An information processing apparatus includes a first sensor, a second sensor, and a central processing unit (CPU). The first sensor detects an object present in a first direction with respect to an autonomous mobile body. The second sensor detects the object present in a second direction with respect to the autonomous mobile body, by a system different from a system of the first sensor. The CPU controls an operation of the autonomous mobile body based on a detection result acquired by the first sensor and a detection result acquired by the second sensor.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Phase of International Patent Application No. PCT/JP2020/027925 filed on Jul. 17, 2020, which claims priority benefit of Japanese Patent Application No. JP 2019-155103 filed in the Japan Patent Office on Aug. 27, 2019. Each of the above-referenced applications is hereby incorporated herein by reference in its entirety.

FIELD

The present disclosure relates to an information processing apparatus, a control method, and a program.

BACKGROUND

In recent years, various devices that respond to a user's action are becoming popular. These devices as described above include an agent that presents a response to an inquiry from the user. For example, Patent Literature 1 discloses a technique of calculating an expected value of user's attention to output information and controlling information output on the basis of the expected value.

CITATION LIST

Patent Literature

Patent Literature 1: JP 2015-132878 A

SUMMARY

Technical Problem

On the other hand, a recent agent tends to place more importance on communication with a user in addition to simple presentation of information. However, it is difficult to say that sufficient communication is achieved in a device that responds to the user's action as described in Patent Literature 1.

Therefore, the present disclosure proposes an information processing apparatus, its control method, and a program capable of more naturally and effectively communicating with the user.

Solution to Problem

To solve the above-described problem, an information processing apparatus according to one aspect of the present disclosure comprises: a first sensor that detects an object present in a first direction with respect to an autonomous mobile body; a second sensor that detects the object present in the first direction with respect to the autonomous mobile body, the second sensor having a system different from a system of the first sensor; and an operation control unit that controls an operation of the autonomous mobile body based on a detection result acquired by the first sensor and a detection result acquired by the second sensor.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each of the following embodiments, same parts are given the same reference signs to omit redundant description.

In addition, the present disclosure will be described according to the following item order.1. First Embodiment1.1 Overview1.2 Configuration example of autonomous mobile body1.3 System configuration example1.4 Functional configuration example of autonomous mobile body1.5 Functional configuration example of information processing server1.6 Details of inducing action1.7 Growth example of autonomous mobile body1.8 Flow of control1.9 Hardware configuration example1.10 Summary2. Second Embodiment2.1 Overview2.2 Functional configuration example of autonomous mobile body2.3 Details of posture control2.4 Summary3. Third Embodiment3.1 Configuration example of sensor unit3.2 Operation example based on detection result3.2.1 Collision prevention operation3.2.2 Fall and collision prevention operation3.2.3 Idling prevention operation3.2.4 Human, breath, and gesture detecting operation3.3 Flow of control based on sensor result3.3.1 Main operation (including obstacle and boundary avoidance operation)3.3.2 Idling prevention operation3.3.3 Mode switching operation3.3.4 Human detection rate switching operation3.3.5 Mapping operation3.4 Summary4. Fourth Embodiment4.1 Configuration example of autonomous mobile body4.2 Posture control example4.3 Example of posture control flow4.4 Summary5. Fifth Embodiment5.1 Overview5.2 Configuration example of autonomous mobile body (underbody)5.2.1 First example5.2.2 Second example5.2.3 Third example5.2.4 Fourth example5.2.5 Fifth example5.2.6 Sixth example5.3 Summary6. Sixth Embodiment

1. First Embodiment

First, an overview of a first embodiment of the present disclosure will be described. As described above, in recent years, various agent devices that respond to a user's action are becoming popular. For example, the agent device can present various types of information in response to an inquiry from the user. The above information presentation includes, for example, presentation of recommended information, a schedule, news, and the like to the user.

However, in many cases, the agent device executes the above-described operation in response to an instruction command input by the user. Examples of the above instruction command include a keyword input by voice and button pressing to execute a function. Therefore, the information presented by the agent device as described above is a passive operation, and it is difficult to say that the information presentation activates communication with the user.

Some agent devices perform continuous interaction with the user using a voice or the like, but in many cases, only the passive operation is repeated in response to the user's instruction command. It is difficult to say that true communication is realized.

A technical idea according to the present disclosure has been conceived focusing on the above points, and enables more natural and effective communication with the user. To this end, one of features of an autonomous mobile body10according to the present embodiment is to actively execute various actions that induce communication with the user (hereinafter, also referred to as an inducing action).

For example, the autonomous mobile body according to the present embodiment can actively present information to the user on the basis of environment recognition. Furthermore, for example, the autonomous mobile body10actively executes various inducing actions that urge the user to perform a predetermined behavior. In this respect, the autonomous mobile body according to the present embodiment is clearly different from a device that performs a passive operation based on the instruction command.

In addition, it can be said that the inducing action by the autonomous mobile body according to the present embodiment is active and positive interference with respect to a physical space. The autonomous mobile body according to the present embodiment can move in the physical space and execute various physical actions with respect to the user, a living thing, an article, and the like. According to the above features of the autonomous mobile body according to the present embodiment, the user can comprehensively recognize the action of the autonomous mobile body through visual, auditory, and tactile sensation, and can realize advanced communication as compared with a case where interaction with the user is simply performed using voice.

Hereinafter, functions of the autonomous mobile body and an information processing server that controls the autonomous mobile body according to the present embodiment that realize the above features will be described in detail.

1.2 Configuration Example of Autonomous Mobile Body

Next, a configuration example of the autonomous mobile body10according to the first embodiment of the present disclosure will be described. The autonomous mobile body10according to the present embodiment can be various devices that perform an autonomous action based on environment recognition. Hereinafter, a case where the autonomous mobile body10according to the present embodiment will be described using an example of a long-elliptic agent-type robot device that autonomously travels by wheels. The autonomous mobile body10according to the present embodiment realizes various types of communication including information presentation, for example, by performing an autonomous action according to conditions of the user, surroundings, or itself. The autonomous mobile body10according to the present embodiment may be a small robot having a size and weight that the user can easily lift with one hand.

First, an example of an exterior of the autonomous mobile body10according to the present embodiment will be described with reference toFIG.1toFIG.5.FIG.1is a front view and a rear view of the autonomous mobile body10according to the present embodiment.FIG.2is a perspective view of the autonomous mobile body10according to the present embodiment.FIG.3is a side view of the autonomous mobile body10according to the present embodiment.FIG.4andFIG.5are a top view and a bottom view, respectively, of the autonomous mobile body10according to the present embodiment.

As illustrated inFIG.1toFIG.4, the autonomous mobile body10according to the present embodiment includes two eye parts510corresponding to a right eye and a left eye in an upper section of a main body. Each of the eye parts510is realized by, for example, an LED, and can express a line of sight, blinks, and the like. Note that the eye parts510are not limited to the above example, and may be realized by, for example, two single or independent organic light emitting diodes (OLEDs).

Furthermore, the autonomous mobile body10according to the present embodiment includes one or more cameras515above the eye parts510. The camera515has a function of imaging the user and a surrounding environment. The autonomous mobile body10may realize simultaneous localization and mapping (SLAM) on the basis of an image captured by the camera515.

Note that the eye parts510and the camera515according to the present embodiment are placed on a substrate505arranged inside an exterior surface. In addition, in the present embodiment, the exterior surface of the autonomous mobile body10is basically formed using an opaque material, but a head cover550using a transparent or translucent material is provided for sections corresponding to the substrate505on which the eye parts510and the camera515are placed. As a result, the user can recognize the eye parts510of the autonomous mobile body10, and the autonomous mobile body10can image the outside.

Furthermore, as illustrated inFIGS.1,2, and5, the autonomous mobile body10according to the present embodiment includes a time of flight (ToF) sensor520in a front lower section. The ToF sensor520has a function of detecting a distance to an object present ahead. According to the ToF sensor520, distances to various objects can be detected with high accuracy, and it is possible to prevent fall or overturn by detecting a step or the like.

Furthermore, as illustrated inFIGS.1,3, and the like, the autonomous mobile body10according to the present embodiment may include a connection terminal555for an external device and a power switch560on a rear surface. The autonomous mobile body10can be connected to the external device via the connection terminal555to perform information communication.

In addition, as illustrated inFIG.5, the autonomous mobile body10according to the present embodiment includes two wheels570on a bottom surface. The wheels570according to the present embodiment are driven by different motors565. As a result, the autonomous mobile body10can realize movements such as forward movement, backward movement, turning, and rotation. Further, the wheels570according to the present embodiment may be provided so as to be housed inside the main body and projectable outward. In this case, for example, the autonomous mobile body10can jump by vigorously projecting the two wheels570outward.FIG.5illustrates a state in which the wheels570are housed inside the main body.

The exterior of the autonomous mobile body10according to the present embodiment has been described above. Next, an internal structure of the autonomous mobile body10according to the present embodiment will be described.FIG.6is a schematic view illustrating the internal structure of the autonomous mobile body10according to the present embodiment.

As illustrated on the left side ofFIG.6, the autonomous mobile body10according to the present embodiment includes an inertial sensor525and a communication device530arranged on an electronic substrate. The inertial sensor525detects acceleration and angular velocity of the autonomous mobile body10. The communication device530is a configuration for realizing wireless communication with the outside, and includes, for example, Bluetooth (registered trademark), a Wi-Fi (registered trademark) antenna, and the like.

Furthermore, the autonomous mobile body10includes, for example, a speaker535inside a side surface of the main body. The autonomous mobile body10can output various kinds of sound information including voice through the speaker535.

Furthermore, as illustrated on the right side ofFIG.6, the autonomous mobile body10according to the present embodiment includes a plurality of microphones540inside the upper section of the main body. The microphones540collect user's utterance and ambient environmental sound. Furthermore, since the autonomous mobile body10includes the plurality of microphones540, it is possible to collect sounds generated in the surroundings with high sensitivity to realize localization of a sound source.

Furthermore, as illustrated inFIG.6, the autonomous mobile body10includes a plurality of motors565. The autonomous mobile body10may include, for example, two motors565for vertically and horizontally driving the substrate on which the eye parts510and the camera515are placed, two motors565for driving the left and right wheels570, and one motor565for realizing the forward inclination posture of the autonomous mobile body10. The autonomous mobile body10according to the present embodiment can express ample actions by the plurality of motors565.

Next, a configuration of the substrate505on which the eye parts510and the camera515according to the present embodiment are placed and a configuration of the eye parts510will be described in detail.FIG.7is a diagram illustrating the configuration of the substrate505according to the present embodiment.FIG.8is a sectional view of the substrate505according to the present embodiment. Referring toFIG.7, the substrate505according to the present embodiment is connected to the two motors565. As described above, the two motors565can vertically and horizontally drive the substrate505on which the eye parts510and the camera515are placed. As a result, each of the eye parts510of the autonomous mobile body10can be flexibly moved in the vertical direction and the horizontal direction, and an ample eyeball movement can be expressed according to the situation and the operation.

Furthermore, as illustrated inFIG.7andFIG.8, the eye part510includes a central portion512corresponding to an iris and a peripheral edge portion514corresponding to a white part of the eye. The central portion512expresses any color including blue, red, and green, and the peripheral edge portion514expresses white. As described above, the autonomous mobile body10according to the present embodiment can express a natural eyeball expression close to an actual living thing by separating the configuration of the eye part510into two portions.

Next, a structure of the wheels570according to the present embodiment will be described in detail with reference toFIG.9andFIG.10.FIG.9andFIG.10are diagrams illustrating a peripheral structure of the wheel570according to the present embodiment. As illustrated inFIG.9, the two wheels570according to the present embodiment are driven by independent motors565. According to such a configuration, it is possible to express delicate movements such as turning and rotation on the spot in addition to simple forward and backward movements.

As described above, the wheels570according to the present embodiment are provided so as to be housed inside the main body and projectable outward. In addition, since a damper575is provided coaxially with the wheels570according to the present embodiment, it is possible to effectively reduce transmission of impact and vibration to an axle and the main body.

As illustrated inFIG.10, each of the wheels570according to the present embodiment may be provided with an auxiliary spring580. Driving of the wheel according to the present embodiment requires the most torque in driving parts included in the autonomous mobile body10. However, by providing the auxiliary spring580, a common motor565can be used without using different motors565for the respective driving parts.

Next, features at the time of traveling of the autonomous mobile body10according to the present embodiment will be described.FIG.11is a diagram illustrating a forward inclination travel of the autonomous mobile body10according to the present embodiment. One of the features of the autonomous mobile body10according to the present embodiment is that the autonomous mobile body10performs movement such as a back-and-forth motion, a turning motion, and a rotational motion while maintaining a forward inclination posture.FIG.11illustrates a side view of the autonomous mobile body10during traveling.

As illustrated inFIG.11, one of the features of the autonomous mobile body10according to the present embodiment is that the autonomous mobile body10is inclined forward by an angle θ in a vertical direction during movement. The angle θ may be, for example, 10°.

In this case, as illustrated inFIG.12, an operation control unit230of an information processing server20to be described later controls the movement of the autonomous mobile body10such that a center of gravity CoG of the autonomous mobile body10is positioned vertically above a rotation axis CoW of the wheel570. In addition, on a back side of the autonomous mobile body10according to the present embodiment, a weight piece hp is arranged to maintain balance during the forward inclination posture. The weight piece hp according to the present embodiment may be a piece heavier than other components of the autonomous mobile body10. For example, the weight piece hp may be the motor565, a battery, or the like. According to the component arrangement described above, a posture control is easy in a balanced state even when the head part inclines forward, and the autonomous mobile body10can realize the stable forward inclination travel by preventing unintentional overturn.

Next, the movement in which the forward inclination posture is maintained by the autonomous mobile body10according to the present embodiment will be described in more detail.FIG.13AandFIG.13Bare diagrams illustrating an effect obtained by the forward inclination of the autonomous mobile body10according to the present embodiment.

Here,FIG.13Aillustrates an example of the rotational motion in a case where the autonomous mobile body does not take the forward inclination posture. As illustrated inFIG.13A, in a case where the autonomous mobile body10performs the movement such as the rotational motion and the back-and-forth motion while keeping the long-elliptic body upright without taking the forward inclination posture, a direction of the long-elliptic body cannot be recognized, and it is difficult to eliminate an impression that the autonomous mobile body is an artificial object.

On the other hand, as illustrated inFIG.13B, one of the features of the autonomous mobile body10according to the present embodiment is that the movement such as rotation is performed in the state that the forward inclination posture is maintained. According to this feature, since an upper front section of the autonomous mobile body10evokes a head and a lower rear section evokes a waist, directionality occurs even in a simple long-elliptic body.

As described above, the forward inclination of the autonomous mobile body10according to the present embodiment enables to express a structure corresponding to a human body part using a relatively simple exterior. It is possible to give an impression to the user of a living thing beyond a simple artificial object by anthropomorphizing a simple form. As described above, it can be said that the forward inclination according to the present embodiment is a very effective way of providing ample expressions with a robot having a relatively simple exterior such as the long-elliptic body, and evoking a complicated motion like an actual living thing.

The configuration example of the autonomous mobile body10according to the first embodiment of the present disclosure has been described in detail. Note that the configuration described above with reference toFIGS.1,2,3,4,5,6,7,8,9,10,11,12,13AandFIG.13Bare merely an example, and the configuration of the autonomous mobile body10according to the first embodiment of the present disclosure is not limited to the example. The shape and the internal structure of the autonomous mobile body10according to the present embodiment can be arbitrarily designed. The autonomous mobile body10according to the present embodiment can also be realized as, for example, a walking type, a flying type, or a swimming type robot.

1.3 System Configuration Example

Next, a configuration example of an information processing system according to the first embodiment of the present disclosure will be described.FIG.14is a block diagram illustrating the configuration example of the information processing system according to the present embodiment. Referring toFIG.14, the information processing system according to the present embodiment includes the autonomous mobile body10, the information processing server20, and a controlled device30. In addition, these components are connected via a network40.

The autonomous mobile body10according to the present embodiment is an information processing apparatus that performs an autonomous action based on control by the information processing server20. As described above, the autonomous mobile body10according to the present embodiment can be various robots such as a traveling type, a walking type, a flying type, and a swimming type.

The information processing server20according to the present embodiment is an information processing apparatus that controls the operation of the autonomous mobile body10. The information processing server20according to the present embodiment has a function of causing the autonomous mobile body10to execute various inducing actions that induce communication with the user. Note that one of the features of the inducing action and the communication is a behavior of the autonomous mobile body10in the physical space.

The controlled device30according to the present embodiment is various devices operated by the information processing server20and the autonomous mobile body10. The autonomous mobile body10according to the present embodiment can operate various controlled devices30on the basis of the control by the information processing server20. The controlled device30according to the present embodiment may be, for example, a home appliance such as a lighting device, a game device, or a television device.

The network40has a function of connecting the components of the information processing system. The network40may include a public line network such as the Internet, a telephone line network, and a satellite communication network, various local area networks (LANs) including Ethernet (registered trademark), a wide area network (WAN), or the like. Furthermore, the network40may include a dedicated line network such as an Internet protocol-virtual private network (IP-VPN). Furthermore, the network40may include a wireless communication network such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

The system configuration example according to the first embodiment of the present disclosure has been described above. Note that the configuration described above with reference toFIG.14is merely an example, and the configuration of the information processing system according to the first embodiment of the present disclosure is not limited to the example. For example, a control function of the information processing server20may be implemented as a function of the autonomous mobile body10. The system configuration according to the first embodiment of the present disclosure can be flexibly modified according to specifications and operations.

1.4 Functional Configuration Example of Autonomous Mobile Body

Next, a functional configuration example of the autonomous mobile body10according to the first embodiment of the present disclosure will be described.FIG.15is a block diagram illustrating the functional configuration example of the autonomous mobile body10according to the present embodiment. Referring toFIG.15, the autonomous mobile body10according to the present embodiment includes a sensor unit110, an input unit120, a light source130, a voice output unit140, a drive unit150, a control unit160, and a communication unit170.

The sensor unit110according to the present embodiment has a function of collecting various types of sensor information related to the user and the surroundings. For this purpose, the sensor unit110according to the present embodiment includes, for example, the camera515, the ToF sensor520, the microphone540, the inertial sensor525, and the like described above. Furthermore, in addition to the above, the sensor unit110may include, for example, various sensors such as various optical sensors including a geomagnetic sensor, a touch sensor, an infrared sensor, and the like, a temperature sensor, a humidity sensor, and the like.

The input unit120according to the present embodiment has a function of detecting a physical input operation by the user. The input unit120according to the present embodiment includes, for example, a button such as a power switch560.

The light source130according to the present embodiment expresses eyeball movement of the autonomous mobile body10. For this purpose, the light source130according to the present embodiment includes two eye parts510.

The voice output unit140according to the present embodiment has a function of outputting various sounds including voice. For this purpose, the voice output unit140according to the present embodiment includes a speaker535, an amplifier, and the like.

The drive unit150according to the present embodiment expresses a physical action of the autonomous mobile body10. For this purpose, the drive unit150according to the present embodiment includes the two wheels570and the plurality of motors565.

The control unit160according to the present embodiment has a function of controlling each component of the autonomous mobile body10. The control unit160controls, for example, start and stop of each component. Furthermore, the control unit160inputs a control signal generated by the information processing server20to the light source130, the voice output unit140, and the drive unit150. Furthermore, the control unit160according to the present embodiment may have a function equivalent to that of the operation control unit230of the information processing server20described later.

The communication unit170according to the present embodiment performs information communication with the information processing server20, the controlled device30, and other external devices. For this purpose, the communication unit170according to the present embodiment includes the connection terminal555and the communication device530.

The functional configuration example of the autonomous mobile body10according to the first embodiment of the present disclosure has been described above. Note that the above-described configuration described with reference toFIG.15is merely an example, and the functional configuration of the autonomous mobile body10according to the first embodiment of the present disclosure is not limited to the example. For example, the autonomous mobile body10according to the present embodiment may not necessarily include all of the components illustrated inFIG.15. The functional configuration of the autonomous mobile body10according to the present embodiment can be flexibly modified according to the shape of the autonomous mobile body10or the like.

1.5 Functional Configuration Example of Information Processing Server

Next, a functional configuration example of the information processing server20according to the first embodiment of the present disclosure will be described.FIG.16is a block diagram illustrating the functional configuration example of the information processing server20according to the present embodiment. Referring toFIG.16, the information processing server20according to the present embodiment includes a recognition unit210, an action planning unit220, the operation control unit230, and a communication unit240.

The recognition unit210has a function of performing various types of recognition related to the user, the surrounding environment, and the state of the autonomous mobile body10on the basis of the sensor information collected by the autonomous mobile body10. As an example, the recognition unit210may perform user identification, recognition of a facial expression or a line of sight, object recognition, color recognition, shape recognition, marker recognition, obstacle recognition, step recognition, brightness recognition, and the like.

Furthermore, the recognition unit210performs emotion recognition related to the user's voice, understanding of words, sound source localization, and the like. In addition, the recognition unit210can recognize an ambient temperature, the presence of a mobile body, the posture of the autonomous mobile body10, and the like.

Furthermore, the recognition unit210has a function of estimating and understanding the surrounding environment and a situation in which the autonomous mobile body10is placed on the basis of the above information recognized. Here, the recognition unit210may comprehensively perform situation estimation using environmental knowledge stored in advance.

The action planning unit220has a function of planning an action performed by the autonomous mobile body10on the basis of the situation estimated by the recognition unit210and a learned knowledge. The action planning unit220executes an action plan using, for example, a machine learning algorithm such as deep learning.

The operation control unit230according to the present embodiment controls the operation of the autonomous mobile body10on the basis of the action plan by the action planning unit220. For example, the operation control unit230may move the autonomous mobile body10having a long-elliptic outer shape while maintaining the forward inclination posture. As described above, the movement includes the back-and-forth motion, the turning motion, the rotational motion, and the like. Furthermore, one of the features of the operation control unit230according to the present embodiment is to cause the autonomous mobile body10to actively execute the inducing action that induces communication between the user and the autonomous mobile body10. As described above, the inducing action and the communication according to the present embodiment may include a physical behavior of the autonomous mobile body10in the physical space. Details of the inducing action realized by the operation control unit230according to the present embodiment will be separately described later.

The communication unit240according to the present embodiment performs information communication with the autonomous mobile body10and an operation target. For example, the communication unit240receives the sensor information from the autonomous mobile body10, and transmits a control signal related to the operation to the autonomous mobile body10.

The functional configuration example of the information processing server20according to the first embodiment of the present disclosure has been described above. Note that the configuration described above with reference toFIG.16is merely an example, and the functional configuration of the information processing server20according to the first embodiment of the present disclosure is not limited to the example. For example, various functions of the information processing server20may be distributed and implemented by a plurality of devices. Furthermore, the function of the information processing server20may be implemented as a function of the autonomous mobile body10. The functional configuration of the information processing server20according to the present embodiment can be flexibly modified according to specifications and operations.

1.6 Details of Inducing Action

Next, the inducing action of the autonomous mobile body10realized by the operation control unit230according to the present embodiment will be described with specific examples. As described above, the autonomous mobile body10according to the present embodiment can actively execute various inducing actions on the basis of the control by the operation control unit230. Furthermore, the autonomous mobile body10according to the present embodiment can more impressively approach the user and activate communication by performing the inducing action accompanied by the physical behavior.

The inducing action according to the present embodiment may be, for example, an action for causing the user to perform a predetermined behavior.FIG.17toFIG.20are diagrams illustrating examples of the inducing action for causing the user to perform the predetermined behavior.

FIG.17illustrates an example that the autonomous mobile body10performs the inducing action of encouraging the user to wake up. The operation control unit230according to the present embodiment can cause the autonomous mobile body10to execute the inducing action of encouraging a user U1to wake up on the basis of, for example, the user's daily wake-up habit or a schedule of the day.

Here, the operation control unit230causes the autonomous mobile body10to output a voice message SO1such as “Wake up, it's morning!” and an alarm sound or background music (BGM). In this way, the inducing action according to the present embodiment includes a voice message to induce communication. Here, the operation control unit230according to the present embodiment may express adorableness, lovableness, or the like by intentionally limiting the number of words (nursery words) or utterance in a random order of words that is output from the autonomous mobile body10. Note that a fluency of speech by the autonomous mobile body10may be improved by learning, or may be designed to speak fluently from the beginning. Furthermore, the setting may be changed on the basis of the setting by the user.

Furthermore, in a case where the user U1attempts to stop the voice message SO1, the alarm sound, or the like, the operation control unit230may cause the autonomous mobile body10to execute the inducing action of escaping from the user U1so as to disturb stopping. In this way, the operation control unit230and the autonomous mobile body10according to the present embodiment can realize deeper continuous communication accompanied by the physical action, unlike the case of simply and passively outputting the alarm sound at a set time.

In addition,FIG.18illustrates an example that the autonomous mobile body10performs the inducing action of urging the user U1to stop eating too much. In this way, the inducing action of causing the user to perform the predetermined behavior according to the present embodiment may include an action of stopping the predetermined behavior. In the example illustrated inFIG.18, the operation control unit230causes the autonomous mobile body10to output a voice message SO2such as “Eating too much, get fat, no”, and to execute the inducing action of running around on the table.

In this way, the operation control unit230and the autonomous mobile body10according to the present embodiment can give a stronger impression to the user for enhancing a warning effect by performing the warning accompanied by the physical action, as compared with the case of simply and passively giving a voice warning on a health condition based on an image recognition. Furthermore, according to the inducing action as illustrated in the drawing, the user who feels annoyed by the inducing action may try to stop the inducing action or make a complaint against the autonomous mobile body10. Accordingly, an effect of causing further communication can also be expected.

Furthermore,FIG.19illustrates an example that the autonomous mobile body10provides the user U1with sale information and performs the inducing action of attracting the user to the sale. In this way, the information processing server20according to the present embodiment can cause the autonomous mobile body10to perform various information presentations on the basis of store information and event information collected on a network, preference of the user, or the like.

In the example illustrated inFIG.19, the operation control unit230causes the autonomous mobile body10to output a voice message SO3such as “Good price, bargain, let's go” and causes the controlled device30carried by the user U1to display the sale information. Here, the operation control unit230may directly control the sale information displayed on the controlled device30, or the control unit160of the autonomous mobile body10may execute the control via the communication unit170.

Furthermore, in the example illustrated inFIG.19, the operation control unit230causes the autonomous mobile body10to output the voice message SO3, and also causes the autonomous mobile body10to execute the inducing action including jumping. As described above, the autonomous mobile body10according to the present embodiment can realize the jumping motion by vigorously projecting the wheels570outward.

In this way, the operation control unit230and the autonomous mobile body10according to the present embodiment can give a stronger impression to the user to enhance the effect of providing information by making a recommendation accompanied by the physical action as compared with the case of simply making recommendation by using voice or visual information.

Furthermore, the operation control unit230according to the present embodiment may cause the autonomous mobile body10to output a voice message such as “Take me, let's go”. The autonomous mobile body10according to the present embodiment has a size and a weight that can be easily lifted by the user with one hand. For example, the autonomous mobile body10can be formed in a size that can be placed in a plastic bottle holder provided in a vehicle. Therefore, the user can easily take the autonomous mobile body10outside. Furthermore, for example, while traveling by the vehicle, the operation control unit230can boost convenience of the user by causing the autonomous mobile body10to navigate the user to a destination, and the like.

Furthermore,FIG.20illustrates an example that the autonomous mobile body10performs the inducing action of urging the user U1to continue talking. In the example illustrated inFIG.20, the operation control unit230controls the drive unit150of the autonomous mobile body10to repeat the forward inclination and backward inclination, thereby expressing nodding (feedback). Furthermore, the operation control unit230may cause the autonomous mobile body10to output a voice message SO4using a word included in a user speech U01by the user U1, thereby emphasizing that the autonomous mobile body10is listening to the speech of the user U1.

Note that the information processing server20may cause the autonomous mobile body10to execute the above-described inducing actions in a case where it is recognized that the user U1is depressed. For example, the operation control unit230causes the autonomous mobile body10to approach the user U1and causes the autonomous mobile body10to output a voice message such as “What's wrong with you?” or “Tell me”, so that it can encourage the user U1to talk.

As described above, according to the operation control unit230and the autonomous mobile body10according to the present embodiment, it is possible to interact with the user as a more intimate and friendly companion for establishing deeper and continuous communication as compared with the case of simply responding to the user's speech.

Furthermore, the inducing action according to the present embodiment may include an action of causing the user to perform a cooperative behavior with the autonomous mobile body10. The cooperative behavior includes, for example, playing game by the user and the autonomous mobile body10. In other words, the operation control unit230according to the present embodiment can cause the autonomous mobile body10to execute the inducing action of inviting the user to play a game.

FIG.21toFIG.24are diagrams illustrating examples of the inducing actions that induce the cooperative behavior between the user and the autonomous mobile body10according to the present embodiment.FIG.21illustrates the example that the autonomous mobile body10plays an association game with a user U2. As described above, the game targeted by the autonomous mobile body10for the inducing action may include a game using language. Note that examples of the game using the language include, in addition to the association game illustrated inFIG.21, “shiritori” in a Japanese region (corresponding to “Word Chain” in an English region), charades in which the autonomous mobile body10guesses a phrase that the user expresses with gestures, and the like.

Here, the operation control unit230may cause the autonomous mobile body10to explicitly invite the user to the game using a voice message, but may induce the user to participate in the game by unilaterally starting the game suddenly on the basis of the speech by the user. In the example illustrated inFIG.21, based on a user speech UO2of “Yellow flowers were blooming” made by the user U2, the operation control unit230causes the autonomous mobile body10to output a voice message SO5related to the start of the association game using “yellow” included in the user speech.

Furthermore,FIG.22illustrates the example that the autonomous mobile body10plays a game called “Daruma-san ga koronda” (corresponding to “Red light/Green light”, “Statues”, or the like) with the user U2. As described above, games targeted by the autonomous mobile body10through the inducing action include a game that requires the physical action of the user and the autonomous mobile body10.

As described above, since the autonomous mobile body10according to the present embodiment has the two wheels570, it is possible to move forward, turn, and the like, and it is possible to play a game such as “Statues” with the user. Note that the recognition unit210of the information processing server20can recognize the turning behavior of the user by detecting the face of the user included in the image captured by the autonomous mobile body10. Furthermore, the recognition unit210may recognize a turning behavior of the user from user speeches UO3, UO4, and the like. Here, the action planning unit220plans an action of stopping on the spot, an action of intentionally rolling forward, and the like on the basis of the recognition of the turning behavior, and the operation control unit230controls the drive unit150of the autonomous mobile body10according to the plan. Note that the autonomous mobile body10according to the present embodiment can recover from the overturned state by itself by a built-in pendulum or the like.

As in the case of the association game, the operation control unit230may invite the user to participate in the game by unilaterally starting the game suddenly. Here, the information processing server20repeats the control of stopping the movement of the autonomous mobile body10when the sight of the user is directed to the autonomous mobile body10and causing the autonomous mobile body10to approach the user when sight of the user is out of the autonomous mobile body10, thereby inducing the user to the game.

Furthermore,FIG.23illustrates an example that the autonomous mobile body10performs “hide-and-seek” with the user U2. In the example illustrated inFIG.23, the operation control unit230causes the autonomous mobile body10to output an eerie BGM together with a voice message SO6indicating that the autonomous mobile body10is looking for the user U2. According to such control, it is possible to effectively express the realistic feeling that the autonomous mobile body10is gradually approaching the user U2. As a result, further deeper communication can be established.

Note that the information processing server20can cause the autonomous mobile body10to search for the user U2, for example, by preparing a SLAM map generated in advance or performing sound source localization related to sound information collected when the user U2escapes or a sound generated in the surroundings.

Furthermore,FIG.24illustrates the example that the autonomous mobile body10plays a computer game with the user U2. As described above, the games targeted by the autonomous mobile body10through the inducing action according to the present embodiment may include a computer game.

Here, for example, the operation control unit230may cause the autonomous mobile body10to execute an action of arbitrarily activating the controlled device30that is a game device. In this manner, the operation control unit230can cause the autonomous mobile body10to execute an action not intended by the user or an action not conforming to the intention of the user, that is, a mischievous behavior. The above mischief includes, for example, operation of the controlled device30as illustrated.

Here, when the user U2participates in the computer game, the operation control unit230may cause the autonomous mobile body10to execute an action from the standpoint of a character in the game that the user U2plays against. For example, the operation control unit230may cause the autonomous mobile body10to behave as if the autonomous mobile body10actually controls the motion of the character. According to the above control, the user U2can strongly imagine the feeling of fighting against the autonomous mobile body10in the computer game, and can recognize the autonomous mobile body10as a more familiar existence than just a robot.

Furthermore, for example, when the character described above falls into a disadvantageous situation, the operation control unit230may cause the autonomous mobile body10to execute an action (body contact, running around, shaking, etc.) that obstructs the user U2, or may cause the autonomous mobile body10to output a voice message SO7corresponding to the action. According to the above operation control, it is possible to realize more intimate communication with the user through the computer game.

As described above, the operation control unit230according to the present embodiment can activate mutual communication between the autonomous mobile body10and the user by causing the autonomous mobile body10to actively execute the inducing action related to various games.

Next, a specific example of the inducing action according to the present embodiment will continue.FIG.25is a diagram illustrating the inducing action related to presentation of an article location according to the present embodiment.FIG.25illustrates an example that the autonomous mobile body10according to the present embodiment performs the inducing action to indicate the location of the smartphone that the user is searching for. Here, for example, the operation control unit230may cause the autonomous mobile body10to execute the inducing action such as lightly hitting the smartphone, performing the back-and-forth motion around the smartphone or jumping, in addition to indicating the location of the smartphone by a voice message SO8.

As described above, for example, when it is estimated that the user is searching for a predetermined article from a user speech U05, the operation control unit230according to the present embodiment can cause the autonomous mobile body10to execute an operation to indicate the location of the article. Here, the operation control unit230causes the autonomous mobile body10to perform the inducing action near the place where the article is actually located, so that it is possible to perform effective information presentation to the user. Note that, for example, the recognition unit210may detect the location of the article on the basis of image information registered in advance, or may detect the location on the basis of a tag or the like added to the article.

Furthermore,FIG.26is a diagram illustrating the inducing action of inducing the user to sleep according to the present embodiment.FIG.26illustrates an example that the autonomous mobile body10reads aloud to put the user U2to sleep. The autonomous mobile body10can read, for example, a story registered in advance as data or various stories acquired through communication. In this case, even when a restriction is usually set on the language (e.g., the number of words and vocabulary) used by the autonomous mobile body10, the operation control unit230may release the restriction when reading a story.

Furthermore, the operation control unit230may cause the autonomous mobile body10to reproduce a voice of each character in the story expressively or output a sound effect, BGM, or the like together. Furthermore, the operation control unit230may cause the autonomous mobile body10to perform an action according to a dialogue or a scene.

Furthermore, the operation control unit230can control the plurality of autonomous mobile bodies10to read the story aloud or reproduce the story. In the example illustrated inFIG.26, the operation control unit230causes two autonomous mobile bodies10aand10bto respectively play two characters in the story. In this way, the operation control unit230according to the present embodiment can provide the user with a show with ample expressions including the physical action in addition to simple reading of a story by voice.

Furthermore, the operation control unit230according to the present embodiment may cause the autonomous mobile body10to turn off the controlled device30, which is a lighting device, when the user falls asleep. In this way, the information processing server20and the autonomous mobile body10according to the present embodiment can realize a flexible operation according to a change in a situation related to the user or the surrounding environment.

Furthermore, the inducing action according to the present embodiment may be communication between the autonomous mobile body10and another device.FIG.27andFIG.28are diagrams illustrating communication between the autonomous mobile body10and another device according to the present embodiment.

FIG.27illustrates an example that the autonomous mobile body10performs interpretation between the user and another device50that is a dog-shaped autonomous mobile body. In the present example, the operation control unit230presents information regarding an internal state of another device50to the user using a voice message5011. Here, another device50that is the dog-shaped autonomous mobile body may be a device that does not have a linguistic communication means.

As described above, the operation control unit230according to the present embodiment can present the information regarding the internal state of another device50to the user via the autonomous mobile body10. According to the above-described function of the operation control unit230according to the present embodiment, it is possible to notify the user of various types of information related to another device50that does not have a direct transmission means using a language with respect to the user. Thus, it is possible to activate communication between the user and the autonomous mobile body10or another device50via the notification.

Furthermore,FIG.28illustrates an example of communication between a plurality of autonomous mobile bodies10aand10band another device50that is an agent device having a projection function. For example, the operation control unit230can control the autonomous mobile bodies10aand10band another device50such that the robots are communicating with each other among the autonomous mobile bodies10aand10band another device50.

In the example illustrated inFIG.28, the operation control unit230causes another device50to project visual information VI1via the autonomous mobile body10. Furthermore, the operation control unit230causes the autonomous mobile body10ato output a voice message12, causes the autonomous mobile body10to output laughter and execute an action of swinging the main body.

Here, the operation control unit230may cause communication between the devices using a pseudo language that cannot be understood by the user. Such control can strongly attract the user's interest by making the user imagine a situation that the devices are having a mysterious conversation. Furthermore, for example, even when another device50is a display device without the agent function, such control makes the user evoke a feeling that a personality exists in the display device. Accordingly, an effect of improving the user's attachment to the display device can be expected.

Note that, although the above example describes the case that the operation control unit230according to the present embodiment causes the autonomous mobile body10to perform the action of swinging the main body, the operation control unit230according to the present embodiment can vibrate the autonomous mobile body10by intentionally making the posture control unstable. According to this control, it is possible to express emotions such as shivering, laughing, and fear without providing a separate piezoelectric element or the like.

1.7 Growth Example of Autonomous Mobile Body

The specific examples of the inducing action performed by the autonomous mobile body10according to the present embodiment have been described above. All the inducing actions as described above may not be executed from the beginning. For example, behaviors that can be performed may be designed to gradually increase according to a learning progress of the autonomous mobile body10. An example below is given with respect to a change in actions according to the learning progress of the autonomous mobile body10according to the present embodiment, which is a growth of the autonomous mobile body10. Note that the following will describe the example in which the learning progress of the autonomous mobile body10according to the present embodiment is defined by levels from 0 to 200. Furthermore, in the following description, even when a subject of process is the information processing server20, the autonomous mobile body10will be described as the subject.

The autonomous mobile body10can hear a speech by a person including the user. Further, the autonomous mobile body10expresses its emotion by onomatopoeia or the like without using words. The autonomous mobile body10can detect a step and avoid falling, but easily collides with an object and overturns. When the autonomous mobile body10overturns, the autonomous mobile body10cannot recover the standing state by itself. The autonomous mobile body10continues to act until the battery runs out, and the emotion is unstable. The autonomous mobile body10often shakes or gets angry, blinks frequently, and changes the color of eyes frequently.

When a predetermined condition (e.g., the number of times of detection) is satisfied as the autonomous mobile body10listens to and parrots the user's words, the autonomous mobile body10comes to remember and repeat the words. Furthermore, the autonomous mobile body10becomes capable of moving without colliding with an object, and learns to seek help when overturned. In addition, when the battery decreases, the autonomous mobile body10expresses it as being hungry.

The autonomous mobile body10understands its own name by being repeatedly called by the user. The autonomous mobile body10recognizes the user's face and shape, and remembers the user's name when a predetermined condition (e.g., the number of times of recognition) is satisfied. In addition, the autonomous mobile body10ranks a reliability of recognized persons or objects. In this case, in addition to the user, an animal such as a pet, a toy, a device, and the like may be highly ranked. Further, the autonomous mobile body10may learn to return to a charging stand and charge itself when the autonomous mobile body10finds the charging stand.

The autonomous mobile body10can combine known words with proper nouns learned and utter a short sentence (e.g., “Kazuo, fine”). Further, when recognizing a person, the autonomous mobile body10tries to approach the person. Further, the autonomous mobile body10may become capable of traveling quickly.

Expressions such as question, denial, and affirmation forms are added to a vocabulary of the autonomous mobile body10(e.g., “Kazuo, how are you?”). Further, the autonomous mobile body10actively asks questions. For example, a conversation with the user continues such as “Kazuo, what did you have for lunch?”, “Curry”, “Is curry good?”, and so on. Furthermore, the autonomous mobile body10approaches the user when being called by the user such as “Come”, and becomes silent when the user says “ssh”.

The autonomous mobile body10tries to imitate movement of a person or an object (e.g., dance). In addition, the autonomous mobile body10tries to imitate a special sound (siren, alarm, engine sound, etc.) that is heard. In this case, the autonomous mobile body10may reproduce a similar sound registered as data. Further, the autonomous mobile body10remembers a cycle of time of one day, grasps a daily schedule, and becomes capable of notifying the user of the daily schedule (e.g., “Kazuo, wake up”, and “Kazuo, welcome back”).

The autonomous mobile body10can control the operation (e.g., ON and OFF) of a registered device. Further, the autonomous mobile body10can also perform the above control on the basis of a request by the user. The autonomous mobile body10can output registered music according to the situation. The autonomous mobile body10remembers a cycle of time of one week, grasps a weekly schedule, and becomes capable of notifying the user of the weekly schedule (e.g., “Kazuo, did you take combustible garbage out?”).

The autonomous mobile body10learns an action to express emotion. The above expressions include behaviors related to emotions. For example, loud laughing, crying hard, and the like. The autonomous mobile body10remembers a cycle of time of one month, grasps a monthly schedule, and becomes capable of notifying the user of the monthly schedule (e.g., “Kazuo, today, pay day!”).

When the user is smiling, the autonomous mobile body10smiles together, and when the user is crying, the autonomous mobile body10approaches the user and worries about the user. The autonomous mobile body10learns a nodding response or the like, and acquires various conversation modes such as being a good listener. Furthermore, the autonomous mobile body10remembers a cycle of time of one year, grasps an annual schedule, and becomes capable of notifying the user of the annual schedule.

The autonomous mobile body10learns self-recovery from an overturned state and jumping during traveling. Furthermore, the autonomous mobile body10can play the “Statues” game and the “hide-and-seek” game with the user.

The autonomous mobile body10performs a mischievous behavior of operating the registered device regardless of the user's intention. Furthermore, the autonomous mobile body10sulks about being scolded by the user (adolescence). The autonomous mobile body10can identify a location of a registered article and notify the user of the location.

The autonomous mobile body10becomes capable of reading a story book. Furthermore, the autonomous mobile body10is provided with a payment function for purchasing products or the like via a network.

An example of the growth of the autonomous mobile body10according to the present embodiment has been described above. Note that the above is merely an example, and the operation of the autonomous mobile body10can be appropriately adjusted by user setting or the like.

1.8 Flow of Control

Next, a flow of control of the autonomous mobile body10by the information processing server20according to the present embodiment will be described in detail.FIG.29is a flowchart illustrating the flow of control of the autonomous mobile body10by the information processing server20according to the present embodiment.

Referring toFIG.29, the communication unit240receives the sensor information from the autonomous mobile body10(S1101).

Next, the recognition unit210executes various recognition processes on the basis of the sensor information received in Step S1101(S1102), and estimates a situation (S1103).

Next, the action planning unit220performs an action plan on the basis of the situation estimated in Step S1103(S1104).

Next, the operation control unit230performs an operation control of the autonomous mobile body10on the basis of the action plan determined in Step S1104(S1105).

A rough flow of the control of the autonomous mobile body10by the information processing server20according to the present embodiment has been described above. Note that from the recognition process in Step S1102to the operation control in Step S1105may be repeated in parallel.FIG.30is a flowchart illustrating an example of a flow from the recognition process to the operation control according to the present embodiment.

Referring toFIG.30, for example, the recognition unit210identifies the user on the basis of an image or the like captured by the autonomous mobile body10(S1201).

Furthermore, the recognition unit210performs voice recognition and intention interpretation related to the user's speech collected by the autonomous mobile body10, and understands the intention of the user's speech (S1202).

Next, the action planning unit220plans to approach the user, and the operation control unit230controls the drive unit150of the autonomous mobile body10on the basis of the plan, and causes the autonomous mobile body10to approach the user (S1203).

Here, when the intention of the user's speech understood in Step S1202is a request or the like to the autonomous mobile body10(S1204: YES), the operation control unit230executes a response behavior to the request on the basis of the action plan determined by the action planning unit220(S1205). The above response behavior includes, for example, presentation of an answer to an inquiry from the user and control of the controlled device30.

On the other hand, when the intention of the user's speech understood in Step S1202is not a request to the autonomous mobile body10(S1204: NO), the operation control unit230causes the autonomous mobile body10to execute various inducing actions according to the situation on the basis of the action plan determined by the action planning unit220(S1206).

1.9 Hardware Configuration Example

Next, a hardware configuration example of the information processing server20according to the first embodiment of the present disclosure will be described.FIG.31is a block diagram illustrating the hardware configuration example of the information processing server20according to the first embodiment of the present disclosure. Referring toFIG.31, the information processing server20includes, for example, a processor871, a ROM872, a RAM873, a host bus874, a bridge875, an external bus876, an interface877, an input device878, an output device879, a storage880, a drive881, a connection port882, and a communication device883. Note that the hardware configuration illustrated here is an example, and some of the components may be omitted. In addition, components other than the components shown here may be further included.

The processor871functions as, for example, an arithmetic processing device or a control device, and controls the overall operation of each component or a part thereof on the basis of various programs recorded in the ROM872, the RAM873, the storage880, or a removable recording medium901.

The ROM872is a unit that stores a program read by the processor871, data used for calculation, and the like. The RAM873temporarily or permanently stores, for example, the program read by the processor871, and various parameters that appropriately change when the program is executed.

The processor871, the ROM872, and the RAM873are mutually connected via, for example, the host bus874capable of high-speed data transmission. On the other hand, the host bus874is connected to, for example, the external bus876having a relatively low data transmission speed via the bridge875. In addition, the external bus876is connected to various components via the interface877.

As the input device878, for example, a mouse, a keyboard, a touch panel, a button, a switch, and a lever are used. Furthermore, as the input device878, a remote control capable of transmitting a control signal using infrared rays or other radio waves may be used. Furthermore, the input device878includes a voice input device such as a microphone.

The output device879is a device capable of visually or audibly notifying the user of acquired information, such as a display device including a cathode ray tube (CRT), a liquid crystal display (LCD), or an organic electroluminescent (EL) display, an audio output device including a speaker or a headphone, a printer, a mobile phone, or a facsimile. Furthermore, the output device879according to the present disclosure includes various vibration devices capable of outputting tactile stimulation.

The storage880is a device for storing various types of data. As the storage880, for example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device is used.

The drive881is, for example, a device that reads information recorded on the removable recording medium901such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, or writes information to the removable recording medium901.

The removable recording medium901is, for example, a DVD medium, a Blu-ray (registered trademark) medium, an HD DVD medium, various semiconductor storage media, or the like. Naturally, the removable recording medium901may also be, for example, an IC card on which a non-contact IC chip is mounted, an electronic device, or the like.

The connection port882is, for example, a port for connecting an external connection device902such as a universal serial bus (USB) port, an IEEE 1394 port, a small computer system interface (SCSI), an RS-232C port, or an optical audio terminal.

The external connection device902is, for example, a printer, a portable music player, a digital camera, a digital video camera, an IC recorder, or the like.

The communication device883is a communication device for connecting to a network, and is, for example, a communication card for wired or wireless LAN, Bluetooth (registered trademark), or wireless USB (WUSB), a router for optical communication, a router for asymmetric digital subscriber line (ADSL), a modem for various communications, or the like.

As described above, the information processing server20according to the first embodiment of the present disclosure includes the operation control unit230that controls the action of the autonomous mobile body10. Furthermore, one of the features of the operation control unit230according to the first embodiment of the present disclosure is to cause the autonomous mobile body to actively execute the inducing action that encourages communication between the user and the autonomous mobile body10. In addition, the inducing action and the communication include at least the behavior of the autonomous mobile body10in the physical space. According to this configuration, communication with the user can be more natural and effective.

Note that each step related to the processes of the information processing server20in the present specification is not necessarily processed in time series in the order described in the flowchart. For example, each step related to the processes of the information processing server20may be processed in an order different from the order described in the flowchart, or may be processed in parallel.

2. Second Embodiment

Next, a second embodiment of the present disclosure will be described in detail below with reference to the drawings. In the following description, configurations and operations similar to those of the above-described embodiment are cited to omit redundant description thereof.

First, an overview of the second embodiment of the present disclosure will be described. A posture control of a robot device (autonomous mobile body) is important in order to autonomously execute various actions, including movement, according to a situation of a user, surroundings, and the autonomous mobile body itself. The above posture control may include, for example, the posture control for controlling a balance of the autonomous mobile body on the basis of an angular velocity detected by a gyro sensor provided in the autonomous mobile body. According to such control, for example, it is possible to finely adjust the posture of the autonomous mobile body so that an unintended overturn does not occur.

On the other hand, even when the posture control is performed, it is common that the device main body becomes unstable when the autonomous mobile body does not move and stops on the spot. In addition, there is a tendency that the power cost increases by continuously executing the posture control to prevent autonomous mobile body from overturning while stopped.

The technical idea according to the present disclosure has been conceived focusing on the above points, and one of the features thereof is to increase a contact area with the installation surface by bringing the autonomous mobile body into the seated state when stopped, and to make the main body remain still in the stable state without the posture control. According to this feature, when the autonomous mobile body does not need to move, it is possible to effectively reduce power consumption by reliably stopping the autonomous mobile body on the spot and not performing unnecessary posture control.

Still more, one of the features of the autonomous mobile body according to the present embodiment is that the autonomous mobile body performs movement such as a back-and-forth motion, a turning motion, and a rotational motion in a standing state while retaining a forward inclination posture. According to this feature, even when the autonomous mobile body has a relatively simple outer shape, such as a long-elliptic shape, it is possible to eliminate an impression of being an artificial object by clearly evoking images of head and waist to give the user an image close to an actual living thing.

Hereinafter, the features of the autonomous mobile body according to the present embodiment and effects exerted by the features will be described in detail.

Note that the configuration of the autonomous mobile body according to the present embodiment may be similar to the configuration described with reference toFIGS.1,2,3,4,5,6,7,8,9,10,11,12,13AandFIG.13Bin the first embodiment described above, and thus a detailed description thereof will be omitted here.

2.2 Functional Configuration Example of Autonomous Mobile Body

Next, a functional configuration example of the autonomous mobile body10according to the second embodiment of the present disclosure will be described.FIG.32is a block diagram illustrating a functional configuration example of the autonomous mobile body10according to the present embodiment. As illustrated inFIG.32, the autonomous mobile body10according to the second embodiment has a configuration in which the control unit160is replaced with an operation control unit260in the same configuration as that of the autonomous mobile body10described with reference toFIG.15in the first embodiment.

The operation control unit260according to the present embodiment has a function of controlling each component included in the autonomous mobile body10. For example, the operation control unit260performs an action plan on the basis of the sensor information collected by the sensor unit110, and controls eyeball expression by the light source130and sound output by the voice output unit140. Furthermore, the operation control unit260may control the operation of the drive unit150on the basis of the action plan described above.

The functional configuration example of the autonomous mobile body10according to the second embodiment of the present disclosure has been described above. Note that the above-described configuration described with reference toFIG.32is merely an example, and the functional configuration of the autonomous mobile body10according to the second embodiment of the present disclosure is not limited to the example. For example, the operation of the autonomous mobile body10according to the present embodiment may be controlled by the information processing server20that communicates with the autonomous mobile body10, same as the autonomous mobile body10according to the first embodiment. In other words, the information processing system including the autonomous mobile body10according to the second embodiment may have the same configuration as the information processing system described with reference toFIG.14toFIG.16in the first embodiment. In this case, the autonomous mobile body10may include the communication unit170, transmit the sensor information to the information processing server20via the communication device530described above, and receive the control signal from the information processing server20. The functional configuration of the autonomous mobile body10according to the present embodiment can be flexibly modified according to the shape of the autonomous mobile body10or the like.

2.3 Details of Posture Control

Next, the posture control of the autonomous mobile body10by the operation control unit260according to the present embodiment will be described in detail. As described above, one of the features of the operation control unit260according to the present embodiment is to control the autonomous mobile body10to perform the movement while maintaining the forward inclination posture. The above-described function of the operation control unit260according to the present embodiment can realize ample actions and expressions closer to the actual living thing by providing directionality in the autonomous mobile body10.

Furthermore, the operation control unit260according to the present embodiment may perform different posture controls between the time of stopping and the time of moving.FIG.33is a diagram illustrating the posture controls during stoppage and during movement according to the present embodiment. The left side ofFIG.33illustrates a case where the autonomous mobile body10is not moving and stopping on the spot. In this state, the operation control unit260according to the present embodiment may house the wheels570inside the main body of the autonomous mobile body10, and the autonomous mobile body10may stay still in the seated state.

According to the above control by the operation control unit260according to the present embodiment, when the movement is not necessary, the autonomous mobile body10is firmly stopped by housing the wheels570inside the main body and making the bottom contact the installation surface, so that it is possible to prevent wobbling while stopping like a general robot device. Furthermore, according to the above control, the autonomous mobile body10can be stabilized without the posture control. Accordingly, power consumed for the posture control can be effectively reduced.

On the other hand, the right side ofFIG.33illustrates a case where the autonomous mobile body performs the movement. Here, the operation control unit260according to the present embodiment causes the wheels570to project outside of the main body of the autonomous mobile body10to maintain the standing state, and also performs the drive control and the posture control of the wheels570.

Note that, as described above, the operation control unit260causes the autonomous mobile body10to maintain the forward inclination posture by controlling the center of gravity CoG of the autonomous mobile body10to be positioned vertically above the wheels570. Here, the operation control unit260may adjust the position of the wheels570in accordance with the position of the center of gravity CoG.

The above control by the operation control unit260according to the present embodiment can cause the autonomous mobile body10to perform the movement in a state the forward inclination posture is maintained. Even in a case where the autonomous mobile body10has a relatively simple outer shape, it is possible to realize ample actions and expressions closer to the actual living thing.

Note that, the example illustrated inFIG.33shows that the autonomous mobile body10maintains the forward inclination posture even in the seated state. However, the posture in the seated state according to the present embodiment is not limited to the example.FIG.34illustrates an example that the autonomous mobile body10according to the present embodiment takes an upright posture in the seated state. In the example illustrated inFIG.34, it can be seen that the bottom surface is formed such that an angle of the bottom surface is perpendicular to a body axis of the main body. As described above, the posture of the autonomous mobile body10in the seated state can be appropriately adjusted by changing the angle of the bottom surface.

As illustrated inFIG.33, when the bottom surface is obliquely angled with respect to the body axis so that the front side opens, it is possible to further reduce the possibility that the lower front portion comes into contact with a traveling surface during the movement. On the other hand, as illustrated inFIG.34, when the angle of the bottom surface is perpendicular to the body axis, an effect of more stable stopping of the autonomous mobile body10can be expected in the seated state.

However, in this case, in the seated state as illustrated on the left side ofFIG.34, the center of gravity CoG of the autonomous mobile body10is deviated from the rotation axis of the wheels570. Here, when no control is performed, the main body of the autonomous mobile body10moves backward by the center of gravity CoG at the moment of transfer to the standing state.

In order to prevent the above situation, the operation control unit260according to the present embodiment may rotate the wheels570based on a deviation amount between the center of gravity CoG of the autonomous mobile body10and the rotation axis of the wheels570in the vertical direction at the time of transfer from the seated state to the standing state.

FIG.35is a diagram illustrating the wheel control at the time of transfer to the standing state according to the present embodiment.FIG.35illustrates a condition when the wheel570of the autonomous mobile body10comes into contact with the traveling surface as the wheel570is projected. At this point, the operation control unit260according to the present embodiment may perform the posture control after rotating the wheel570for the above deviation amount+α to position the center of gravity CoG on a vertical line of the rotation axis of the wheels570. According to the above control by the operation control unit260, even when a deviation occurs between the center of gravity and the rotation axis of the wheel570in the seated state, the deviation is offset, and the autonomous mobile body10can be stably transferred to the standing state without moving backward.

The above description refers to the example that the deviation occurs between the center of gravity and the rotation axis by forming the bottom surface perpendicular to the body axis. However, the deviation as described above can also occur when the traveling surface is tilted as illustrated inFIG.36. In an example illustrated inFIG.36, an angle of the bottom surface is same as that of the example illustrated inFIG.33. However, since the traveling surface is tilted, the center of gravity CoG in the seated state deviates from the rotation axis of the wheel570.

However, even in this case, as described with reference toFIG.35, the operation control unit260can stably transfer the autonomous mobile body10to the standing state without moving backward by rotating the wheels570on the basis of the deviation amount between the center of gravity CoG and the rotation axis of the wheels570in the vertical direction.

The posture control in the seated state and the standing state according to the present embodiment has been described above. Next, the posture control using a flywheel according to the present embodiment will be described. In addition to the above-described configuration, the autonomous mobile body10according to the present embodiment may further include a flywheel610. The operation control unit260according to the present embodiment can realize the posture control of the autonomous mobile body10with higher accuracy by using a gyro effect generated by the rotation of the flywheel610.

FIG.37is a diagram illustrating an arrangement of the flywheel610according to the present embodiment.FIG.37illustrates an arrangement relationship of the flywheel and the substrate505according to the present embodiment from various angles. As illustrated inFIG.37, the flywheel610according to the present embodiment is arranged inside the substrate505on which the eye part510and the camera515are arranged. The flywheel610according to the present embodiment can be arranged on a gimbal interlocked with the substrate505so as to have three rotation axes.

A rotation axis Rw illustrated on the left side ofFIG.37is an axis for rotating the flywheel610at high speed. The operation control unit260according to the present embodiment drives a motor565wto rotate the flywheel610at high speed, and the posture of the autonomous mobile body10can be maintained more stably by a generated gyro effect.

In addition, a rotation axis Ra illustrated in the center ofFIG.37is an axis for rotating the flywheel610in a tilt direction in conjunction with the substrate505. By driving a motor565a, the operation control unit260according to the present embodiment can tilt the substrate505and the flywheel rotating at high speed in the tilt direction, so that a large rotational force can be generated by the gyro effect.

A rotation axis Rb illustrated on the right side ofFIG.37is an axis for rotating the flywheel610in a pan direction in conjunction with the substrate505. The operation control unit260according to the present embodiment can adjust orientation of the substrate505and the flywheel610in the pan direction by driving a motor565b. According to the above control, it is possible to determine a direction to generate the rotational force by the gyro effect in an arbitrary direction.

The arrangement of the flywheel610according to the present embodiment has been described above. Next, recovery from the overturned state using the flywheel610according to the present embodiment will be described. As described above, the operation control unit260according to the present embodiment can generate a large rotational force due to the gyro effect by rotating the flywheel610at high speed and tilting the flywheel610rotating at high speed in the tilt direction.

FIG.38is a diagram illustrating the rotational force generated by the gyro effect of the flywheel610according to the present embodiment. When the posture control is performed using the rotational force, the operation control unit260first causes the flywheel610to rotate at high speed about the rotation axis Rw to maintain a large angular momentum.

Next, the operation control unit260according to the present embodiment generates a large rotational force by the gyro effect by tilting the flywheel610rotating at high speed in the tilt direction around the rotation axis Ra. At this point, a generation direction D of the rotational force generated by the gyro effect is perpendicular to the rotation axes Rw and Ra as illustrated inFIG.38. The operation control unit260according to the present embodiment can recover the autonomous mobile body10to the standing state from the overturned state, for example, by using the rotational force generated as described above.

FIG.39toFIG.42are diagrams illustrating a flow of recovery control from the overturned state according to the present embodiment.FIG.39is a diagram illustrating an example that the autonomous mobile body10has overturned sideways. In this case, the operation control unit260detects the direction of the autonomous mobile body10in the overturned state on the basis of the sensor information collected by the sensor unit110.

Next, based on the direction detected above, the operation control unit260drives the motor565bto rotate the substrate505and the flywheel610in the pan direction about the rotation axis Rb so that the substrate505faces a rising direction as illustrated inFIG.40. In other words, the operation control unit260can adjust the generation direction of the rotational force using the gyro effect by tilting the flywheel610in the pan direction. According to the above control, although the autonomous mobile body10overturns in any direction, the autonomous mobile body10can be recovered to the standing state at a correct mechanical position.

Next, as illustrated inFIG.41, the operation control unit260drives the motor565wto rotate the flywheel610at high speed. Here, when the rotation speed of the flywheel610exceeds a threshold, the operation control unit260drives the motor565ato tilt the substrate505and the flywheel610at high speed in the tilt direction around the rotation axis Ra.

According to the control described above, the autonomous mobile body10can recover from the overturned state to the standing state as illustrated inFIG.42by the rotational force using the gyro effect.

Note that the operation control unit260according to the present embodiment is not limited to recovery from the overturned state described above, and can perform various operation controls using the flywheel610. For example, by using the gyro effect of the flywheel610, the operation control unit260can also stop the body axis of the autonomous mobile body10close to horizontal, or recover the body axis from this state to the standing state. Furthermore, for example, the operation control unit260can also cause the autonomous mobile body10to execute jumping, forward rotation, side rotation, and the like. The flywheel610and the operation control unit260according to the present embodiment can realize the stable posture control of the autonomous mobile body10and also realize more ample actions and expressions.

As described above, the autonomous mobile body10according to the second embodiment of the present disclosure includes the wheels570capable of being housed inside the main body and projected outside the main body. In addition, when the autonomous mobile body10moves, the operation control unit260according to the second embodiment of the present disclosure projects the wheels570outside the main body to maintain the standing state, and performs the drive control of the wheels570and the posture control of the autonomous mobile body10. Further, when the autonomous mobile body10is stopped, the operation control unit260stops the autonomous mobile body10in the seated state by housing the wheels570inside the main body. According to this configuration, the autonomous mobile body can realize ample actions and expressions with easier posture control.

Other configurations, operations, and effects may be similar to those of the above-described embodiment, and thus detailed description thereof is omitted here.

Next, a third embodiment of the present disclosure will be described in detail below with reference to the drawings. In the following description, configurations and operations similar to those of the above-described embodiment are cited to omit redundant description thereof.

In the present embodiment, a more specific configuration of the sensor unit110mounted on the autonomous mobile body10according to the above-described embodiments will be described with an example.

Note that the configuration of the autonomous mobile body according to the present embodiment may be similar to the configuration described with reference toFIGS.1,2,3,4,5,6,7,8,9,10,11,12,13AandFIG.13Bin the first embodiment described above, and thus a detailed description thereof will be omitted here. In the present embodiment, a case where the functional configuration example described with reference toFIG.32in the above-described second embodiment is adopted as the functional configuration of the autonomous mobile body. However, the present embodiment is not limited thereto, and for example, the information processing system described with reference toFIG.14toFIG.16in the above-described first embodiment can also be adopted.

3.1 Configuration Example of Sensor Unit

FIG.43andFIG.44are schematic diagrams illustrating a configuration example of the sensor unit mounted on the autonomous mobile body according to the third embodiment of the present disclosure.FIG.43is a schematic diagram illustrating a sensor position when the autonomous mobile body10is viewed from a side, andFIG.44is a schematic diagram illustrating the sensor position when the autonomous mobile body10is viewed from above.

As illustrated inFIG.43andFIG.44, the autonomous mobile body10according to the present embodiment includes, for example, a first obstacle sensor1101, second obstacle sensors1102and1103, first to fourth floor surface sensors1111to1114, a proximity sensor1121, and a torque sensor1122. Further, the autonomous mobile body10also includes the inertial sensor525and the camera515as in the above-described embodiments.

The first obstacle sensor1101is provided, for example, on the front of the autonomous mobile body10in the standing state, and detects an obstacle or an object such as a person present in a relatively wide angle range in a front forward of the autonomous mobile body10. The first obstacle sensor1101may be, for example, a millimeter wave radar sensor. However, the present invention is not limited thereto, and for example, various sensors capable of detecting an object such as an obstacle or a person can be applied to the first obstacle sensor1101. This includes a three-dimensional ToF sensor that detects a distance to the object or a shape of the object using reflected light, a ToF sensor that uses an infrared light source or a near-infrared light source as a light source, an ultrasonic sensor that emits an ultrasonic wave and detects a distance to the object and the like based on reflection of the ultrasonic wave, a camera that images the object, and the like.

The second obstacle sensor1102is provided, for example, on the front right side of the autonomous mobile body10in the standing state, and detects an obstacle or an object such as a person present in a right forward direction of the autonomous mobile body10. On the other hand, the second obstacle sensor1103is provided, for example, on the front left side of the autonomous mobile body10in the standing state, and detects an obstacle or an object such as a person present in a left forward direction of the autonomous mobile body10. These second obstacle sensors1102and1103may be, for example, one-dimensional ToF sensors that measure a distance to an object existing in one direction. However, the present invention is not limited thereto, and various sensors, such as a millimeter wave radar sensor, a three-dimensional ToF sensor, and an ultrasonic sensor, capable of detecting an obstacle or an object such as a person can be applied to the second obstacle sensors1102and1103.

As illustrated inFIG.44, a detection range of the first obstacle sensor1101and a detection range of the second obstacle sensor1102or1103overlap with each other. In other words, the present embodiment is configured such that the first obstacle sensor1101and the second obstacle sensor1102detect an object present in the right forward direction of the autonomous mobile body10, and the first obstacle sensor1101and the second obstacle sensor1103detect an object present in the left forward direction of the autonomous mobile body10.

(First to Fourth Floor Surface Sensors1111to1114)

The first to fourth floor surface sensors1111to1114are, for example, arranged along an outer periphery of the autonomous mobile body10in the standing state, and detect the shape of the floor surface around the autonomous mobile body10. The floor surface on which the autonomous mobile body10is placed refers to, for example, the floor surface such as a wooden floor or a tatami (knitted straw) mat and a top surface of the top plate of a table, a desk, or the like. A shape of the floor surface may be an outer edge of the top surface of the top plate, a shape of a room, a corridor, or the like partitioned by a wall, a rail, or the like. Note that, in the following description, the outer edge of the top surface of the top plate, or walls and rails that partition a room, a corridor, and the like are referred to as a “boundary”.

For example, the first floor surface sensor1111is provided obliquely downward toward the front right of the autonomous mobile body10in the standing state, and detects the boundary in the right forward direction of the autonomous mobile body10. Similarly, the second floor surface sensor1112is provided obliquely downward on the left front of the autonomous mobile body10in the standing state to detect the boundary in the left forward direction of the autonomous mobile body10, the third floor surface sensor1113is provided obliquely downward on the right back of the autonomous mobile body10in the standing state to detect the boundary in the right backward direction of the autonomous mobile body10, and the fourth floor surface sensor1114is provided obliquely downward on the left back of the autonomous mobile body10in the standing state to detect the boundary in the left backward of the autonomous mobile body10. The first to fourth floor surface sensors1111to1114on the outer periphery of the autonomous mobile body10may be, for example, installed at 90-degree intervals.

These first to fourth floor surface sensors1111to1114may be, for example, one-dimensional ToF sensors. However, the present invention is not limited thereto, and various sensors, such as an ultrasonic sensor and a proximity sensor, can be applied to the first to fourth floor surface sensors1111to1114as long as the sensors can detect a distance to an object (floor surface, etc.) present at a position obliquely downward where each sensor faces or identify the boundary shape.

The proximity sensor1121is provided, for example, on the bottom of the autonomous mobile body10in the standing state or the seated state, and detects whether or not an object such as a floor is in proximity to the bottom of the autonomous mobile body10. In other words, the proximity sensor1121detects, for example, whether the autonomous mobile body10is placed in the standing or seated state with respect to the floor surface or the like, lifted by the user or the like, or placed in a horizontal state with respect to the floor surface or the like. Note that, instead of the proximity sensor1121, a sensor capable of determining whether or not an object such as the floor surface is in proximity to the bottom of the autonomous mobile body10, such as a ToF sensor, may be used.

The torque sensor1122is provided, for example, on the axle of the wheels570and detects torque generated on the axle. As the torque sensor1122, for example, various torque sensors such as a magnetostrictive type, a strain gauge type, a piezoelectric type, an optical type, a spring type, and a capacitance type may be adopted.

As described in the first embodiment, the inertial sensor525may be, for example, a sensor such as an inertial measurement unit (IMU) that is capable of detecting at least one of acceleration, angle, angular velocity, angular acceleration, and the like.

The camera515is an imaging device that images a user and a surrounding environment. Image data acquired by the camera515may be, for example, provided to the user as a photograph or may be used for user's face recognition.

Note that the sensor unit110may further include various sensors such as a microphone for inputting sound such as voice uttered by the user, and a global positioning system (GPS) for measuring the position of the autonomous mobile body10.

3.2 Operation Example Based on Detection Result

Next, a control operation based on the detection result obtained by the sensor unit110configured as above will be described with some examples.

3.2.1 Collision Prevention Operation

Collision prevention operation is an operation in which the autonomous mobile body10avoids an obstacle present in a traveling direction or a travel route to prevent a collision. The collision prevention operation includes, for example, an obstacle detection operation and an obstacle avoidance operation. The obstacle detection and avoidance are executed using the first obstacle sensor1101and the second obstacle sensors1102and1103of the sensor unit110.

Here, the first obstacle sensor1101and the second obstacle sensors1102and1103are preferably different types of sensors. For example, when a millimeter wave radar sensor is used as the first obstacle sensor1101, it is preferable to use a sensor type different from the millimeter wave radar sensor for the second obstacle sensors1102and1103, such as the one-dimensional ToF sensor.

Specifically, the operation control unit260determines whether an obstacle is present in the traveling direction or the travel route of the autonomous mobile body10based on the detection result obtained from the first obstacle sensor1101and the detection result obtained from the second obstacle sensor1102and/or1103. When the obstacle is detected in at least one of the first obstacle sensor1101and the second obstacle sensor1102and/or1103, the operation control unit260determines that an obstacle is present on the traveling direction or the travel route of the autonomous mobile body10.

As described above, by using different types of sensors for the first obstacle sensor1101and the second obstacle sensors1102and1103, it is possible to detect the obstacle more reliably.

In other words, the millimeter wave radar sensor, the one-dimensional ToF sensor, the ultrasonic sensor, and the like have different detection accuracy depending on the size, shape, material, color, and the like of a target object, and also have different robustness against changes in detection conditions such as flaw and adhesion of dust. For example, the millimeter wave radar sensor has low detection accuracy with respect to a transparent object, and the detection accuracy of the distance measuring sensor such as the one-dimensional ToF sensor greatly reduces due to flaw or adhesion of dust on a sensor window. Therefore, by using different types of sensors for the first obstacle sensor1101and the second obstacle sensors1102and1103and determining that the obstacle is present when the obstacle is detected by any of the sensors, it is possible to improve the robustness against types of detection targets, detection conditions, and the like.

Then, when it is determined that there is an obstacle to be avoided in the traveling direction or on the travel route, the operation control unit260executes an operation for avoiding the obstacle (obstacle avoidance operation). Specifically, the operation control unit260determines whether to avoid the obstacle to the right or left side based on the traveling direction and/or the travel route of the autonomous mobile body10and the position of the obstacle, and causes the autonomous mobile body10to travel in the determined direction.

Here, the operation control unit260may perform the obstacle avoidance operation with various methods such as the obstacle avoidance operation by updating the travel route to a destination to include a route for avoiding the obstacle, or determining a new travel route to the destination based on the current position of the autonomous mobile body10after avoiding the obstacle. Furthermore, the obstacle avoidance operation may include deceleration, stop, and the like of the autonomous mobile body10.

Detection results obtained by the second obstacle sensors1102and1103may be used for determining whether to avoid the obstacle to the right or left. For example, the operation control unit260may control the autonomous mobile body10to pass on the left side of the obstacle when the obstacle is detected by the second obstacle sensor1102arranged on the right front surface, and to pass on the right side of the obstacle when the obstacle is detected by the second obstacle sensor1103arranged on the left front surface.

3.2.2 Fall and Collision Prevention Operation

The fall and collision prevention operation is an operation for preventing the autonomous mobile body10from falling from a table or the like or from colliding with a wall. The fall and collision prevention operation includes, for example, a boundary detection operation and a boundary avoidance operation, and the boundary is detected and avoided using a plurality of (four in this example) first to fourth floor surface sensors1111to1114.

As described above, the first to fourth floor surface sensors1111to1114are arranged, for example, along the outer periphery of the autonomous mobile body10in the standing state. Therefore, it is possible to detect the shape of the boundary around the autonomous mobile body10by using the first to fourth floor surface sensors1111to1114. Accordingly, even when the autonomous mobile body10travels in any direction, it is possible to prevent the autonomous mobile body10from falling from the table or the like or from colliding with the wall.

However, for example, in a case where a distance measuring sensor such as the one-dimensional ToF sensor is used as the first to fourth floor surface sensors1111to1114, detection accuracy greatly reduces due to flaw or adhesion of dust on the sensor window.

Therefore, in the present embodiment, in addition to an absolute value of a value detected by each of the first to fourth floor surface sensors1111to1114, a position, distance, and the like of the boundary in each direction are detected based on a change amount of the values detected by each of the first to fourth floor surface sensors1111to1114. Specifically, for example, the operation control unit260monitors the change amount (differential value) of values detected by the first to fourth floor surface sensors1111to1114, and estimates or identifies the position, the distance, or the like of the boundary in each direction from both values of a distance to the boundary obtained from the absolute value of the value detected by each of the first to fourth floor surface sensors1111to1114and the change amount of the values detected by the first to fourth floor surface sensors1111to1114.

Here, in general, the one-dimensional ToF sensor or the like used for the first to fourth floor surface sensors1111to1114has an individual value, and its distance measurement accuracy differs by individual sensor. In such a case, it is possible to enhance robustness with respect to distance measurement and detection accuracy by calibrating each of the first to fourth floor surface sensors1111to1114before shipment of the autonomous mobile body10or when the autonomous mobile body10is initially activated.

The present embodiment gives an example of arranging the four floor surface sensors1111to1114along the outer periphery of the autonomous mobile body10. However, the number of floor surface sensors to be arranged is not limited to four, and may be variously changed. In this case, the number of floor surface sensors is determined in consideration with spreading of the detection range of each floor surface sensor. This makes it possible to accurately detect the presence of the boundary around the autonomous mobile body10, the distance to the boundary, and the like.

Then, when it is determined that there is the boundary on the traveling direction or the travel route, the operation control unit260executes an operation for avoiding the boundary (boundary avoidance operation). Specifically, the operation control unit260determines whether to change the traveling direction to the right or left side based on the traveling direction and/or the travel route of the autonomous mobile body10and the boundary position, and corrects the traveling direction of the autonomous mobile body10to the determined direction.

Here, the operation control unit260may perform the boundary avoidance operation with various methods such as the boundary avoidance operation by updating the travel route to a destination to include a route for avoiding the boundary, or determining a new travel route to the destination based on the current position of the autonomous mobile body10after the boundary avoidance operation for avoiding the boundary. Furthermore, the boundary avoidance operation may include deceleration, stop, and the like of the autonomous mobile body10.

3.2.3 Idling Prevention Operation

The idling prevention operation is an operation for preventing the wheels570from idling when the autonomous mobile body10is lifted by the user or the like, dropped from a table or the like, overturned, or the like. The idling prevention operation includes, for example, detecting the lifting and the like and a wheel stop operation. The proximity sensor1121, the torque sensor1122, and the inertial sensor525are used for detecting lifting and the like of the autonomous mobile body10and stopping the wheels570. The first to fourth floor surface sensors1111to1114may be further used for detecting the lifting and the like.

For example, when at least one or a predetermined number or more of the following conditions (1) to (4) are satisfied while the autonomous mobile body10is traveling, the operation control unit260stops the rotation of the wheels570in order to prevent further idling of the wheels570.(1) When the proximity sensor1121detects that the bottom of the autonomous mobile body10is separated from the floor surface(2) When the inertial sensor525detects an acceleration change in a predetermined direction (e.g., Z-axis direction).(3) When values of all of the first to fourth floor surface sensors1111to1114change for a predetermined value or more.(4) When a torque detected by the torque sensor1122does not change for a certain period of time or more.

In this way, by configuring to detect idling (or the possibility thereof) of the wheels570using different types of sensors, it is possible to more reliably prevent the idling of the wheels570. For example, even when the proximity sensor1121is covered by the user's hand, or the autonomous mobile body10is slowly lifted and the inertial sensor525cannot detect the acceleration change in the vertical direction (Z-axis direction), lifting, falling, overturning, or the like of the autonomous mobile body10can be detected on the basis of detection results of other sensors to stop the rotation of the wheels570.

To supplement the condition (4), when the autonomous mobile body10stands still or travels in an inverted state, for example, the motor565applies a periodically changing torque to the axle of the wheels570in order to maintain the inverted state of the autonomous mobile body10. Therefore, during this period, the torque sensor1122detects the torque that periodically changes. The torque that the motor565applies to the axle is controlled by, for example, a feedback control based on a value detected by the inertial sensor525. Therefore, for example, when acceleration detected by the inertial sensor525is not accompanied with a periodic change, due to the autonomous mobile body10being lifted, dropped, or overturned, the torque detected by the torque sensor1122is also not accompanied with the periodic change. Therefore, in the present embodiment, when the torque detected by the torque sensor1122does not change for a certain period of time or more, the operation control unit260may determine that the autonomous mobile body10has been lifted, dropped, or overturned.

In addition, conditions for determining whether the autonomous mobile body10is lifted, dropped, or overturned is not limited to the above conditions. For example, in a case where the condition (1) is satisfied, the operation control unit260may determine that the autonomous mobile body10is lifted, dropped, or overturned regardless of other conditions. Further, regarding the condition (2), when the acceleration change in the Z-axis direction detected by the inertial sensor525exceeds a preset threshold, the operation control unit260may determine that the autonomous mobile body10has been lifted, dropped, or overturned. Further, regarding the condition (3), when the change amount of the values detected by each of the first to fourth floor surface sensors1111to1114is a predetermined value or more, the operation control unit260may determine that the autonomous mobile body10is lifted, dropped, or overturned. Furthermore, regarding the condition (4), in a case where the torque detected by the torque sensor1122suddenly decreases, the operation control unit260may determine that the autonomous mobile body10is lifted, dropped, or overturned.

Note that the operation control unit260according to the present embodiment may determine whether or not the autonomous mobile body10is in the standing state (also referred to as the inverted state) on the basis of the detection results acquired by the first to fourth floor surface sensors. Then, when the autonomous mobile body10is determined to be in the inverted state based on the detection results, the operation control unit260may control the motor565, which is the drive mechanism of the wheels570, to maintain the inverted state of the autonomous mobile body10.

Furthermore, in the present embodiment, in addition to the above-described operation examples, a human sensing operation for detecting whether or not the user or the like is present nearby, a breath detecting operation for detecting a breath of the user or the like, a gesture detecting operation for detecting a gesture by the user or the like, and the like may be executed on the basis of detection results obtained by the sensor unit110.

For example, the human sensing operation may be the operation of detecting whether a person or the like is present around the autonomous mobile body10and switching between the normal mode and the standby mode based on the detection result. In addition, the breath detecting operation may be the operation of detecting breath of a person, a pet animal, or the like and identifying a health condition, a mental condition, or the like of the detection target based on the detection result. Furthermore, the gesture detecting operation may be the operation of detecting a gesture motion of a person or the like and executing a reaction or behavior according to the detected gesture motion. For these operations, the first obstacle sensor1101or other sensors may be used.

3.3 Flow of Control Based on Sensor Result

Next, a flow of control of the autonomous mobile body10based on a result detected by the sensor unit110according to the present embodiment will be described in detail. In the following description, for the sake of simplicity, a case where the autonomous mobile body10is placed on a table will be exemplified.

3.3.1 Main Operation (Including Obstacle and Boundary Avoidance Operation)

FIG.45is a flowchart illustrating an example of a main operation executed by the operation control unit according to the present embodiment. As illustrated inFIG.45, in the main operation, first, the operation control unit260sets, for example, a destination of the autonomous mobile body10(Step S2001). For example, the operation control unit260identifies a position of a face of the user on the basis of the image data acquired by the camera515, a position of an object detected by the first obstacle sensor1101, and the like, and sets a position on the table near the identified position of the face as the destination. After setting the destination, the operation control unit260determines a travel route to the destination set in Step S2001(Step S2002). Note that, for example, a technique such as SLAM (including simplified SLAM) may be used for setting the destination and determining the travel route.

When the travel route to the destination is determined in this manner, the operation control unit260drives the motor565or the like to cause the autonomous mobile body10to start traveling along the travel route (Step S2003).

During traveling, the operation control unit260detects a boundary or an obstacle by monitoring, continuously or at a predetermined cycle, detection values from the first obstacle sensor1101, the second obstacle sensors1102and1103, and the first to fourth floor surface sensors1111to1114(Step S2004). When no boundary or obstacle is detected (NO in Step S2004), the operation control unit260proceeds to Step S2007. On the other hand, when a boundary or an obstacle is detected (YES in Step S2004), the operation control unit260executes the boundary avoidance operation or the obstacle avoidance operation (Step S2005). Furthermore, the operation control unit260recalculates the travel route to the destination to update the travel route to the destination (Step S2006), and proceeds to Step S2007.

In Step S2007, the operation control unit260determines whether or not the autonomous mobile body10has arrived at the destination. When the autonomous mobile body10has not arrived at the destination (NO in Step S2007), the operation control unit260returns to Step S2004and repeats the subsequent operations until the autonomous mobile body10arrives at the destination. On the other hand, when the autonomous mobile body10has arrived at the destination (YES in Step S2007), the operation control unit260determines whether or not to end the present operation (Step S2008). To end the present operation (YES in Step S2008), the operation control unit260completes the present operation. On the other hand, to continue (NO in Step S2008), the operation control unit260returns to Step S2001and executes subsequent operations.

3.3.2 Idling Prevention Operation

In addition, the operation control unit260executes the idling prevention operation separately from the main operation described with reference toFIG.45.FIG.46is a flowchart illustrating an example of the idling prevention operation according to the present embodiment.

As illustrated inFIG.46, in the present operation, the operation control unit260detects lifting, falling, or overturning of the autonomous mobile body10by monitoring, continuously or at a predetermined cycle, detection values from the proximity sensor1121, the inertial sensor525, the first to fourth floor surface sensors1111to1114, and the torque sensor1122(Step S2101).

When lifting or the like of the autonomous mobile body10is detected (YES in Step S2101), the operation control unit260executes the operation to stop the rotation of the wheels570(Step S2102). Even in this state, the operation control unit260monitors, continuously or at a predetermined cycle, the detection values from the proximity sensor1121, the inertial sensor525, the first to fourth floor surface sensors1111to1114, and the torque sensor1122.

Thereafter, the operation control unit260detects that the autonomous mobile body10is placed on the floor surface or the table based on the detection values acquired from the proximity sensor1121, the inertial sensor525, the first to fourth floor surface sensors1111to1114, and/or the torque sensor1122(Step S2103).

When the placement of the autonomous mobile body10on the floor surface or the like is detected (YES in Step S2103), the operation control unit260cancels stoppage of the wheels570(Step S2104). Accordingly, in order to return the autonomous mobile body10to a state ready for travel, the operation control unit260executes the operation described with reference toFIG.45from the beginning, for example, to determine the travel route to the destination and cause the autonomous mobile body10to travel to the destination.

Then, the operation control unit260determines whether or not to end the present operation (Step S2105). To end the present operation (YES in Step S2105), the operation control unit260completes the present operation. On the other hand, to continue (NO in Step S2105), the operation control unit260returns to Step S2101and executes subsequent operations.

3.3.3 Mode Switching Operation

In addition, the operation control unit260executes a mode switching operation for switching between the normal operation mode and the standby mode separately from the main operation described with reference toFIG.45. Note that the normal operation mode may be a mode executing an interactive operation with the user mainly including the main operation illustrated inFIG.45, and the standby mode may be a mode in which the operation of the autonomous mobile body10is stopped to save power. Furthermore, in the present description, for the sake of simplicity, it is assumed that the normal operation mode is first executed when the autonomous mobile body10is activated.

FIG.47is a flowchart illustrating an example of the mode switching operation according to the present embodiment. As illustrated inFIG.47, in the present operation, for example, the operation control unit260first sets the human detection rate for the human sensing operation using the first obstacle sensor1101to a first human detection rate (Step S2201), and executes the human sensing operation at the set first human detection rate (Step S2202). Note that the first human detection rate may be, for example, a rate necessary and sufficient for interactive communication with the user, such as once every 0.1 seconds or once every 1 second.

Then, for example, when a state in which no person is detected continues for a certain period of time or more (NO in Step S2202), the operation control unit260switches the operation mode of the autonomous mobile body10to the standby mode (Step S2203). Then, the operation control unit260sets the human detection rate for the human sensing operation using the first obstacle sensor1101to, for example, a second human detection rate lower than the first human detection rate (Step S2204), and executes the human sensing operation at the set second human detection rate (Step S2205). Note that the second human detection rate may be a rate lower than the first human detection rate, for example, once every 10 seconds, once per minute, or the like.

Next, when a person is detected (YES in Step S2205), the operation control unit260returns the operation mode of the autonomous mobile body10to the normal mode (Step S2206), and sets the human detection rate for the human sensing operation using the first obstacle sensor1101to the first human detection rate (Step S2207).

Then, the operation control unit260determines whether or not to end the present operation (Step S2208). To end the present operation (YES in Step S2208), the operation control unit260completes the present operation. On the other hand, to continue (NO in Step S2208), the operation control unit260returns to Step S2202and executes subsequent operations.

3.3.4 Human Detection Rate Switching Operation

The human detection rate during the normal operation mode may be switched, for example, according to a traveling speed of the autonomous mobile body10.FIG.48is a flowchart illustrating an example of the human detection rate switching operation according to the present embodiment.

As illustrated inFIG.48, in the present operation, first, the operation control unit260sets the human detection rate to the first human detection rate in the normal operation mode immediately after the activation of the autonomous mobile body10(Step S2301). Step S2301may be same as Step S2201inFIG.47.

Next, the operation control unit260determines whether the autonomous mobile body10is traveling or stopping, for example, based on a detection value from the torque sensor1122(Step S2302). When the autonomous mobile body10is currently stopped (NO in Step S2302), the operation control unit260proceeds to Step S2307.

On the other hand, when the autonomous mobile body10is traveling (YES in Step S2302), the operation control unit260sets a third human detection rate according to the traveling speed of the autonomous mobile body10(Step S2303). For example, when the autonomous mobile body10has a function of changing the traveling speed in four stages, different third human detection rates may be set in advance for the respective stages. In this case, the higher the traveling speed, the higher the third human detection rate may be set.

Subsequently, the operation control unit260detects the traveling speed of the autonomous mobile body10on the basis of, for example, a detection value from the torque sensor1122, and monitors whether or not there is a change in the traveling speed (Step S2304). When there is a change in the traveling speed (YES in Step S2304), the operation control unit260determines whether the autonomous mobile body10has stopped (Step S2305), and when not stopped (NO in Step S2305), the process returns to Step S2303to set the third human detection rate according to the changed traveling speed. On the other hand, when the autonomous mobile body10is stopped (YES in Step S2305), the operation control unit260sets the first human detection rate (Step S2306), and proceeds to Step S2307.

In Step S2307, the operation control unit260determines whether or not to end the present operation. To end the present operation (YES in Step S2307), the operation control unit260completes the present operation. On the other hand, to continue (NO in Step S2307), the operation control unit260returns to Step S2302and executes subsequent operations.

3.3.5 Mapping Operation

Furthermore, the autonomous mobile body10according to the present embodiment may execute an operation of creating a map on which obstacles, boundaries, and the like present around the autonomous mobile body10are mapped (mapping operation) on the basis of detection results from the first obstacle sensor1101, the second obstacle sensors1102and1103, the first to fourth floor surface sensors1111to1114, and the like.

FIG.49is a flowchart illustrating an example of the mapping operation according to the present embodiment. As illustrated inFIG.49, in the present operation, the operation control unit260first determines a position (hereinafter, referred to as a self-position) of the autonomous mobile body10(Step S2401). The self-position may be, for example, a position on a two-dimensional map in which a position of the autonomous mobile body10at the time of activation or a position at which the autonomous mobile body10first stops after activation is set as a start point (origin) and a direction of the autonomous mobile body10at that time is set as the X-axis direction.

Note that the coordinates on the two-dimensional map of the position of the autonomous mobile body10(self-position) with respect to the origin may be determined by using various methods such as coordinates obtained from a moving distance and a direction of the autonomous mobile body10detected by an encoder (or a potentiometer) provided on the axle of the wheel570, coordinates obtained from inertia generated in the autonomous mobile body10detected by the inertial sensor525, coordinates obtained from a relative position with respect to a mark (feature point) in image data acquired by the camera515, coordinates obtained from a relative position with respect to an obstacle detected by the first obstacle sensor1101and the second obstacle sensors1102and1103, coordinates obtained from a relative position with respect to a boundary detected by the first to fourth floor surface sensors1111to1114, and coordinates obtained based on at least one of these.

Next, the operation control unit260detects the boundary or the obstacle by monitoring, continuously or at a predetermined cycle, detection values from the first obstacle sensor1101, the second obstacle sensors1102and1103, and the first to fourth floor surface sensors1111to1114(Step S2402). When no boundary or obstacle is detected (NO in Step S2402), the operation control unit260proceeds to Step S2407.

On the other hand, when the boundary or the obstacle is detected (YES in Step S2402), the operation control unit260determines whether the detected item is a boundary (Step S2403). When the boundary is detected (YES in Step S2403), the operation control unit260arranges the position of the detected boundary on the two-dimensional map (Step S2404), and proceeds to Step S2407.

When the detected object is not a boundary (NO in Step S2403), the operation control unit260determines whether or not the detected object is an obstacle (Step S2405). When the obstacle is detected (YES in Step S2405), the operation control unit260arranges the position of the detected obstacle on the two-dimensional map (Step S2406), and proceeds to Step S2407. When the detected object is neither a boundary nor an obstacle (NO in Step S2405), the operation control unit260proceeds directly to Step S2407.

In Step S2407, the operation control unit260determines whether or not to end the present operation. To end the present operation (YES in Step S2407), the operation control unit260completes the present operation. On the other hand, to continue (NO in Step S2407), the operation control unit260returns to Step S2401and executes subsequent operations.

By executing the above operation, a two-dimensional map in which boundaries and obstacles are arranged is created. Note that the data of the two-dimensional map may be stored in, for example, the RAM873or the storage880provided in the autonomous mobile body10, or may be stored in the removable recording medium901(seeFIG.31).

As described above, according to the third embodiment of the present disclosure, it is possible to detect the obstacle using a plurality of sensors (first obstacle sensor1101, second obstacle sensors1102and1103) of different types. Accordingly, it is possible to more reliably detect and avoid the obstacle.

Furthermore, according to the present embodiment, since the position of the boundary around the autonomous mobile body10can be detected using the plurality of sensors (the first to fourth floor surface sensors1111to1114) arranged along the outer periphery of the autonomous mobile body10, it is possible to more reliably prevent the autonomous mobile body10from falling or colliding. In this case, by detecting the position of the boundary using both the absolute value of the value acquired by the sensor and the change amount, it is possible to enhance robustness with respect to distance measurement and detection accuracy with respect to the boundary.

Furthermore, according to the present embodiment, since it is possible to detect lifting, falling, and overturning of the autonomous mobile body10using a plurality of sensors (proximity sensor1121, torque sensor1122, inertial sensor525, and first to fourth floor surface sensors1111to1114) of different types, it is possible to more reliably prevent the wheels570from idling.

By obtaining the above effects, the autonomous mobile body10according to the present embodiment can smoothly move according to the situation. Thus, more natural and effective communication with the user can be realized.

Other configurations, operations, and effects may be similar to those of the above-described embodiment, and thus detailed description thereof is omitted here.

Next, a fourth embodiment of the present disclosure will be described in detail below with reference to the drawings. In the following description, configurations and operations similar to those of the above-described embodiment are cited to omit redundant description thereof.

The second embodiment described above gives the example that the autonomous mobile body10is stopped in the seated state by housing the wheels570inside the main body of the autonomous mobile body10when stopped and the bottom of the main body comes into contact with the floor surface. On the other hand, the present embodiment describes an example that the autonomous mobile body10is stopped in the seated state without housing the wheels570inside the main body of the autonomous mobile body10.

Note that the configuration of the autonomous mobile body according to the present embodiment may be similar to the configuration described with reference toFIGS.1,2,3,4,5,6,7,8,9,10,11,12,13AandFIG.13Bin the first embodiment described above, and thus a detailed description thereof will be omitted here. In the present embodiment, a case where the functional configuration example described with reference toFIG.32in the above-described second embodiment is adopted as the functional configuration of the autonomous mobile body. However, the present embodiment is not limited thereto, and for example, the information processing system described with reference toFIG.14toFIG.16in the above-described first embodiment can also be adopted.

4.1 Configuration Example of Autonomous Mobile Body

FIG.50is a diagram illustrating a schematic configuration example of an autonomous mobile body according to the present embodiment. A left diagram inFIG.50is a side view illustrating a posture of the autonomous mobile body10in the standing state (including when stopped and during traveling), and a right diagram is a side view illustrating the posture of the autonomous mobile body10in the seated state.FIG.51is a bottom view of the autonomous mobile body according to the present embodiment.

As illustrated in the right diagram inFIG.50, in the present embodiment, when the autonomous mobile body10stops in the seated state, a part of the bottom comes into contact with the floor surface. As a result, at least three points that are the two wheels570and the bottom touching the ground come into contact with the floor surface. Since the autonomous mobile body10is in a three-point inverted state, the autonomous mobile body10can be stably stopped in the seated state. In addition, since the feedback control for stopping the autonomous mobile body10in the inverted state is not necessary, it is also possible to reduce power consumption of the autonomous mobile body10.

A portion to be brought into contact with the floor surface in the seated state may be a portion at the bottom of the autonomous mobile body10on a back side of the axle of the wheels570. As illustrated inFIG.50andFIG.51, a protrusion701may be provided on a portion touching the ground. By providing the protrusion701on the portion touching the ground, it is possible to prevent a damage to the bottom surface of the autonomous mobile body10, peeling of coating, and the like.

A shape of the protrusion701may be various shapes such as a dome shape and a cylindrical shape. In addition, a height of the protrusion701may be, for example, a height sufficient or more for avoiding the other bottom portion of the autonomous mobile body10from touching a flat floor surface when the autonomous mobile body10is in the seated state.

Furthermore, the number of the protrusions701is not limited to one, and may be, for example, two or more (three inFIG.52) as illustrated inFIG.52.

A material of the protrusion701may be various materials such as metal, plastic, and ceramics that can be used in consideration of ease of processing, durability, and the like. A material with a low friction coefficient is preferably selected. By forming the protrusion701using a material with a low friction coefficient, it is possible to suppress overturn of the autonomous mobile body10due to unintended contact during traveling, overturn of the autonomous mobile body10due to contact of the protrusion701with the floor surface before the autonomous mobile body10completely stops, a flaw on the floor surface, generation of abnormal noise, or the like.

In addition, as illustrated inFIG.53, for example, the protrusion701may be provided so as to close a screw hole710for fixing a member constituting the bottom of the autonomous mobile body10to a frame or the like inside the body with a screw711. As a result, it is possible to hide the screw hole710by the protrusion701, thereby suppressing a decrease in appearance design of the autonomous mobile body10. Note that, for example, a double-sided adhesive tape, an adhesive, or the like may be used for fixing the protrusion701onto the bottom.

4.2 Posture Control Example

Next, posture control when stopped and during movement of the autonomous mobile body10according to the present embodiment will be described.

Similarly to the above-described embodiments, the center of gravity CoG of the autonomous mobile body10is located above the axle of the wheels570when the autonomous mobile body10is in the forward inclination posture (standing state). (See the left diagram inFIG.50.) As a result, the autonomous mobile body10is balanced to maintain the inverted state.

On the other hand, in the seated state, as illustrated in the right diagram inFIG.50andFIG.51, at least three points that are the two wheels570and the bottom (protrusion701) are brought into contact with the floor surface by tilting the autonomous mobile body10backward. At this point, the center of gravity CoG of the autonomous mobile body10is located between a perpendicular line V1passing through the axle of the wheels570and a perpendicular line V2passing through a contact portion between the bottom (protrusion701) and the floor surface.

When the center of gravity CoG of the autonomous mobile body10is located between the perpendicular line V1passing through the axle of the wheels570and the perpendicular line V2passing through the contact portion between the bottom (protrusion701) and the floor surface in the seated state, the autonomous mobile body10in the seated state can be stably stopped.

4.3 Example of Posture Control Flow

Next, the posture control at the time of switching between stop and movement of the autonomous mobile body10according to the present embodiment will be described.FIG.54is a flowchart illustrating an example of the posture control flow at the time of switching between the stop and movement according to the present embodiment.

As illustrated inFIG.54, in the present operation, the operation control unit260determines whether or not to transfer the autonomous mobile body10to the standing state (Step S3001). For example, when switching from the standby mode to the normal operation mode or starting traveling in the seated state, the operation control unit260may determine that the autonomous mobile body10will be transferred to the standing state.

When not transferring to the standing state (NO in Step S3001), the operation control unit260proceeds to Step S3007. On the other hand, when transferring to the standing state (YES in Step S3001), the operation control unit260starts the feedback control for maintaining the inverted state (standing state) of the autonomous mobile body10(Step S3002). Then, the operation control unit260reversely rotates the wheels570to transfer from the seated state to the standing state (Step S3003). Note that the reverse rotation may be a rotating direction of the wheels570to move the autonomous mobile body10backward.

After the autonomous mobile body10is set to the standing state in this manner, the operation control unit260then determines whether or not to transfer the autonomous mobile body10to the seated state (Step S3004), and stops the feedback control (Step S3005) when transferring to the seated state (YES in Step S3004). Then, in order to transfer from the standing state to the seated state, the operation control unit260rotates the wheels570forward (Step S3006) to cause the bottom (protrusion701) to touch the floor surface, and proceeds to Step S3007. The forward rotation may be a rotating direction of the wheels570to move the autonomous mobile body10forward. Furthermore, whether or not to transfer the autonomous mobile body10to the seated state may be determined on the basis of, for example, continuation of stoppage for a certain period of time or switching to the standby mode.

In Step S3007, the operation control unit260determines whether or not to end the present operation. To end the present operation (YES in Step S3007), the operation control unit260completes the present operation. On the other hand, to continue (NO in Step S3007), the operation control unit260returns to Step S3001and executes subsequent operations.

As described above, according to the fourth embodiment of the present disclosure, since the autonomous mobile body10can be supported by at least three points that are the two wheels570and the bottom in the seated state, the autonomous mobile body10can be stably stopped in the seated state. In addition, since the feedback control for stopping the autonomous mobile body10in the inverted state is not necessary, it is also possible to reduce power consumption of the autonomous mobile body10.

Furthermore, according to the present embodiment, since it is possible to retain the autonomous mobile body10in the seated state without providing a mechanism for housing and projecting the wheels570in the body of the autonomous mobile body10, it is also possible to simplify or downsize the configuration of the autonomous mobile body10, reduce power consumption, and the like.

Furthermore, according to the present embodiment, since the protrusion701is provided on the bottom in contact with the floor surface in the seated state, it is possible to prevent damage to the bottom surface of the autonomous mobile body10, peeling of coating, or the like. In this case, by forming the protrusion701using the material with a low friction coefficient, it is possible to suppress overturn of the autonomous mobile body10due to an unintended contact during traveling, overturn of the autonomous mobile body10due to contact of the protrusion701with the floor surface before the autonomous mobile body10completely stops, a flaw on the floor surface, generation of abnormal noise, or the like.

By obtaining the above effects, the autonomous mobile body10according to the present embodiment can smoothly move according to the situation. Thus, more natural and effective communication with the user can be realized.

Other configurations, operations, and effects may be similar to those of the above-described embodiment, and thus detailed description thereof is omitted here.

Next, a fifth embodiment of the present disclosure will be described in detail below with reference to the drawings. In the following description, configurations and operations similar to those of the above-described embodiment are cited to omit redundant description thereof.

FIG.55illustrates an example of an inverted pendulum related to the present disclosure, where a left diagram is a front view of the inverted pendulum, and a right diagram is a side view of the inverted pendulum.FIG.56illustrates an example of another inverted pendulum related to the present disclosure. A left diagram is a front view of the inverted pendulum, and a right diagram is a side view of the inverted pendulum.

Normally, in a two-wheel inverted pendulum, resistance to overturn to a side surface increases when a distance between two wheels is increased. Therefore, as illustrated in an inverted pendulum9010inFIG.55, it is preferable to arrange two wheels9570outside the main body.

However, when the distance between the two wheels9570is increased, dragging of the wheels9570occur due to a difference in turning radius between the outer and inner wheels9570at the time of turning. When such dragging of the wheels9570occurs, controllability and stability at the time of turning change depending on a friction between the wheels9570and a columnar surface. Therefore, in consideration of the controllability and stability at the time of turning, it is preferable to decrease the distance between the two wheels9570to reduce the dragging.

In addition, when the two wheels9570are arranged outside the main body, the wheels9570stand out more than necessary. This greatly limits design of the inverted pendulum9010.

Further, in an autonomous mobile body such as a mobile robot using the inverted pendulum9010, stability of oblique movement on a step or a slope can be improved by installing a mechanism for controlling a height of the wheels9570. However, in a case where the distance between the wheels9570is wide, an inclination amount of the main body with respect to a height difference between left and right wheels9570is small, and thus an angle of the slope that the autonomous mobile body can travel will be limited.

Such problems can be suppressed by narrowing the distance between the two wheels8570and accommodating most of the two wheels8570in the main body as in an inverted pendulum8010illustrated inFIG.56.

On the other hand, when the inverted pendulum turns, the rotation angle of the wheel changes depending on the turning radius with respect to the turning center. Therefore, in the width direction in the same wheel, there is a portion where a moving amount due to the rotation angle of the wheel does not match an actual moving distance. For example, the rotation angle of the wheel is the same between the inner side and the outer side of the wheel, but a difference occurs in the actual moving distance.

Such difference increases as the width of one wheel increases. In general, however, it is considered that the difference can be offset by sliding a part or the whole of the wheel with respect to the floor surface during turning.

However, sliding between the floor surface and the wheel changes depending on a friction coefficient between the floor surface and the wheel, a floor surface condition, and the like. When the sliding condition changes during turning of the inverted pendulum, the stability of the inverted state decreases or the turning radius changes. Thus, stable turning with a constant radius cannot be achieved.

Therefore, the present embodiment provides the autonomous mobile body capable of improving controllability and stability at turning while suppressing deterioration in appearance design.

Note that the configuration of the autonomous mobile body according to the present embodiment may be similar to the configuration described with reference toFIGS.1,2,3,4,5,6,7,8,9,10,11,12,13AandFIG.13Bin the first embodiment described above, and thus a detailed description thereof will be omitted here. In the present embodiment, a case where the functional configuration example described with reference toFIG.32in the above-described second embodiment is adopted as the functional configuration of the autonomous mobile body. However, the present embodiment is not limited thereto, and for example, the information processing system described with reference toFIG.14toFIG.16in the above-described first embodiment can also be adopted.

5.2 Configuration Example of Autonomous Mobile Body (Underbody)

Next, a schematic configuration focusing on an underbody including the wheels of the autonomous mobile body10according to the present embodiment will be described with some examples.

5.2.1 First Example

FIG.57is a schematic diagram illustrating a schematic configuration example of the wheels in the autonomous mobile body according to a first example of the present embodiment. As illustrated inFIG.57, the wheels620according to the first example have a structure provided with an annular protruding ring portion622around a columnar surface621.

As described above, with the structure in which the protruding ring portion622is provided on a part of the columnar surface621, it is possible to limit a contact area between the floor surface and the wheel620to a top surface portion of the protruding ring portion622. Therefore, it is possible to reduce the difference in the moving distance at turning in the width direction of the wheel620, thereby reducing sliding of the wheel620. As a result, it is possible to reduce a change in a sliding load during the turning due to a change in the floor surface condition. Thus, it is possible to improve the controllability and stability of the autonomous mobile body10during turning.

As illustrated inFIG.58, by making a width D2of the top surface of the protruding ring portion622narrower than a width D0of the wheel620, it is possible to gain an effect of improving the controllability and stability at turning as described above. In this case, for example, when the width D0of one wheel620is set to a width of ¼ or more of a total width2L of the two wheels620, it is possible to more reliably gain the effect of improving the controllability and stability at turning by setting the width D2of the top surface of the protruding ring portion622to 60% or less of the width D0of the wheel620. Alternatively, by setting the width D2of the top surface of the protruding ring portion622with respect to a distance L from a center O1of an axle571to outside of the wheel620to 40% or less, it is possible to more reliably gain the effect of improving the controllability and stability at turning.

In addition, as illustrated inFIG.57, by setting a position of the protruding ring portion622to an outermost position of the wheel620in the width direction of the wheel620, an entire width of the contact area that supports the autonomous mobile body10can be broadened, so that the stability of the autonomous mobile body10in the left-right direction can be improved. However, the position of the protruding ring portion622is not limited to the outermost position of the wheel620, and may be at a position in a middle in the width direction of the wheel620as illustrated inFIG.59.

Furthermore, as illustrated inFIG.60, the number of protruding ring portions622provided on one wheel620is not limited to one, and may be two or more.

5.2.2 Second Example

FIG.61is a schematic diagram illustrating a schematic configuration example of the wheels in the autonomous mobile body according to a second example of the present embodiment. As illustrated inFIG.61, a wheel630according to the second example may have a tapered shape whose diameter increases from the inside to the outside.

In this way, by making an outer diameter on the outer side larger than an outer diameter on the inner side of a wide wheel630to incline the columnar surface of the wheel630, the contact area with the floor surface can be limited to a partial area in the width direction of the wheel630. Thus, similarly to the first example, the controllability and stability at turning of the autonomous mobile body10can be improved.

5.2.3 Third Example

FIG.62is a schematic diagram illustrating a schematic configuration example of a wheel in an autonomous mobile body according to a third example of the present embodiment. As illustrated inFIG.62, a wheel640according to the third example is provided with a tapered shape whose diameter increases from the inside to the outside in an outer portion642of a columnar surface641.

As described above, by tapering the outer portion642of the wide wheel640, similarly to the second example, the contact area with the floor surface can be limited to a partial area in the width direction of the wheel630, so that the controllability and stability at turning of the autonomous mobile body10can be improved.

5.2.4 Fourth Example

FIG.63is a schematic diagram illustrating a schematic configuration example of a wheel in an autonomous mobile body according to a fourth example of the present embodiment. As illustrated inFIG.63, a wheel650according to the fourth example, similarly to the second example, has the tapered shape in which an outer diameter on the outer side is larger than an outer diameter on the inner side of the wide wheel650, and an outer portion652of a columnar surface651is reversely tapered whose diameter decreases from the inner side to the outer side.

As described above, by forming the outer portion652of the tapered wheel650into the reverse tapered shape, the contact area of the outer wheel650to which a large load is applied at turning can be increased by using deformation of the wheel570due to the load. Thus, the stability of the autonomous mobile body10at turning can be further improved.

5.2.5 Fifth Example

FIG.64is a schematic diagram illustrating a schematic configuration example of a wheel and an axle in the autonomous mobile body according to a fifth example of the present embodiment. As illustrated inFIG.64, in the fifth example, the contact area between the wheel570and the floor surface is limited by inclining the axle571of the wheels570having a cylindrical columnar surface.

For example, the axle571of a right wheel570is inclined such that an outer side is closer to the floor surface than an inner side. As a result, the contact area of the right wheel570with the floor surface can be limited to an outer area of the wheel570. Similarly, for example, the axle571of a left wheel570is inclined such that the outer side is closer to the floor surface than the inner side. As a result, the contact area of the left wheel570with the floor surface can be limited to the outer area of the wheel570.

As described above, by inclining the axle571of the cylindrical wheel570, it is possible to limit the contact area with the floor surface to a part as in the second example or the third example. Thus, it is possible to improve the controllability and stability at turning of the autonomous mobile body10.

The wheel to be used is not limited to the cylindrical wheel570, and can be variously modified, including the wheels620,630,640, or650described in the first to fourth examples.

5.2.6 Sixth Example

FIG.65is a schematic diagram illustrating a schematic configuration example of a wheel and an axle in the autonomous mobile body according to a sixth example of the present embodiment. As illustrated inFIG.65, in the sixth example, a control mechanism that controls inclination of the axle571of the left and right wheels570is provided. As the control mechanism, for example, a mechanism for housing the wheels570into the main body, illustrated in the second embodiment, can be used. Note that this control mechanism may be controlled by, for example, the operation control unit260.

As described above, when the control mechanism for controlling the inclination of the axle571of the wheel570is used, for example, the vehicle can stably travel with increased grip force of the wheel570by making the axle571parallel to the floor surface during a straight travel to increase the contact area between the wheel570and the floor surface. When the autonomous mobile body10turns, the axle571is inclined with respect to the floor surface to reduce the contact area between the wheel570and the floor surface. Thus, it is possible to control to improve the controllability and stability at turning, similarly to the fifth example.

In addition, by configuring to independently control the inclination of the axle571for the right and left wheels570, it is also possible to drive so as to provide a difference in the height of the wheels570according to the slope of the floor surface as illustrated inFIG.66. As a result, even when the autonomous mobile body10travels on the floor surface sloped to the left and right with respect to the traveling direction, the posture of the autonomous mobile body10can be maintained substantially perpendicular (standing state) with respect to the gravity direction. Thus, more stable traveling on a slope can be realized.

In addition, in a case where a height difference is provided between the two wheels570using the configuration in which the axle571for each of the left and right wheels570can be independently driven, the higher wheel570(left wheel570in the drawing) comes into contact with the floor surface on the outer side of the wheel570, and the lower wheel570(right wheel570in the drawing) comes into contact with the floor surface on the inner side of the wheel570. Thus, the entire width of the contact area formed by the two wheels570is narrowed. As a result, the autonomous mobile body10can be greatly inclined with a small height difference between the two wheels570, so that it is possible to greatly relax the restriction on an angle of the slope at which the autonomous mobile body10can travel.

The driving of the axle571at the time of traveling on a slope is not limited to the shift in the vertical direction while maintaining the two axles571in parallel. As illustrated inFIG.67, the axles571of the wheels570may be inclined such that the outer side of the wheel570located on the lower side of the slope comes into contact with the slope. As a result, the entire width of the contact area formed by the two wheels570can be broadened, so that the stability at the time of traveling on a slope can be further improved.

In addition, by applying such a configuration to the fourth example described with reference toFIG.63, the contact area of the outer wheel650at turning can be increased, as illustrated inFIG.68, so that the stability of the autonomous mobile body10at turning can be further improved.

As described above, according to the fifth embodiment of the present disclosure, in the configuration in which the distance between the two wheels570,620,630,640, or650is narrower than the width of the main body and most of the two wheels are housed inside the main body, the contact area between the wheels570,620,630,640, or650and the floor surface can be reduced. Thus, it is possible to improve the controllability and stability at turning while suppressing deterioration in appearance design.

In addition, as in the sixth example of the present embodiment, by configuring the axles of the two wheels570to be independently driven, it is possible to control the contact area of each wheel570according to the shape of the floor surface and the traveling condition. Thus, it is possible to further improve the stability at traveling on a slope or turning.

By obtaining the above effects, the autonomous mobile body10according to the present embodiment can smoothly move according to the situation. Thus, more natural and effective communication with the user can be realized.

Other configurations, operations, and effects may be similar to those of the above-described embodiments, and thus detailed description thereof is omitted here.

Next, a sixth embodiment of the present disclosure will be described in detail below with reference to the drawings. In the following description, configurations and operations similar to those of the above-described embodiment are cited to omit redundant description thereof.

FIG.69is a front view of an autonomous mobile body10according to the sixth embodiment of the present disclosure, andFIG.70is a side view of the autonomous mobile body10according to the sixth embodiment of the present disclosure.

In the above-described embodiment, the case where the main body (body) of the autonomous mobile body10is a long-elliptic shape has been exemplified. Therefore, for example, when the autonomous mobile body10overturns on a sloped surface or the like, there is a possibility that the autonomous mobile body10continues to roll along the sloped surface, and falls from a table or the like or collides against a wall or the like.

Therefore, in the present embodiment, as illustrated inFIG.69andFIG.70, a protrusion720is provided on a part of the side surface of the autonomous mobile body10. As a result, even when the autonomous mobile body10overturns on the sloped surface or the like, it is possible to suppress the rolling of the autonomous mobile body10to prevent the autonomous mobile body10from falling from the table or the like or from colliding with the wall or the like.

Other configurations, operations, and effects may be similar to those of the above-described embodiment, and thus detailed description thereof is omitted here.

Although the embodiments of the present disclosure have been described above, the technical scope of the present disclosure is not limited to the above-described embodiments as it is, and various modifications can be made without departing from the gist of the present disclosure. In addition, components of different embodiments and modifications may be appropriately combined.

Note that the effects described in the present specification are merely examples and not limited thereto, and other effects may be provided.

The present technology can also have the following configurations.

An information processing apparatus comprising:a first sensor that detects an object present in a first direction with respect to an autonomous mobile body;a second sensor that detects the object present in the first direction with respect to the autonomous mobile body, the second sensor having a system different from a system of the first sensor; andan operation control unit that controls an operation of the autonomous mobile body based on a detection result acquired by the first sensor and a detection result acquired by the second sensor.
(2)

The information processing apparatus according to (1), whereinthe first direction is a front direction of the autonomous mobile body, andthe second sensor includes:a third sensor that detects a front right direction of the autonomous mobile body, anda fourth sensor that detects a front left direction of the autonomous mobile body.
(3)

The information processing apparatus according to (1) or (2), whereineach of the first sensor and the second sensor is one of a millimeter wave radar sensor, a time of flight (ToF) sensor, and an ultrasonic sensor.
(4)

The information processing apparatus according to any one of (1) to (3), further comprising a plurality of fifth sensors that detects a floor surface around the autonomous mobile body, whereinthe operation control unit controls the operation of the autonomous mobile body based on a detection result acquired by the plurality of fifth sensors.
(5)

The information processing apparatus according to (4), wherein the operation control unit controls the operation of the autonomous mobile body based on an absolute value of a value detected by each of the plurality of fifth sensors and an amount of change of the value detected by each of the plurality of fifth sensors.

The information processing apparatus according to (4) or (5), wherein the plurality of fifth sensors is one of a ToF sensor, an ultrasonic sensor, and a proximity sensor.

The information processing apparatus according to any one of (1) to (6), further comprising:a sixth sensor that detects at least one of lifting by a user, falling, and overturning of the autonomous mobile body; anda seventh sensor that detects at least one of the lifting by the user, the falling, and the overturning of the autonomous mobile body, the seventh sensor having a system different from a system of the sixth sensor, whereinthe operation control unit controls rotation of a wheel provided on the autonomous mobile body based on a detection result acquired by the sixth sensor and a detection result acquired by the seventh sensor.
(8)

The information processing apparatus according to (7), whereinthe sixth sensor is provided on a bottom surface of the autonomous mobile body, and detects whether or not an object is in proximity to the bottom surface of the autonomous mobile body, andthe seventh sensor detects a change in acceleration of the autonomous mobile body in a predetermined direction.
(9)

The information processing apparatus according to (7) or (8), whereinthe sixth sensor is one of a proximity sensor and a ToF sensor, andthe seventh sensor is an inertial sensor.
(10)

The information processing apparatus according to any one of (1) to (9), wherein the autonomous mobile body is an inverted pendulum including two wheels and a drive mechanism that drives the wheels.

The information processing apparatus according to any one of (4) to (6), whereinthe autonomous mobile body is an inverted pendulum including two wheels and a drive mechanism that drives the wheels, andthe operation control unit determines whether or not the autonomous mobile body is in an inverted state based on the detection result acquired by the plurality of fifth sensors, and controls the drive mechanism to maintain the inverted state of the autonomous mobile body when the autonomous mobile body is in the inverted state.
(12)

A control method for controlling an autonomous mobile body, whereinthe autonomous mobile body includes a first sensor that detects an object present in a first direction with respect to the autonomous mobile body, and a second sensor that detects the object present in the first direction with respect to the autonomous mobile body, the second sensor having a system different from a system of the first sensor, andthe control method controls an operation of the autonomous mobile body based on a detection result acquired by the first sensor and a detection result acquired by the second sensor.
(13)

The control method according to (12), whereinthe autonomous mobile body further includes a plurality of fifth sensors that detects a floor surface around the autonomous mobile body, andthe control method controls the operation of the autonomous mobile body based on a detection result acquired by the plurality of fifth sensors.
(14)

The control method according to (12) or (13), whereinthe autonomous mobile body further includes a sixth sensor that detects at least one of lifting by a user, falling, and overturning of the autonomous mobile body, and a seventh sensor that detects at least one of the lifting by the user, the falling, and the overturning of the autonomous mobile body, the seventh sensor having a system different from a system of the sixth sensor, andthe control method controls rotation of a wheel provided on the autonomous mobile body based on a detection result acquired by the sixth sensor and a detection result acquired by the seventh sensor.
(15)

A program causing a processor to control an autonomous mobile body, whereinthe autonomous mobile body includes a first sensor that detects an object present in a first direction with respect to the autonomous mobile body and a second sensor that detects the object present in the first direction with respect to the autonomous mobile body, the second sensor having a system different from a system of the first sensor, andthe program causes the processor to control an operation of the autonomous mobile body based on a detection result acquired by the first sensor and a detection result acquired by the second sensor.
(16)

The program according to (15), whereinthe autonomous mobile body further includes a plurality of fifth sensors that detects a floor surface around the autonomous mobile body, andthe program further causes the processor to control the operation of the autonomous mobile body based on a detection result acquired by the plurality of fifth sensors.
(17)

The program according to (15) or (16), whereinthe autonomous mobile body further includes a sixth sensor that detects at least one of lifting by a user, falling, and overturning of the autonomous mobile body, and a seventh sensor that detects at least one of the lifting by the user, the falling, and the overturning of the autonomous mobile body, the seventh sensor having a system different from a system of the sixth sensor, andthe program further causes the processor to control rotation of a wheel provided on the autonomous mobile body based on a detection result acquired by the sixth sensor and a detection result acquired by the seventh sensor.

REFERENCE SIGNS LIST