US 12,280,489 B2
Robot, communication system, communication method, and computer readable medium
Yuka Hashiguchi, Toyota (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Mar. 16, 2022, as Appl. No. 17/696,458.
Claims priority of application No. 2021-049878 (JP), filed on Mar. 24, 2021.
Prior Publication US 2022/0305665 A1, Sep. 29, 2022
Int. Cl. B25J 11/00 (2006.01); B25J 19/02 (2006.01); G06F 21/62 (2013.01); G06V 40/16 (2022.01)
CPC B25J 11/0015 (2013.01) [B25J 19/023 (2013.01); G06F 21/6245 (2013.01); G06V 40/161 (2022.01); G06F 2221/2143 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A communication method executed by a robot comprising:
specifying a communication target person to be communicated with from among persons present in a vicinity of the robot;
acquiring a back view image of the specified communication target person by a camera mounted on the robot;
displaying the back view image on a display panel mounted on the robot to inform the communication target person of the back view image;
receiving an operation signal corresponding to a remote operation of the robot;
executing the remote operation in accordance with the operation signal;
initiating communication with the communication target person upon determining a state corresponding to detecting that a velocity of the communication target person has approached the robot greater than or equal to a first predetermined threshold after the display of the back view image on the display panel;
creating a processed image obtained by processing the back view image, the processed image being an avatar based on the back view image; and
displaying the processed image on the display panel of the robot to inform the communication target person of the processed image, wherein
the specifying the communication target person includes specifying personal information of the communication target person using a face image of the communication target person, the personal information indicating an initial of the communication target person;
the specifying the communication target person further includes specifying the communication target person based on at least any one of clothing or a height of the communication target person among the persons present in the vicinity of the robot;
the communication method further comprising displaying the personal information on the display panel mounted on the robot to inform the communication target person of the personal information together with the back view image; and
the communication method further comprising stopping the remote operation, including a movement operation or a rotation operation, of the robot and controlling the robot to a still position when the velocity at which the communication target person has approached the robot, is greater than or equal to the first predetermined threshold from a predetermined past time to the present.
 
8. The communication method according to claim 1, further comprising terminating the communication upon occurrence of one of the following states: detecting that the velocity at which the communication target person has moved away from the robot is greater than or equal to a second predetermined threshold, determining a first period of time at which the communication target person has not spoken to the robot continues for a first predetermined period of time or longer, or determining a second period of time that communication target person has not touched the display panel continues for a second predetermined period of time or longer.