JP2004216513A - Communication robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a communication robot which individually recognizes users existing in the vicinity of or around the robot, and makes communication action suitable for a specified user. <P>SOLUTION: The communication robot 10 includes an antenna 58 and receives an electric wave which is sent from RFID tags 12, 14 and 16 and superimposed by RFID information. Users A, B and C possess or put on the tags 12, 14 and 16, respectively. Accordingly, the robot 10 obtains the RF10 information and recognizes the users A, B and C who are in the vicinity of or around the robot. Further, the robot 10 identifies the nearest user by the electric wave intensity when the robot obtains RFID information, and make communication action with the user. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
[Industrial applications]
The present invention relates to a communication robot, and more particularly, to a communication robot that executes a communication action with a plurality of communication objects having unique wireless tags, for example.
[0002]
[Prior art]
An example of this type of conventional communication robot is disclosed in Patent Document 1. In the robot device disclosed in Patent Literature 1, a person facing the robot device is photographed by a camera, a frontal face image is obtained from the photographed camera image, and the person is collated with a previously stored identification dictionary. Had been identified.
[0003]
[Patent Document 1]
JP-A-2002-56388 (pages 6 to 11, FIGS. 1 to 10, FIG. 12, FIGS. 19 to 22 and FIG. 33)
[0004]
[Problems to be solved by the invention]
However, since this conventional technique specifies (identifies) a person facing the robot, it is difficult to specify a person near or around the robot. Needed to identify each person in person. In addition, since a person is specified based on an image captured by a camera, the processing is enormous, and there is a problem that it takes time to specify the person. Furthermore, when a plurality of persons overlap from the viewpoint of the robot, there is a problem that a person located behind cannot be specified. Therefore, such a conventional technique cannot be applied to a communication robot that performs a communication action with a plurality of communication targets such as a plurality of persons.
[0005]
Therefore, a main object of the present invention is to provide a communication robot capable of easily specifying a communication target and executing a communication action suitable for the specified communication target.
[0006]
[Means for Solving the Problems]
The present invention relates to a communication robot that performs a communication action with a plurality of communication targets having unique wireless tags, a tag information database that records at least tag information, and an acquisition unit that obtains tag information from a communication target A recognizing means for individually recognizing one or a plurality of communication objects existing in the vicinity or in the vicinity on the basis of the result of the obtaining means, and specifying one communication object for executing a communication action based on the recognition result of the recognizing means. A communication robot comprising: means for executing a communication action on a communication target specified by the specifying means.
[0007]
[Action]
The communication robot executes a communication action by at least one of a sound and an action with respect to a plurality of communication targets such as humans (users) having unique wireless tags. The communication robot includes a tag information database that records at least tag information. When executing a communication action, the communication robot acquires tag information from a communication target by an acquisition unit. The recognition means individually recognizes a human (user) as a communication target. The specifying means specifies one communication target based on the recognition result of the recognition means. That is, one user is specified among the users existing near or around the communication robot. Then, the execution means executes a communication action for the user.
[0008]
For example, since the detecting means detects the magnitude of the distance to each communication target, the specifying means can specify one communication target having the minimum distance. In other words, it is possible to take a communication action with the nearest user.
[0009]
The wireless tag transmits a radio wave, and the acquisition unit includes an antenna. The detecting means detects the magnitude of the distance according to the radio wave intensity at the antenna when the tag information is obtained by the obtaining means. In other words, the lower the radio wave intensity, the greater the distance from the communication robot, and the higher the radio wave intensity, the smaller the distance from the communication robot. Therefore, the specifying means specifies the user having the tag information acquired with the strongest radio field intensity as the communication target.
[0010]
However, the wireless tag may transmit (emit) the tag information by ultrasonic waves or infrared rays. When transmitting tag information by ultrasonic waves, the ultrasonic sensor included in the acquisition unit receives the ultrasonic waves from the wireless tag, and the user as the communication target is specified according to the sound wave intensity of the ultrasonic sensor at that time. Is done. When transmitting (emitting) tag information by infrared rays, an infrared sensor included in the acquisition unit receives infrared rays from the wireless tag, and a user as a communication target communicates according to the received light intensity of the infrared sensor at that time. Specified.
[0011]
Further, the communication robot includes a history database that records a history of the communication behavior executed by the execution unit, for example, in association with a communication target that has performed the communication behavior. Therefore, a communication action suitable for the specified communication target can be executed with reference to the history database. For example, a user who interacts for the first time can bow and also greet “Mr. XX, nice to meet you”. In addition, there is a fact that the dialogue previously, for a user for the first time dialogue today, with the bow, it is possible to greeting as "○○'s, Hello". That is, there is no repetition of inappropriate communication behavior.
[0012]
The determining unit determines whether or not the specific information has been acquired for each of the communication targets recognized by the recognizing unit with reference to the history database. If there is a communication target for which it has been determined that the specific information has not been acquired, the execution means executes a communication action for notifying (presenting) the specific information to at least the communication target. In other words, not only communication with a specific user but also communication with other users can be taken.
[0013]
On the other hand, when there is no communication target for which it has been determined that the specific information has not been acquired, the execution unit executes a communication action for searching for another communication target. In other words, seek a new communication target. However, a communication action for notifying other specific information may be executed.
[0014]
If the communication means cannot be recognized by the recognition means, that is, if there is no user near or around, the execution means executes a communication action for searching for (obtaining) the communication object.
[0015]
【The invention's effect】
According to the present invention, since the communication target is specified based on the tag information, the specification is simple. Further, since one communication target is specified, the robot can take a communication action suitable for the communication target.
[0016]
The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.
[0017]
【Example】
Referring to FIG. 1, a communication robot (hereinafter sometimes simply referred to as a “robot”) 10 of this embodiment is an interaction-oriented communication mainly for communicating with a communication target such as a human. Be a robot. However, the communication target may be another communication robot configured similarly to the communication robot 10.
[0018]
A human or a user A, a user B, and a user C exist near or around the robot 12, and the user A, the user B, and the user C are respectively RFID tags (hereinafter, simply referred to as “tags”) 12, 14 or 16 are possessed or mounted (held). Although any tags can be used as the tags 12, 14, and 16, in this embodiment, self-propelled (battery-operated) tags are used. Therefore, each of the tags 12, 14, and 16 superimposes information of a unique RFID (Radio Frequency Identification) on a radio wave of a predetermined frequency and transmits (transmits) the information at a predetermined time interval. However, a configuration may be adopted in which radio waves of different frequencies are transmitted and the tag (user) can be identified based on the difference in frequency.
[0019]
In this embodiment, the case where there are three users is shown, but the number of users may be one or more.
[0020]
FIG. 2 is a front view showing the external appearance of the robot 10, and the hardware configuration of the robot 10 will be described with reference to FIG. The robot 12 includes a carriage 20, and wheels 22 for autonomously moving the robot 10 are provided on a lower surface of the carriage 20. The wheels 22 are driven by a wheel motor (see FIG. 3: 90), and can move the cart 20, that is, the robot 10, in any direction in front, rear, left and right.
[0021]
Although not shown in FIG. 2, a collision sensor (see FIG. 3: 94) is attached to the front of the carriage 20, and the collision sensor 94 detects contact of a person or other obstacles with the carriage 20. . That is, when the contact with the obstacle is detected during the movement of the robot 10, the driving of the wheels 22 is immediately stopped to stop the movement of the robot 10 suddenly, thereby preventing the collision before it occurs.
[0022]
In this embodiment, the height of the robot 10 is set to about 100 cm so as not to give a feeling of intimidation to a person (user), particularly a child. However, this height can be changed.
[0023]
A polygonal column sensor mounting panel 24 is provided on the carriage 20, and an ultrasonic distance sensor 26 is mounted on each surface of the sensor mounting panel 24. The ultrasonic distance sensor 26 measures the distance between the sensor mounting panel 24, that is, the user mainly around the robot 10.
[0024]
In addition, a lower portion is provided on the carriage 20 so that the lower portion is surrounded by the sensor mounting panel 24 so that the body of the robot 10 stands upright. The body is constituted by a lower body 28 and an upper body 30, and the lower body 28 and the upper body 30 are connected to each other by a connecting portion 32. Although not shown, the connecting portion 32 has a built-in elevating mechanism, and by using this elevating mechanism, the height of the upper body 30, that is, the height of the robot 10 can be changed. The lifting mechanism is driven by a waist motor (see FIG. 3: 88) as described later.
[0025]
The height of the robot 10 described above is obtained when the upper body 30 is at the lowest position thereof. Therefore, the height of the back of the robot 10 can be set to 100 cm or more.
[0026]
One omnidirectional camera 34 and one microphone 36 are provided substantially at the center of the upper body 30. The omnidirectional camera 34 is for photographing the periphery of the robot 10 and is distinguished from an eye camera 56 described later. As the omnidirectional camera 34, for example, a camera using a solid-state imaging device such as a CCD or a CMOS can be employed. The microphone 36 captures ambient sounds, particularly the voice of the user to be communicated.
[0027]
Upper arms 40R and 40L are provided on both shoulders of upper torso 30 by shoulder joints 38R and 38L, respectively. The shoulder joints 38R and 38L each have three degrees of freedom. That is, the shoulder joint 38R can control the angle of the upper arm 40R around each of the X axis, the Y axis, and the Z axis. The Y axis is an axis parallel to the longitudinal direction (or axis) of the upper arm 40R, and the X axis and the Z axis are axes orthogonal to the Y axis from different directions. On the other hand, the shoulder joint 38L can control the angle of the upper arm 40L around each of the A axis, the B axis, and the C axis. The B axis is an axis parallel to the longitudinal direction (or axis) of the upper arm 40L, and the A axis and the C axis are axes orthogonal to the B axis from different directions.
[0028]
Further, forearms 44R and 44L are provided at the distal ends of the upper arms 40R and 40L, respectively, via elbow joints 42R and 42L. The elbow joints 42R and 42L can control the angles of the forearms 44R and 44L around the W axis and the D axis, respectively.
[0029]
In the X-axis, Y-axis, Z-axis, W-axis and A-axis, B-axis, C-axis, and D-axis for controlling the displacement of the upper arms 40R and 40L and the forearms 44R and 44L, "0 degree" is the home position. In this home position, the upper arms 40R and 40L and the forearms 44R and 44L are directed downward as shown in FIG.
[0030]
Although not shown, a touch sensor (shown comprehensively in FIG. 3) is provided on the shoulder portion including the shoulder joints 38R and 38L of the upper torso 30, the upper arms 40R and 40L, and the forearms 44R and 44L. : 92), and these touch sensors 92 detect whether or not the user has touched each part of the robot 10.
[0031]
At the tips of the forearms 44R and 44L, spheres 46R and 46L corresponding to hands are fixedly provided, respectively. However, when the function of a finger or a palm is required, a "hand" shaped like a human hand can be used.
[0032]
Although the shape and dimensions of the robot 10 are appropriately set, in another embodiment, for example, the upper body 30 includes a front surface, a back surface, a right side surface, a left side surface, a top surface and a bottom surface, and a right side surface and a left side surface. May be formed so that the surface faces obliquely forward. In other words, the upper body 30 may be formed such that the front width is shorter than the back width, and the shape of the upper body 30 viewed from above is trapezoidal.
[0033]
In such a case, the shoulder joints 38R and 38L are provided on the right and left side surfaces via left and right support portions whose surfaces are parallel to the left and right side surfaces, respectively. The rotation range of the upper arm 40R and the upper arm 40L is regulated by the left and right side surfaces or the surface (mounting surface) of the support portion, and the upper arms 40R and 40L do not rotate beyond the mounting surface.
[0034]
However, if the inclination angles of the left and right side surfaces, the interval between the B axis and the Y axis, the lengths of the upper arms 40R and 40L, and the lengths of the forearms 44R and 44L, etc., are appropriately set, the upper arms 40R and 40L extend beyond the front. Since the robot can be pivoted further inward, the arms of the robot 10 can intersect forward even if there is no freedom of the arms by the W axis and the D axis. Therefore, even when the degree of freedom of the arm is small, close communication such as hugging with a person located in front can be achieved.
[0035]
A head 50 is provided above the center of the upper body 30 via a neck joint 48. The neck joint 48 has three degrees of freedom, and can be angle-controlled around each of the S, T, and U axes. The S axis is an axis heading directly upward (vertically upward) from the neck, and the T axis and the U axis are axes orthogonal to the S axis in different directions. A speaker 52 is provided on the head 50 at a position corresponding to the mouth of a person. The speaker 52 is used by the robot 10 to communicate by voice (including sound) or voice to people around (around) it. However, the speaker 52 may be provided in another part of the robot 10, for example, a body.
[0036]
The head 50 is provided with eyeballs 54R and 54L at positions corresponding to the eyes. Eyeball units 54R and 54L include eye cameras 56R and 56L, respectively. Hereinafter, the right eyeball unit 54R and the left eyeball unit 54L may be collectively referred to as the eyeball unit 54, and the right eye camera 56R and the left eye camera 56L may be collectively referred to as the eye camera 56.
[0037]
The eye camera 56 captures an image of a person's face and other parts or objects approaching the robot 10 and captures a video signal corresponding to the image. As the eye camera 56, a camera similar to the omnidirectional camera 34 described above can be used.
[0038]
For example, the eye camera 56 is fixed in the eyeball unit 54, and the eyeball unit 54 is attached to a predetermined position in the head 50 via an eyeball support (not shown). The eyeball support has two degrees of freedom and can be angle-controlled around each of the α axis and the β axis. The α-axis and the β-axis are axes provided for the head 50, the α-axis is an axis in a direction upward to the head 50, and the β-axis is orthogonal to the α-axis and is on the front side of the head 50 ( Face). In this embodiment, when the head 50 is at the home position, the α axis is set parallel to the S axis, and the β axis is set parallel to the U axis. In such a head 50, the tip (front) side of the eyeball portion 54 or the eye camera 56 is displaced by rotating the eyeball support portion around each of the α axis and the β axis, and the camera axis, that is, the line of sight is changed. Be moved.
[0039]
Note that, in the α axis and the β axis for controlling the displacement of the eye camera 56, “0 degree” is the home position, and in this home position, the camera axis of the eye camera 56 is The front side (face) is turned in a direction to face, and the line of sight is in a normal vision state.
[0040]
Further, an antenna 58 is provided beside the head 50 and extending from the right shoulder. The antenna 58 receives a radio wave on which RFID information (tag information) transmitted from the tags 12, 14, and 16 shown in FIG. 1 is superimposed.
[0041]
FIG. 3 is a block diagram showing an electrical configuration of the robot 10. Referring to FIG. 3, the robot 10 includes a CPU 60 that controls the entire system. The CPU 60 is also called a microcomputer or a processor, and is connected to a memory 70, a motor control board 72, a sensor input / output board 74, and a voice input / output board 76 via a bus 62.
[0042]
Although not shown, the memory 70 includes a ROM or a RAM, in which a control program of the robot 10 is stored in advance, and a voice or voice data of a voice to be generated from the speaker 52 when performing a communication action. (Voice synthesis data) and angle data for presenting a predetermined gesture are stored. The RAM is used as a work memory or a buffer memory.
[0043]
The motor control board 72 is composed of, for example, a DSP, and controls driving of each axis motor such as each arm, head, and eyeball. That is, the motor control board 72 receives the control data from the CPU 60 and controls two motors for controlling the respective angles of the α axis and the β axis of the right eyeball unit 54R (in FIG. 3, they are collectively referred to as “right eyeball motor”). .) The rotation angle of 78 is controlled. Similarly, the motor control board 72 receives the control data from the CPU 60 and controls two motors (in FIG. 3, collectively referred to as “left eyeball motor”) for controlling the respective angles of the α axis and the β axis of the left eyeball unit 54L. The rotation angle of 80 is controlled.
[0044]
Further, the motor control board 72 receives the control data from the CPU 60, and determines three motors for controlling the respective angles of the X axis, Y axis and Z axis of the right shoulder joint 38R and the W axis angle of the right elbow joint 42R. A rotation angle of a total of four motors (one motor to be controlled) (in FIG. 3, collectively referred to as “right arm motor”) 82 is adjusted. Similarly, the motor control board 72 receives the control data from the CPU 60, and sets three motors for controlling the angles of the A-axis, B-axis, and C-axis of the left shoulder joint 38L and the D-axis of the left elbow joint 42L. The rotation angle of a total of four motors (one motor to be controlled) (in FIG. 3, collectively referred to as “left arm motor”) 84 is adjusted.
[0045]
Further, the motor control board 72 receives the control data from the CPU 60 and controls three motors for controlling the respective angles of the S-axis, the T-axis, and the U-axis of the head 50 (in FIG. The rotation angle of 86 is controlled. Furthermore, the motor control board 72 receives the control data from the CPU 60 and controls the rotation angles of the waist motor 88 and two motors 90 that drive the wheels 22 (collectively referred to as “wheel motors” in FIG. 3). I do.
[0046]
In this embodiment, a stepping motor or a pulse motor is used for the motors other than the wheel motor 90 in order to simplify the control. However, similarly to the wheel motor 90, a DC motor may be used.
[0047]
Similarly, the sensor input / output board 74 is also constituted by a DSP, takes in signals from each sensor, and supplies the signals to the CPU 60. That is, data relating to the reflection time from each of the ultrasonic distance sensors 26 is input to the CPU 60 through the sensor input / output board 74. A video signal from the omnidirectional camera 34 is input to the CPU 60 after being subjected to predetermined processing by the sensor input / output board 74 as necessary. The video signal from the eye camera 56 is similarly input to the CPU 60. Further, signals from the above-described plurality of touch sensors (collectively referred to as “touch sensors 92” in FIG. 3) are provided to the CPU 60 via the sensor input / output board 74. Further, the signal from the above-described collision sensor 94 is similarly supplied to the CPU 60.
[0048]
Similarly, the audio input / output board 76 is also constituted by a DSP, and outputs a voice or voice according to the voice synthesis data provided from the CPU 60 from the speaker 52. Further, a voice input from the microphone 36 is taken into the CPU 60 via the voice input / output board 76.
[0049]
The CPU 60 is connected to the communication LAN board 96 and the wireless ID tag device 100 via the bus 62. The communication LAN board 96 is formed of a DSP, and supplies transmission data sent from the CPU 60 to the wireless communication device 98, and transmits the transmission data from the wireless communication device 98 via a network such as a wireless LAN (not shown). To an external computer. Further, the communication LAN board 96 receives data via the wireless communication device 98 and gives the received data to the CPU 60. That is, the robot 10 can perform wireless communication with an external computer or the like by using the communication LAN board 96 and the wireless communication device 98.
[0050]
The wireless ID tag device 100 receives, via an antenna 58, a radio wave on which RFID information transmitted from the tags 12, 14, and 16 shown in FIG. 1 is superimposed, amplifies a radio signal, and converts the radio signal into an RFID signal. , And demodulates (decodes) the information of the RFID and provides the same to the CPU 60, and detects the radio wave intensity at the antenna 58 when the radio wave on which the information of the RFID is superimposed is detected and provides the same to the CPU 60. However, the RFID information may be decoded by an external computer and provided to the CPU 60.
[0051]
As the wireless ID tag device (100) including the tags (12, 14, 16) and the antenna (58) shown in this embodiment, trade names "Spider tag" and "Spider" manufactured and sold by RF Code, USA readers "can be used.
[0052]
Further, in this embodiment, radio waves on which RFID information is superimposed are transmitted from the tags 12, 14, and 16, and the radio waves are received by the wireless ID tag device 100 via the antenna 58. However, the present invention is not limited to this. Should not be. For example, it is possible to adopt a configuration in which ultrasonic waves on which RFID information is superimposed are transmitted from the tags 12, 14, and 16, and received by a receiving device having an ultrasonic sensor. In addition, it is also possible to adopt a configuration in which infrared light obtained by converting RFID information into an infrared signal is radiated from the tags 12, 14, and 16 and received by a receiving device having an infrared light receiving unit (infrared sensor).
[0053]
Further, the CPU 60 is connected to the two databases 102 and 104 via the bus 62. However, these databases may be provided so as to be accessible on an external network. The database 102 is a database that stores user information (hereinafter, referred to as “user DB”). In this embodiment, a table of user information as shown in FIG. 4A is recorded. As can be seen from FIG. 4A, the RFID of the user information table is described corresponding to the user name. Therefore, for example, it can be seen that the tag 12 attached to the user A has the RFID “AAAAA”. Such a user DB 102 can be registered in advance by the designer or developer of the robot 10. When a new user is added, a designer or the like can register the new user or the like in the user DB 102 by operating an external computer. As another embodiment, when the robot 10 has a voice recognition function, the robot 10 associates the user name obtained by communicating with the new user and performing communication such as conversation with the RFID obtained at that time, and 10 (strictly speaking, the CPU 60) can also be registered in the user DB 102.
[0054]
Further, the database 104 stores a history of communication actions performed by the robot 10 for each of the users (user A, user B, user C,...) Registered in the user DB 102, or for all users near and around the user. (Communication behavior history DB) that records a history information table as shown in FIG. 4B. As can be seen from FIG. 4B, the history information table describes the date and time, the content of the communication action, and the RFID in association with each other. Therefore, the example of the first line illustrated in FIG. 4B indicates that the robot 10 performed the communication action 1 with respect to the user C (RFID: CCCC) at 10:20 on January 20, 2003. Is shown. Further, the example of the fifth line indicates that the robot 10 has performed the communication action 5 at 15:05 on February 2, 2003 for all the users (RFID: ZZZZ) existing near or around. Is shown. For convenience of the drawing, the RFIDs of all the users present in the vicinity or in the vicinity are described as “ZZZZ”, but actually, the RFIDs corresponding to the users existing in the vicinity of or in the vicinity of the robot 10 are described. You. That is, all the RFIDs included in the ID list described later are described.
[0055]
When the robot 10 has a voice recognition function, the content of the communication action performed by the user on the robot can be recorded in the history. For example, the contents spoken by the user and the video signal from the omnidirectional camera 34 or the eye camera 56 when the user spoke can be recorded in the history.
[0056]
The contents of the communication action are angle data for controlling the driving of the motors 78 to 90 and text data corresponding to the voice (voice) output from the speaker 52. When these pieces of information are recorded as history information, Since the amount of data is enormous, identification information (communication ID) assigned to one communication action (eg, greeting, handshake, hugging, information provision, etc.) is actually recorded.
[0057]
Further, in this embodiment, the RFID is recorded in the communication behavior history DB (hereinafter simply referred to as “history DB”) 104 in association with the date, time, and the content of the communication behavior. However, the user name may be recorded.
[0058]
Further, in this embodiment, the history information is recorded in chronological order and is managed in one table. However, the history information for each RFID (user) may be managed in a table. With this configuration, it is only necessary to record (add) the history information to the table corresponding to the RFID, so that it is not necessary to record the RFID for each piece of history information.
[0059]
For example, when taking (executing) a communication action, the robot 10 recognizes a user existing near or around (periphery) of the robot 10, that is, a user within a range in which a radio wave transmitted from a tag reaches the robot 10 (antenna 58). . That is, the information of the RFID from the tag is acquired, and a list (ID list) of the acquired RFID is created. The ID list is shown as in FIG. 4 (C), and the radio field intensity when the information of the RFID is received (acquired) is described corresponding to the information of the RFID. For example, the ID list describes the RFID and the radio field intensity when the RFID is acquired in the order in which the information of the RFID is acquired. For example, from the example of the first column shown in FIG. Is obtained, and it can be seen that the radio wave intensity at that time was P (dBm).
[0060]
After creating the ID list, the robot 10 refers to the ID list and specifies one communication target. In this embodiment, it is determined that the user carrying (wearing) the tag having the strongest radio field intensity is at the position (short distance) closest to the robot 10, and the user is specified as a communication target.
[0061]
It is also possible to specify a user wearing a tag having the second highest radio wave intensity, such as the second or third, as a communication target, and this is a matter determined in advance by a designer or a developer. .
[0062]
In addition, as described above, when acquiring RFID information by ultrasonic waves, a communication target is specified according to the intensity of ultrasonic waves (sound wave intensity) in the ultrasonic sensor. When acquiring RFID information by infrared rays, a communication target is specified according to the intensity of infrared rays (light receiving intensity) of the infrared sensor.
[0063]
When a user to be communicated is specified, the robot 10 executes a communication action suitable for the user according to the history information. For example, in this embodiment, it is determined whether or not the specified user is a user who interacts (communicates) for the first time.
[0064]
If the user is a first-time user, he bows (tilts the head 50 forward and downward) and greets (speaks) "Mr. XX, nice to meet you" (outputs sound from the speaker 52). On the other hand, if the user is not the first user to interact, that is, if the user has interacted before, it is further determined whether the user is the first user to interact today.
[0065]
Today in the case of a user for the first time dialogue, with the bow, "○○ Hi," utters. On the other hand, if the user has already interacted with the robot today, the robot 10 performs a communication action with the users existing near and around the user. Specifically, it is detected by referring to the history DB 104 whether or not there is a user who has not obtained specific information (for example, weather forecast) among users listed in the ID list.
[0066]
When there is a user who has not acquired the specific information, for example, the user behaves as if calling diagonally upward (tilting the head 50 forward and upward) to call everyone, and "Tomorrow will be fine." Utter the information. On the other hand, when there is no user who has not acquired the specific information, for example, the user behaves as if calling diagonally upward and calling out to everyone, and utters “I am free” to communicate with other communication targets. look for. However, when there is no user who has not acquired the specific information, the user may behave as if calling out to everyone, and speak other specific information (for example, a broadcast time of a sports program). . In this way, it is possible to take a communication action not only with the specified user but also with the surrounding users.
[0067]
In this embodiment, the weather forecast and the sports program are notified as the specific information, but the present invention is not limited to this. As the specific information, various information such as sports, hobbies, games, and shopping are assumed. Such specific information can be obtained by the robot 10 via a network such as the Internet.
[0068]
In addition, if user's favorite information (hobby, contents of an interesting thing, etc.) is added to the user information, specific information corresponding to the user can be notified.
[0069]
Specifically, the CPU 60 shown in FIG. 2 executes the communication action processing according to the flowcharts shown in FIGS. As shown in FIG. 5, first, in step S1, it is determined whether or not there is a stop command. That is, the CPU 60 determines whether there is a stop command from a stop switch (not shown) provided on the robot 10 itself or a stop command from an external computer.
[0070]
If “YES” in the step S1, that is, if there is a stop command, it is determined that there is a stop command, and the process of the communication action is ended as it is. However, when the main power supply of the robot 10 is turned off, the processing is similarly terminated. On the other hand, if "NO" in the step S1, that is, if there is no stop command, a tag is detected in a step S3. Specifically, CPU 60 detects an input from wireless ID tag device 100.
[0071]
In a succeeding step S5, it is determined whether or not the tag is detected. If “NO” in the step S5, that is, if the RFID information and the radio wave intensity are not acquired from the RFID tag device 100, it is determined that the tag is not detected, that is, the tag is placed near or around the robot 10. It is determined that the possessed user does not exist, the ID list and the nearest tag ID (RFID) are initialized in step S7, and the process proceeds to step S25.
[0072]
On the other hand, if “YES” in the step S5, that is, if the RFID information and the radio wave intensity are acquired from the RFID tag device 100, it is determined that the tag is detected, and in the step S9, the acquired RFID and each RFID are received. The ID list as shown in FIG. 4 (C) is created by using the radio wave intensity obtained at this time. Then, in step S11, the nearest tag ID is acquired with reference to the ID list. That is, an RFID whose radio field intensity indicates the maximum value is acquired, and a tag to be communicated, that is, a user is specified.
[0073]
Subsequently, in step S13, it is determined whether or not to interact with the user corresponding to the RFID for the first time. Specifically, the CPU 60 refers to the history DB 104 and determines whether the RFID exists in the history. If “YES” in the step S13, that is, if the RFID does not exist in the history, it is determined that the user interacts with the user corresponding to the RFID for the first time, and in step S15 the head 50 is turned down and “O ○ (Hello, this user name), and proceed to step S27. Specifically, the CPU 60 calculates the angle data (S axis 0 degree, T axis 0 degree, U axis −45 degree, X axis 0 degree, Y axis 0 degree, Z axis 0 degree, W axis 0 degree, A axis 0 degree Degrees, B-axis 0 degree, C-axis 0 degree, D-axis 0 degree) to the motor control board 72, and reads out the voice synthesis data corresponding to "Mr. Give to 76. Then, the head motor 88 (strictly, a motor for controlling the U axis) is driven, and the head 50 is tilted forward and downward. Simultaneously or almost at the same time, a voice saying “Hello, Mr. XX” is output from the speaker 52.
[0074]
On the other hand, if “NO” in the step S13, that is, if the RFID is present in the history, it is determined that the user corresponding to the RFID has interacted before, and the history DB 104 is referred to in a step S17. Then, it is determined whether or not to interact with the user corresponding to the RFID for the first time today.
[0075]
If “YES” in the step S17, that is, if the RFID exists in the history information but there is no history of the present day, it is determined that the user corresponding to the RFID interacts for the first time today, and in the step S19, the head is determined. part of the downward, and greeting as "○○ (the user name) 's, Hello", the process proceeds to step S27.
[0076]
Note that the communication behavior in step S19 is the same as the content described in step S15 except that the content to be uttered is different, and thus the detailed description is omitted here.
[0077]
On the other hand, if “NO” in the step S17, that is, if the RFID exists in the history information and there is a history of today, it is determined that the user corresponding to the RFID has already interacted with the user today, and in a step S21, It is determined whether any user has not heard (acquired) the latest weather forecast (specific information). That is, with reference to today's history recorded in the history DB 104, it is determined whether an RFID corresponding to a user who has not heard the latest weather forecast exists in the ID list.
[0078]
If “YES” in the step S21, that is, if the RFID corresponding to the user who has not heard the latest weather forecast exists in the ID list, the head is turned up in the step S23 and “Tomorrow is fine”. The weather forecast is notified, and the process proceeds to step S27. Specifically, in step S23, the CPU 60 determines the angle data (S axis 0 degree, T axis 0 degree, U axis +45 degrees, X axis 0 degree, Y axis 0 degree, Z axis 0 degree, W axis 0 degree, A-axis 0 degree, B-axis 0 degree, C-axis 0 degree, D-axis 0 degree) are sent to the motor control board 72, and the voice synthesis data corresponding to "Tomorrow will be fine" is read out from the memory 70 and voice input / Give to output board 76. Then, the head motor 88 (strictly, a motor for controlling the U axis) is driven, and the head 50 is tilted forward and upward. At the same time or almost at the same time, a voice saying “Tomorrow will be fine” is output from the speaker 52.
[0079]
On the other hand, if “NO” in the step S21, that is, if the RFID corresponding to the user who has not heard the latest weather forecast does not exist in the ID list, the head is turned up in the step S25 and “free time”. ", And the process proceeds to step S27. That is, the communication action in step S25 calls attention to the surroundings and seeks a new communication target. However, if no tag is detected in step S5, that is, if there is no user near or around, it means that the user is simply searching for a communication target. Therefore, in such a case, in addition to the above-described communication behavior, it is conceivable to further actuate the wheel motor 90 to move the place.
[0080]
Note that the communication behavior in step S25 is the same as that described in step S23 except that the contents to be uttered are different, and thus the detailed description is omitted here.
[0081]
In step S27, history information on the communication behavior executed in step S15, S19, S23 or S25 is recorded (added) in the history DB 104, and the process returns to step S1. That is, the date, time, and time from a clock circuit (not shown), the communication ID assigned to the executed communication action, and the RFID of the communication target are recorded in the history DB 104.
[0082]
According to this embodiment, since the RFID is obtained from the tag and the user is specified, the user can be easily specified.
[0083]
In addition, it is possible to individually recognize users existing near and around the robot, so that a communication action suitable for the user can be performed.
[0084]
Further, since the communication behavior history is left, it is possible to avoid re-talking to the user what has been once spoken to a certain user, and does not give the user any discomfort or discomfort. That is, it is possible to avoid repeating inappropriate communication behavior.
[0085]
Note that the processing of the communication behavior shown in this embodiment is merely an example, and should not be limited to this. For example, the number of conversations to date can be counted for each user (RFID), and communication actions with different intimacy can be performed with the user according to the count. For example, a certain user can be greeted with "Hello, after a long time" while shaking hands and another user can be greeted with a hug, "Hello, how are you?" . In addition, focusing only on today, the number of conversations can be counted, and as the count increases, communication actions such as deepening intimacy and providing different topics (information) can be performed. .
[0086]
Further, in this embodiment, as the communication behavior, only the case where both the behavior of the robot (behavior) and the voice are used has been described. Is also good.
[0087]
Further, in this embodiment, specific information such as a weather forecast is acquired from the network and provided to the user, but is stored in a storage device (for example, the memory 70) built in the robot 10. Information can also be provided. Specifically, the voice synthesis data of the song is stored in the memory 70 or the like, and the robot 10 can sing the song and teach the user to a user located near or around the song. In addition, if voice synthesis data of a plurality of types of songs is stored, by referring to the history information, a specific user or all users near or around the user can hear a song that he / she has not heard. Can teach. However, not only songs, but also foreign language (for example, English) words and conversations can be taught.
[Brief description of the drawings]
FIG. 1 is an illustrative view showing a configuration of an embodiment of the present invention;
FIG. 2 is a front view showing hardware of the robot of the embodiment in FIG. 1;
FIG. 3 is a block diagram illustrating an electrical configuration of the robot according to the embodiment in FIG. 1;
FIG. 4 is an illustrative view showing one example of contents of a database shown in FIG. 3 and one example of an ID list;
FIG. 5 is a flowchart showing a part of processing of a communication action of a CPU shown in FIG. 3;
FIG. 6 is a flowchart showing another part of the processing of the communication behavior of the CPU shown in FIG. 3;
[Explanation of symbols]
10. Communication robot
12, 14, 16 ... frequency tag
60 ... CPU
70 ... memory
72… Motor control board
74… Sensor input / output board
76… Audio input / output board
100 Wireless ID receiver
102,104… Database

Claims (10)

A communication robot that performs a communication action with a plurality of communication targets having unique wireless tags,
A tag information database that records at least tag information,
Acquisition means for acquiring tag information from the communication target,
Recognizing means for individually recognizing one or a plurality of communication objects present in the vicinity or in the vicinity based on the acquisition result of the acquiring means;
A communication robot comprising: a specifying unit that specifies one communication target that executes a communication action based on a recognition result of the recognition unit; and an execution unit that performs a communication action on the communication target specified by the specifying unit. The recognition means includes a detection means for detecting the magnitude of the distance to each communication target,
2. The communication robot according to claim 1, wherein the specifying unit specifies the one communication target whose distance detected by the detecting unit is minimum. 3. The wireless tag emits radio waves,
The obtaining means includes an antenna,
3. The communication robot according to claim 2, wherein the detection unit detects the magnitude of the distance according to a radio field intensity at the antenna when the tag information is acquired by the acquisition unit. 4. The wireless tag transmits an ultrasonic wave,
The acquisition means includes an ultrasonic sensor,
3. The communication robot according to claim 2, wherein the detection unit detects the magnitude of the distance according to a sound wave intensity of the ultrasonic sensor when the tag information is acquired by the acquisition unit. 4. The wireless tag emits infrared light,
The acquisition means includes an infrared sensor,
3. The communication robot according to claim 2, wherein the detection unit detects the magnitude of the distance according to a received light intensity of the infrared sensor when the tag information is acquired by the acquisition unit. 4. The communication robot according to any one of claims 1 to 5, further comprising a history database that records a history of the communication behavior executed by the execution unit in association with a communication target that has executed the communication behavior. The apparatus further includes a determination unit configured to determine whether the specific information is acquired for each of the communication targets recognized by the recognition unit with reference to the history database.
When there is the communication target for which it has been determined that the specific information has not been obtained by the determination unit, the execution unit executes a communication action for notifying the specific information to at least the communication target. Item 6. The communication robot according to Item 6. The communication robot according to claim 7, wherein when there is no communication target for which it has been determined that the specific information has not been obtained by the determination unit, the execution unit executes a communication action for searching for another communication target. When there is no communication target for which it has been determined that the specific information has not been obtained by the determination unit, the execution unit performs a communication action for notifying the communication target of other specific information different from the specific information. The communication robot according to claim 7, which executes. The communication robot according to any one of claims 1 to 9, wherein when the communication target cannot be recognized by the recognition unit, the execution unit executes a communication action for searching for the communication target.

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