U.S. patent application number 15/515965 was filed with the patent office on 2017-10-19 for alarm control device and program.
This patent application is currently assigned to Sharp Kabushiki Kaisha. The applicant listed for this patent is Sharp Kabushiki Kaisha. Invention is credited to AKIRA MOTOMURA.
Application Number | 20170296935 15/515965 |
Document ID | / |
Family ID | 55630783 |
Filed Date | 2017-10-19 |
United States Patent
Application |
20170296935 |
Kind Code |
A1 |
MOTOMURA; AKIRA |
October 19, 2017 |
ALARM CONTROL DEVICE AND PROGRAM
Abstract
To allow a user to certainly recognize occurrence of a
notification event, a notification control device (1) includes: a
notification posture transition determining section (14) configured
to determine whether a robot (100) is capable of undergoing a
transition to a notification posture suitable for the user to
recognize occurrence of a notification event; and a notification
method determining section (15) configured to determine a
notification method on a basis of a result of determination made by
the notification posture transition determining section (14), the
notification event being notified by the notification method.
Inventors: |
MOTOMURA; AKIRA; (Osaka,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Sharp Kabushiki Kaisha |
Osaka |
|
JP |
|
|
Assignee: |
Sharp Kabushiki Kaisha
Osaka
JP
|
Family ID: |
55630783 |
Appl. No.: |
15/515965 |
Filed: |
November 17, 2015 |
PCT Filed: |
November 17, 2015 |
PCT NO: |
PCT/JP2015/082270 |
371 Date: |
March 30, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
H04M 2250/12 20130101;
A63H 11/00 20130101; A63H 2200/00 20130101; A63H 3/28 20130101;
H04M 1/02 20130101; A63H 3/003 20130101 |
International
Class: |
A63H 3/00 20060101
A63H003/00; A63H 11/00 20060101 A63H011/00; A63H 3/28 20060101
A63H003/28 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 1, 2014 |
JP |
2014-203420 |
Claims
1. A notification control device, comprising: a notification
posture transition determining section configured to determine
whether a robot is capable of undergoing a transition to a
notification posture suitable for a user to recognize occurrence of
a notification event, the notification event being an event which
causes the user to address a notification received from the robot;
and a notification method determining section configured to
determine a notification method on a basis of a result of
determination made by the notification posture transition
determining section, the notification event being notified by the
notification method.
2. The notification control device according to claim 1, wherein
the notification method determining section determines that a
method, which does not involve any posture transition of the robot,
is employed as the notification method, in a case where the
notification posture transition determining section has determined
that the robot is incapable of undergoing a transition to the
notification posture.
3. The notification control device according to claim 1, wherein:
the notification posture is associated with a plurality of
notification postures; and the notification posture transition
determining section determines whether there is a posture, of the
plurality of notification postures, to which posture the robot is
capable of undergoing a transition.
4. The notification control device as set forth in claim 1,
wherein: the notification event includes a first notification event
and a second notification event; each of the first notification
event and the second notification event to which a corresponding
priority is set in accordance with a degree that a user
necessitates to address; and in a case where (i) the second
notification event has occurred after occurrence of the first
notification event and (ii) the second notification event has a
priority higher than that of the first notification event, the
notification posture transition determining section determines
whether the robot is capable of undergoing a transition to a second
notification posture associated with the second notification
event.
5. (canceled)
6. A method of controlling notification, comprising the steps of:
(a) determining whether a robot is capable of undergoing a
transition to a notification posture suitable for a user to
recognize occurrence of a notification event, the notification
event being an event which causes the user to address a
notification received from the robot; and (b) determining a
notification method on a basis of a result of determination made in
the step (a), the notification event being notified by the
notification method.
Description
TECHNICAL FIELD
[0001] The present invention relates to a notification control
device and a program each for controlling notification of
occurrence of a notification event.
BACKGROUND ART
[0002] There have been known conventional techniques for providing
notification of an incoming telephone call, an incoming email, or
the like received by a mobile device, by changing an exterior form
of a mobile device body or a mobile device accessory. For example,
Patent Literature 1 discloses an event notification mechanism in
which a driving pattern generating section (i) generates a driving
pattern signal in real time and (ii) sends the driving pattern
signal to an actuator, so that an accessory of a communications
terminal or the communications terminal as such changes in form.
This notifies a user of an event that has occurred (e.g., an
incoming telephone call, incoming email, or reception of a digital
TV broadcast, etc.).
CITATION LIST
Patent Literature
[0003] [Patent Literature 1] Japanese Patent Application
Publication, Tokukai, No. 2007-214908 A (Publication Date: Aug. 23,
2007)
SUMMARY OF INVENTION
Technical Problem
[0004] The event notification mechanism disclosed in Patent
Literature 1 unfortunately does not determine a method of notifying
an event in accordance with situations where it is not appropriate
to change an exterior form of a mobile device body or a mobile
device accessory. Such situations include (i) a situation where an
object is in contact with a mobile device and (ii) a situation
where the mobile device has a small residual quantity of a battery.
This causes unfavorable situations where the user will not able to
recognize occurrence of an event, in a case where an exterior form
of the mobile device body or the mobile device accessory is changed
even in the above situations. Such unfavorable situations include
(i) the mobile device is damaged by colliding with the object and
(ii) the change in exterior form discontinues.
Solution to Problem
[0005] In order to attain the above object, a notification control
device in accordance with an aspect of the present invention is a
notification control device, including: a notification posture
transition determining section configured to determine whether a
robot is capable of undergoing a transition to a notification
posture suitable for a user to recognize occurrence of a
notification event, the notification event being an event which
causes the user to address a notification received from the robot;
and a notification method determining section configured to
determine a notification method on a basis of a result of
determination made by the notification posture transition
determining section, the notification event being notified by the
notification method.
Advantageous Effects of Invention
[0006] An aspect of the present invention allows the user to
certainly recognize occurrence of a notification event.
BRIEF DESCRIPTION OF DRAWINGS
[0007] FIG. 1 is a block diagram schematically illustrating a
configuration of a robot in accordance with Embodiment 1 of the
present invention.
[0008] (a) of FIG. 2 is a schematic elevational view of the robot,
(b) of FIG. 2 is a schematic rear view of the robot, and (c) of
FIG. 2 is a schematic side view of the robot.
[0009] FIG. 3 illustrates an example of a notification posture
table stored in a storage section of the robot.
[0010] FIG. 4 illustrates an example of a notification event
occurrence table stored in a storage section of the robot.
[0011] FIG. 5 is a diagram schematically illustrating how to
determine, with use of a camera section of the robot, whether the
robot will be able to undergo a transition to a notification
posture.
[0012] FIG. 6 is a flowchart illustrating how the notification
control device in accordance with Embodiment 1 of the present
invention controls notification of occurrence of a notification
event (in a case where the notification event has arisen from an
external factor).
[0013] FIG. 7 is a flowchart illustrating how the notification
control device in accordance with Embodiment 1 of the present
invention controls notification of occurrence of a notification
event (in a case of a determined notification event).
[0014] FIG. 8 is a flowchart illustrating how the notification
control device in accordance with Embodiment 1 of the present
invention controls notification of occurrence of a notification
event (in a case where a notification method that does not use a
notification posture is screen display, vibration, or sound
output).
[0015] FIG. 9 illustrates an example of a notification event
priority table stored in a storage section of a robot in accordance
with Embodiment 2 of the present invention.
[0016] FIG. 10 is a flowchart illustrating how a notification
control device in accordance with Embodiment 2 of the present
invention controls notification of occurrence of a notification
event.
[0017] FIG. 11 illustrates an example of a notification posture
table stored in a storage section of a robot in accordance with
Embodiment 3 of the present invention.
[0018] FIG. 12 is a flowchart illustrating how a notification
control device in accordance with Embodiment 3 of the present
invention controls notification of occurrence of a notification
event.
DESCRIPTION OF EMBODIMENTS
Embodiment 1
[0019] The following description will discuss Embodiment 1 of the
present invention in detail with reference to FIGS. 1 through 8.
The descriptions of Embodiment 1 and subsequent embodiments each
assume that a notification control device is provided in a bipedal
humanoid robot having a mobile phone function. Note that the
notification control device can alternatively be provided in robots
in general such as a combat robot in an animated cartoon.
[0020] (Outline of robot) First, the description below outlines a
robot 100 with reference to FIG. 2. (a) of FIG. 2 is a schematic
elevational view of a robot 100 in accordance with Embodiment 1.
(b) of FIG. 2 is a schematic rear view of the robot 100. (c) of
FIG. 2 is a schematic side view of the robot 100.
[0021] The robot 100, as illustrated in (a) of FIG. 2, includes a
head part 100a, a body part 100b, arm parts 100c, leg parts 100d,
and foot parts 100e. The robot 100 also includes (i) a neck part
100g via which the head part 100a is connected movably to the body
part 100b, (ii) shoulder joint parts 100h via which the respective
arm parts 100c are connected movably to the body part 100b, and
(iii) leg joint parts 100i via which the respective leg parts 100d
are connected movably to the body part 100b. The robot 100 further
includes foot joint parts 100j via which the respective foot parts
100e are connected movably to the respective leg parts 100d. The
neck part 100g and all the joint parts each contain a servomotor
23a (later described). Driving the servomotors 23a allows movement
of the head part 100a, the arm parts 100c, the leg parts 100d, and
the foot parts 100e. The head part 100a includes (i) a mouth part
1001 containing a loudspeaker section 21 (later described) and (ii)
eye parts 100n each containing a camera section 20 (later
described). The foot parts 100e each include a sole part 100f
containing a microphone section 25 (later described).
[0022] The body part 100b, as illustrated in (b) and (c) of FIG. 2,
includes a back part 100k provided with a display section 22 (later
described).
[0023] (Detailed Configuration of Robot)
[0024] The following description will discuss a detailed
configuration of the robot 100 with reference to FIGS. 1, 3, and 4.
FIG. 1 is a block diagram illustrating a detailed configuration of
the robot 100. The robot 100, as illustrated in FIG. 1, includes a
control section 10, camera sections 20, a loudspeaker section 21, a
display section 22, a driving section 23, an operation input
section 24, microphone sections 25, a transmitting/receiving
section 26, an antenna section 27, a battery section 28, a storage
section 29, and a state detecting section 30.
[0025] The control section 10 centrally controls the robot 100. The
control section 10 includes a notification control device 1. The
notification control device 1 centrally controls different
processes for controlling notification of occurrence of a
notification event (later described). The notification control
device 1 will be later described in detail.
[0026] The camera sections 20 are each an image capturing section
that captures an image of an object and that transmits data on the
captured image to a notification posture transition determining
section 14 (later described). The loudspeaker section 21 is a
reproducing section that has the function of reproducing
information including audio data and that includes a loudspeaker
for outputting sound audible to a person(s) other than the user.
The display section 22 displays various images such as images
displayed in response to carrying out of various functions
(application software) of the robot 100. The operation input
section 24 receives an input of a user operation. The microphone
sections 25 are each a sound collector for picking up sound during,
for example, a telephone call. The transmitting/receiving section
26 transmits and receives various data such as audio data through
the antenna section 27. The battery section 28 supplies electric
power to the individual sections of the robot 100. The driving
section 23 drives movable parts of the robot 100 such as the head
part 100a. The driving section 23 includes servomotors 23a in a
one-to-one correspondence with the neck part 100g and all the joint
parts.
[0027] The state detecting section 30 (i) detects a positional
relationship between the robot 100 and an obstruction and then (ii)
transmits a detection result to the notification posture transition
determining section 14 (later described). The state detecting
section 30 includes a contact sensor 30a and a proximity sensor
30b. The contact sensor 30a detects whether the robot 100 is in
contact with an obstruction. Examples of the contact sensor 30a
include a capacitive sensor and a pressure sensitive sensor. The
proximity sensor 30b detects whether the robot 100 is in proximity
to an obstruction. That is, the proximity sensor 30b detects
whether the specific movable part will come into contact with an
obstruction in a case where a specific movable part of the robot
100 moves only slightly. Examples of the proximity sensor 30b
include a capacitive sensor, a high-frequency oscillation sensor,
and a magnetic sensor. Note that the state detecting section 30 is
not necessarily composed of the contact sensor 30a and the
proximity sensor 30b, and is therefore composed of at least one of
them. The state detecting section 30 is provided in each of the
movable parts of the robot 100 (not illustrated).
[0028] The following description will discuss a detailed
configuration of the storage section 29. The storage section 29
stores, for example, a notification event occurrence table 29a, a
notification posture table 29b, and various control programs that
the control section 10 executes. The storage section 29 includes a
nonvolatile storage device such as a hard disk and a flash memory.
Note that a notification posture table 29c and a notification event
priority table 29d will be later described.
[0029] FIG. 3 illustrates an example of the notification posture
table 29b stored in the storage section 29. A notification event
refers to an event, such as an incoming telephone call, which
causes the user to address the notification received from the
robot. Example notification events include (i) events which arise
from factors, occurred outside of the robot 100, such as an
incoming telephone call and incoming email and (ii) determined
notification events which arise from factors, occurred inside of
the robot 100, such as alarms. A notification posture is a posture
of the robot 100 which posture is suitable for the user to
recognize occurrence of a notification event. Notification posture
information refers to data on rotation positions of the respective
servomotors 23a which rotation positions correspond to respective
notification postures.
[0030] Specifically, according to the notification posture table
29b, an incoming telephone call (notification event) is associated
with a notification posture A1 (No. 1 in FIG. 3). The robot 100,
when in the notification posture A1, has the leg parts 100d
inclined toward an abdomen part 100m so that (i) the microphone
sections 25 (which are provided in the respective sole parts 100f)
are close to the mouth of the user's and that (ii) the loudspeaker
section 21 (which is provided in the mouth part 1001) is close to
an ear of the user's. The notification posture A1 allows the user
to easily hold the robot 100 for a telephone conversation and to
intuitively think of an incoming telephone call. Further, according
to the notification posture table 29b, an incoming telephone call
and the notification posture A1 are associated with data on
rotation positions of the first servomotor .alpha.=a1 through the
n-th servomotors .delta.=n1 (notification posture information)
which rotation positions correspond to the notification posture A1.
The data on the rotation positions .alpha. through .delta. can
include all values within a range such as a11<.alpha.<a12
through n11<.delta.<n12 (No. 2 in FIG. 3).
[0031] The association between the three elements applies similarly
to a case where the notification event is an alarm, a turn-on of
TV, or a reduction in residual quantity of a battery. As in No. 3
and No. 4 in FIG. 3, an alarm is associated with a notification
posture A2, in which the robot 100 has one of the arm parts 100c
raised. The notification posture A2 thus allows the user to
intuitively understand that the user needs to urgently address the
notification event. Further, as in No. 5 and No. 6 in FIG. 3, a
turn-on of TV is associated with a notification posture A4, in
which the robot 100 has the body part 100b inclined so that the
display section 22 can be easily viewed by the user. The
notification posture A4 thus allows the user to intuitively
understand that the TV has been turned on. Further, as in No. 7 and
No. 8 in FIG. 3, a reduction in residual quantity of a battery is
associated with a notification posture A5, in which the robot 100
has the body part 100b and the leg parts 100d forming an angle of
approximately 90 degrees to sit and which is suitable for charging
of the robot 100. The notification posture A5 thus allows the user
to intuitively understand that the battery is running short. A
notification posture can alternatively refer to a state in which a
particular movable part of the robot 100 is in motion. For example,
as in No. 3 and No. 4 in FIG. 3, an alarm can be associated with a
notification posture A3, in which one of the arm parts 100c is in
motion as if the robot 100 is waving a hand.
[0032] Next, FIG. 4 illustrates an example of the notification
event occurrence table 29a stored in the storage section 29. A
determined notification event is a notification event which is
determined by the user and arises from a factor occurred inside of
the robot 100. A determined notification event occurrence condition
is a condition that needs to be met for the corresponding
determined notification event to occur. A determined notification
event occurrence condition can be set by the user at will.
Specifically, in a case where the user has determined a "first
alarm (wakeup alarm)" as a determined notification event and
determined "7:00 every day" as the corresponding determined
notification event occurrence condition, these items of data are
recorded in the notification event occurrence table 29a in
association with each other. This allows the first alarm to sound
at 7:00 every day (No. 1 in FIG. 4). This description applies
similarly to the other determined notification events for No. 2
through No. 4 in FIG. 4.
[0033] The following description will discuss a detailed
configuration of the notification control device 1. The
notification control device 1 includes a generation condition
determining section 11, a notification event generating section 12,
a notification event detecting section 13, a notification posture
transition determining section 14, a notification method
determining section 15, a notification posture transition section
16, and a notification method changing section 17.
[0034] The generation condition determining section 11 determines
whether a determined notification event occurrence condition has
been met. Upon receipt of, from the generation condition
determining section 11, a determination result indicating that a
determined notification event occurrence condition has been met,
the notification event generating section 12 generates the
corresponding determined notification event. The notification event
detecting section 13 detects occurrence of a notification event
(including a determined notification event).
[0035] Upon receipt of, from the notification event detecting
section 13, a detection result indicating that the notification
event detecting section 13 has detected occurrence of a
notification event (including a determined notification event), the
notification posture transition determining section 14 determines
whether the robot 100 will be able to undergo a transition to a
notification posture associated with the notification event that
has occurred.
[0036] The notification method determining section 15 determines a
method of notifying the notification event that has occurred, on
the basis of a determination result received from the notification
posture transition determining section 14. Specifically, upon
receipt of, from the notification posture transition determining
section 14, a determination result indicating that the robot 100
will be able to undergo a transition to a notification posture, the
notification method determining section 15 determines to notify the
user of a notification event that has occurred, in a notification
posture associated with the notification event. Upon receipt of,
from the notification posture transition determining section 14, a
determination result indicating that the robot 100 will not be able
to undergo a transition to a notification posture, the notification
method determining section 15 determines to notify the user of a
notification event that has occurred, by use of a notification
method that does not involve any posture transition to be undergone
by the robot 100. The notification method determining section 15
causes a member(s) of the robot 100 to operate which member(s)
is(are) necessary to notify the user by use of the above method.
Embodiment 1 exemplifies, as a notification method that does not
involve any posture transition to be undergone by the robot 100,
(i) a method of displaying, on a display screen of the display
section 22, a notification event having occurred, (ii) a method of
outputting, from the loudspeaker section 21, different sounds in
accordance with kinds of respective notification events that have
occurred (or alternatively a single particular sound regardless of
the kinds of respective notification events), and (iii) a method of
causing a vibrating section (not illustrated) to vibrate the robot
100. Note, however, that it is possible to notify the user of a
notification event having occurred by a method other than the above
methods or by combining two or more of the above methods.
[0037] Upon receipt of, from the notification method determining
section 15, a determination result to the effect that the
notification method determining section 15 has determined to notify
the user in a notification posture, the notification posture
transition section 16 controls driving of each servomotor 23a so
that the robot 100 will undergo a transition to the notification
posture. Further, in a case where the notification posture
transition section 16 has detected occurrence of a transition
blocking event during the process of transition to a notification
posture, the notification posture transition section 16 stops the
transition to the notification posture and in a case where the
notification posture transition section 16 has detected the finish
of the transition blocking event, the notification posture
transition section 16 resumes the stopped transition to the
notification posture. A transition blocking event refers to an
event that occurs during the process of transition to a
notification posture and that blocks the transition to the
notification posture. Example transition blocking events include
(i) the robot 100 coming into contact with an obstruction over the
course of transition to a notification posture and (ii) the
residual quantity of the battery falling below a threshold. Such
events are detected by the notification posture transition section
16 on the basis of an image captured by the camera sections 20, via
the state detecting section 30, or directly.
[0038] In a case where the notification method changing section 17
has detected a stoppage of transition to a notification posture,
the notification method changing section 17 changes the method of
notifying the notification event that has occurred to a method that
does not involve any posture transition undergone by the robot 100.
In a case where the notification method changing section 17 has
detected resumption of the transition to the notification posture,
the notification method changing section 17 ends the notification
being carried out by the notification method that does not involve
any posture transition undergone by the robot 100. The notification
method that does not involve any posture transition undergone by
the robot 100 can be any one of a notification method of screen
display, a notification method of sound output, and a notification
method of vibration, or can be determined by the user from among
the plurality of notification methods. The notification method
changing section 17 can alternatively change the notification
method to a notification method that combines two or more of the
above methods. The notification method changing section 17 can
alternatively be configured to automatically determine a
notification method suitable for the current state of the robot
100; for example, the notification method changing section 17 can
be configured to determine (i) a vibration method if the robot 100
is in the silent mode or (ii) a method that involves consumption of
relatively small power (for example, sound output) if the robot 100
has a small residual quantity of a battery.
[0039] (Method of Determining Whether Robot Will be Able to Undergo
Transition to Notification Posture)
[0040] The following description will discuss how the notification
posture transition determining section 14 determines whether the
robot 100 will be able to undergo a transition to a notification
posture. The notification posture transition determining section 14
first detects a residual quantity of the battery section 28 so as
to determine whether the battery section 28 has a residual quantity
of not smaller than a specific threshold quantity. For example,
such a specific threshold can be simply a residual quantity
corresponding to electric power which is necessary for each of the
servomotors 23a to be driven. Alternatively, the specific threshold
can be a residual quantity corresponding to electric power which is
necessary for the robot 100 to undergo a transition to a
notification posture from a posture the robot took at the time when
the notification posture transition determining section 14 makes a
determination described above. The amount of electric power, which
is necessary for the robot 100 to undergo a transition to a
notification posture, can be calculated, for example, by (i)
measuring a rotation angle by which each of the servomotors 23a
rotates in a case where the robot 100 has undergone a transition to
the notification posture and then (ii) totalizing electric powers
calculated for the respective servomotors 23a each of which
electric powers is obtained by multiplying a corresponding rotation
angle by a corresponding electric power consumption per a unit
rotation angle (e.g., 1.degree.). The threshold can be set in
advance during production of the robot 100 or can be arbitrarily
set by the user. In a case where the notification posture
transition determining section 14 has determined that the battery
section 28 has a residual quantity which is smaller than a specific
threshold, the notification posture transition determining section
14 determines that the robot 100 will not be able to undergo a
transition to a notification posture.
[0041] In a case where the notification posture transition
determining section 14 has determined that the residual quantity is
not smaller than the specific threshold, the notification posture
transition determining section 14 (i) drives a servomotor(s) 23a of
each movable part of the robot 100 which movable part corresponds
to a transition undergone by the robot 100 to the notification
posture and (ii) determines whether at least one of the movable
parts will come into collision with an obstruction. Specifically,
the notification posture transition determining section 14 first
determines, on the basis of a detection result obtained from the
contact sensor 30a, whether the collision will occur. Upon receipt
of, from the contact sensor 30a, a detection result indicating that
none of the movable parts is in contact with an obstruction, the
notification posture transition determining section 14 determines,
on the basis of a detection result obtained from the proximity
sensor 30b, whether the collision will occur.
[0042] Upon receipt of, from the proximity sensor 30b, a detection
result indicating that none of the movable parts is close to an
obstruction, the notification posture transition determining
section 14 determines, on the basis of image data received from the
camera section 20, whether the collision will occur. Specifically,
with reference to the notification posture table 29b, the
notification posture transition determining section 14 simulates an
operation route that each of the movable parts follows during a
transition, to the notification posture, from a posture that the
robot 100 takes at the time when the notification posture
transition determining section 14 determines, on the basis of the
image data, whether the collision will occur. The notification
posture transition determining section 14 determines whether the
collision will occur, by calculating, in the image data, a region
in which each of the movable parts follows the operation route and
then determining whether an obstruction stored in the image data is
entirely or partially located in such a region. Note that in a case
where the robot 100 is put in a bag or the like, it is highly
likely that it is not possible to make a determination with use of
the camera section 20. This is because a region surrounding the
robot 100 is dark. In such a case, if the notification posture
transition determining section 14 has determined that a region
surrounding the robot 100 is dark, on the basis of image data or a
detection result obtained from an illuminance sensor (not
illustrated) which is additionally provided in the robot 100, then
the notification posture transition determining section 14 can
determine that at least one of the movable parts will collide with
an obstruction.
[0043] For example, in a case where (i) an alarm sounds and (ii)
the robot 100 takes a standing posture at the time when the
notification posture transition determining section 14 determines,
on the basis of image data, whether the collision will occur (see
as illustrated in (a) of FIG. 5), the notification posture
transition determining section 14 simulates an operation route
which a right arm part 100c follows while the robot 100 is
undergoing a transition from a standing posture to a notification
posture A2 (with the right arm part 100c raised) associated with
the alarm. In a case where an obstruction is located in a region on
a side of a left arm part 100c (see (b) of FIG. 5), no obstruction
is located in a region in which the right arm part 100c follows an
operation route. As such, the notification posture transition
determining section 14 determines that the right arm part 100c will
not collide with the obstruction. In a case where the obstruction
is located in the region in which the right arm part 100c follows
the operation route (see (c) of FIG. 5), the notification posture
transition determining section 14 determines that the right arm
part 100c will collide with the obstruction.
[0044] In a case where the notification posture transition
determining section 14 has determined, with use of the camera
section 20, that none of the movable parts will collide with an
obstruction, the notification posture transition determining
section 14 determines that the robot 100 will be able to undergo a
transition to the notification posture. The notification posture
transition determining section 14 determines that the robot 100
will not be able to undergo a transition to the notification
posture, in a case where (i) at least one of the movable parts is
in contact with an obstruction, (ii) at least one of the movable
parts is close to an obstruction, or (iii) an obstruction is
entirely or partially located in a region in which each of the
movable parts of the robot 100 follows an operation route which
movable parts correspond to transitions undergone by the robot 100
to the respective notification postures.
[0045] Note that an order of each determination, which is made with
the use of (i) the contact sensor 30a, (ii) the proximity sensor
30b, and (iii) the camera section 20, is not limited to the order
described above. Such an order can be arbitrarily set by the user.
Furthermore, in a case where the notification posture transition
determining section 14 determines whether the robot 100 will be
able to undergo a transition to a notification posture, the
notification posture transition determining section 14 does not
need to use all of the above (i) through (iii) members. The
notification posture transition determining section 14 can
alternatively use another member.
[0046] (Controlling Notification of Occurrence of Notification
Event with Use of Notification Control Device)
[0047] With reference to FIG. 6, the following description will
discuss how the notification control device 1 controls notification
of occurrence of a notification event in a case where the
notification event has arisen from an external factor. FIG. 6 is a
flowchart illustrating the control method.
[0048] As illustrated in FIG. 6, in a case where the notification
event detecting section 13 has detected occurrence of a
notification event (YES in step 100; hereinafter abbreviated to "Y
in S100"), the notification event detecting section 13 first
transmits the detection result to the notification posture
transition determining section 14. In a case where the notification
event detecting section 13 does not detect any occurrence of a
notification event (NO in S100; hereinafter "NO" is abbreviated to
"N"), the notification event detecting section 13 continues its
operation to determine whether a notification event has occurred.
Next, in the case where the determination made by the notification
event detecting section 13 is Y in S100, the notification posture
transition determining section 14 refers to the notification
posture table 29b to determine the notification posture associated
with the notification event that has occurred (S101). Next, the
notification posture transition determining section 14 determines
whether the battery section 28 has a residual quantity which is
necessary to drive the driving section 23 (S102), and determines
whether a movable part, which is operated in response to the
driving section 23 being driven, will collide with an obstruction
(S103). In a case where the notification posture transition
determining section 14 has determined that (i) the battery section
28 has a residual quantity (Y in S102) and (ii) the movable part
will not collide with an obstruction (Y in S103), the notification
posture transition determining section 14 determines that the robot
100 will be able to undergo a transition to the notification
posture that has been determined (S104). In a case where the
determination made by the notification posture transition
determining section 14 is N in S102 or S103, the notification
posture transition determining section 14 determines that the robot
100 will not be able to undergo a transition to the notification
posture that has been determined (S115).
[0049] Next, upon receipt of, from the notification posture
transition determining section 14, a determination result
indicating that the robot 100 will be able to undergo a transition
to the notification posture, the notification method determining
section 15 determines to notify the user of occurrence of the
notification event in the notification posture, and transmits a
determined result to the notification posture transition section 16
(S105). Upon receipt of the determined result, the notification
posture transition section 16 causes the robot 100 to start
undergoing a transition to the notification posture (S106) and then
detects whether a transition blocking event has occurred (S107). In
a case where the notification posture transition section 16 does
not detect any occurrence of a transition blocking event (N in
S107), the notification posture transition section 16 causes the
robot 100 to continue undergoing the transition to the notification
posture (S113). After the robot 100 has completed undergoing the
transition to the notification posture, the robot 100 notifies the
user of the occurrence of the notification event in the
notification posture (S114). In a case where the notification
posture transition section 16 has detected occurrence of a
transition blocking event (Y in S107), the notification posture
transition section 16 causes the robot 100 to stop undergoing the
transition to the notification posture (S108). Upon detection of
such a stoppage, the notification method changing section 17 makes
a change in method that does not involve any posture transition
undergone by the robot 100 (S109). Upon detection of finish of the
transition blocking event (Y in S110), the notification posture
transition section 16 causes the robot 100 to resume undergoing the
transition to the notification posture (S111). Upon detection of
such a resumption, the notification method changing section 17 ends
the notification of the occurrence of the notification event by use
of the notification method that does not involve any posture
transition undergone by the robot 100 (S112). S114 is then
proceeded with. In a case where the finish of the transition
blocking event is not detected (N in S110), the notification
posture transition section 16 continues to determine whether the
transition blocking event has finished.
[0050] Upon receipt of, from the notification posture transition
determining section 14, a determination result indicating that the
robot 100 will not be able to undergo a transition to the
notification posture (S115 is proceeded with), the notification
method determining section 15 determines whether the robot 100 is
in a silent mode (S116). In a case where the notification method
determining section 15 has determined that the robot 100 is in the
silent mode (Y in S116), the notification method determining
section 15 determines to notify, via screen display, the user of
the occurrence of the notification event (S117), and then causes
the display section 22 to display, on the display screen, the
notification event having occurred (S118). In a case where the
determination made by the notification method determining section
15 is N in S116, the notification method determining section 15
determines whether the loudspeaker section 21 is outputting sound
(S119). In a case where the notification method determining section
15 has determined that the loudspeaker section 21 is not outputting
sound (N in S119), the notification method determining section 15
determines to notify the user of the occurrence of the notification
event in sound output (S120), and then causes the loudspeaker
section 21 to output sound (S121). In a case where the
determination made by the notification method determining section
15 is Y in S119, the step S117 and its subsequent steps are
proceeded with.
[0051] With reference to FIG. 7, the following description will
discuss how the notification control device 1 controls notification
of occurrence of a determined notification event. FIG. 7 is a
flowchart illustrating the control method. The description below
omits dealing with steps subsequent to the end of S203 in FIG. 7,
as those subsequent steps are similar to S102 and its subsequent
steps in FIG. 6.
[0052] As illustrated in FIG. 7, the generation condition
determining section 11 first refers to the notification event
occurrence table 29a to determine whether a determined notification
event occurrence condition has been met (S200). In a case where the
determination made by the generation condition determining section
11 is Y in S200, the generation condition determining section 11
transmits to the notification event generating section 12 a
determination result to the effect that the condition has been met.
In a case where the determination made by the generation condition
determining section 11 is N in S200, the generation condition
determining section 11 continues to determine whether the condition
has been met. Then, the notification event generating section 12,
when it has received the determination result from the generation
condition determining section 11, generates the determined
notification event associated with the determined notification
event occurrence condition, which has been determined as being met
(S201). Next, in a case where the notification event detecting
section 13 has detected occurrence of the determined notification
event (Y in S202), the notification event detecting section 13
transmits the detection result to the notification posture
transition determining section 14. In a case where the notification
event detecting section 13 does not detect occurrence of the
determined notification event (N in S202), the notification event
detecting section 13 continues to determine whether the
notification event has occurred. Next, in a case where the
determination made by the notification event detecting section 13
is Y in S202, the notification posture transition determining
section 14 refers to the notification posture table 29b to
determine a notification posture associated with the determined
notification event that has occurred (S203).
[0053] In the case where the robot 100 notifies the user of
occurrence of a notification event by a notification method that
does not involve any posture transition undergone by the robot 100,
the notification method determining section 15 can alternatively
first determine whether the loudspeaker section 21 is outputting
sound and then determine whether the robot 100 is in the silent
mode. Further, the robot 100 can alternatively have an additional
option of notifying the user with use of vibration as illustrated
in FIG. 8. Specifically, after S113 ends, the notification method
determining section 15 determines whether the battery section 28
has a residual quantity of not smaller than a threshold (S300). In
a case where the notification method determining section 15 has
determined that the residual quantity is not smaller than the
threshold (Y in S300), the notification method determining section
15 then proceeds with steps similar to S117 and S118 (S301 and
S302). In a case where the notification method determining section
15 has determined that the residual quantity is smaller than the
threshold (N in S300), the notification method determining section
15 proceeds with a step similar to S116 (S303). Then, in a case
where the determination made by the notification method determining
section 15 is Y in S303, the notification method determining
section 15 determines to notify the user of the occurrence of the
notification event with use of vibration (S304), and vibrates the
robot 100 (S305). In a case where the determination made by the
notification method determining section 15 is N in S303, the
notification method determining section 15 proceeds with steps
similar to S119 through S121 (S306 through S308).
[0054] (Effects)
[0055] As has been described, with the configuration of Embodiment
1, even in a case where the robot 100 is not able to notify, in a
notification posture, the user of the occurrence of a notification
event, the notification control device 1 determines a notification
method, such as sound output, that does not involve any posture
transition undergone by the robot 100. This allows the user to
certainly recognize the occurrence of the notification event.
Further, even in a case where a transition blocking event has
occurred, the notification control device 1 of Embodiment 1 allows
the user to certainly recognize the occurrence of the notification
event.
Embodiment 2
[0056] The following description will discuss Embodiment 2 of the
present invention with reference to FIGS. 9 and 10. For convenience
of description, any member of Embodiment 2 that is identical in
function to a corresponding member described for Embodiment 1 is
assigned a common reference numeral, and a description thereof is
omitted here.
[0057] A notification control device 2 of Embodiment 2 differs from
the notification control device 1 of Embodiment 1 in that in a case
where (i) a second notification event has occurred after a first
notification event occurred (note that to each notification event a
corresponding priority is set in accordance with a degree that a
user necessitates to address) and (ii) the second notification
event has a priority higher than that of the first notification
event, the notification posture transition determining section 14
of Embodiment 2 determines whether a robot 200 will be able to
undergo a transition to a second notification posture associated
with the second notification event. The first notification event is
a notification event that occurred first, and the second
notification event is a notification event that has occurred after
the first notification event occurred. A first notification posture
is a notification posture associated with the first notification
event, and the second notification posture is a notification
posture associated with the second notification event. The
notification control device 2 of Embodiment 2 further differs from
the notification control device 1 of Embodiment 1 in that in a case
where the robot 200 undergoes a transition to a second notification
posture, the notification method changing section 17 of Embodiment
2 changes the method of notifying occurrence of the first
notification event to a method that does not involve any posture
transition undergone by the robot 200. The robot 200 of Embodiment
2 differs from the robot 100 of Embodiment 1 in that a notification
event priority table 29d is stored in the storage section 29.
[0058] (Transition to Notification Posture in a Case where a
Plurality of Notification Events have Occurred)
[0059] With reference to FIG. 9, the following description will
discuss how to undergo a transition to a notification posture in a
case where a plurality of notification events have occurred. FIG. 9
illustrates an example of a notification event priority table 29d
stored in the storage section 29.
[0060] The notification event priority table 29d is obtained by
adding a column indicating "priority" to the notification posture
table 29b shown in FIG. 3. The notification event priority table
29d shows correspondence between data stored in the notification
posture table 29b and a priority. The priority is set such that (i)
a higher priority is set as a user's necessity of addressing is
higher and (ii) a priority "1" is a lowest value (a priority is the
lowest) and a priority "10" is a highest value (a priority is the
highest). Note, here, that the priority of each of notification
events shown in FIG. 9 is illustrative only. The user can therefore
set and change the priorities at will. Note that, for
simplification of description, the columns "rotation position of
servomotor" and "notification posture" are omitted in FIG. 9.
[0061] As shown in FIG. 9, for example, in a case where (i) an
alarm (a priority is "6"; the priority is a third highest) has
occurred as a second notification event after an incoming telephone
call (a priority is "8"; the priority is a second highest) occurred
as a first notification event and (ii) the notification posture
transition determining section 14 has not yet determined whether
the robot 200 will be able to undergo a transition to a first
notification posture A1 associated with the incoming telephone
call, the notification posture transition determining section 14
makes such a determination. In a case where the robot 200 is
undergoing a transition to the first notification posture A1, the
notification posture transition section 16 causes the robot 200 to
complete undergoing the transition to the first notification
posture A1. Note that, in a case where the robot 200 has already
completed undergoing the transition to the first notification
posture A1, the notification posture transition section 16 causes
the robot 200 to maintain the first notification posture A1.
[0062] For example, in a case where a reduction in residual
quantity of a battery has occurred (a priority is "10"; the
priority is the highest) as a second notification event after a
turn-on of TV (a priority is "4"; the priority is the lowest)
occurred as a first notification event, the notification posture
transition determining section 14 determines whether the robot 200
will be able to undergo a transition to a second notification
posture A5 associated with the reduction in residual quantity of
the battery, regardless of whether the robot 200 has undergone a
transitioned to a first notification posture A4 associated with the
turn-on of TV.
[0063] Note that in order to address a case where two kinds of
notification events, having identical priorities, occur (not shown
in FIG. 9), a notification event to be prioritized can be set in
advance during production of the robot 200 or can be arbitrarily
set by the user.
[0064] (Controlling Notification of Occurrence of a Plurality of
Notification Events with Use of Notification Control Device)
[0065] With reference to FIG. 10, the following description will
discuss how the notification control device 2 controls notification
of occurrence of a plurality of notification events. FIG. 10 is a
flowchart illustrating the control method. The description below
omits dealing with steps subsequent to the end of S408, S409, or
S412 in FIG. 10, as those subsequent steps are similar to S107 or
S116 and its subsequent steps in FIG. 6.
[0066] As illustrated in FIG. 10, in a case where the notification
event detecting section 13 has detected occurrence of a second
notification event (Y in S400), the notification event detecting
section 13 transmits the detection result to the notification
posture transition determining section 14. In a case where the
notification event detecting section 13 does not detect any
occurrence of a second notification event (N in S400), the
notification event detecting section 13 continues to determine
whether a second notification event has occurred. Then, in the case
where the determination made by the notification event detecting
section 13 is Y in S400, the notification posture transition
determining section 14 refers to the notification event priority
table 29d to determine a second notification posture (S401).
[0067] Next, before receiving the detection result indicating that
the second notification event has occurred, the notification
posture transition determining section 14 determines whether it has
already received, from the notification event detecting section 13,
a result of detection of occurrence of a first notification event
(S402). In a case where the determination made by the notification
posture transition determining section 14 is N in S402, the
notification posture transition determining section 14 determines
whether (i) the battery section 28 has a residual quantity which is
necessary for the robot 200 to undergo a transition to the second
notification posture (S403) and (ii) a movable part, which is
operated in a case where the robot 200 undergoes a transition to
the second notification posture, will collide with an obstruction
(S404). In a case where the notification posture transition
determining section 14 has determined that (i) the battery section
28 has the residual quantity (Y in S403) and (ii) the movable part
will not collide with the obstruction (Y in S404), the notification
posture transition determining section 14 determines that the robot
200 will be able to undergo a transition to the second notification
posture (S405). In a case where the determination made by the
notification posture transition determining section 14 is N in S403
or S404, the notification posture transition determining section 14
determines that the robot 200 will not be able to undergo a
transition to the second notification posture (S411).
[0068] Next, in a case where the determination made by the
notification posture transition determining section 14 is Y in
S402, the notification posture transition determining section 14
compares a priority of the first notification event with that of
the second notification event (S410). In a case where the
notification posture transition determining section 14 has
determined that the first notification event has a priority lower
than that of the second notification event (N in S410), the steps
S403 through S405 are proceeded with. In a case where the
notification posture transition determining section 14 has
determined that the first notification event has a priority higher
than that of the second notification event (Y in S410), the step
S411 is proceeded with. After S411 ends, the notification method
determining section 15 determines to notify the user of the
occurrence of the second notification event by use of a
notification method that does not involve any posture transition
undergone by the robot 200 (S412). The robot 200 then proceeds with
steps similar to the step S116 and its subsequent steps.
[0069] Next, upon receipt of, from the notification posture
transition determining section 14, a determination result
indicating that the robot 200 will be able to undergo a transition
to the second notification posture, the notification method
determining section 15 determines to notify, in the second
notification posture, the user of the occurrence of the second
notification, and then transmits a determination result to the
notification posture transition section 16 (S406). Upon receipt of
the determination result, the notification posture transition
section 16 causes the robot 200 to start to undergo a transition to
the second notification posture (S407). Next, the notification
method changing section 17 determines whether the robot 200 has
already undergone a transition to the first notification posture
(S408). In a case where the determination made by the notification
method changing section 17 is N in S408, the steps S107 and its
subsequent steps are proceeded with. In a case where the
determination made by the notification method changing section 17
is Y in S408, the notification method changing section 17 changes
the method of notification of occurrence of the first notification
event to a method that does not involve any posture transition
undergone by the robot 200 (S409). After S409 ends, the robot 200
proceeds with steps similar to the step S116 and its subsequent
steps.
[0070] (Effects)
[0071] As has been described above, with the configuration of
Embodiment 2, it is possible that the user certainly addresses the
first notification event or the second notification event which is
higher in a degree that a user necessitates to address, regardless
of an order in which the first notification event and the second
notification event have occurred. Further, the robot 200 undergoing
a transition to the second notification posture makes it possible
to prevent the user from forgetting about the occurrence of the
first notification event. This ultimately allows the user to
certainly recognize the occurrence of the first notification
event.
Embodiment 3
[0072] The following description will discuss Embodiment 3 of the
present invention with reference to FIGS. 11 and 12. For
convenience of description, any member of Embodiment 3 that is
identical in function to a corresponding member described for
Embodiment 1 or 2 is assigned a common reference numeral, and a
description thereof is omitted here.
[0073] Embodiment 3 includes a notification control device 3, which
differs from the notification control device 1 of Embodiment 1 and
the notification control device 2 of Embodiment 2 in that in a case
where a particular notification event is associated with a
plurality of notification postures, the notification posture
transition determining section 14 of Embodiment 3 determines
whether a robot 300 can undergo a transition to any of the
plurality of notification postures. The robot 300 of Embodiment 3
also differs from the robot 100 of Embodiment 1 and the robot 200
of Embodiment 2 in that a notification posture table 29c is stored
in the storage section 29.
[0074] (Method of determining whether robot will be able to undergo
transition to notification posture) With reference to FIG. 11, the
following description will discuss how the notification posture
transition determining section 14, in a case where a particular
notification event is associated with a plurality of notification
postures, determines whether the robot 300 will be able to undergo
a transition to a notification posture. FIG. 11 illustrates an
example of the notification posture table 29c stored in the storage
section 29.
[0075] The notification posture table 29c is a data table that
shows correspondence between notification events, notification
posture information, and notification postures and that associates
a single notification event with a plurality of items of
notification posture information and a plurality of notification
postures. For example, the notification posture table 29c, as shown
in FIG. 11, associates an alarm (notification event) with (i) a
notification posture A2 (with the right arm part 100c raised) and
(ii) notification posture information corresponding to the
notification posture A2 (where data on the respective rotation
positions of the first through n-th servomotors is set so that
.alpha.=a2 through .delta.=n2 or a21<.alpha.<a22 through
n21<.delta.<n22) (Pattern 1). The notification posture table
29c associates the alarm also with (i) a notification posture A2'
(with the left arm part 100c raised) and (ii) notification posture
information corresponding to the notification posture A2' (where
data on the respective rotation positions of the first through n-th
servomotors is set so that .alpha.=a2' through .delta.=n2' or
a21'<.alpha.<a22' through n21'<.delta.<n22') (Pattern
2).
[0076] Specifically, in a case where the alarm is raised, the
notification posture transition determining section 14 first
determines that the notification posture A2 of Pattern 1 is a
target posture for the determination of whether the robot 300 will
be able to undergo a transition to a notification posture. The
notification posture transition determining section 14 then
determines whether the robot 300 will be able to undergo a
transition to the notification posture A2, by use of a method
similar to the method of determining whether the robot 100 of
Embodiment 1 will be able to undergo a transition to a notification
posture. Next, in a case where the notification posture transition
determining section 14 has determined that the robot 300 will not
be able to undergo a transition to the notification posture A2
because, for example, an obstruction is located within a region of
an operation route which the right arm part 100c follows, the
notification posture transition determining section 14 determines
that the notification posture A2' of Pattern 2 is to be the target
posture, and then makes a determination similar to the above. In a
case where the notification posture transition determining section
14 has determined that the robot 300 will not be able to undergo a
transition to either of the notification postures A2 and A2', the
notification posture transition determining section 14 determines
whether there is another notification posture which has not been
the target posture. In the case of the example illustrated in FIG.
11, the notification posture transition determining section 14 has
already determined whether the robot 300 will be able to undergo a
transition to each of the notification postures. The notification
posture transition determining section 14 therefore ultimately
determines that the robot 300 will not be able to undergo a
transition to any notification posture associated with the
alarm.
[0077] The notification posture transition determining section 14
can determine a notification posture from among a plurality of
notification postures for the determination in any order. The order
can be set in advance during production of the robot 300 or can be
arbitrarily set by the user. Further, a particular notification
event is not necessarily associated with two patterns as in FIG. 11
(each pattern referring to a combination of notification posture
information and a notification posture), and can be associated with
more than two patterns.
[0078] (Controlling Notification of Occurrence of Notification
Event with Use of Notification Control Device)
[0079] With reference to FIG. 12, the following description will
discuss how the notification control device 3, in a case where a
particular notification event is associated with a plurality of
notification postures, controls notification of occurrence of such
a notification event. FIG. 12 is a flowchart illustrating the
control method. The description below omits dealing with S500
through S514 and S516 through S522 in FIG. 12, as those steps are
similar to S100 through S114 and S115 through S121 in FIG. 6.
[0080] As illustrated in FIG. 12, in a case where the notification
posture transition determining section 14 has determined that the
battery section 28 does not have a residual quantity which is
necessary to drive the driving section 23 (N in S502) or that a
movable part will collide with an obstruction in a case where the
driving section 23 is driven (N in S503), the notification posture
transition determining section 14 determines whether the
notification posture transition determining section 14 has already
determined, for each of a plurality of notification postures
associated with the notification event that has occurred, whether
the robot 300 will be able to undergo a transition to that posture
transition (S515). In a case where the notification posture
transition determining section 14 has already determined for each
of the plurality of notification postures whether the robot 300
will be able to undergo a transition to that posture transition (Y
in S515), the step S516 is proceeded with. In a case where the
notification posture transition determining section 14 has not yet
determined for each of the plurality of notification postures
whether the robot 300 will be able to undergo a transition to that
posture transition (N in S515), the notification posture transition
determining section 14 proceeds with the steps S501 through S503
again.
[0081] (Effects)
[0082] As has been described, Embodiment 3 is configured to allow
for, over a case where a particular notification event is
associated with only one notification posture, an increased
possibility that the robot 300 is able to notify, in a notification
posture, the user of occurrence of a notification event. This more
certainly allows the user to visually recognize the occurrence of
the notification event.
[0083] [Software Implementation Example]
[0084] Each control block of the notification control devices 1
through 3 (particularly, the control section 10 and the
notification posture transition determining section 14) may be
realized by a logic circuit (hardware) on an integrated circuit (IC
chip) or may be realized by software as executed by a CPU (central
processing unit). In a case where the each control block is
realized by software as executed by a CPU, each of the notification
control devices 1 through 3 includes: the CPU that executes
instructions of a program (software) that realizes each function; a
ROM (read only memory) or a storage device (hereinafter referred to
as a "storage medium") which stores the program and various kinds
of data so as to be read by a computer (or the CPU); and a RAM
(random access memory) that develops the program. The object of the
present invention is achieved by the computer (or the CPU) reading
the program from the storage medium and executing the program. The
storage medium can be a "non-transitory tangible medium", for
example, a tape, a disk, a card, a semiconductor memory, or a
programmable logic circuit. The program may be transferred to the
computer via a given transfer medium which can transfer the program
(e.g., a communications network or broadcast waves). The present
invention can also be implemented by the program in the form of a
data signal embedded in a carrier wave which is embodied by
electronic transmission.
[0085] [Recapitulation]
[0086] A notification control device (1, 2, 3) in accordance with a
first aspect of the present invention is a notification control
device, including: a notification posture transition determining
section (14) configured to determine whether a robot (100, 200,
300) is capable of undergoing a transition to a notification
posture suitable for a user to recognize occurrence of a
notification event, the notification event being an event which
causes the user to address a notification received from the robot;
and a notification method determining section (15) configured to
determine a notification method on a basis of a result of
determination made by the notification posture transition
determining section, the notification event being notified by the
notification method. This configuration allows, by use of some
method, the user to recognize a notification event that has
occurred, even in a case where the robot will not be able to
undergo a transition to a notification posture. Therefore, even in
a case where the robot will not be able to undergo a transition to
a notification posture, the above configuration allows the user to
certainly recognize the occurrence of the notification event.
[0087] In a second aspect of the present invention, a notification
control device (1, 2, 3) is configured such that in the first
aspect of the present invention, the notification method
determining section (15) determines that a method, which does not
involve any posture transition of the robot (100, 200, 300), is
employed as the notification method, in a case where the
notification posture transition determining section (15) has
determined that the robot is incapable of undergoing a transition
to the notification posture. With this configuration, in a case
where the robot will not be able to notify the user of occurrence
of a notification event by use of a notification method using a
notification posture, the notification method determining section
determines a notification method, such as sound output, that does
not involve any posture transition undergone by the robot.
Therefore, even in a case where the robot will not be able to
undergo a transition to a notification posture, the above
configuration allows the user to certainly recognize the occurrence
of the notification event.
[0088] In a third aspect of the present invention, a notification
control device (3) is configured such that the notification posture
is associated with a plurality of notification postures; and the
notification posture transition determining section (14) determines
whether there is a posture, of the plurality of notification
postures, to which posture the robot (300) is capable of undergoing
a transition.
[0089] This configuration allows for, over a case where the
notification event is associated with only one notification
posture, an increased possibility that the robot is able to notify
the user of occurrence of a notification event in a notification
posture. This more certainly allows the user to visually recognize
the occurrence of the notification event.
[0090] In a fourth aspect of the present invention, a notification
control device (2) is configured such that in the first or second
aspect of the present invention, the notification event includes a
first notification event and a second notification event; each of
the first notification event and the second notification event to
which a corresponding priority is set in accordance with a degree
that a user necessitates to address; and in a case where (i) the
second notification event has occurred after occurrence of the
first notification event and (ii) the second notification event has
a priority higher than that of the first notification event, the
notification posture transition determining section (14) determines
whether the robot is capable of undergoing a transition to a second
notification posture associated with the second notification event.
This configuration allows the user to certainly recognize the
second notification, in a case where the second notification event
has a higher priority. Further, the above configuration allows the
user to certainly address the first notification event or the
second notification event which is higher in a degree that a user
necessitates to address, regardless of an order in which the first
notification event and the second notification event have
occurred.
[0091] The notification control device (2) in accordance with the
fourth aspect of the present invention can further include a
notification method changing section configured to change the
notification method determined by the notification method
determining section (15) to a different notification method,
wherein in a case where the second notification event occurred
after occurrence of the first notification event and the
notification posture transition determining section has determined
that the robot is capable of undergoing a transition to the second
notification posture, the notification method changing section
changes the method of notifying the occurrence of the first
notification event to a method that does not involve any posture
transition undergone by the robot. With this configuration, the
robot undergoing a transition to the second notification posture
can prevent the user from forgetting about the occurrence of the
first notification event. This ultimately allows the user to
certainly recognize the occurrence of the first notification
event.
[0092] The notification control device (1, 2, 3) in accordance with
any of the first to fourth aspects of the present invention can
further include a notification posture transition section
configured to, in a case where the notification method determining
section (15) has determined a notification method that uses a
notification posture, cause the robot to undergo a transition to
that notification posture, wherein in a case where the notification
posture transition section has detected occurrence of a transition
blocking event, which blocks the transition to the notification
posture, during a process of the transition to the notification
posture, the notification posture transition section stops the
transition to the notification posture; and in a case where the
notification posture transition section has stopped the transition
to the notification posture, the notification method changing
section changes the method of notifying the occurrence of the
notification event to a method that does not involve any posture
transition undergone by the robot (100, 200, 300). This
configuration allows the user to certainly recognize the occurrence
of the notification event even in a case where a transition
blocking event has occurred. The above configuration can also
prevent the robot from, for example, suffering from damage that
would have been caused if the transition to the notification
posture had continued despite occurrence of a transition blocking
event.
[0093] The notification control device (1, 2, 3) in accordance with
any of the first to fourth aspects of the present invention can be
configured such that in a case where the notification posture
transition section has detected finish of the transition blocking
event with the transition to the notification posture stopped, the
notification posture transition section resumes the transition to
the notification posture; and in a case where the notification
posture transition section has resumed the transition to the
notification posture, the notification method changing section ends
notifying the occurrence of the notification event by a method that
does not involve any posture transition undergone by the robot
(100, 200, 300). This configuration certainly allows the user to
visually recognize occurrence of a notification event in a case
where the transition blocking event has finished. The above
configuration can also prevent the notification control device from
notifying the user of occurrence of a notification event by more
notification methods than necessary, thereby preventing wasteful
electric power consumption.
[0094] In a fifth aspect of the present invention, a robot (100,
200, 300) can include a notification control device (1, 2, 3) in
accordance with any one of the first to fourth aspects of the
present invention.
[0095] This configuration allows for production of a robot that
allows the user to certainly recognize the occurrence of the
notification event.
[0096] The notification control device (1, 2, 3) according to the
foregoing embodiments of the present invention can be in the form
of a computer. In this case, the present invention encompasses: a
notification control program for the notification control device
which program causes a computer to operate as each of the above
sections of the notification control device so that the
notification control device can be in the form of a computer; and a
computer-readable recording medium storing the notification control
program.
[0097] The present invention is not limited to the description of
the embodiments above, but may be altered in various ways by a
skilled person within the scope of the claims. Any embodiment based
on a proper combination of technical means disclosed in different
embodiments is also encompassed in the technical scope of the
present invention. Further, combining technical means disclosed in
different embodiments can provide a new technical feature.
INDUSTRIAL APPLICABILITY
[0098] The present invention is generally applicable to techniques
for allowing a user to recognize a notification event.
REFERENCE SIGNS LIST
[0099] 1, 2, 3: Notification control device [0100] 14: Notification
posture transition determining section [0101] 15: Notification
method determining section
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