AUTONOMOUSLY ACTING ROBOT THAT PERFORMS A GREETING ACTION

• US 20180333862A1
• Filed: 07/26/2018
• Published: 11/22/2018
• Est. Priority Date: 03/28/2016
• Status: Active Grant

• Current Assignee: Groove X, Inc.
• Original Assignee: Groove X, Inc.
• Inventors: HAYASHI, Kaname
• Granted Patent: US 11,135,727 B2
• Time in Patent Office: Days
• CPC Class Codes: A63H 11/00 Self-movable toy figures
• CPC Class Codes: A63H 11/10 Figure toys with single- or multiple-axle undercarriages, by which the figures perform a realistic running motion when the toy is moving over the floor
• CPC Class Codes: A63H 13/005 with self-moving head or facial features with a choice of features A63H3/365; movable eyes A63H3/40
• CPC Class Codes: A63H 2200/00 Computerized interactive toys, e.g. dolls
• CPC Class Codes: A63H 3/40 movable
• CPC Class Codes: B25J 11/0005 Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
• CPC Class Codes: B25J 11/001 with emotions simulating means
• CPC Class Codes: B25J 11/003 Manipulators for entertainment
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

Empathy toward a robot is increased by the robot emulating human-like or animal-like behavior. A robot includes a movement determining unit that determines a direction of movement, an action determining unit that selects a gesture from multiple kinds of gesture, and a drive mechanism that executes a specified movement and gesture. When a user enters a hall, an external sensor installed in advance detects a return home, and notifies the robot via a server that the user has returned home. The robot heads to the hall, and welcomes the user home by performing a gesture indicating goodwill, such as sitting down and raising an arm.

Claims

1. An autonomously acting robot, comprising:

a communicator configured to receive a signal indicating detection of a first person in a monitoring area;

a processor, wherein the processor is configured to execute instructions for;

determining a direction of movement, wherein, in response to receipt of a signal indicating detection of the first person in the monitoring area, the processor is configured to set a movement destination target point as the monitoring area, and

selecting a gesture from multiple gestures, wherein the multiple gestures includes at least one affectionate type gesture, and, in response to receipt of a signal indicating a detection of a second person moving from the monitoring area toward the autonomously acting robot prior to the robot reaching the monitoring area, the processor is configured to interrupt movement of the autonomously acting robot toward the movement destination target point; and

a drive mechanism configured to drive a portion of the autonomously acting robot to perform a specified movement or the selected gesture, wherein the processor is configured to instruct the drive mechanism to execute a first gesture of the at least one affectionate type gesture.

2. The autonomously acting robot according to claim 1, wherein the first gesture is a sitting action.

3. The autonomously acting robot according to claim 1, further comprising:

a sensor configured to recognize the second person, wherein

the processor is configured to select the first gesture from the multiple gestures in accordance with the recognized second person.

4. The autonomously acting robot according to claim 1, further comprising:

a sensor configured to detect a response by the second person with respect to the first gesture, wherein

in response to the detection of the response, the processor is configured to select a second gesture of the at least one affection gesture and instruct the drive mechanism to execute the second gesture.

5. The autonomously acting robot according to claim 4, wherein the first gesture is different from the second gesture.

6. The autonomously acting robot according to claim 4, wherein the first gesture is a same gesture as the second gesture.

7. The autonomously acting robot according to claim 1, wherein the first person is different from the second person.

8. The autonomously acting robot according to claim 1, wherein the first person is a same person as the second person.

9. The autonomously acting robot according to claim 1, wherein the communicator is configured to receive a detection signal from a directional microphone indicating a beckoning sound in the monitoring area.

10. The autonomously acting robot according to claim 1, wherein

the processor is configured to set the monitoring area as the movement destination target point in response to a distance from a current point of the autonomously acting robot to the monitoring area being a predetermined distance or less.

11. An autonomously acting robot, comprising:

a processor configured to execute instructions for;

determining a direction of movement,

recognizing an external environment from information detected by a sensor,

specifying a place through which a person can pass in an indoor space as an entrance, and

determining an existence of a person within a predetermined range from the specified entrance, and

a drive mechanism configured to execute a specified movement, wherein in response to, during an execution of a predetermined communication action with respect to a first user, a determination that the person exists within the predetermined range from the specified entrance, the processor is configured to interrupt the communication action and instruct the drive mechanism to move toward the specified entrance.

12. The autonomously acting robot according to claim 11, wherein

the processor is configured to determine whether the person exists in the specific entrance in response to a signal from the sensor indicating a change in a state in a direction in which the specified entrance exists.

13. The autonomously acting robot according to claim 11, wherein

the processor is configured to determine whether the person exists within the predetermined range from the specified entrance based on a signal from the sensor indicating detection of a specific keyword.

14. The autonomously acting robot according to claim 11, wherein

the processor is configured to estimate a possibility of a visitor based on detection of the person in the indoor space, and instruct the drive mechanism to move toward the specified entrance in response to the detection of the person in the indoor space.

15. The autonomously acting robot according to claim 14, wherein the processor is further configured to change an action aspect during movement in response to a determination that the visitor is a previously registered user.

16. The autonomously acting robot according to claim 11, wherein

the processor is configured to predict a time at which a user will return home based on life pattern information of the user, and

to instruct the drive mechanism to move toward the specified entrance a predetermined time before the predicted time at which the user will return home.

17. The autonomously acting robot according to claim 11, wherein

the processor is configured to determine that the person exists in a periphery of the specified entrance in response to a signal from the sensor indicating that an object is approaching the indoor space.

18. An autonomously acting robot, comprising:

a processor configured to execute instructions for;

determining a direction of movement,

recognizing an external environment based on a signal from a sensor,

specifying a place through which a person can pass in an indoor space as an entrance, and

determining whether the person is moving in a direction toward the specified entrance; and

a drive mechanism configured to execute a specified movement, wherein in response to a determination that, during an execution of a predetermined communication action with respect to a first user, a second user is moving in the direction toward the specified entrance, the processor is configured to interrupt the communication action and instruct the drive mechanism to move toward the specified entrance.

19. The autonomously acting robot according to claim 18, wherein

the processor is configured to prohibit, during instructing the drive mechanism to move toward the specified entrance, the drive mechanism moving the autonomously acting robot through the specified entrance.

20. The autonomously acting robot according to claim 18, wherein

the processor is configured to prohibit, during instructing the drive mechanism to move toward the specified entrance, the drive mechanism from moving the autonomously acting robot through the specified entrance in response to receiving a signal indicating a specific keyword from the sensor.

21. The autonomously acting robot according to claim 18, wherein

the processor is configured to predict a time at which a user will leave home based on life pattern information of the user, and

to instruct the drive mechanism to avoid following the user toward the specified entrance outside a predetermined time period including the predicted time of leaving home.

22. The autonomously acting robot according to claim 18, wherein

the processor is configured to interrupt the communication action in response to a determination that a familiarity with the second user is higher than a familiarity with the first user.

23. An autonomously acting robot, comprising:

a processor configured to execute instructions for;

determining a direction of movement, and

recognizing an external environment from information received from a sensor; and

a drive mechanism configured to execute a specified movement, wherein in response to a determination that, during an execution of a predetermined communication action with respect to a first user, a second user exists the processor is configured to interrupt the communication action and instruct the drive mechanism to move in a direction in which the second user exists.

24. The autonomously acting robot according to claim 23, wherein

the processor is configured to instruct the drive mechanism to move in the direction toward the second user in response to a determination that the detected second user is previously registered.

25. The autonomously acting robot according to claim 23, wherein the processor is further configured to:

select a gesture from multiple gestures, and

to select a sitting action in response to the robot reaching a point at which the second user exists.