Apparatus, robot, method, and recording medium

• US 10,507,582 B2
• Filed: 07/05/2018
• Issued: 12/17/2019
• Est. Priority Date: 07/11/2017
• 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: Kou, Shiki, Tahara, Kohei, Ota, Yusaku
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US16/027,426
• Publication Number:
  US 20190015982A1
• Time in Patent Office: 530 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: B25J 11/003 Manipulators for entertainment
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/45007 Toy
• CPC Class Codes: G05B 23/02 Electric testing or monitoring

Abstract

In a case where an apparatus that is moved by a user is moved in a vertical direction, when a distance from an object located in the same two-dimensional position as the apparatus and directly underneath the apparatus is greater than a height, which corresponds to the two-dimensional position and which possibly damages the apparatus when the apparatus falls, a display is caused to perform a first display and a speaker is caused to output a first sound. When the distance is equal to or shorter than the height, the display is caused to perform a second display and the speaker is caused to output a second sound.

Claims

1. An apparatus that is moved by a user, the apparatus comprising:

a first sensor that detects a motion and a moving direction of the apparatus;

a second sensor that measures a movement distance in a vertical direction of the apparatus;

a camera that acquires a picture of an area around the apparatus;

a processor;

a display; and

a speaker,

wherein the processor determines, based on a result of detection by the first sensor, whether the apparatus is moved in the vertical direction, and

in a case where the processor determines that the apparatus is moved in the vertical direction, the processor;

calculates, based on a result of measurement by the second sensor, a distance from the apparatus to an object located directly underneath the apparatus;

measures a two-dimensional position of the apparatus based on the picture acquired by the camera;

compares the distance with a height corresponding to the two-dimensional position, the height being in a first table showing correspondence relationships between two-dimensional positions of the apparatus and heights that possibly damage the apparatus when the apparatus falls at the two-dimensional positions;

in a case where the distance is greater than the height corresponding to the two-dimensional position, causes the display to perform a first display and causes the speaker to output a first sound; and

in a case where the distance is not greater than the height corresponding to the two-dimensional position, causes the display to perform a second display and causes the speaker to output a second sound.

2. The apparatus according to claim 1, wherein, in a case where the processor determines that the apparatus is not moved in the vertical direction, the processor determines, based on a result of detection by the first sensor, whether the apparatus is moved in a horizontal direction, and

in a case where the processor determines that the apparatus is moved in the horizontal direction, the processor:

measures the two-dimensional position of the apparatus based on the picture;

calculates the distance with reference to a second table showing a correspondence relationship between the two-dimensional position of the apparatus and a height of an object that is present in the two-dimensional position;

compares the distance with the height corresponding to the two-dimensional position in the first table;

in the case where the distance is greater than the height corresponding to the two-dimensional position, causes the display to perform the first display and causes the speaker to output the first sound; and

in the case where the distance is not greater than the height corresponding to the two-dimensional position, causes the display to perform the second display and causes the speaker to output the second sound.

3. The apparatus according to claim 1, wherein the display displays a facial expression of the apparatus, the facial expression including eyes and a mouth,

the first display shows the facial expression as fearful or confused, and

the first sound is an alarm or requests the user to move the apparatus to a lower height.

4. The apparatus according to claim 1, wherein the display displays a facial expression of the apparatus, the facial expression including eyes and a mouth,

the second display shows the facial expression as joyful, and

the second sound is positive about a height of the apparatus.

5. The apparatus according to claim 1, wherein, in the first table, the heights that possibly damage the apparatus when the apparatus falls at the two-dimensional position include a first height and a second height, the second height being higher than the first height,

the first display includes a third display and a fourth display,

the first sound includes a third sound and a fourth sound,

the display displays a facial expression of the apparatus, the facial expression including eyes and a mouth,

in a case where the distance is greater than the first height corresponding to the two-dimensional position and not greater than the second height corresponding to the two-dimensional position, the processor causes the display to perform the third display and causes the speaker to output the third sound,

in a case where the distance is greater than the second height corresponding to the two-dimensional position, the processor causes the display to perform the fourth display and causes the speaker to output the fourth sound,

the third display shows the facial expression as confused,

the fourth display shows the facial expression as fearful,

the third sound requests the user to move the apparatus to a lower height, and

the fourth sound is an alarm.

6. The apparatus according to claim 1, wherein the processor further determines, with reference to a database storing a dialog history between the apparatus and the user, whether, in a predetermined period of time before a present time in the dialog history, the apparatus requested the user to move the apparatus upward in the vertical direction, and

in a case where the processor determines that the apparatus requested the user to move the apparatus upward in the vertical direction and the distance is greater than the height corresponding to the two-dimensional position, the processor causes the display to perform a third display and causes the speaker to output a third sound.

7. The apparatus according to claim 6, wherein the third display shows a smile, and

the third sound expresses gratitude.

8. The apparatus according to claim 1, wherein the first sensor and the second sensor include an acceleration sensor that detects acceleration in a horizontal direction and the vertical direction of the apparatus.

9. A system, comprising:

a robot that is moved by a user;

a first sensor that detects a motion and a moving direction of the robot;

a second sensor that measures a movement distance in a vertical direction of the robot;

a camera that acquires a picture of an area around the robot;

a processor;

a display; and

a speaker,

wherein the processor determines, based on a result of detection by the first sensor, whether the robot is moved in the vertical direction, and

in a case where the processor determines that the robot is moved in the vertical direction, the processor;

calculates, based on a result of measurement by the second sensor, a distance from the robot to an object located directly underneath the robot;

measures a two-dimensional position of the robot based on the picture acquired by the camera;

compares the distance with a height corresponding to the two-dimensional position, the height being in a first table showing correspondence relationships between two-dimensional positions of the robot and heights that possibly damage the robot when the robot falls at the two-dimensional positions;

in a case where the distance is greater than the height corresponding to the two-dimensional position, causes the display to perform a first display and causes the speaker to output a first sound; and

in a case where the distance is not greater than the height corresponding to the two-dimensional position, causes the display to perform a second display and causes the speaker to output a second sound.

10. A method for causing an apparatus that is moved by a user to express an emotion, the apparatus including a first sensor that detects a motion and a moving direction of the robot, a second sensor that measures a movement distance in a vertical direction of the robot, a camera that acquires a picture of an area around the robot, a display, and a speaker, the method comprising:

determining, based on a result of detection by the first sensor, whether the robot is moved in the vertical direction; and

in a case of determining the apparatus is moved in the vertical direction;

calculating, based on a result of measurement by the second sensor, a distance from the apparatus to an object located directly underneath the apparatus;

measuring a two-dimensional position of the apparatus based on the picture acquired by the camera;

comparing the distance with a height corresponding to the two-dimensional position, the height being in a first table showing correspondence relationships between two-dimensional positions of the apparatus and heights that possibly damage the apparatus when the robot falls at the two-dimensional positions;

in a case where the distance is greater than the height corresponding to the two-dimensional position, causing the display to perform a first display and causing the speaker to output a first sound; and

in a case where the distance is not greater than the height corresponding to the two-dimensional position, causing the display to perform a second display and causing the speaker to output a second sound.

11. A non-transitory computer-readable recording medium storing a program for causing a processor of the apparatus to execute the method according to claim 10.

12. An apparatus that is moved by a user, the apparatus comprising:

a first sensor that detects a motion and a moving direction of the apparatus;

a second sensor that detects an object located directly underneath the apparatus;

a camera that acquires a picture of an area around the apparatus;

a processor;

a display; and

a speaker,

wherein the processor determines, based on a result of detection by the first sensor, whether the apparatus is moved in a vertical direction, and

in a case where the processor determines that the apparatus is moved in the vertical direction, the processor;

calculates, based on a result of detection by the second sensor, a distance from the apparatus to the object located directly underneath the apparatus;

determines, based on the picture acquired by the camera, a material of the object located directly underneath the apparatus;

compares the distance with a height corresponding to the material, the height being in a table showing correspondence relationships between materials of objects and heights that possibly damage the apparatus when the apparatus falls onto the objects;

in a case where the distance is greater than the height corresponding to the material, causes the display to perform a first display and causes the speaker to output a first sound; and

in a case where the distance is not greater than the height corresponding to the material, causes the display to perform a second display and causes the speaker to output a second sound.

13. The apparatus according to claim 12, wherein, in a case where the processor determines that the apparatus is not moved in the vertical direction, the processor determines, based on a result of detection by the first sensor, whether the apparatus is moved in a horizontal direction,

in a case where the processor determines that the apparatus is moved in the horizontal direction, the processor:

calculates, based on the result of detection by the second sensor, the distance from the apparatus to the object located directly underneath the apparatus,

determines, based on the picture, the material of the object located directly underneath the apparatus,

compares the distance with the height corresponding to the material in the table,

in the case where the distance is greater than the height corresponding to the material, causes the display to perform the first display and causes the speaker to output the first sound, and

in the case where the distance is not greater than the height corresponding to the material, causes the display to perform the second display and causes the speaker to output the second sound.

14. The apparatus according to claim 12, wherein the display displays a facial expression of the apparatus, the facial expression including eyes and a mouth,

the first display shows the facial expression as fearful or confused, and

the first sound is an alarm or requests the user to move the apparatus to a lower height.

15. The apparatus according to claim 12, wherein the display displays a facial expression of the apparatus, the facial expression including eyes and a mouth,

the second display shows the facial expression as joyful, and

the second sound is positive about a height of the apparatus.

16. The apparatus according to claim 12, wherein, in the table, the heights that possibly damage the apparatus when the apparatus falls onto the objects include a first height and a second height, the second height being higher than the first height,

the first display includes a third display and a fourth display,

the first sound includes a third sound and a fourth sound,

the display displays a facial expression of the apparatus, the facial expression including eyes and a mouth,

in a case where the distance is greater than the first height corresponding to the material and the distance is not greater than the second height corresponding to the material, the processor causes the display to perform the third display and causes the speaker to output the third sound,

in a case where the distance is greater than the second height corresponding to the material, the processor causes the display to perform the fourth display and causes the speaker to output the fourth sound,

the third display shows the facial expression as confused,

the fourth display shows the facial expression as fearful,

the third sound requests the user to move the apparatus to a lower height, and

the fourth sound is an alarm.

17. The apparatus according to claim 12, wherein the processor further determines, with reference to a database storing a dialog history between the apparatus and the user, whether, in a predetermined period of time before a present time in the dialog history, the apparatus requested the user to move the apparatus upward in the vertical direction, and

in a case where the processor determines that the apparatus requested the user to move the apparatus upward in the vertical direction and the distance is greater than the height corresponding to the material, the processor causes the display to perform a third display and causes the speaker to output a third sound.

18. The apparatus according to claim 17, wherein the third display shows a smile, and

the third sound expresses gratitude.

19. A system, comprising:

a robot that is moved by a user;

a first sensor that detects a motion and a moving direction of the robot;

a second sensor that detects an object located directly underneath the robot;

a camera that acquires a picture of an area around the robot;

a processor;

a display; and

a speaker,

wherein the processor determines, based on a result of detection by the first sensor, whether the robot is moved in a vertical direction, and

in a case where the processor determines that the robot is moved in the vertical direction, the processor;

calculates, based on a result of detection by the second sensor, a distance from the robot to the object located directly underneath the robot;

determines, based on the picture acquired by the camera, a material of the object located directly underneath the robot;

compares the distance with a height corresponding to the material, the height being in a table showing correspondence relationships between materials of objects and heights that possibly damage the robot when the robot falls onto the objects;

in a case where the distance is greater than the height corresponding to the material, causes the display to perform a first display and causes the speaker to output a first sound; and

in a case where the distance is not greater than the height corresponding to the material, causes the display to perform a second display and causes the speaker to output a second sound.

20. A method for causing an apparatus that is moved by a user to express an emotion, the apparatus including a first sensor that detects a motion and a moving direction of the apparatus, a second sensor that detects an object located directly underneath the apparatus, a camera that acquires a picture of an area around the apparatus, a display, and a speaker, the method comprising:

determining, based on a result of detection by the first sensor, whether the apparatus is moved in a vertical direction; and

in a case of determining the apparatus is moved in the vertical direction;

calculating, based on a result of detection by the second sensor, a distance from the apparatus to the object located directly underneath the apparatus;

determining, based on the picture acquired by the camera, a material of the object located directly underneath the apparatus;

comparing the distance with a height corresponding to the material, the height being in a table showing correspondence relationships between materials of objects and heights that possibly damage the apparatus when the apparatus falls onto the objects;

in a case where the distance is greater than the height corresponding to the material, causing the display to perform a first display and causing the speaker to output a first sound; and

in a case where the distance is not greater than the height corresponding to the material, causing the display to perform a second display and causing the speaker to output a second sound.

21. A non-transitory computer-readable recording medium storing a program for causing a processor of the apparatus to execute the method according to claim 20.