초록 ▼

A robot includes a main body, a handlebar disposed on the main body and grippable by a user, a detection unit that detects a load applied to the handlebar, a moving device including a rotating body and moving the robot by controlling the rotation of the rotating body, and a switching unit that switc

A robot includes a main body, a handlebar disposed on the main body and grippable by a user, a detection unit that detects a load applied to the handlebar, a moving device including a rotating body and moving the robot by controlling the rotation of the rotating body, and a switching unit that switches a support mode for supporting the user with walking. The support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detection unit. When the robot moves in the first mode, the switching unit switches the support mode from the first mode to the second mode on the basis of the second load detected by the detection unit.

대표청구항 ▼

1. A robot comprising: a main body;a handlebar disposed on the main body, the handlebar being grippable by a user;a detector that detects a load applied to the handlebar;a moving device including a rotating body, the moving device moving the robot by controlling rotation of the rotating body; anda s

1. A robot comprising: a main body;a handlebar disposed on the main body, the handlebar being grippable by a user;a detector that detects a load applied to the handlebar;a moving device including a rotating body, the moving device moving the robot by controlling rotation of the rotating body; anda switcher that switches a support mode for supporting the user with walking, wherein the support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detector, andwherein when the robot moves in the first mode, the switcher switches the support mode from the first mode to the second mode on the basis of a second load detected by the detector. 2. The robot according to claim 1, further comprising: a generator that generates tendency data indicating a tendency of the load applied to the handlebar on the basis of past load data applied to the handlebar and obtained during movement of the robot; anda corrector that corrects a value of the second load on the basis of the tendency data,wherein the switcher switches the support mode from the first mode to the second mode on the basis of the corrected value of the second load. 3. The robot according to claim 2, wherein the switcher switches the support mode from the first mode to the second mode if the corrected value of the second load is greater than a predetermined threshold value. 4. The robot according to claim 2, wherein the generator generates the tendency data for each of movement operations performed by the robot, and wherein the corrector corrects the value of the second load on the basis of the tendency data corresponding to the movement operation performed by the robot when the second load is detected. 5. The robot according to claim 4, wherein the movement operations include forward movement in a straight line, a backward movement in a straight line, right-turn movement, and left-turn movement. 6. The robot according to claim 4, wherein the corrector corrects the value of the second load on the basis of the tendency data if the tendency data corresponding to the movement operation performed by the robot reaches a predetermined threshold value or greater. 7. The robot according to claim 2, wherein the generator generates the tendency data for each of the two types of support modes of the robot, and wherein the corrector corrects the value of the second load on the basis of the tendency data corresponding to the support mode of the robot when the second load is detected. 8. The robot according to claim 2, wherein the tendency data is a fluctuation frequency calculated by using the past load data, and wherein the corrector corrects the value of the second load by filtering out a component of the fluctuation frequency from the second load. 9. The robot according to claim 2, wherein the load tendency data is an average load value calculated by using the past load data, and wherein the corrector corrects the value of the load on the basis of the average load value. 10. The robot according to claim 9, wherein the corrector corrects the value of the load by subtracting the average load value from the load detected by the detector. 11. robot according to claim 3, wherein the switcher changes the predetermined threshold value in accordance with usage conditions of the robot. 12. The robot according to claim 11, wherein the usage conditions include one of a location of use and an operating time of the robot. 13. The robot according to claim 2, further comprising: a storage that stores route information indicating guidance routes used by the robot to guide the user in the first mode,wherein the generator generates the tendency data for each of the guidance routes indicated by the route information stored in the storage, andwherein the corrector corrects the value of the second load on the basis of the tendency data corresponding to the guidance route on which the robot moves when the second load is detected. 14. The robot according to claim 1, further comprising: an intention calculator that calculates a guidance intention of the robot in the first mode; andan intention discoverer that determines a movement intention of the user on the basis of the value of the second load,wherein the switcher switches the support mode on the basis of a difference between the calculated guidance intention and the determined movement intention of the user. 15. The robot according to claim 2, wherein the detector detects a load applied in each of a plurality of axial directions, and the tendency data indicates the tendency of the load in each of the axial directions. 16. A method for use of a robot, the robot operating in a support mode including a first mode in which the robot autonomously moves to guide a user who is walking and a second mode in which the robot moves in accordance with a first load applied to a handlebar of the robot, the method comprising: detecting a second load applied to the handlebar when the robot moves in the first mode; andswitching the support mode of the robot from the first mode to the second mode on the basis of the detected second load.