CN1734521A - Conversation type robot pet - Google Patents
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- CN1734521A CN1734521A CN 200510088263 CN200510088263A CN1734521A CN 1734521 A CN1734521 A CN 1734521A CN 200510088263 CN200510088263 CN 200510088263 CN 200510088263 A CN200510088263 A CN 200510088263A CN 1734521 A CN1734521 A CN 1734521A
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Abstract
To provide a novel interactive pet robot capable of proceeding conversation even if there is restriction on the number of utterance phrases and the number of response phrases. The interactive pet robot has a control part 9 for performing processing according to description of a program read out from a storage part. The program defines proceeding procedures of the conversation with a user using branches, in which a content of a question, a plurality of choices of answers to the question, and an action corresponding to each of the choices are associated. If the content of the question is outputted by sound, a plurality of choices associated with the question are displayed on a display 3 as propositions for the answer to the question. If a whole sentence of one of the choices displayed on the display 3 is uttered by the user, speech recognition is performed so as to identify one choice corresponding to utterance by the user, and to decide the action corresponding to the choice as the next reaction performed by the interactive pet robot corresponding to the answer.
Description
Technical field
The present invention relates to the conversational pet robot, particularly relate to the pet robot that is suitable for foreign language learning.
Background technology
So far, know for people with the conversational pet robot that exchanges between the user, one of them is the pet robot that uses in the foreign language learning of English Conversation.In addition, the foreign language education robot that in following patent documentation 1, discloses and be equipped with speech recognition engine, the native language translation of saying has been become foreign language and sound.This robot has the face shaping of the form of simulation duck or penguin, is provided with display frame at its head.In this display frame, show the expression (eye, nose, mouth) of face, according to the sounding of the language after the translation, the expression that is changed to the face of demonstration is being talked.
Patent documentation 1: TOHKEMY 2002-351305 communique
But, in such conversational pet robot, how not promote this part thing of session with the user with delaying, seek to improve commodity attraction aspect become a matter of great account feelings.For this reason, the wait phrase number that phrase number in a minute that consideration increase robot speaks and robot can understand improves the degree of freedom of session.But in this case, in order to discern the speaking except needs microcomputer at a high speed of user, because the record amount of program is huge, the commercialization of low price end is difficulty very.On the other hand, in existing less expensive product, because the restriction of above-mentioned phrase number, user's the situation that can not be identified in a minute is a lot, and session is delayed easily.Consequently, existing problems aspect the performance that exchanges between conversational pet robot and user.
Summary of the invention
The present invention carries out in light of this situation, and its purpose is: even the restriction that provides a kind of existence to speak phrase number and wait phrase number also can promote the novel conversational pet robot of session.
In addition, another object of the present invention is: improve the sense that exchanges with the conversational pet robot, user's desire learn can be continued.
In order to solve above-mentioned problem, according to the 1st aspect of the present invention, this conversational pet robot has: the robot body of personage (character) type; Microphone (microphone) is installed on the robot body; Loudspeaker (speaker) is installed on the robot body; Display is installed on the robot body; Storage part is used for stored programme; And control part, be built among the robot body, carry out processing according to the record of the program of reading from storage part.
Here, program is used by the branch's regulation of user's selection and the carrying out order of user's session.In this program the corresponding content of recording and narrating a certain enquirement, become a plurality of selections of the answer of the full text of puing question to propped up and to each action of selecting.In addition, under the situation of the content of puing question to voice output by loudspeaker, control part carries out the 1st to be handled, and the 1st handles the candidate who is used for the answer of puing question to corresponding a plurality of selection Zhi Zuowei to puing question to is presented at display in full.When saying in full by the user under any one situation of a plurality of selections that on display, show in propping up, this control part carries out the 2nd to be handled, the 2nd handles the full text be used to carry out the user that will obtain from microphone speaks as the speech recognition of importing, specify a selection of speaking corresponding to prop up with the user, and carrying out propping up corresponding action decision with this selection is to answering the conversational pet robot next step reaction that should take.
Here, during the 1st in the conversational pet robot aspect the of the present invention the 1st handled, control part was preferably enumerated the full text that a plurality of selections prop up and is presented on the display with puing question to.In addition, in the 1st handled, control part also can be in the full text that a plurality of selections are propped up, and emphasizes (stress) the emphatically part of rising and falling and be presented on the display.
In aspect the of the present invention the 1st, action preferably by loudspeaker with voice output as speaking to the reaction of answering.
In aspect the of the present invention the 1st, control part preferably is accommodated in the robot body's who has guaranteed the maximum internal space among the robot body the trunk, and display preferably is installed on robot body's the trunk front.
In aspect the of the present invention the 1st, control part also can carry out the 3rd to be handled, and the 3rd handles mosaic and the diagram that is used for showing successively with certain interval a plurality of words on display, and, the pronunciation of the word that shows successively with voice output by loudspeaker.
In aspect the of the present invention the 1st, action also can also have following actions: will be presented on the display as the content of speaking to the reaction of answering.
During handle in aspect the of the present invention the 1st the 1st, control part also can carry out the 4th to be handled, the 4th handles speaking as the speech recognition of input or being connected the operation of the switch on the control part of the full text be used for by the user that carries out being obtained by microphone, thus in the full text that a plurality of selections are propped up, with at least one as standard voice, by loudspeaker with voice output.
During handled in aspect the of the present invention the 1st the 4th, control part also can be emphasized standard voice and be presented on the display in the full text that a plurality of selections are propped up.
On the other hand, according to the 2nd aspect of the present invention, this conversational pet robot has: personage's humanoid robot main body; Microphone is installed on the robot body; Tip element is installed on the robot body, to user prompt information; Storage part is used for stored programme; And control part, be built among the robot body, carry out processing according to the record of the program of reading from storage part.Here, program is used by the branch's regulation of user's selection and the carrying out order of user's session.In this program the corresponding content of recording and narrating a certain enquirement, become a plurality of selections of the answer of the full text of puing question to propped up and to each action of selecting.In addition, by Tip element under the situation of the content that user prompt is putd question to, control part carries out the 1st to be handled, the 1st handle be used for by Tip element in full to user prompt with put question to corresponding a plurality of Zhi Zuowei of selection candidate to the answer of enquirement.Saying in full by the user under any one situation of a plurality of selections that on display, show in propping up, this control part carries out the 2nd to be handled, the 2nd handles the speaking as the speech recognition of importing of the full text be used to carry out the user that will obtain from microphone, specify a selection of speaking corresponding to prop up with the user, and will select a corresponding action decision with this is to answering the conversational pet robot next step reaction that should take.
Here, aspect the of the present invention the 2nd in, Tip element is at least one of loudspeaker and display preferably.
According to the present invention, a plurality of selections that become the candidate of the answer that the conversational pet robot is putd question to user prompt are propped up in full.It is suitable that the user selects from a plurality of selections of prompting are in full propped up, and it is got final product to former state in full in a minute.On the other hand, for the system that carries out speech recognition,, just can easily carry out its identification because the variation that the user speaks is the number that selection is propped up only, thereby does not need microcomputer at a high speed.Consequently, even have on speak phrase number and wait phrase number, be provided with the comparatively cheap product of restriction, the user is felt the stress, thereby can promote session.In addition, because the necessary information of answer of puing question to is pointed out by pet robot,, can promote session so the user can keep and the aspectant state of pet robot.In view of the above, can improve the sensation that exchanges with pet robot, thereby user's desire learn is continued effectively.
Description of drawings
Fig. 1 is the outward appearance front elevation of conversational pet robot.
Fig. 2 is the outward appearance side view of conversational pet robot.
Fig. 3 is the controlling party block diagram of conversational pet robot.
Fig. 4 is the process flow diagram of the carrying out order of expression session.
Fig. 5 is that the figure that shows example is propped up in the expression conduct to the answer candidate's of enquirement selection.
Embodiment
Fig. 1 is the front elevation of the conversational pet robot of present embodiment, and Fig. 2 is its side view.This conversational pet robot 1 has the robot body 2 and the display 3 that is installed on this robot body 2 of personage's type.Plastic robot body 2 has the face shaping as lovelyization of the Little Bear distortion of an example of personage's type.This robot body 2 constitutes main body by head, trunk and brothers, portion within it, the space that is provided for taking in electronic equipment.In robot body 2 trunk 2a, guarantee to take in control part described later, in robot body 2 maximum inner space.Display 3 for example is the miniscope that people such as liquid crystal or organic EL know, and is installed on the front of the trunk 2a among the robot body 2.It is in order to ensure user and the personage observability in the state in opposite directions mutually that display 3 is configured in positive reason, and it is configured in reason among the trunk 2a is cause for the line distance of the control part of doing one's utmost to shorten and being accommodated in trunk 2a inside.
Fig. 3 is the controlling party block diagram of conversational pet robot 1.The control system of conversational pet robot 1 is made of aforementioned display device 3, various sensor 4～7, loudspeaker 8, control part 9 and various storage part 12～14.Microphone 4 is installed on suitable position of the robot body 2, is used for detecting speaking of user.People's sensor 5 is installed on suitable position of the robot body 2, is used for detecting whether the people is arranged around conversational pet robot 1.Forehead touch sensor 6 is installed on robot body 2 the forehead of head, is used for detecting the user and whether has touched forehead.4 switches 7 are installed on robot body 2 the right hand, left hand, right foot and left 4 the sufficient positions, are used for detecting the user and whether have touched these positions.By these sensors 4～7, system's one side can be discerned the behavior (for example, touch forehead, hold brothers etc.) of the interchange that the user carries out.
Fig. 4 is the process flow diagram of expression by carrying out order one example of the session of procedure stipulation.This program uses the branch of selecting by the user to stipulate carrying out order with user's session.Main control unit 11 is handled with following order according to the record of the program of reading from mask rom 12.
At first, in the waiting status of step 1, show on display 3 that " Let ' s talk. ", " Wake up. ", " Play. " these 3 select.The user selects to select arbitrarily to prop up from these select to prop up, and says it in full.Voice recognition unit 10 carries out the user's that will obtain from microphone 4 full text speaks as the speech recognition of importing, and recognition result is outputed in the main control unit 11.Main control unit 11 is according to the recognition result from voice recognition unit 10, specificly props up (" Let ' s talk. ", " Wake up. " or " Play. ") with the selection that the user speaks corresponding.And main control unit 11 will prop up corresponding action decision as pet robot 1 next step reaction that should take with specific selection.For example, prop up in specific selection and to be under the situation of " Let ' s talk. " or " Wake up. ", by speaking of loudspeaker 8 voice output steps 2, propping up in specific selection is under the situation of " Play. ", the speaking of voice output step 10.
Then, in step 2～5, having formed enquirement from pet robot 1, user's answer, the pet robot 1 a series of flow process to this reaction, is the core that becomes in the session (interchange).About this point, in program, correspondence recording and narrating a certain enquirement content, become to a plurality of selections of the answer of the full text of this enquirement prop up, to a succession of behavior of each action of selecting.Specifically, for " Hi.How are you? My friend. " enquirement, corresponding " I ' m fine. ", " Great! " reach " Not so good. " these 3 and select (in full). " reach " That ' s good, but I have a headache. " the random action of voice output; and; in " Not so good. " selects; also corresponding " Oh, really? I ' m sorry to hear that.I hope you will feelbetter soon. " the action of voice output.
According to the record of such program, in step 2, by main control unit 11 control loudspeakers 8, thus from loudspeaker 8 usefulness voice outputs " Hi.How are you? My friend. " enquirement.Then, in step 3,, thereby on display 3, show with this and put question to corresponding 3 to select the full text that prop up, as candidate the answer of enquirement by main control unit 11 control displays 3.
Fig. 5 is that the figure that shows example is propped up in the expression conduct to the candidate's of the answer of enquirement selection.In this shows example, the subject of question of voice output, that is, " Hi.How are you? My friend. " enquirement be presented at top, and, enumerate demonstration " I ' m fine. ", " Great! in full in its underpart " reach " Not so good. " these 3 and select.In view of the above, concerning the user, because the corresponding relation of the content that can hope most enquirement and a content of selecting at a glance, so particularly under the situation of foreign language learning, can improve learning efficiency.In addition, in this showed example, about the part emphatically of rising and falling in the full text that impels the user to gaze at further to improve learning efficiency, select, color by changing font and size etc. were emphasized to show.The user selects to select arbitrarily to prop up from these select to prop up, and says it in full.
At this moment, each sounding of propping up of the selection that also user can be said of pet robot 1 comes sounding as standard (ぉ hand this) sound.For example, in state shown in Figure 5, the operation that the user stipulates switch 7.So, corresponding with this operation, main control unit 11 control loudspeakers 8, at least one selects Zhi Zuowei standard voice from the full text that loudspeaker 8 outputs are selected to prop up.When the output of standard voice is all over, turn back to the state shown in this figure once more.
Have again, the beginning of standard sounding except the operation of switch 11, for example, also can be from microphone 4 speech recognitions from user's " standard! " language.And then, in this " standard! " afterwards, by the number of selecting from the expression of microphone 4 speech recognitions said " No. 1 ", in only will selecting to prop up No. 3 as standard voice from loudspeaker 8 voice outputs.
And then, when this standard voice is carried out sounding, pet robot 1 also can be which select the Zhi Zuowei standard voice carry out sounding emphasize be presented on the display 3.For example, on display 3, show now one select (for example, " I ' m fine. ") to be issued sound as standard voice from loudspeaker 8.At this moment, main control unit 11 control displays 3 are emphasized to show with this selection and are propped up corresponding character (perhaps selecting to prop up).Have again,, remove for a literal (perhaps select) the color and size of change font, can also enumerate and draw underscore, change font, make thick literal etc. as the method for emphasizing to show.
" situation under, proceed to step 10, voice output " What do you want to do? " enquirement.On the other hand, under the situation of voice output in step 4 " That ' s good, but I have a headache. ", in step 6, voice output " Please touch my head gently. " becomes the state (step 7) of wait from user's action afterwards.In the state that this action is waited for, touch the user under the situation of forehead of pet robot 1, detect these actions by forehead touch sensor 6.In view of the above, in step 8, the reaction voice output " Thank you my friend.I feel much better now. " as conversational pet robot 1 proceeds to above-mentioned steps 10 afterwards.Relative therewith, beyond the user touches forehead, sensor beyond the forehead touch sensor 6 is under the situation of this action, in step 9, reaction as conversational pet robot 1, voice output " Please touch my head.Try again. " turns back to the waiting status of step 7.Consequently, till the user touches forehead, carry out step 7,9 circulation repeatedly.
In step 10, when voice output " What do you want to do? " the time, proceeding to step 11, the selection that becomes each action is propped up.For example, when the fruit part selecting to like, become conversational pet robot 1 and user session about the food liked.
Have again, in the carrying out order of above session, say as the user under the situation of " See you Later. ", be set at the waiting status that forcibly turns back to step 1.In addition, under the user speaks the situation of " Go back. ", be set at and forcibly turn back to step 10.
In addition, in the carrying out of above session order, when voice output is putd question to or during the reaction of answering, pet robot 1 also can be presented at the content of should speaking in the display 3.For example, in step 2, when from loudspeaker 8 voice output contents be " Hi How are you? Myfriend. " time, by main control unit 11 control displays 3, thus on display 3, show the content of speaking be " Hi How are you? My friend. " enquirement.
In addition, built-in appending in the box of ROM14 in addition, except that above-mentioned, in order further to improve the English study ability, also to have robot is assumed to the interview examiner, supposing the problem card is shown is the situation of " interviews of English 3 stages " on display.In addition, the situation that can carry out the study of the pronunciation of word and mosaic (spell) thereof with " instantaneous card game " is also arranged.In the latter case, main control unit 11 shows the mosaic and the diagram (for example, the mosaic of Book and the diagram of book) of word successively with certain interval on display 3, and, the pronunciation of the word that shows by loudspeaker 8 outputs.Under user's orthoepic situation, robot sends the answer of " Good. ", and under the true situation of cacology, robot sends answers such as " Try again. ".And then, also prepared the various series such as utility session of supposition " shopping in overseas ".
Like this, according to present embodiment, a plurality of selections that become the candidate of the answer that conversational pet robot 1 is putd question to user prompt are propped up in full.The user selects suitable selection to prop up from a plurality of selections of prompting are propped up, and it is directly said in full get final product.On the other hand,, because the numerical limitations of selected of user's variation of speaking, thereby do not need microcomputer at a high speed to voice recognition unit 10, also can be easily and carry out its identification at high speed.Consequently,, point out, also can make the user not nervous, can promote session by the full text of selecting to prop up even have to be provided with speak phrase number and the comparatively cheap product of waiting for the restriction of phrase number.
In addition, according to present embodiment because by the answer needed information of conversational pet robot 1 prompting to puing question to, thus the user can with this pet robot 1 in opposite directions state mutually, do not carry out session with reference to other information ground.In view of the above, can improve the sense that exchanges with pet robot 1, user's desire learn is continued effectively.
Having, in the above-described embodiment, be the action that example has illustrated conversational pet robot 1 with the study of English Conversation, but the present invention is defined in this again, can both use widely for the session study of various countries' language.
In addition, the action that should take of conversational pet robot 1 is not the voice output that is defined in from loudspeaker 8.For example,, then these brothers are started, install under the situation of luminophor, luminophor is lighted extinguish etc. as action if the brothers of conversational pet robot 1 are movable.
And then, in the above-described embodiment, be to be presented on the display 3, but also can point out to the user by loudspeaker 8 outputs voice in full as selection Zhi Quanwen to the candidate of the answer of puing question to.But, from promoting the viewpoint of session, prop up with the selection of all saying 1 pair of enquirement of conversational pet robot at every turn and to compare, still do not need the demonstration of time in a minute better to display 3.
Claims (11)
1. a conversational pet robot is characterized in that,
Have:
The robot body of personage's type;
Microphone is installed on the above-mentioned robot body;
Loudspeaker is installed on the above-mentioned robot body;
Display is installed on the above-mentioned robot body;
Storage part, be used for stored programme, this program carrying out order of branch's regulation of selecting by the user and user's session, correspondence recording and narrating a certain enquirement content, become the action that a plurality of selections of the answer of the full text of above-mentioned enquirement are propped up and each above-mentioned selection is propped up; And
Control part is built among the above-mentioned robot body, carries out the processing according to the record of the said procedure of reading from above-mentioned storage part,
Under by the situation of above-mentioned loudspeaker with the content of the above-mentioned enquirement of voice output, above-mentioned control part carries out the 1st to be handled, the 1st handles and to be used for the above-mentioned a plurality of selection Zhi Zuoweis corresponding with above-mentioned enquirement are presented at aforementioned display device in full to the candidate of the answer of above-mentioned enquirement
When saying in full by the user under any one situation of the above-mentioned a plurality of selections that on aforementioned display device, show in propping up, above-mentioned control part carries out the 2nd to be handled, the 2nd handles the full text be used to carry out the user that will obtain from above-mentioned microphone speaks as the speech recognition of importing, specify a selection of speaking corresponding to prop up with the user, and will select a corresponding above-mentioned action decision with this is to next step reaction that should take of the above-mentioned conversational pet robot of above-mentioned answer.
2. conversational pet robot as claimed in claim 1 is characterized in that,
In the above-mentioned the 1st handled, above-mentioned control part was enumerated full text that above-mentioned a plurality of selection props up and is presented on the aforementioned display device with the content of above-mentioned enquirement.
3. conversational pet robot as claimed in claim 1 is characterized in that,
In the above-mentioned the 1st handled, above-mentioned control part was emphasized the part emphatically of rising and falling and is presented on the aforementioned display device in the full text that above-mentioned a plurality of selections are propped up.
4. conversational pet robot as claimed in claim 1 is characterized in that,
Above-mentioned action be by above-mentioned loudspeaker with voice output as speaking to the reaction of above-mentioned answer.
5. conversational pet robot as claimed in claim 1 is characterized in that,
Above-mentioned control part is accommodated in the above-mentioned robot body's who has guaranteed the maximum internal space among the above-mentioned robot body the trunk,
Aforementioned display device is installed on above-mentioned robot body's the trunk front.
6. conversational pet robot as claimed in claim 1 is characterized in that,
Above-mentioned control part carries out the 3rd to be handled, and the 3rd handles mosaic and the diagram that is used for showing successively with certain interval a plurality of words on aforementioned display device, and, by of the pronunciation of above-mentioned loudspeaker with the above-mentioned word that shows successively of voice output.
7. conversational pet robot as claimed in claim 4 is characterized in that,
Above-mentioned action also has following action: will be presented on the aforementioned display device as the content of speaking to the reaction of above-mentioned answer.
8. conversational pet robot as claimed in claim 1 is characterized in that,
In the above-mentioned the 1st handles, the speaking as the speech recognition of input or be connected the operation of the switch on the above-mentioned control part of the full text of above-mentioned control part by the user that carries out to obtain by above-mentioned microphone, thereby in the full text that above-mentioned a plurality of selections are propped up, with at least one as standard voice, by above-mentioned loudspeaker with voice output.
9. conversational pet robot as claimed in claim 8 is characterized in that,
In the above-mentioned the 1st handled, above-mentioned control part was emphasized above-mentioned standard voice and is presented on the aforementioned display device in the full text that above-mentioned a plurality of selections are propped up.
10. a conversational pet robot is characterized in that,
Have:
The robot body of personage's type;
Microphone is installed on the above-mentioned robot body;
Tip element is installed on the above-mentioned robot body, to user prompt information;
Storage part, be used for stored programme, this program carrying out order of branch's regulation of selecting by the user and user's session, correspondence recording and narrating a certain enquirement content, become the action that a plurality of selections of the answer of the full text of above-mentioned enquirement are propped up and each above-mentioned selection is propped up; And
Control part is built among the above-mentioned robot body, carries out the processing according to the record of the said procedure of reading from above-mentioned storage part,
By above-mentioned Tip element under the situation of the content of the above-mentioned enquirement of user prompt, above-mentioned control part carries out the 1st to be handled, the 1st handles and to be used for by above-mentioned Tip element in full to the candidate of user prompt above-mentioned a plurality of select Zhi Zuoweis corresponding with above-mentioned enquirement to the answer of above-mentioned enquirement
Saying in full by the user under any one situation of the above-mentioned a plurality of selections that on aforementioned display device, show in propping up, above-mentioned control part carries out the 2nd to be handled, the 2nd handles the speaking as the speech recognition of importing of the full text be used to carry out the user that will obtain from above-mentioned microphone, specify a selection of speaking corresponding to prop up with the user, and will select a corresponding above-mentioned action decision with this is to next step reaction that should take of the above-mentioned conversational pet robot of above-mentioned answer.
11. conversational pet robot as claimed in claim 10 is characterized in that,
Above-mentioned Tip element is at least one of loudspeaker and display.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004225134 | 2004-08-02 | ||
| JP225134/04 | 2004-08-02 | ||
| JP073636/05 | 2005-03-15 |
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| CN1734521A true CN1734521A (en) | 2006-02-15 |
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| CN 200510088263 Pending CN1734521A (en) | 2004-08-02 | 2005-08-02 | Conversation type robot pet |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103078867A (en) * | 2013-01-15 | 2013-05-01 | 深圳市紫光杰思谷科技有限公司 | Automatic chatting method and chatting system among robots |
| CN103971549A (en) * | 2013-01-28 | 2014-08-06 | 黑龙江工程学院 | Intelligent cartoon machine for foreign language learning |
| CN110349463A (en) * | 2019-07-10 | 2019-10-18 | 南京硅基智能科技有限公司 | A kind of reverse tutoring system and method |
| CN112133147A (en) * | 2019-06-24 | 2020-12-25 | 武汉慧人信息科技有限公司 | Online automatic teaching and interaction system based on teaching plan and preset question bank |
| CN113192500A (en) * | 2020-01-29 | 2021-07-30 | 丰田自动车株式会社 | Proxy device, proxy system, and non-transitory recording medium |
-
2005
- 2005-08-02 CN CN 200510088263 patent/CN1734521A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103078867A (en) * | 2013-01-15 | 2013-05-01 | 深圳市紫光杰思谷科技有限公司 | Automatic chatting method and chatting system among robots |
| CN103971549A (en) * | 2013-01-28 | 2014-08-06 | 黑龙江工程学院 | Intelligent cartoon machine for foreign language learning |
| CN112133147A (en) * | 2019-06-24 | 2020-12-25 | 武汉慧人信息科技有限公司 | Online automatic teaching and interaction system based on teaching plan and preset question bank |
| CN110349463A (en) * | 2019-07-10 | 2019-10-18 | 南京硅基智能科技有限公司 | A kind of reverse tutoring system and method |
| CN113192500A (en) * | 2020-01-29 | 2021-07-30 | 丰田自动车株式会社 | Proxy device, proxy system, and non-transitory recording medium |
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