CONTROL DEVICE, CONTROL METHOD, AND COMPUTER-READABLE MEDIUM

TECHNICAL FIELD

The present invention relates to a control device, a control method, and a computer-readable medium.

BACKGROUND ART

Human computer interaction (hereinafter, referred to as “HCI”) using a robot has been studied. For example, Non-Patent Literature 1 discloses HCI in which a plurality of microrobots is used, and the microrobots are moved on the basis of an operation performed on the microrobots by a user, or the microrobots are moved so as to prompt a user to take an action on the basis of a situation around the microrobots. In addition, Non-Patent Literature 2 discloses a microrobot and a control system of the microrobot for implementing the HCI disclosed in Non-Patent Literature 1.

CITATION LIST
Non-Patent Literature

Non-Patent Literature 1: “Lawrence H. Kim, Sean Follmer”, “UbiSwarm: Ubiquitous Robotic Interfaces and Investigation of Abstract Motion as a Display”, [online], 2017, “Stanford University Department of Mechanical Engineering”, [searched on Apr. 19, 2019], Internet <URL: http://shape.stanford.edu/research/UbiSwarm/>

Non-Patent Literature 2: “Mathieu Le Goc, Lawrence H. Kim, Ali Parsaei, Jean-Daniel Feketel, Pierre Dragicevic, Sean Follmer”, “Zooids: Building Block for Swarm User Interface”, [online], 2016, “Stanford University Department of Mechanical Engineering”, [searched on Apr. 19, 2019], Internet <URL:

http://shape.stanford.edu/research/swarm/>

SUMMARY OF INVENTION
Technical Problem

However, for example, in the HCI using the microrobot disclosed in Non-Patent Literature 2, since a plurality of the microrobots is independent of each other, an operation method for a user to control the robots, an expression method for the robots to prompt the user to take an action, or the like is limited. Therefore, it is difficult for the microrobot disclosed in Non-Patent Literature 2 to provide a wide variety of HCI.

The present invention is intended to solve the above-described problem, and an object thereof is to provide a robot capable of providing a wide variety of HCI.

Solution to Problem

A control device comprising processing circuitry to acquire mobile interaction robot information indicating a state of a mobile interaction robot including a plurality of self-propelled robots and a long object, the plurality of self-propelled robots being connected to each other by the long object, and to generate control information for controlling a control target on a basis of the mobile interaction robot information.

Advantageous Effects of Invention

According to the present invention, a wide variety of HCI can be provided.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a configuration diagram illustrating an example of a configuration of a main part of a robot system to which a mobile interaction robot and a control device according to a first embodiment are applied.

FIG. 2 is a configuration diagram illustrating an example of a configuration of a main part of the mobile interaction robot according to the first embodiment.

FIG. 3 is a block diagram illustrating an example of a configuration of a main part of a robot included in the mobile interaction robot according to the first embodiment.

FIG. 4 is a block diagram illustrating an example of a configuration of a main part of the control device according to the first embodiment.

FIGS. 5A and 5B are diagrams illustrating an example of a hardware configuration of a main part of the control device according to the first embodiment.

FIG. 6 is a flowchart for explaining an example of processing of the control device according to the first embodiment.

FIG. 7 is a flowchart for explaining an example of processing of the control device according to the first embodiment.

FIG. 8 is a diagram illustrating a connection example of a mobile interaction robot in which three or more self-propelled robots are connected to each other by a long object.

FIG. 9 is a configuration diagram illustrating an example of a configuration of a main part of a robot system to which a mobile interaction robot and a control device according to a second embodiment are applied.

FIG. 10 is a configuration diagram illustrating an example of a configuration of a main part of the mobile interaction robot according to the second embodiment.

FIG. 11 is a block diagram illustrating an example of a configuration of a main part of the control device according to the second embodiment.

FIG. 12 is a flowchart for explaining an example of processing of the control device according to the second embodiment.

FIG. 13 is a configuration diagram illustrating an example of a configuration of a main part of a robot system to which a mobile interaction robot and a control device according to a third embodiment are applied.

FIG. 14 is a configuration diagram illustrating an example of a configuration of a main part of the mobile interaction robot according to the third embodiment.

FIG. 15 is a block diagram illustrating an example of a configuration of a main part of the control device according to the third embodiment.

FIG. 16 is a flowchart for explaining an example of processing of the control device according to the third embodiment.

FIG. 17 is a configuration diagram illustrating an example of a configuration of a main part of a robot system to which a mobile interaction robot and a control device according to a fourth embodiment are applied.

FIG. 18 is a configuration diagram illustrating an example of a configuration of a main part of the mobile interaction robot according to the fourth embodiment.

FIG. 19 is a block diagram illustrating an example of a configuration of a main part of the control device according to the fourth embodiment.

FIG. 20 is a flowchart for explaining an example of processing of the control device according to the fourth embodiment.

DESCRIPTION OF EMBODIMENTS

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings.

First Embodiment

A mobile interaction robot 100 and a control device 20 according to a first embodiment will be described with reference to FIGS. 1 to 8.

FIG. 1 is a configuration diagram illustrating an example of a configuration of a main part of a robot system 1 to which the mobile interaction robot 100 and the control device 20 according to the first embodiment are applied.

The robot system 1 includes the mobile interaction robot 100, an imaging device 10, the control device 20, and an external device 30.

FIG. 2 is a configuration diagram illustrating an example of a configuration of a main part of the mobile interaction robot 100 according to the first embodiment.

The mobile interaction robot 100 includes robots 110-1 and 110-2, a long object 120, a long object state detecting unit 130, an information generating unit 140, and an information transmission controlling unit ISO.

A configuration of a main part of each of the robots 110-1 and 110-2 will be described with reference to FIG. 3.

FIG. 3 is a block diagram illustrating an example of a configuration of a main part of each of the robots 110-1 and 110-2 included in the mobile interaction robot 100 according to the first embodiment.

Each of the robot 110-1 and the robot 110-2 includes the configuration illustrated in FIG. 3 as a main part.

Each of the robot 110-1 and the robot 110-2 includes a communication unit 111, a drive unit 112, and a drive control unit 113.

Each of the robots 110-1 and the robot 110-2 is self-propelled.

The communication unit 111 receives control information, which is information for moving the robots 110-1 and 110-2, from the control device 20. The control information is, for example, information indicating a traveling start, a traveling stop, or a traveling direction. The control information may be information indicating the positions of the robots 110-1 and 110-2 after movement. The communication unit Ill receives the control information from the control device 20 by a wireless communication means such as infrared communication, Bluetooth (registered trademark), or Wi-Fi (registered trademark).

The drive unit 112 is hardware for causing the robots 110-1 and 110-2 to travel. The drive unit 112 is, for example, hardware such as a wheel, a motor for driving the wheel, a brake for stopping the wheel, or a direction changing mechanism for changing a direction of the wheel.

The drive control unit 113 causes the robots 110-1 and 110-2 to travel by controlling the drive unit 112 on the basis of the control information received by the communication unit 111.

That is, by including the communication unit 111, the drive unit 112, and the drive control unit 113, the robots 110-1 and 110-2 move by self-propelling on the basis of the received control information.

Each of the robots 110-1 and 110-2 according to the first embodiment is, for example, the microrobot disclosed in Non-Patent Literature 2. Each of the robots 110-1 and 110-2 is not limited to the microrobot disclosed in Non-Patent Literature 2. In addition, each of the robots 110-1 and 110-2 may be larger or smaller than the microrobot disclosed in Non-Patent Literature 2.

Note that each of the robots 110-1 and 110-2 includes a power supply means (not illustrated) such as a battery, and the communication unit 111, the drive unit 112, and the drive control unit 113 each operate by receiving power supply from the power supply means.

In addition, each of the robots 110-1 and 110-2 includes, for example, at least one of a processor and a memory, or a processing circuit. Functions of the communication unit 111 and the drive control unit 113 are implemented by, for example, at least one of a processor and a memory, or a processing circuit.

The processor is implemented by, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, a microcontroller, or a digital signal processor (DSP).

The memory is implemented by, for example, a semiconductor memory or a magnetic disk. More specifically, the memory is implemented by, for example, a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a solid state drive (SSD), or a hard disk drive (HDD).

The processing circuit is implemented by, for example, an application specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), a system-on-a-chip (SoC), or a system large-scale integration (LSI).

The long object 120 is a long object made of an elastic material, a plastic material, a cable member, or the like. One end of the long object 120 is connected to the robot 110-1, and the other end of the long object 120 is connected to the robot 110-2.

That is, the mobile interaction robot 100 is obtained by connecting the self-propelled robot 110-1 and the self-propelled robot 110-2 to each other by the long object 120.

The long object 120 according to the first embodiment will be described below as being made of a plastic material such as resin or metal.

The long object state detecting unit 130 is a detection means to detect contact between an object, the object being other than the long object 120 or the robots 110-1 and 110-2 connected to the long object, and the long object 120 (hereinafter, referred to as “contact detecting means”). The long object state detecting unit 130 transmits a detection signal indicating the detected state of the long object 120 to the information generating unit 140.

The contact detecting means is constituted by, for example, a touch sensor for detecting contact of a user's finger or the like. More specifically, the long object state detecting unit 130 is constituted by disposing a touch sensor on a surface of the long object 120 made of a plastic material and connecting the touch sensor to the information generating unit 140 by a conductive wire.

As for the long object state detecting unit 130, at least apart of hardware constituting the long object state detecting unit 130 may be included in the long object 120, and a part of the remainder may be included in the robot 110-1 or the robot 110-2. Specifically, for example, as for the long object state detecting unit 130, among pieces of hardware constituting the long object state detecting unit 130, a piece of hardware that comes into contact with a user's finger or the like may be included in the long object 120, and a touch sensor that is hardware for generating a detection signal may be included in the robot 110-1 or the robot 110-2. More specifically, for example, the long object state detecting unit 130 may be constituted by making the long object 120 of a conductive material such as a metal wire or a metal rod, and connecting the long object 120 made of the conductive material to a touch sensor included in the robot 110-1 or the robot 110-2.

The information generating unit 140 receives a detection signal from the long object state detecting unit 130, and generates mobile interaction robot information indicating a state of the long object 120 on the basis of the received detection signal.

The information generating unit 140 is included in the robot 110-1, the robot 110-2, or the long object 120.

When the information generating unit 140 includes a detection means to detect the position, moving speed, moving direction, or the like of the robot 110-1, the robot 110-2, or the long object 120 by a navigation system or the like, the mobile interaction robot information generated by the information generating unit 140 may include information indicating the position, moving speed, moving direction, or the like of the robot 110-1, the robot 110-2, or the long object 120 in addition to information indicating a state of the long object 120.

The detection means to detect the position, moving speed, moving direction, or the like of the robot 110-1, the robot 110-2, or the long object 120 is not limited to the navigation system.

For example, pieces of traveling surface position information such as markers or the like indicating the positions on a traveling surface on which the robot 110-1 and the robot 110-2 travel are arranged in a grid pattern. In addition, a position information reading unit (not illustrated) for acquiring traveling surface position information by reading traveling surface position information of the marker or the like is included at a position facing the traveling surface in the robot 110-1 or the robot 110-2. The information generating unit 140 generates information indicating the moving speed, moving direction, or the like of the robot 110-1, the robot 110-2, or the long object 120 on the basis of the traveling surface position information acquired by the position information reading unit while the robot 110-1 or the robot 110-2 is traveling. The information generating unit 140 may generate the mobile interaction robot information by including the generated information indicating the moving speed, moving direction, or the like of the robot 110-1, the robot 110-2, or the long object 120 in the mobile interaction robot information.

The information transmission controlling unit 150 transmits the mobile interaction robot information generated by the information generating unit 140 to the control device 20. The information transmission controlling unit 150 transmits the mobile interaction robot information to the control device 20 by a wireless communication means such as infrared communication, Bluetooth (registered trademark), or Wi-Fi (registered trademark).

The information transmission controlling unit 150 is included in the robot 110-1, the robot 110-2, or the long object 120. When the information transmission controlling unit 150 is included in the robot 110-1 or the robot 110-2, the communication unit 111 included in each of the robots 110-1 and 110-2 may have the function of the information transmission controlling unit 150.

Note that the long object state detecting unit 130, the information generating unit 140, and the information transmission controlling unit 150 operate by receiving power supply from a power supply means (not illustrated) such as a battery included in the long object 120, a power supply means (not illustrated) such as a battery included in the robot 110-1 or the robot 110-2, or the like.

In addition, the functions of the information generating unit 140 and the information transmission controlling unit 150 in the mobile interaction robot 100 are implemented by at least one of a processor and a memory, or a processing circuit. The processor and the memory or the processing circuit for implementing the functions of the information generating unit 140 and the information transmission controlling unit 150 in the mobile interaction robot 100 is included in the long object 120, the robot 110-1, or the robot 110-2. Since the processor, the memory, and the processing circuit have been described above, description thereof will be omitted.

In addition, in the mobile interaction robot 100, the information generating unit 140 is not an essential component, and the mobile interaction robot 100 does not have to include the information generating unit 140. When the mobile interaction robot 100 does not include the information generating unit 140, for example, the information transmission controlling unit 150 receives a detection signal from the long object state detecting unit 130, and the information transmission controlling unit 150 transmits the received detection signal to the control device 20 using the detection signal as mobile interaction robot information.

The imaging device 10 is, for example, a camera such as a digital still camera or a digital video camera. The imaging device 10 captures an image of the mobile interaction robot 100, and transmits the captured image as image information to the control device 20 via a communication means. The imaging device 10 and the control device 20 are connected to each other by a communication means such as a wired communication means like a universal serial bus (USB), a network cable in a local area network (LAN), or the Institute of Electrical and Electronics Engineers (IEEE) 1394, or a wireless communication means like Wi-Fi. The imaging device 10 may capture an image of the external device 30, a user who operates the mobile interaction robot 100, or the like in addition to an image of the mobile interaction robot 100.

The control device 20 acquires mobile interaction robot information indicating a state of the mobile interaction robot 100, and controls a control target on the basis of the acquired mobile interaction robot information.

The control target controlled by the control device 20 is the mobile interaction robot 100, or the mobile interaction robot 100 and the external device 30.

A configuration of a main part of the control device 20 according to the first embodiment will be described with reference to FIG. 4.

FIG. 4 is a block diagram illustrating an example of a configuration of a main part of the control device 20 according to the first embodiment.

The control device 20 includes an information acquiring unit 21, a control information generating unit 22, a control information transmitting unit 23, and an image acquiring unit 24.

The image acquiring unit 24 acquires image information transmitted by the imaging device 10.

The information acquiring unit 21 acquires mobile interaction robot information indicating a state of the mobile interaction robot 100.

Specifically, the information acquiring unit 21 acquires mobile interaction robot information by receiving mobile interaction robot information transmitted by the mobile interaction robot 100.

More specifically, the information acquiring unit 21 acquires mobile interaction robot information indicating a state of the mobile interaction robot 100, such as the position, moving speed, moving direction, or the like of the robot 110-4 included in the mobile interaction robot 100, the position, moving speed, moving direction, or the like of the robot 110-2 included in the mobile interaction robot 100, or the position, moving speed, moving direction, state, or the like of the long object 120 included in the mobile interaction robot 100.

In addition, the information acquiring unit 21 may include an image analysis means, and may acquire mobile interaction robot information by analyzing image information acquired by the image acquiring unit 24 from the imaging device 10.

More specifically, by analyzing the image information acquired by the image acquiring unit 24 from the imaging device 10, the information acquiring unit 21 acquires mobile interaction robot information indicating a state of the mobile interaction robot 100, such as the position, moving speed, moving direction, or the like of the robot 110-1 included in the mobile interaction robot 100, the position, moving speed, moving direction, or the like of the robot 110-2 included in the mobile interaction robot 100, or the position, moving speed, moving direction, state, or the like of the long object 120 included in the mobile interaction robot 100.

A technique of analyzing the position, moving speed, moving direction, situation, or the like of an object appearing in an image indicated by image information by analyzing the image information is a well-known technique, and therefore description thereof will be omitted.

When the imaging device 10 captures an image of the external device 30, a user, or the like in addition to an image of the mobile interaction robot 100, by analyzing the image information acquired by the image acquiring unit 24 from the imaging device 10, the information acquiring unit 21 may acquire information indicating a relative position of the mobile interaction robot 100, or the robot 110-1, the robot 110-2, or the long object 120 included in the mobile interaction robot 100 with respect to the external device 30, the user, or the like as mobile interaction robot information.

Note that, when it is not configured in such a manner that the information acquiring unit 21 acquires mobile interaction robot information indicating a state of the mobile interaction robot 100, such as the position, moving speed, moving direction, or the like of the robot 110-1 included in the mobile interaction robot 100, the position, moving speed, moving direction, or the like of the robot 110-2 included in the mobile interaction robot 100, or the position, moving speed, moving direction, state, or the like of the long object 120 included in the mobile interaction robot 100, and by analyzing the image information acquired by the image acquiring unit 24 from the imaging device 10, the information acquiring unit 21 acquires information indicating a relative position of the mobile interaction robot 100, or the robot 110-1, the robot 110-2, or the long object 120 included in the mobile interaction robot 100 with respect to the external device 30, the user, or the like as mobile interaction robot information, the imaging device 10 and the image acquiring unit 24 are not essential components.

The control information generating unit 22 generates control information for controlling a control target on the basis of the mobile interaction robot information acquired by the information acquiring unit 21.

For example, the control information generating unit 22 generates control information for controlling the mobile interaction robot 100 on the basis of the mobile interaction robot information acquired by the information acquiring unit 21.

Specifically, the control information generating unit 22 generates control information for controlling travel of the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 on the basis of the mobile interaction robot information acquired by the information acquiring unit 21.

More specifically, the control information generating unit 22 generates control information for controlling travel of the robot 110-1 and the robot 110-2 on the basis of the position, moving speed, moving direction, or the like of the robot 110-1, the position, moving speed, moving direction, or the like of the robot 110-2, or the position, moving speed, moving direction, state, or the like of the long object 120, indicated by the mobile interaction robot information.

Further, for example, the control information generating unit 22 may generate control information for controlling the external device 30 on the basis of the mobile interaction robot information in addition to the control information for controlling the mobile interaction robot 100.

The control information transmitting unit 23 transmits the control information generated by the control information generating unit 22 to the mobile interaction robot 100 or the external device 30 as a control target.

A hardware configuration of a main part of the control device 20 according to the first embodiment will be described with reference to FIGS. 5A and 5B.

FIGS. 5A and 5B are diagrams illustrating an example of a hardware configuration of a main part of the control device 20 according to the first embodiment.

As illustrated in FIG. 5A, the control device 20 is constituted by a computer, and the computer includes a processor 501 and a memory 502. The memory 502 stores a program for causing the computer to function as the information acquiring unit 21, the control information generating unit 22, the control information transmitting unit 23, and the image acquiring unit 24. When the processor 501 reads and executes the program stored in the memory 502, the information acquiring unit 21, the control information generating unit 22, the control information transmitting unit 23, and the image acquiring unit 24 are implemented.

In addition, as illustrated in FIG. 5B, the mobile interaction robot 100 may be constituted by a processing circuit 503. In this case, the functions of the information acquiring unit 21, the control information generating unit 22, the control information transmitting unit 23, and the image acquiring unit 24 may be implemented by the processing circuit 503.

In addition, the mobile interaction robot 100 may be constituted by the processor 501, the memory 502, and the processing circuit 503 (not illustrated). In this case, some of the functions of the information acquiring unit 21, the control information generating unit 22, the control information transmitting unit 23, and the image acquiring unit 24 may be implemented by the processor 501 and the memory 502, and the remaining functions may be implemented by the processing circuit 503.

Since the processor 501, the memory 502, and the processing circuit 503 are similar to the processor, the memory, and the processing circuit included in the mobile interaction robot 100 or the robots 110-1 and 110-2 described above, description thereof will be omitted.

The external device 30 is, for example, an illumination device. The illumination device is merely an example, and the external device 30 is not limited to the illumination device. FIG. 1 illustrates an example in which an illumination device is used as the external device 30. Hereinafter, the external device 30 according to the first embodiment will be described as an illumination device.

HCI according to the first embodiment will be described.

In first HCI according to the first embodiment, the external device 30 is controlled by a user's touch on the long object 120 of the mobile interaction robot 100. Specifically, for example, in the first HCI, the illumination device which is the external device 30 is controlled so as to be turned on or off by a user's touch on the long object 120 of the mobile interaction robot 100.

When a user touches the long object 120 of the mobile interaction robot 100, the long object state detecting unit 130 of the mobile interaction robot 100 detects that the user touches the long object 120. The information generating unit 140 in the mobile interaction robot 1X) generates mobile interaction robot information indicating that the long object 120 is touched as mobile interaction robot information indicating a state of the long object 120. The information transmission controlling unit 150 in the mobile interaction robot 100 transmits the mobile interaction robot information generated by the information generating unit 140 to the control device 20.

FIG. 6 is a flowchart for explaining an example of processing of the control device 20 according to the first embodiment. The control device 20 repeatedly executes the processing of the flowchart.

First, in step ST601, the information acquiring unit 21 determines whether or not mobile interaction robot information has been acquired from the mobile interaction robot 100.

In step ST601, if the information acquiring unit 21 determines that mobile interaction robot information has not been acquired from the mobile interaction robot 100, the control device 20 ends the processing of the flowchart, returns to step ST601, and repeatedly executes the processing of the flowchart.

In step ST601, if the information acquiring unit 21 determines that mobile interaction robot information has been acquired from the mobile interaction robot 100, in step ST602, the control information generating unit 22 generates control information for controlling the illumination device which is the external device 30 on the basis of the mobile interaction robot information.

After step ST602, in step ST603, the control information transmitting unit 23 transmits the control information generated by the control information generating unit 22 to the external device 30.

After step ST603, the control device 20 ends the processing of the flowchart, returns to step ST601, and repeatedly executes the processing of the flowchart.

The external device 30 acquires the control information transmitted by the control device 20 and operates on the basis of the acquired control information.

Specifically, for example, the illumination device which is the external device 30 is turned on or off on the basis of the control information.

In second HCI according to the first embodiment, the mobile interaction robot 100 is controlled by a user's touch on the long object 120 of the mobile interaction robot 100. Specifically, for example, in the second HCI, travel of the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 is controlled by a user's touch on the long object 120 of the mobile interaction robot 100.

When a user touches the long object 120 of the mobile interaction robot 100, the long object state detecting unit 130 of the mobile interaction robot 100 detects that the user touches the long object 120. The information generating unit 140 in the mobile interaction robot 100 generates mobile interaction robot information indicating that the long object 120 is touched as mobile interaction robot information indicating a state of the long object 120. The information transmission controlling unit 150 in the mobile interaction robot 100 transmits the mobile interaction robot information generated by the information generating unit 140 to the control device 20.

FIG. 7 is a flowchart for explaining an example of processing of the control device 20 according to the first embodiment. The control device 20 repeatedly executes the processing of the flowchart.

First, in step ST701, the information acquiring unit 21 determines whether or not mobile interaction robot information has been acquired from the mobile interaction robot 100.

In step ST701, if the information acquiring unit 21 determines that mobile interaction robot information has not been acquired from the mobile interaction robot 100, the control device 20 ends the processing of the flowchart, returns to step ST701, and repeatedly executes the processing of the flowchart.

In step ST701, if the information acquiring unit 21 determines that mobile interaction robot information has been acquired from the mobile interaction robot 100, in step ST702, the control information generating unit 22 determines whether or not travel of the mobile interaction robot 100 is controlled.

In step ST702, if the control information generating unit 22 determines that travel of the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 is controlled, in step ST703, the control information generating unit 22 generates control information for performing control to stop the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 on the basis of the mobile interaction robot information.

In step ST702, if the control information generating unit 22 determines that travel of the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 is not controlled, in step ST704, the control information generating unit 22 generates control information for performing control to cause the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 to travel toward a predetermined position or the like on the basis of the mobile interaction robot information.

After step ST703 or step ST704, in step ST705, the control information transmitting unit 23 transmits the control information generated by the control information generating unit 22 to the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100.

After step ST705, the control device 20 ends the processing of the flowchart, returns to step ST701, and repeatedly executes the processing of the flowchart.

The robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 acquire the control information transmitted by the control device 20 and operate on the basis of the acquired control information. Specifically, for example, the robot 110-1 and the robot 110-2 included in the mobile interaction robot 100 start or stop traveling on the basis of the control information.

Note that the mobile interaction robot 100 described above has been described as a mobile interaction robot including the two self-propelled robots 110-1 and 110-2, in which the two self-propelled robots 110-1 and 110-2 are connected to each other by the long object 120. However, the number of robots 110-1 and 110-2 included in the mobile interaction robot 100 is not limited to two. The mobile interaction robot 100 may be a mobile interaction robot including three or more self-propelled robots, in which the three or more self-propelled robots are connected to each other by the long object 120.

FIG. 8 is a diagram illustrating a connection example of the mobile interaction robot 100 in which three or more self-propelled robots are connected to each other by the long object 120.

FIG. 8 illustrates a self-propelled robot included in a mobile interaction robot by a circle, and illustrates a long object connecting the robots to each other by a line segment between the circle. In addition, N illustrated in FIG. 8 indicates an arbitrary natural number equal to or larger than two indicating the number of robots, and L and M each indicate an arbitrary natural number equal to or larger than one indicating the number of robots.

Note that FIG. 8 is an example, and the connection between the plurality of self-propelled robots and the long object included in the mobile interaction robot is not limited to the connection example illustrated in FIG. 8.

As described above, in the mobile interaction robot 100, a plurality of self-propelled robots is connected to each other by the long object 120.

With this configuration, the mobile interaction robot 100 can provide a wide variety of HCI.

In addition, in the above-described configuration, the long object 120 included in the mobile interaction robot 100 is made of a plastic material.

With this configuration, the mobile interaction robot 100 can provide a wide variety of HCI.

In addition, the mobile interaction robot 100 includes the long object state detecting unit 130 for detecting a state of the long object 120 in addition to the above-described configuration.

With this configuration, the mobile interaction robot 100 can provide a wide variety of HCI.

In addition, in the above-described configuration, the long object state detecting unit 130 included in the mobile interaction robot 100 detects contact between the long object 120 and an object other than the long object 120 or the robots connected to the long object 120.

With this configuration, the mobile interaction robot 100 can provide a wide variety of HCI.

In addition, the control device 20 includes the information acquiring unit 21 for acquiring mobile interaction robot information indicating a state of the mobile interaction robot 100, and the control information generating unit 22 for generating control information for controlling a control target on the basis of the mobile interaction robot information acquired by the information acquiring unit 21.