Spherical robot having a driving mechanism for indicating amount of stored electric power

• US 10,478,971 B2
• Filed: 11/07/2017
• Issued: 11/19/2019
• Est. Priority Date: 05/06/2016
• Status: Active Grant

• Current Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Inventors: Ogawa, Kento, Miyazaki, Ryouta, Sasagawa, Michiko, Kunitake, Yuji, Higuchi, Seiya
• Primary Examiner(s): Mancho, Ronnie M
• Application Number:
  US15/806,097
• Publication Number:
  US 20180056519A1
• Time in Patent Office: 742 Days
• Field of Search: 700245, 700259
• CPC Class Codes: A63H 11/00 Self-movable toy figures
• CPC Class Codes: A63H 2200/00 Computerized interactive toys, e.g. dolls
• CPC Class Codes: A63H 3/28 Arrangements of sound-producing means in dolls; Means in dolls for producing sounds
• CPC Class Codes: A63H 33/005 Motorised rolling toys
• CPC Class Codes: A63H 5/00 Musical or noise- producing devices for additional toy effects other than acoustical musical tops A63H1/28; sound-producing dolls A63H3/28; musical toy vehicles A63H17/268; acoustical vehicle-signalling devices A63H17/32; whistling toy locomotive arrangements A63H19/14; music, sound or noise production in general G10
• CPC Class Codes: B25J 11/0015 Face robots, animated artificial faces for imitating human expressions
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B60L 58/13 Maintaining the SoC within a determined range
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

A robot includes a main casing, a first spherical cap and a second spherical cap, and a shaft linking the spherical caps. The robot further includes a display, a first driving mechanism causing the first and second spherical caps to be rotated by the shaft, and a second driving mechanism that causes the main casing to be rotated. The robot also includes a control circuit and an electric power source, charged by electric power from an external charger. If the remaining electric power of the electric power source is lower than or equal to a predetermined value, the second driving mechanism is controlled to stop rotation of the main casing, and the first driving mechanism is controlled to switch a rotational direction of the first spherical cap and the second spherical cap, causing the display to be reciprocally moved in a vertical direction.

Claims

1. A robot, comprising:

a spherical body, including;

a spherical-band-shaped main casing where a first side portion of a sphere and a second side portion opposing the first side portion have been removed,

a first spherical cap corresponding to the first side portion, and

a second spherical cap corresponding to the second side portion;

a shaft linking the first spherical cap and the second spherical cap;

a display attached to the shaft via an arm and displays at least a part of a face of the robot;

a first driving mechanism that causes the first spherical cap and the second spherical cap to be rotated by a rotation of the shaft;

a second driving mechanism, independent from the first driving mechanism, that causes the main casing to be rotated, the main casing being centered on the shaft;

an electric power source that is charged by electric power from an external charger, and supplies the electric power to the first driving mechanism and the second driving mechanism; and

a control circuit, when an amount of electric power of the electric power source remaining is lower than or equal to a predetermined value while the electric power source is disconnected from the charger, controls the second driving mechanism to stop a rotation of the main casing and controls the first driving mechanism to switch a rotational direction of the first spherical cap and the second spherical cap, thereby causing the display to be reciprocally moved in a vertical direction.

2. The robot according to claim 1,

further comprising a camera attached to at least one of the first spherical cap and the second spherical cap,

wherein, when the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger, and an image taken by the camera is recognized as including a part of a user, the control circuit controls the second driving mechanism to stop the rotation of the main casing and controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap, thereby causing the display to be reciprocally moved in the vertical direction.

3. The robot according to claim 2,

wherein the part of the user is a face.

4. The robot according to claim 1,

further comprising a camera attached to at least one of the first spherical cap and the second spherical cap,

wherein, when

the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger, and

an image taken by the camera is recognized as including a part of a user,

the control circuit controls the second driving mechanism to stop the rotation of the main casing in a state with the display facing the face of the user, and controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap, thereby causing the display to be reciprocally moved in the vertical direction.

5. The robot according to claim 1,

further comprising a camera attached to at least one of the first spherical cap and the second spherical cap,

wherein, when

the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger, and

an image taken by the camera is recognized as including a part of a user,

the control circuit controls the second driving mechanism and to stop the rotation of the main casing in a state with the display facing a position lower than the face of the user, and controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap, thereby causing the display to be reciprocally moved in the vertical direction.

6. The robot according to claim 1,

further comprising a camera attached to at least one of the first spherical cap and the second spherical cap;

and

a microphone that collects sound is provided,

wherein, when

the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger,

an image taken by the camera is recognized as including a part of a user, and

sound collected by the microphone is recognized as including voice of the user,

the control circuit controls the second driving mechanism to stop the rotation of the main casing, and controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap, thereby causing the display to be reciprocally moved in the vertical direction.

7. The robot according to claim 1,

further comprising a camera attached to at least one of the first spherical cap and the second spherical cap;

and

a microphone that collects sound is provided,

wherein, when

the amount of remaining electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger,

an image taken by the camera is recognized as not including a part of a user, and

sound collected by the microphone is recognized as including voice of the user,

the control circuit controls the second driving mechanism to stop the rotation of the main casing, and controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap, thereby causing the display to be reciprocally moved in the vertical direction.

8. The robot according to claim 1,

further comprising a camera attached to at least one of the first spherical cap and the second spherical cap;

and

a microphone that collects sound is provided,

wherein, when

the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger,

an image taken by the camera is recognized as not including a part of a user, and

sound collected by the microphone is recognized as not including voice of the user,

the control circuit controls the second driving mechanism to stop the rotation of the main casing, and controls the first driving mechanism to stop the rotation of the first spherical cap and the second spherical cap.

9. The robot according to claim 1,

wherein the control circuit controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap during a period of the display moving reciprocally in the vertical direction for two reciprocal movements.

10. The robot according to claim 1,

wherein, when the amount of electric power of the electric power source remaining is decreased, the control circuit increases a frequency of the switching the rotational direction of the first spherical cap and the second spherical cap.

11. The robot according to claim 1,

wherein, when the amount of electric power of the electric power source remaining is decreased, the control circuit increases an amount of movement of the first spherical cap and the second spherical cap by switching the rotational direction of the first spherical cap and the second spherical cap.

12. The robot according to claim 1,

wherein, when the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger, the control circuit controls the first driving mechanism to switch the rotational direction of the first spherical cap and the second spherical cap, and thereafter controls the second driving mechanism to stop the rotation of the main casing.

13. The robot according to claim 1,

further comprising a speaker to output sound,

wherein, when the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger, the control circuit outputs audio information indicating the amount of electric power of the electric power source remaining, via the speaker.

14. The robot according to claim 1,

wherein, when the amount of electric power of the electric power source remaining is lower than or equal to the predetermined value while the electric power source is disconnected from the charger, the control circuit displays expression display information indicating the amount of electric power of the electric power source remaining, using the display.

15. The robot according to claim 1,

wherein the at least part of the face of the robot displayed on the display is an eye.

16. The robot according to claim 1,

wherein the at least part of the face of the robot displayed on the display is a mouth.

17. The robot according to claim 14,

wherein the expression display information is an image of a facial expression.

18. The robot according to claim 14,

wherein the expression display information is an image of an emoji.