SPHERICAL ROBOT HAVING A DRIVING MECHANISM FOR INDICATING AMOUNT OF STORED ELECTRIC POWER

• US 20180056518A1
• Filed: 11/05/2017
• Published: 03/01/2018
• Est. Priority Date: 04/27/2016
• Status: Abandoned Application

• 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
• Application Number:
  US15/803,783
• Publication Number:
  US 20180056518A1
• Time in Patent Office: Days
• 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 3/006 provided with electrical lighting electrical lighting F21
• 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: B25J 11/0005 Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
• CPC Class Codes: B25J 19/002 using counterweights
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 19/026 Acoustical sensing devices
• CPC Class Codes: H02J 7/0042 characterised by the mechanical construction
• CPC Class Codes: H02J 7/0048 Detection of remaining charge capacity or state of charge [SOC]
• CPC Class Codes: H02J 7/0049 Detection of fully charged condition

Abstract

A robot includes a spherical housing, a frame disposed in the housing, and a display that displays at least a facial feature of the robot. The robot further includes a set of driving wheels that are in contact with an inner surface of the housing to rotate the housing, and a weight driving mechanism that causes a weight to move along a predetermined axis. Also, the robot includes a power supply that is externally charged and supplies electric power to the set of driving wheels and weight driving mechanism, and a control circuit that stops rotation of the set of driving wheels and moves the weight along the predetermined axis to correspondingly move the display vertically.

Claims

1. A robot comprising:

a spherical housing;

a frame disposed in an interior of the housing;

a display attached to the frame, the display configured to display at least a part of a face of the robot;

a set of driving wheels attached to the frame and in contact with an inner surface of the housing to rotate the housing when the set of driving wheels is driven to be rotated;

a weight driving mechanism attached to the frame, the weight driving mechanism configured to cause a weight to move along a predetermined axis;

a power supply that receives electric power supplied from an external battery charger when the power supply is connected with the external battery charger, stores the electric power received from the external battery charger, and supplies the electric power to the set of driving wheels and the weight driving mechanism; and

a control circuit configured to stop a rotation of the set of driving wheels and move the weight along the predetermined axis to correspondingly move the display in an up-and-down direction when an amount of electric power remaining in the power supply is less than or equal to a predetermined value while the power supply is disconnected from the external battery charger.

2. The robot according to claim 1, further comprising:

a camera is attached to the frame, wherein

the control circuit is configured to stop the rotation of the set of driving wheels and move the weight along the predetermined axis to correspondingly move the camera vertically, when

the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger, and

an image captured by the camera is recognized as including a part of a user.

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 is attached to the frame, wherein

the control circuit is configured to stop the rotation of the set of driving wheels while the camera is oriented to a target recognized as a face of the user and move the weight along the predetermined axis to correspondingly move the camera vertically, when

the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger, and

an image captured by the camera is recognized as including the face of a user.

5. The robot according to claim 1, further comprising:

a camera is attached to the frame, wherein

the control circuit is configured to stop the rotation of the set of driving wheels while the camera is oriented to a position below a target recognized as a face of the user and move the weight along the predetermined axis to correspondingly move the camera vertically, when

the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger, and

an image captured by the camera is recognized as including the face of a user.

6. The robot according to claim 1, further comprising:

a camera is attached to the frame; and

a microphone configured to collect sound, wherein

the control circuit is configured to stop the rotation of the set of driving wheels and move the weight along the predetermined axis to correspondingly move the camera vertically, when

the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger,

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

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

7. The robot according to claim 1, further comprising:

a camera is attached to the frame; and

a microphone configured to collect sound, wherein

the control circuit is configured to stop the rotation of the set of driving wheels and move the weight along the predetermined axis to correspondingly move the camera vertically, when

the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger,

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

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

8. The robot according to claim 1, further comprising:

a camera is attached to the frame; and

a microphone configured to collect sound, wherein

the control circuit is configured to stop the rotation of the set of driving wheels and stop a movement of the weight, when

the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger,

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

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

9. The robot according to claim 1, wherein the control circuit is configured to move the weight along the predetermined axis in a period during which the display moves vertically twice or more.

10. The robot according to claim 1, wherein the control circuit is configured to increase a number of times the weight moves along the predetermined axis per unit time when the amount of electric power remaining in the power supply is reduced.

11. The robot according to claim 1, wherein the control circuit is configured to increase an amount of movement of the weight along the predetermined axis when the amount of electric power remaining in the power supply is reduced.

12. The robot according to claim 1, wherein, when the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger, the control circuit is configured to move the weight along the predetermined axis, after which the control circuit stops the rotation of the set of driving wheels.

13. The robot according to claim 2, wherein:

the frame includes

a shaft provided along a horizontal plane of the robot, the horizontal plane intersecting planes on which the set of driving wheels is provided,

a first rotating mechanism configured to rotationally move the camera around the shaft, and

a second rotating mechanism configured to rotationally move the shaft, the weight configured to correspondingly move along the shaft along the predetermined axis in accordance with the rotational movement of the shaft; and

when the control circuit decides that the power supply is connected to the external battery charger, the control circuit is configured to place the camera along the predetermined axis in which the weight moves.

14. The robot according to claim 1, further comprising:

a speaker, wherein

when the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the battery charger, the control circuit is configured to output, through the speaker, voice information indicating the amount of electric power remaining in the power supply.

15. The robot according to claim 1, wherein, when the amount of electric power remaining in the power supply is less than or equal to the predetermined value while the power supply is disconnected from the external battery charger, the control circuit is configured to control the display to display power supply information indicating the amount of electric power remaining in the power supply.

16. The robot according to claim 1, wherein at least the part of the face of the robot being displayed on the display, is an eye.

17. The robot according to claim 1, wherein at least the part of the face of the robot being displayed on the display, is a mouth.

18. The robot according to claim 1, wherein the weight moves along the predetermined axis in accordance with a rotating movement of the housing.

19. The robot according to claim 1, wherein the predetermined axis is a horizontal axis.