shafts of the servo motors 1, 2,. When δ is a3, b3,..., N3 (non-instruction input attitude information), the robot 1 is associated with the non-instruction input attitude A2. Then, the non-instruction input attitude information associated with the non-instruction input attitude A2 is stored in the storage unit 28 as a determination criterion when determining whether or not the determination attitude corresponds to the instruction input attitude. In this case, “the non-instructed input posture information does not match the determined posture information” means that any of the rotational positions of the servo motors 29a corresponding to the posture of the robot 1 determined by the posture transition determining means 11 is a3. , B3,..., N3.

  It should be noted that the rotational positions α, β,..., Δ constituting the non-instruction input posture information need not be set to specific values as in the above-described a3, b3,. For example, as indicated by No. 4 in FIG. 4B, the rotational positions α, β,..., Δ satisfy a41 <α <a42, b41 <β <b41,. Thus, it may be set to include all values within a certain range. In this case, “the non-instructed input posture information does not match the determined posture information” means that any one of the rotational positions of the servo motors 29a corresponding to the posture of the robot 1 determined by the posture shift determining means 11 is a41. <Α <a42, b41 <β <b42,..., N41 <δ <n42.

  (Calling method at the time of outgoing call using a robot) Next, with reference to FIG. 5, processing and the like when making a telephone call using the robot 1 will be described. FIG. 5 is a flowchart showing the processing.

  As shown in FIG. 5, first, the posture transition determination unit 11 activates the instruction input function of the key input unit 27 when it is determined that the robot 1 is in the instruction input posture (YES). On the other hand, when it determines with it not being an instruction | indication input attitude | position (NO), the attitude | position transfer determination means 11 starts the detection function of the grip sensor 20 (S100: attitude | position transfer determination process).

  Next, when the detection function of the grip sensor 20 is activated by the posture transition determination unit 11, the grip sensor 20 detects whether or not the robot 1 is gripped by the user. When it is detected that the grip is held (YES), the grip sensor 20 transmits a detection result to that effect to the posture control means 12. On the other hand, when it is detected that the robot 1 is not gripped (NO), the grip sensor 20 detects again whether or not the robot 1 is gripped by the user (S101: gripping detection step).

  Next, when the posture control means 12 receives a detection result indicating that the robot 1 is gripped from the grip sensor 20, the posture control means 12 controls the drive of the servo motor 29a so that the posture of the robot 1 shifts to the instruction input posture ( S102: Attitude control step).

  Next, when the attitude of the robot 1 is shifted to the instruction input attitude by the attitude control means 12, the instruction input function of the key input unit 27 is activated (S103: instruction input function activation process).

  Next, when the user taps the numeric keypad 27a of the key input unit 27 to input a telephone number (YES) (S104: telephone number input process) and taps the outgoing key 27b of the key input part 27 (S105: outgoing call process). Then, the microphone unit 25 and the speaker unit 26 are activated (S106: call preparation step). Then, when the other party answers, the call is started (S107: call start step). On the other hand, when the user does not input the telephone number (NO), the telephone conversation with the other party is not started, and the instruction input function of the key input unit 27 once activated is maintained (S104: telephone number input process).

  (Effects) As described above, according to the present embodiment, the key input unit 27 is a support part that supports the load of the robot 1, which is the sole part 1 f, and the load of the robot 1 is the sole part 1 f. It is provided in the site | part which a user cannot visually recognize at the time of the autonomous operation | movement of the said robot 1 in the state supported by the support part containing. Therefore, it is difficult for the user or the like to grasp that the key input unit 27 is provided in the robot 1 from the appearance of the robot 1. Therefore, it is possible to realize a robot having an appearance that does not impair the atmosphere as a robot. Here, the autonomous operation means that the robot operates autonomously in a state other than the communication mode (the instruction input function of the key input unit 27 is activated and is in a state where communication is possible). . Specifically, in addition to the case where the robot 1 is in a robot mode (a state in which a specific motion such as walking or dancing is performed, and a state in which the robot 1 stands upright or in a specific posture), the robot 1 A state where the robot operates autonomously without a hand is included in the “autonomous operation” state.

  Note that, when the robot 1 is performing a specific motion such as walking or dancing, a state in which a part or all of the key input unit 27 can be viewed instantaneously may occur. However, the appearance of the state does not mean that the appearance of the robot 1 deteriorates the atmosphere as a robot. Therefore, “when the robot 1 is autonomously operated in a state in which the load of the robot 1 is supported by the support portion including the sole 1f” includes a state in which the specific motion is being executed.

  Further, according to the present embodiment, the posture transition determination unit 11 can determine that the robot 1 has shifted to the instruction input posture. The key input unit 27 activates the instruction input function when it is determined that the posture transition determination unit 11 has shifted to the instruction input posture. Therefore, the user can perform the instruction input operation after the robot 1 is easily instructed to perform the instruction input operation, and the operability of the robot 1 can be improved.

  Furthermore, the instruction input function of the key input unit 27 is not activated before the transition to the instruction input posture, and the operating current of the key input unit 27 is suppressed. Therefore, wasteful consumption of the operating current of the key input unit 27 can be efficiently suppressed.

  Furthermore, according to the present embodiment, the grip sensor 20 can detect that the user has gripped the robot 1. Then, when the grip sensor 20 detects gripping of the robot 1 by the user, the posture control unit 12 can shift the posture of the robot 1 to the instruction input posture. Therefore, when the user uses the robot 1 while holding it, the user does not need to shift the posture of the robot 1 to the instruction input posture, and the user can easily perform the instruction input operation.

  (Modification) In the present embodiment, the robot 1 is a biped humanoid robot and the key input unit 27 is provided on the sole 1f. However, the key input unit 27 may be changed depending on the type of the robot 1. The arrangement may be different. Here, (a) to (c) of FIG. 6 are schematic diagrams illustrating an example of the arrangement of the key input unit 27 according to the type of the robot 1. As shown in FIG. 6A, for example, if the robot 1 is an anime character battle robot (a pair of caterpillars 1o is provided in the support unit 1n), the caterpillar 1o in the support unit 1n. The key input unit 27 may be disposed at a portion on the side where the touch panel is in contact with the ground or a desk. When the robot 1 is an animal robot, for example, as shown in FIG. 6 (b), if the robot 1 is a four-legged animal robot such as a dog-type robot, As shown in FIG. 5, the key input unit 27 may be disposed on the abdomen 1p if the animal robot has no limbs such as a snake robot.

  In other words, as long as the key input unit 27 is disposed in a region where the user or the like cannot visually recognize the key input unit 27 from the appearance of each robot so as not to impair the atmosphere as a battle robot and an animal robot. Good.

  Next, in this embodiment, when the grip sensor 20 detects gripping of the robot 1 by the user, the posture control unit 12 shifts the posture of the robot 1 to the instruction input posture. 12 is not an essential component of the robot 1. Therefore, the user may manually and manually shift the posture of the robot 1 to the instruction input posture.

  Next, in the present embodiment, the posture of the robot 1 in a state where the back surface of the foot is directed to the display surface side of the display unit 21 and the back surface of the foot and the display surface are substantially on the same plane is set as the instruction input posture. However, it is not limited to this. For example, when there is an incoming call when the robot 1 is in an upright state, the posture control means 12 temporarily changes the posture of the robot 1 to a physical sitting posture (a posture in which a knee is folded), and then the sole of the foot May be controlled to drive the servo motor 29a. Then, the posture of the robot 1 showing the user's back of the foot in the state of physical sitting as described above may be set as the instruction input posture. In other words, the orientation of the robot 1 that is suitable for the instruction input operation to the key input unit 27 by the user according to the usage status of the robot 1 may be set as the instruction input posture.

  Further, the instruction input posture is not necessarily limited to a single posture as in the present embodiment, and a plurality of instruction input postures may be set. Then, for example, the instruction input posture of the present embodiment is the first instruction input posture, the posture in which the user can see the foot sole is the second instruction input posture, and the instruction input posture information of both postures (the first instruction input posture information respectively) , Second instruction input attitude information) may be stored in the storage unit 28 as a criterion for determining whether or not the instruction input attitude is applicable. In this case, if the determination attitude information matches either one of the first instruction input attitude information or the second instruction input attitude information, the determination attitude corresponds to the instruction input attitude.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted. In the following embodiment, a biped walking humanoid robot with a telephone function will be described as an example, as in the first embodiment.

  (Specific Configuration of Robot) A specific configuration of the robot 2 will be described with reference to FIG. FIG. 7 is a block diagram showing a specific configuration of the robot 2. As shown in FIG. 7, the robot 2 according to the present embodiment includes a control unit 30 having an unnecessary condition determination unit 31 and a release unit 32 in place of the control unit 10, and the robot 1 according to the first embodiment. And different.

  The unnecessary condition determination unit 31 determines whether or not an instruction input unnecessary condition that is a condition that does not require an instruction input operation for the robot 2 is satisfied from the usage status of the robot 2, and the determination result is output to the release unit 31. To be sent. Here, the instruction input unnecessary condition specifically refers to a call that occurs when the user taps the # (sharp) key of the numeric keypad 27a during the call (acts as an end key during a call). Means that has ended.

  The canceling unit 32 cancels the instruction input function of the key input unit 27 based on the determination result received from the unnecessary condition determination unit 31. Specifically, when the call is ended by tapping the # key, that is, when the determination result that the instruction input unnecessary condition is satisfied is received, the canceling unit 32 cancels the instruction input function of the key input unit 27. .

  The instruction input function release state continues until the posture of the robot 2 shifts to the instruction input posture again. Therefore, for example, while the robot 2 is switching to a robot mode such as when performing a specific motion such as walking or dancing, or standing still in a specific posture other than an upright or other command input posture The release state is maintained.

  (Calling method at the time of outgoing call using a robot) Next, with reference to FIG. 8, processing and the like when making a telephone call using the robot 2 will be described. FIG. 8 is a flowchart showing the processing. Note that the processing from S100 to S107 in FIG. 8 is the same as the processing from S100 to S107 in the flowchart of FIG.

  As shown in FIG. 8, after the start of the call, when the user ends the call by tapping the # key, that is, when the instruction input unnecessary condition is satisfied by the user (YES), the unnecessary condition determining means 31 A determination result to the effect is transmitted to the canceling means 32 (S108: unnecessary condition determination step). On the other hand, when the user continues the call without tapping the # key, that is, when the instruction input unnecessary condition is not satisfied (NO), the unnecessary condition determination means 31 again determines whether the instruction input unnecessary condition is satisfied. (S108: Unnecessary condition determination step).

  Next, when the determination result that the instruction input unnecessary condition is satisfied is received from the unnecessary condition determination unit 31, the cancellation unit 32 cancels the instruction input function of the key input unit 27 (S109: instruction input function release step).

  As described above, according to the present embodiment, the unnecessary condition determination unit 31 can determine whether the instruction input unnecessary condition is satisfied. Moreover, the cancellation | release means 32 can cancel | release the instruction | indication input function of the key input part 27, when it determines with the unnecessary condition determination means 31 satisfying the instruction | indication input unnecessary condition. If the instruction input function is canceled, the operating current of the key input unit 27 is suppressed, so that the instruction input function is maintained even though the robot 2 does not require an instruction input operation. Thus, wasteful consumption of the operating current of the key input unit 27 can be more efficiently suppressed.

  Furthermore, it is not necessary for the user himself to perform an operation for canceling the instruction input function, and the instruction input function of the robot 2 can be easily canceled.

  It should be noted that the instruction input unnecessary condition is that the call is terminated when the user taps the # (sharp) key of the numeric keypad 27a during the call, but the present invention is not limited to this. For example, when a proximity sensor is provided at a location where the key input unit 27 is not disposed on the sole of the foot 1f, and the proximity sensor detects contact with a desk or the like on the sole of the foot, there is no requirement for instruction input. It may be satisfied.

  Further, for example, the instruction input unnecessary condition may be satisfied when the instruction input posture of the robot 2 is canceled by the user manually or by driving the servo motor 29a by the control unit 30. Further, when the voice recognition means provided in the control unit 30 recognizes the voice of the user notifying that the instruction input function of the key input unit 27 is no longer necessary, such as “end of call”, the instruction is given. The unnecessary input condition may be satisfied.

[Embodiment 3]
Another embodiment of the present invention will be described below with reference to FIGS. 9 and 10. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted. In the following embodiment, a biped walking humanoid robot with a mail function will be described as an example.

  (Specific Configuration of Robot) The specific configuration of the robot 3 will be described with reference to FIG. FIG. 9 is a block diagram showing a specific configuration of the robot 3. As shown in FIG. 9, the robot 3 according to the present embodiment does not include the grip sensor 20 and includes a key input unit 47 instead of the key input unit 27. 1 and the robot 2 according to the second embodiment. The robot 3 also includes the control unit 40 including the request condition determination unit 41 and the posture control unit 42 in place of the control units 10 and 30 according to the robot 1 and the second embodiment according to the first embodiment. Different from robot 2.

  Similar to the key input unit 27, the key input unit 47 acquires an input user operation, and includes a numeric keypad 47a, a language key 47b, a mail reception notification unit 47c, a transmission key 47d, and a mail function end key 47e. Is done. In addition, the capacitance type touch key is used for each key constituting the key input unit 47 as in the key input unit 27.

  The numeric keypad 47a is composed of numeric keys from 0 to 9, and is a key that is tapped mainly when it becomes necessary to express numeric characters during mail text creation. The language key 47b is composed of alphabet keys A to Z and the like, and is a key mainly used when creating a mail sentence. The mail reception notification unit 47c notifies the user that a mail has been received, for example, by blinking a lamp or the like in the mail reception notification unit 47c. The transmission key 47d is a key for transmitting a mail to the other party via the transmission / reception unit 24 when the transmission key 47d is tapped. The mail function end key 47e is a key for canceling the mail function of the robot 3 when the mail function end key 47e is tapped.

  Note that the configuration of the key input unit 27 is not limited to the above configuration, and may be, for example, a configuration of only the numeric keypad 47a and the language key 47b.

  The request condition determination means 41 determines whether or not an instruction input request condition, which is a condition that requires the user to request an instruction input operation to the key input unit 47, is satisfied, and the determination result is subjected to attitude control. The information is transmitted to the means 42. Here, the instruction input request condition specifically means that the mail function of the robot 3 is activated when the transmission / reception unit 24 receives mail from the other party.

  The attitude control unit 42 controls the drive of each servo motor 29a based on the determination result received from the request condition determination unit 41. Specifically, when the transmission / reception unit 24 receives a mail from the other party and the mail function of the robot 3 is activated, that is, when the determination result that the instruction input request condition is satisfied is received, the posture control means 42 A specific servo motor 29a (each servo motor 29a built in the arm joint portion 1h, leg joint portion 1i, and foot joint portion 1j) corresponding to the transition to the instruction input posture is set so that the robot 3 assumes the instruction input posture. To drive.

  Here, the instruction input posture specifically refers to the sole of the foot sole 1f where the key input portion 47 is disposed with the palm of both arms 1c hitting the ground etc. from the posture of sitting with the knees folded. A posture of the robot 3 in which the leg 1d is raised until the entire surface is visible to the user.

  (Mail Sending Method Using Robot) Next, processing and the like when sending mail using the robot 3 will be described with reference to FIG. FIG. 10 is a flowchart showing the processing. As illustrated in FIG. 10, first, the posture transition determination unit 11 activates the instruction input function of the key input unit 47 when it is determined that the robot 3 is in the instruction input posture (YES). On the other hand, when it determines with it not being an instruction | indication input attitude | position (NO), the attitude | position transfer determination means 11 transmits the determination result that it is not the said instruction input attitude | position to the request | requirement condition determination means 41 (S200: attitude | position transfer determination process).

  Next, when the request condition determination unit 41 receives a determination result indicating that it is not the instruction input posture from the posture transition determination unit 11, the request condition determination unit 41 determines whether the instruction input request condition is satisfactory based on the reception result of the transmission / reception unit 24. Specifically, when the mail function of the robot 3 is activated when the transmission / reception unit 24 receives mail from the other party, that is, when the instruction input request condition is satisfied (YES), the request condition determination unit 41 The determination result is transmitted to the attitude control means 42 (S201: request condition determination step). On the other hand, when the mail function of the robot 3 is not activated because no mail is received, that is, when the instruction input request condition is not satisfied (NO), the request condition determination unit 41 satisfies the instruction input request condition. The property is determined again (S201: request condition determining step).

  Next, when the attitude control unit 42 receives a determination result indicating that the instruction input request condition is satisfied from the request condition determination unit 41, the attitude control unit 42 drives the servo motor 29a so that the attitude of the robot 3 shifts to the instruction input attitude. (S202: Posture control step).

  Next, when the posture of the robot 3 is shifted to the instruction input posture by the posture control means 42, the instruction input function of the key input unit 47 is activated (S203: instruction input function activation step).

  Next, when the user taps the numeric key 47a and the language key 47b of the key input unit 47 to create a mail text (S204: mail text creation process) and taps the send key 47d of the key input section 47, the mail from the user Is transmitted to the other party (S205: transmission step).

  On the other hand, when the user does not create a mail text (NO), mail transmission is not performed, and the instruction input function of the key input unit 47 once activated is maintained (S204: mail text creation process).

  Next, when the instruction input unnecessary condition is satisfied (YES), the unnecessary condition determining unit 31 transmits a determination result to that effect to the canceling unit 32 (S206: unnecessary condition determining step). On the other hand, when the instruction input unnecessary condition is not satisfied (NO), the unnecessary condition determination unit 31 determines again the satisfaction of the instruction input unnecessary condition (S206: unnecessary condition determination step). Here, the instruction input unnecessary condition specifically means that the mail function end key 47e is tapped by the user and the mail function of the robot 3 is released.

  Next, when the determination result that the instruction input unnecessary condition is satisfied is received from the unnecessary condition determination unit 31, the cancellation unit 32 cancels the instruction input function of the key input unit 47 (S207: instruction input function release step).

  As described above, according to the present embodiment, the request condition determination unit 41 can determine whether the instruction input request condition is satisfactory. Further, the posture control unit 42 can shift the posture of the robot 3 to the command input posture when the request condition determination unit 41 determines that the command input request condition is satisfied. Therefore, even when the robot 3 is not held and used, if the instruction input operation by the user is required, the posture of the robot 3 automatically shifts to the instruction input posture. Therefore, in various situations where the instruction input operation is required, the user can easily and reliably perform the instruction input operation.

  In the present embodiment, a biped walking humanoid robot with a mail function is described as an example, but the present invention is not limited to this. For example, even if the robot 3 according to the present embodiment is applied to a biped walking humanoid robot with a game function and the user answers YES / NO to the problem displayed on the display unit 21. Good. Then, when the robot 3 requests an answer by the user, the posture control means 42 is configured so that the posture of the robot 3 is set to the instruction input posture (the posture in which the sole of the foot including the key input unit 47 faces the user) in the present embodiment. You may control the drive of the servomotor 29a so that it may transfer. In other words, the robot 3 according to the present embodiment may be applied in various situations where an instruction input operation to the key input unit 47 by the user is required.

[Example of software implementation]
The control blocks (particularly, the control units 10, 30 and 40) of the robots 1 to 3 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or a CPU (Central Processing Unit). It may be realized by software using

  In the latter case, the robots 1 to 3 include a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by the computer (or CPU). Alternatively, a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) that expands the program, and the like are provided. 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.

[Summary]
The robot (1, 2, 3) according to the first aspect of the present invention is such that the user cannot visually recognize the robot during autonomous operation of the robot in a state where the load of the robot is supported by the support portion (1f). An input unit (27, 47) for a user to input an instruction to the robot is provided at the site.

  According to said structure, the input part is provided in the site | part of the said support part which a user cannot visually recognize at the time of the autonomous operation | movement of the said robot in the state in which the load of the robot is supported by the support part. For example, since the part is provided at a position where the user cannot visually recognize unless the user grips and tilts the robot, the input unit is provided on the robot. It is difficult to grasp. Therefore, it is possible to realize a robot having an appearance that does not impair the atmosphere as a robot.

  In the robot (1, 2, 3) according to aspect 2 of the present invention, in the above aspect 1, the robot has shifted to an instruction input attitude suitable for an instruction input operation to the input unit (27, 47). Posture transition determining means (11) for determining the input unit, and the input unit activates the instruction input function of the input unit when the posture transition determining unit determines that the robot has shifted to the instruction input posture. It may be a configuration.

  According to the above configuration, the posture transition determination unit can determine that the robot has shifted to the instruction input posture. Further, the input unit activates the instruction input function when it is determined that the posture transition determination means has shifted to the instruction input posture. Therefore, the user can perform the instruction input operation after the robot is ready to perform the instruction input operation, and the operability of the robot can be improved.

  Furthermore, the input unit is not in operation before shifting to the instruction input posture, and the operating current of the input unit is suppressed. For this reason, it is possible to efficiently suppress wasteful consumption of the operating current of the input unit.

  The robot (1, 2) according to aspect 3 of the present invention is the robot 1 or 2 according to aspect 1 or 2, wherein the user detects that the user has gripped the robot, the grip detection means (20), and the grip detection means allows the user to When it is detected that the robot has been gripped, posture control means (12) for shifting the posture of the robot may be provided so that the robot has an instruction input posture suitable for an instruction input operation to the input unit. .

  According to said structure, the holding | grip detection means can detect that the user hold | gripped the robot. Further, the posture control means can shift the posture of the robot to the instruction input posture when the grip detection means detects gripping of the robot by the user. For this reason, when the user uses the robot while holding the robot, the user does not need to shift the posture of the robot to the instruction input posture, and the user can easily perform the instruction input operation.

  In the robot (3) according to aspect 4 of the present invention, in the above aspect 1 or 2, the instruction input request is a condition that requires the user to perform an instruction input operation to the input unit (27, 47). When the request condition determining means (41) for determining the satisfaction of the condition and the request condition determining means determine that the instruction input request condition is satisfied, the robot performs an instruction input operation to the input unit. There may be provided posture control means (42) for shifting the posture of the robot so as to obtain an instruction input posture suitable for.

  According to the above configuration, the request condition determination unit can determine whether the instruction input request condition is satisfactory. Further, the posture control unit can shift the posture of the robot to the command input posture when the request condition determination unit determines that the command input request condition is satisfied. Accordingly, even when the robot is not being held and used, if the instruction input operation by the user is required, the posture of the robot automatically shifts to the instruction input posture. Therefore, in various situations where the instruction input operation is required, the user can easily and reliably perform the instruction input operation.

  The robot (2, 3) according to aspect 5 of the present invention is the unnecessary condition for determining whether or not the instruction input unnecessary condition is satisfied, which is a condition that does not require an instruction input operation to the robot. Release means (32) for canceling the instruction input function of the input unit (27, 47) when the determination means (31) and the unnecessary condition determination means determine that the instruction input unnecessary condition is satisfied. May be provided.

  According to said structure, the unnecessary condition determination means can determine sufficiency of an instruction input unnecessary condition. The canceling unit can cancel the instruction input function of the input unit when the unnecessary condition determining unit determines that the instruction input unnecessary condition is satisfied. If the command input function is canceled, the operating current of the input unit is suppressed. Therefore, compared to the case where the command input function of the input unit is maintained even though the robot does not require command input operation. Thus, it is possible to more efficiently suppress wasteful consumption of the operating current of the input unit.

  Furthermore, it is not necessary for the user himself to perform a release operation, and the robot's instruction input function can be easily released.

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

  The present invention can be used to realize a robot having an appearance that does not impair the atmosphere as a robot.

1, 2, 3 Robot 1f Sole (support part)
11 Posture transition determination means 12, 42 Posture control means 20 Grip sensor (gripping detection means)
27, 47 Key input part (input part)
31 Unnecessary condition determining means 32 Canceling means 41 Request condition determining means

Claims (4)

During autonomous operation of the robot in a state where a load of the robot is supported by the support unit, the user is at least a certain time was located at the site of the supporting portion can not be visually recognized all, the user instruction input above An input unit for the robot ,
Posture transition determination means for determining that the robot has transitioned to an instruction input posture suitable for an instruction input operation to the input unit, and
The input unit, when the robot by the posture shift determining means determines that the transition to the instruction input attitude, robot, characterized in Rukoto activates an instruction input function of the input unit. At the time of autonomous operation of the robot in a state where the load of the robot is supported by the support unit, the user can input an instruction input at the site of the support unit where the user cannot see all at least for a certain period of time. An input unit for the robot,
Grip detection means for detecting that the user grips the robot;
Posture control means for shifting the posture of the robot so that the robot assumes an instruction input posture suitable for an instruction input operation to the input unit when the gripping detection means detects that the user has gripped the robot. features and to Carlo bot in that it comprises, when. At the time of autonomous operation of the robot in a state where the load of the robot is supported by the support unit, the user can input an instruction input at the site of the support unit where the user cannot see all at least for a certain period of time. An input unit for the robot,
Request condition determining means for determining whether or not an instruction input request condition is satisfied, which is a condition for requesting an instruction input operation to the input unit from the user;
When the request condition determination unit determines that the instruction input request condition is satisfied, the robot moves its posture so that the robot has an instruction input posture suitable for an instruction input operation to the input unit. features and to Carlo bot that it and a posture control means for. At the time of autonomous operation of the robot in a state where the load of the robot is supported by the support unit, the user can input an instruction input at the site of the support unit where the user cannot see all at least for a certain period of time. An input unit for the robot,
Unnecessary condition determination means for determining whether or not an instruction input unnecessary condition is satisfied, which is a condition that does not require an instruction input operation on the robot;
Above when it is determined that they meet the instruction input required conditions by unwanted condition determining means, features and to Carlo bot by comprising a canceling means for canceling an instruction input function of the input unit.

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