JP2010110862A - Communication robot system and method and program for controlling communication robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To execute operation different corresponding to the conditions of compulsion degrees when executing the operation for transmitting information to a person. <P>SOLUTION: This communication robot system 1 includes a basic condition DB 2, a control device 12, an input part 7 and a robot part 8. The basic condition DB 2 stores a program including a change portion for making the robot part 8 execute the operation different corresponding to the conditions of the compulsion degrees when the operation to transmit information to a person is executed. A behavior recognition part 5 acquires information indicating human behavior based on data input from the input part 7. A compulsion degree determination part 4 determines the conditions of the compulsion degrees when the program is executed based on the information indicating the human behavior acquired by the behavior recognition part 5. A task determination part 3 extracts the program by collating user's behavior with the file of the basic condition DB 2, and selects the change portion of the program in accordance with the conditions of the compulsion degrees. The robot part 8 operates in accordance with the program of which change portion is selected. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a communication robot system, a communication robot control method, and a program.

  In recent years, robots aiming to transmit information to and from users have appeared. Patent Document 2 describes that a robot system that works more user-friendly can be obtained. The system has a software agent displayed on the video device and a real agent, and each agent works in conjunction with each other, and at the same time, each agent works in conjunction to produce a corresponding line. Is used.

  According to the robot costume described in Patent Document 3, the robot is configured to be detachable, to be held by the main body that does not hinder the operation of the robot, and to be configured to not hinder the cooling structure of the robot. Describes that it reduces the impact and thermal damage of humans when it comes into contact with humans, protects the robot's own housing from external shocks, makes the robot itself more friendly, and exhibits entertainment Has been.

  With respect to the communication robot of Patent Document 4, the position of the user, the position of the person and the position of the object are detected from the input coordinate data, and the robot's line of sight and the human line of sight with respect to the distance between the person and the base line connecting the robot and the person. It is described that a natural word communication is realized by deciding a directive word determination model based on the above and speaking.

  Patent Document 5 describes a communication robot that performs comfortable interaction by adapting to individual users. The interaction parameters (distance between the user and the communication robot, the time when the user gazes at the communication robot, the motion of the communication robot) are detected from the user's position coordinates and face direction information, and the interaction parameters are optimized so as to optimize the appropriateness. It is a technology to update.

  Patent Document 6 is intended for a robot that makes an explanation that makes an impression, and the robot control system includes a viewer status grasping unit that grasps the number of viewers in the vicinity of the robot, and the robot. Based on the number of viewers recognized by the viewer status grasping unit and the motion pattern storage unit that stores a plurality of motion patterns that the robot performs for the viewer when performing And a gaze motion generation unit that determines a motion of the robot and generates a gaze motion based on the motion pattern selected by the motion pattern selection unit.

  Patent Document 7 describes a robot apparatus that can realize smooth non-verbal communication interaction that does not depend on words. Relevance, relationship data, and attitude data for the command from the behavior control unit that outputs the command described in the selected behavior description module by selecting the behavior description module according to its internal state and external stimulus Then, a part or all of the output form including the motion or the posture is changed according to the internal state and the external stimulus.

  Patent Document 8 describes an agent device that does not get tired of time. In the program storage unit, prepare questions for user personality that vary depending on the destination location, season, etc., and animation image data for displaying the appearance and gesture of each agent according to their personality. Then, let the agent displayed by the image and sound using the display device and the speaker make a question for the user personality determination without discomfort according to the situation, determine the user personality from the answer result of the user input to the microphone, A technology that changes the personality of the agent according to the personality of the user is used.

  Some robots used in production sites change the height at which work is performed. In Patent Literature 1, regarding the method of assembling an iron core of an electrical device, an image of a joint is taken, an image processing apparatus determines whether or not it is within a certain range of the imaging screen, and an operation is performed so as to hold it within the certain range. By controlling the height of the robot to be performed, it is possible to perform reliable assembly without requiring manual work.

  The robot of Patent Document 9 includes various sensors, detects environmental conditions such as temperature, humidity, floor dirt, and air dirt, and sets conditions (set temperature, set humidity, It is described that when it is different from a dirt setting value, a odor setting value, etc., an electric device for adjusting the environmental condition is controlled to realize a comfortable environment for humans without bothering human hands.

  Non-Patent Document 1 introduces a facial robot that expresses emotions using facial expressions such as artificial eyes, eyebrows, and mouths in emotion expression technology that expresses robot emotions to humans. By doing so, a plurality of impressions can be variably given to the subject. The facial robot can express six emotions: surprise, fear, disgust, anger, happiness, and sadness by changing 24 facial expressions, such as lowering the eyebrows, making dimples, and blinking.

Japanese Patent Publication No. 07-007738 JP 2002-132404 A JP 2003-001582 A JP 2006-231497 A JP 2006-247780 A JP 2007-050461 A JP 2007-125629 A JP 2007-133728 A JP 2007-147217 A Fumio Hara, Hiroshi Kobayashi, the intelligence of the face-the emergence of "artificial emotion" by the face robot, Kyoritsu Shuppan, 2004

  In recent years, in order to improve the effect of the interaction behavior to the user of the communication robot, research using the impression that the communication robot gives to the user has attracted attention. In this research, the distance between the user and the communication robot, the time when the user watches the communication robot, the motion of the communication robot, the number of users in the vicinity of the communication robot, the costume of the communication robot, the linkage of multiple communication robots, the communication robot The impression that the communication robot gives to the user is manipulated using the facial expression.

  In the related technology described above, a method is described in which the distance from the robot to the user is measured, communication is performed at an optimal distance, and the environment (sound and the number of people around the user) is grasped and handled. However, there is no description about changing the degree of enforcement with respect to the user's movement. In addition, the conditions for using the robot (the subject matter, the age of the subject person, etc.) are limited, and there is a lack of versatility.

  In Reference Document 1 (Hiraki Motoaki, Skillful Speaking, Japan Productivity Headquarters, 1981), Motoaki et al. Used communication characteristics such as feeling the person who looks up strongly and feeling the person looking down weakly. It states that the impression can be manipulated. By manipulating the impression given to the other party and telling the other party how much he / she wants to constrain the purpose of the speaker (hereinafter referred to as the degree of compulsory), the purpose of the request, persuasion, and instruction was achieved. Insist on facilitating face-to-face communication.

  In Reference 2 (Yuko Morimura, Atsushi Toda, Hitoshi Watanabe, Research on Human-Robot Dialogue Distance in Living Space, Architectural Institute of Japan, Summaries of Technical Papers of Annual Conferences, 2007) It is described that the spatial characteristics preferentially influenced the dialogue distance.

  For example, in order to facilitate the face-to-face communication between the communication robot and the user, it is necessary to manipulate the impression of the vertical relationship that the communication robot gives to the user. When using a communication robot that is larger than the user, the communication robot looks down at the user from a high angle, so it can give a strong position like a parent or boss but gives a weak position like a child or a pet. This is difficult, and there is a limit to the impression of the hierarchical relationship given to the user. Therefore, there has been a problem that the communication robot has to be designed in advance for each task.

  The present invention has been made in view of the above-described circumstances, and a communication robot system and a communication robot control method capable of executing different operations in accordance with the condition of the degree of forcing when performing an operation of transmitting information to a person And to provide a program.

A communication robot system according to a first aspect of the present invention includes:
A program for causing a robot to execute an operation for transmitting information to a person, and storing a program having a change portion that executes a different operation in response to a condition of a degree of forcing when the operation for transmitting information to the person is executed. Storage means for
Action recognition means for acquiring information representing human behavior,
Based on information representing the behavior of the person acquired by the action recognition means, a forcing degree determination means for determining a condition of a forcing degree when executing the program;
A robot that executes the program by selecting a change portion that performs the different operations in response to the condition of the forcing degree;
It is characterized by providing.

A communication robot control method according to a second aspect of the present invention includes:
An action recognition step for obtaining information representing a person's action;
On the basis of information representing the behavior of the person, a forcing degree determining step for determining a condition of a forcing degree when executing a program for transmitting information to the person;
A program for causing a robot to perform an operation for transmitting information to a person, the program having a change portion for performing a different operation in response to a condition of a degree of forcing when performing an operation for transmitting information to the person An information transmission step for causing the robot to select the different change portion corresponding to the condition of the forcing degree determined in the forcing degree determination step;
It is characterized by providing.

A communication robot program according to a third aspect of the present invention is:
On the computer,
An action recognition step for obtaining information representing a person's action;
On the basis of information representing the behavior of the person, a forcing degree determining step for determining a condition of a forcing degree when executing a program for transmitting information to the person;
A program for causing a robot to perform an operation for transmitting information to a person, the program having a change portion for performing a different operation in response to a condition of a degree of forcing when performing an operation for transmitting information to the person The information transmission step is executed by selecting the different changed portion corresponding to the condition of the forcing degree determined in the forcing degree determining step and causing the robot to execute the information.

  According to the communication robot system of the present invention, it is possible to execute different operations corresponding to the condition of the degree of forcing when executing the operation of transmitting information to a person.

  In the present invention, a task is an operation to be performed by a robot and an operation for transmitting information to a target user. When the robot recognizes the user's action and executes the corresponding task, the user interacts with the robot. The task content refers to a specific operation of the robot that executes the task. For example, the task is to bow, and the task content includes a specific way to perform the task, such as bowing for 3 seconds with a 30 degree tilt.

  The degree of forcing is the degree to which the speaker wants to enforce a certain purpose for the conversation partner by manipulating the impression using the nature of communication. Including content that facilitates face-to-face communication for purposes such as instructions and warnings. One of the impressions felt by communication is the vertical relationship. A vertical relationship is a power relationship in face-to-face communication between people. For example, it looks like a strong person or an excellent person by looking up at the other party, or a person who feels insignificant by looking down at the other party. It is done. Here, in addition to communication between people, communication between people and the robot part is also included. In addition, there is a difference in feelings depending on the distance with the person with whom you communicate. It is called a personal space, and the social relationship is that if there is a space of 120 cm to 360 cm, and if it is an intimate relationship, even if it is within 45 cm, it will not feel uncomfortable.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

(Embodiment)
FIG. 1 is a block diagram showing a configuration example of the entire communication robot system of the robot according to the embodiment of the present invention. The communication robot system 1 includes a basic condition DB (database) 2, a control device 12, an input unit 7 and a robot unit 8. The control device 12 includes a task determination unit 3, a force level determination unit 4, an action recognition unit 5, and an execution unit 6. The communication robot system 1 includes a program 30 that operates in the control unit 21 (see FIG. 12) so that the task determination unit 3, the forced degree determination unit 4, the action recognition unit 5, and the execution unit 6 operate so as to be able to act independently. It is realized with.

  The basic condition DB 2 stores files including programs such as robot tasks and task contents corresponding to user actions.

  The task determination unit 3 collates the user's behavior with the file of the basic condition DB 2 and extracts a task. In addition, the task content is determined by the compulsory degree determination unit 4 provided in the task determination unit 3. The enforcement degree determination unit 4 determines the enforcement degree corresponding to the user based on the tasks extracted from the basic condition DB 2. For example, the level of forcing is divided into five levels, and there are behavior patterns such as requests, instructions, and instructions depending on the level. A behavior pattern for selecting a level from the user's behavior and performing a task corresponding to the level is set in advance, and the task content is determined.

  The behavior recognition unit 5 recognizes the user's behavior. A user or a third party inputs information to the input unit 7 such as a keyboard, a touch panel, or a voice microphone. The action recognition unit 5 receives the input information and checks whether there is information in the basic condition DB 2. If it is the information described in basic condition DB2, a user's action can be recognized.

  The execution unit 6 transmits an instruction for executing the task determined by the task determination unit 3 to the robot unit 8. Specifically, in accordance with an instruction from the execution unit 6, the robot unit 8 moves limbs and changes facial expressions. Further, the external shape such as the height of the robot unit 8 may be changed, or these movements may be executed alone or in combination.

  The overall operation of the present embodiment will be described below with reference to the configuration diagram of FIG. 1, the flowcharts of FIGS. 2 and 3, and the diagrams relating to the execution of the robot of FIGS. FIG. 2 is a flowchart showing behavior extraction of the robot according to the embodiment of the present invention. FIG. 3 is a flowchart showing task execution of the robot according to the embodiment of the present invention.

  The communication robot system 1 extracts a user's behavior and performs a task that supports the user's behavior in response to the user's behavior. First, referring to FIG. 2, the user's behavior is extracted.

  A user or a third party inputs the user's behavior using the input unit 7 such as a keyboard. The behavior recognition unit 5 receives the input information and detects the user's behavior (step S11). The behavior recognition unit 5 inputs the detected information to the basic condition DB 2 and collates with the stored user behavior in the basic condition DB 2 (step S12). If there is an input user action in the basic condition DB 2 in which the user action is stored in advance (step S13; YES), the action recognition unit 5 determines the user action (step S14). And when a user's action is newly input by the user etc., it returns to Step S11.

  In step S12, when the user's behavior is collated with the information in the basic condition DB2, if there is no user's behavior (step S13; NO), the behavior recognition unit 5 does not determine the user behavior, and the process proceeds to step S11. Return. At this time, a function for notifying that the user's action is not in the basic condition DB 2 may be programmed.

  Next, referring to FIG. 3, the task of the communication robot system 1 is executed. First, the behavior recognition unit 5 performs user behavior extraction (step S21). The action recognition unit 5 inputs the determined user action to the basic condition DB 2 and extracts a task corresponding to the user action (step S22). The forcing degree determination unit 4 selects a level from the user's behavior and determines the forcing degree (step S23). The task content matching the level is extracted, and the task determination unit 3 determines the task content (step S24). The execution unit 6 outputs the determined task content to the robot unit 8, and the robot unit 8 executes the operation of the determined task content (step S25).

  If there is an action to be extracted next (step S26; YES), the process returns to step S21, the task content is determined again, and the determined task is executed. If there is no action to be extracted next (step S26; NO), the task execution operation ends.

  With reference to FIGS. 4 and 5, an example in which the degree of enforcement is determined will be described by taking as an example the case where the user is a child and the mother inputs the action of the user (child). FIG. 4 is an example of a diagram illustrating determination of the enforcement degree of the robot according to the embodiment of the present invention, and shows the relationship between the enforcement degree and the execution of the robot. FIG. 5 is an example of the movement of the robot according to the embodiment of the present invention, and shows a case where facial expressions differ in the execution of the robot. 5A shows a smile, FIG. 5B shows a normal face, and FIG. 5C shows an angry face. In response to an instruction from the execution unit 6, the position of the eyebrows and the direction of the mouth are changed to create a facial expression.

  When determining the task compulsion degree, the mother inputs the behavior of the user (child) through the input unit 7. At that time, information related to the execution of the robot unit 8 is also input. The hierarchical relationship here refers to the emotion from the user to the robot. When the user feels the robot like a teacher, the user feels like a friend. In this case, input at the bottom and three levels. When the user needs to go home and do homework, the mother inputs that the user is doing homework, that the user is in the middle of selecting a hierarchical relationship, and that he / she wants to do homework (request) at the input unit 7 To do.

  The task determination unit 3 recognizes from the information output from the behavior recognition unit 5 that the task is to do homework. The degree-of-force determination unit 4 selects, from the information output from the action recognition unit 5, an option that is a middle request for the degree of forcing, and outputs information to the execution unit 6. From the table of FIG. 4, the robot unit 8 determines to execute the task with a smile. The execution unit 6 instructs the robot unit 8 to change the eyebrow position and the mouth angle so that the smile shown in FIG. Then tell the user that you want to do your homework. If the mother inputs an instruction to do homework, the robot unit 8 executes the task with an angry face.

  If there is an audio output item in the task contents, the task will be set according to the settings such as normal voice volume at request and slow tone, and high voice level and voice tone at command. Execute. In addition, when the task content includes an item of hand movement, the task is executed in accordance with the settings such as lowering the position of the hand in the request and raising the position of the hand in the command. The impression that the robot unit 8 gives to the user can be manipulated according to the facial expression, the size of the voice, the position of the hand, and the like. These task contents are input in the basic condition DB 2 in advance, and the impression given to the user can be manipulated by using the movement alone or in combination.

  As described above, in the embodiment, a communication robot system that executes a user and a task corresponding to the user's action can be realized. By responding to the user's behavior and using the user's impression (such as the vertical relationship) of the robot, it is possible to execute a task with a compulsory degree suitable for the user.

(Modification 1 of embodiment)
FIG. 6 is a block diagram illustrating a configuration example of the entire communication robot system of the robot according to the first modification of the embodiment. A distance between the person and the robot and a line-of-sight angle from the person to the robot are measured, and a portion used for determining the degree of forcing is provided. FIG. 7 is an example showing a relationship between a robot and a person according to the first modification of the embodiment. FIG. 7A shows a line-of-sight angle and FIG. 7B shows a distance.

  The communication robot system 1 has the same basic structure as the communication robot system 1 according to the embodiment shown in FIG. 1, but further includes a measurement unit 9 and a detection unit 10.

  The measuring unit 9 measures the distance and line-of-sight angle between the person and the robot. The detection unit 10 such as a sensor or a camera detects the distance between the person and the robot and the positional relationship, and the measurement unit 9 calculates the distance and the line-of-sight angle based on the detected information. More specifically, the direction of the pupil or face is detected by the detection unit 10 such as a video camera or an acceleration sensor, and the gaze angle of the user to the robot unit 8 is calculated by the measurement unit 9. The detection unit 10 such as a video camera or a sound wave sensor measures the distance of the target object and the three-dimensional position of the target object using the video camera, and the measurement unit 9 calculates the interpersonal distance between the user and the robot unit 8. The place where the detection unit 10 is provided is not limited to the robot unit 8 side, and the user may carry it in some form (for example, a small device such as a mobile phone).

  The distance between a person and a robot is related to the physical distance with the other party that communicates, called personal space. Usually, it is used for the distance between people, and when the target is a robot, it is less likely to feel discomfort than for a person. Here, it is used as one of the items for changing the degree of forcing by using the fact that a close relationship is felt when the distance is short and a social (social or official) relationship is felt as the distance is increased.

For example, when executing a task for a user, if the task executed by the robot unit 8 is in a request format, the task is executed at a distance of about 45 cm where the user is likely to receive an intimate feeling.
In addition, if the task executed by the robot unit 8 is in the command format, the task is executed at a distance of about 70 cm because the user may feel intimidating if the same distance is about 45 cm. When a task is executed, not only the facial expression but also the distance between the user and the robot unit 8 is included in the task content, thereby providing an effect of manipulating the impression given to the user.

  The line-of-sight angle from a person to a robot is related to the vertical relationship with the partner with whom communication is performed. In the act of looking up, the partner is often regarded as a higher rank, and in the act of looking down, the partner is often regarded as a lower rank. By changing the shape of the robot unit 8 while raising and lowering the height, the sense (vertical relationship) that the user feels with respect to the robot is changed and used for communication.

  FIG. 8 is an example of a diagram illustrating determination of the forcing degree of the robot according to the first modification of the embodiment, and uses the line-of-sight angle and the vertical relationship as parameters. θ represents the line-of-sight angle, and N represents the angle threshold. The angle when looking horizontally is 0 degree, the direction looking up is positive, the direction looking down is negative, and the angle is θ.

  The vertical relationship indicates that the user perceives the robot as a parent, an adult, or a child, and utilizes the fact that the user feels the other side up, equivalent, or down depending on the angle of the line of sight. In order to maintain the set vertical relationship, determination is performed by the forcing degree determination unit 4 based on the line-of-sight angle detected by the detection unit 10 and calculated by the measurement unit 9. The execution unit 6 changes the height of the robot so that the height of the line of sight is appropriate for the vertical relationship.

  FIG. 9 shows an example of different robot heights. FIG. 9A is 0.5 times the user, FIG. 9B is 0.8 times the user, and FIG. 9C is the user. The size is 1.0 times. If the robot height is 0.5 times that of the user, it is programmed to be a child, if it is 0.8 times an adult, and if it is 1.0 times a parent, it is programmed to be suitable. Change the height of the robot to a different size.

  The body part of the robot part 8 has a nested cylindrical outer shape, and the length of the body part is changed by a mechanism for changing the height of the robot part 8 provided inside. The head of the robot part 8 is provided on the body part of the robot part 8, and the body part of the robot part 8 can be expanded and contracted to change to a programmed predetermined height. Examples of the mechanism for changing the height of the robot unit 8 include a cylinder using air pressure and a screw feed mechanism by fitting a rotating screw and a nut. In addition, a telescopic mechanism such as a rack and pinion or a pantograph can be employed. Moreover, the part which changes the height of the robot part 8 is not limited to the body part, and various parts can be mentioned.

  When the height is increased or decreased by the execution unit 6, it is desirable to detect again by the detection unit 10, to calculate by the measurement unit 9, and to determine whether the preferred angle (within the threshold value) is reached or not by the forced degree determination unit 4.

  Note that the detection unit 10 for measuring the line-of-sight angle and the distance may be provided in the robot unit 8 and installed at a location away from the communication robot system 1 so that data can be acquired by wireless communication or the like. May be.

  As described above, in the first modification of the embodiment, the user's impression of the robot unit 8 is changed, and the task executed by the robot unit 8 is more suitable for the user. The impression that the user feels with respect to the robot unit 8 is different for each person, but it is possible to give an intended impression by changing the vertical relationship and the distance. The robot unit 8 is suitable for the user by measuring the distance or the line-of-sight angle even if the input unit 7 is used again and no instruction to change the forcing degree is given by the forcing degree determination unit 4. Tasks can be executed.

(Modification 2 of embodiment)
FIG. 10 is an example of a robot according to Modification 2 of the embodiment, and shows a case where the robot has a virtual object shape (that is, displayed on the display device). The virtual object shape is a displayed picture of a bear. FIG. 10A is an example of a screen used for requesting or instructing, and FIG. 10B is an example of a screen used for commanding or warning.

  The robot unit 8 is not limited to a physically existing object such as a personified doll, but may be a virtual object shape as shown in FIG. In addition to displaying virtual objects on the display device, there are various display methods such as displaying task contents in characters or outputting them in voice. The input unit 7 may include a detection unit 10 such as a camera in the vicinity of the display device to check the user's gaze direction.

  As described above, in the second modification of the embodiment, the robot unit 8 executes a task using the display device. In the case of a virtual object shape by a display device, it can be displayed on a display of a personal computer, etc., and it is not necessary to prepare a mechanical structure that is substantial and operates, and the communication robot system 1 can be easily used. If the robot unit 8 does not have a mechanical structure to operate, the shape of the robot unit 8 cannot be changed, but the type of operation of the robot unit 8 as a virtual object shape can be increased or the size on the screen display can be freely set. You can change it. In addition, a task suitable for the user can be executed by using a user's favorite character as a motif.

  The operation of the robot unit 8 includes various methods in addition to the methods shown in the first and second modifications of the embodiment. The robot unit 8 may be both an actual shape and a display device (virtual object shape), and the limbs are operated with the actual shape and words are displayed on the display device. The robot unit 8 may be used. Further, the deformation of the robot unit 8 may change not only the height but also the shape such as thickness and roundness. The round shape can give a gentle impression, and the thickness can give a sense of intimidation, so that the user's impression of the robot unit 8 can be changed.

(Modification 3 of embodiment)
FIG. 11 is a block diagram illustrating a configuration example of the entire communication robot system of the robot according to the third modification of the embodiment. The basic condition DB 2 includes a personality condition DB 11 indicating the personality of the user.

  The personality condition DB 11 stores information about the personality of the user estimated using the theory about personality in the exchange analysis. The information related to the personality of the user is a personality type to which a certain user belongs and a degree of compulsory task suitable for the certain personality type.

  The task determination unit 3 extracts a task according to the behavior recognized by the behavior recognition unit 5 from the basic condition DB 2 and simultaneously extracts the user's personality condition from the personality condition DB 11. When the task determination unit 3 selects the task enforcement level by the enforcement level determination unit 4, the task determination unit 3 collates information on the personality of the user in the personality condition DB 11 and determines appropriate task contents. According to the user's personality, by changing the information transmission method such as request / command / instruction and the vertical relationship, it is possible to select the degree of enforcement suitable for the user. The combined task contents can be determined.

  As an example using the third modification of the embodiment, when the user's action is a diet, the task extracted from the basic condition DB 2 is to prevent the user's snack, and the communication robot system 1 executes the task. Explain the situation.

  The personality condition DB 11 stores in advance information related to the personality of the user estimated using the theory related to personality in AC analysis. Using this theory, the structure of the human mind is broadly divided into five categories: critical parenting, childhood parenting, rational adult mind, innocent child mind, and adapted child mind. The personality of a person can be estimated by looking at the tendency of which of the five hearts is dominant using.

  For example, as a result of a questionnaire on a user's personality, if a critical parenthood and an adapted child's mind are superior to the other three mind structures, the user's personality is presumed to be a logical type, For this reason, it is thought that reason should be emphasized. Also, if the result of a questionnaire on the personality of other users shows that the adapted child's mind is superior to the other four mind structures, the user's personality is presumed to be self-defeated. It is believed that orders should be emphasized.

  The information related to the personality of the user is the degree of task compulsory degree suitable for the personality type to which the user who has previously inputted the result of the above questionnaire belongs and the personality type based on the theory of exchange analysis. The compulsory degree determination unit 4 refers to the personality condition DB 11 and determines a compulsory degree of a task suitable for a task to persuade the user not to eat snacks when the user tries to eat snacks according to the personality of the user, The forcing level is output to the task determination unit 3. Persuasion is effective if the user's personality is a logical type, and an instruction is effective if the user's personality is a self-deceptive type.

  As described above, the third modification of the embodiment can provide the communication robot system 1 that executes a task corresponding to each user. Even when the same action is recognized, it is possible to select the task content according to the user who performs the action. In addition, when the task content is determined by the task determination unit 3, not only information on the personality in the personality condition DB 11 but also information on the distance and line-of-sight angle of the measurement unit 9 may be combined, and the task content more suitable for the user You can choose.

  In the embodiment, the robot unit 8 executes the task content determined by the task determination unit 3 of the communication robot system 1 to transmit information to the user, and the user acts based on the information. The communication robot system 1 may be provided with a system that recognizes that it has acted upon receiving information transmitted by the robot unit 8. For example, when the user finishes the action, the user touches a sensor provided in the robot unit 8 or inputs the end of the action from the input unit 7, and the communication robot system 1 recognizes the end of the action.

  The communication robot system 1 may be programmed so that the robot unit 8 repeatedly executes the task contents until the end of the action is recognized. In addition, when a task is repeatedly executed, the task may be programmed so that the level of task enforcement becomes gradually stricter. For example, the way the information is transmitted from the request to the command changes as the robot unit 8 becomes larger, the expression becomes scary, or the voice becomes louder. Thus, it is possible to change the impression given to the user by changing the degree of forcing.

  12 is a block diagram illustrating an example of a hardware configuration of the control device 12 and the basic condition DB 2 illustrated in FIG. 1, FIG. 6, or FIG. As shown in FIG. 12, the control device 12 and the basic condition DB 2 include a control unit 21, a main storage unit 22, an external storage unit 23, an operation unit 24, a display unit 25, an input / output unit 26, and a transmission / reception unit 27. . The main storage unit 22, the external storage unit 23, the operation unit 24, the display unit 25, the input / output unit 26, and the transmission / reception unit 27 are all connected to the control unit 21 via the internal bus 20.

  The control unit 21 includes a CPU (Central Processing Unit) and the like, and the communication robot system 1 performs each process of the task determination unit 3, the action recognition unit 5, and the execution unit 6 in accordance with a control program 30 stored in the external storage unit 23. Execute.

  The main storage unit 22 is constituted by a RAM (Random-Access Memory) or the like, loads a control program 30 stored in the external storage unit 23, and is used as a work area of the control unit 21.

  The external storage unit 23 includes a non-volatile memory such as a flash memory, a hard disk, a DVD-RAM (Digital Versatile Disc Random-Access Memory), a DVD-RW (Digital Versatile Disc ReWritable), and controls the processing of the communication robot system 1. A program to be executed by the unit 21 is stored in advance, and data stored by the program is supplied to the control unit 21 in accordance with an instruction from the control unit 21, and the data supplied from the control unit 21 is stored. The basic condition DB 2 in FIG. 1 is configured in the external storage unit 23.

  The operation unit 24 includes a pointing device such as a keyboard and a mouse, and an interface device that connects the keyboard and the pointing device to the internal bus 20. 1 is included. Contact information determination conditions and the like are input via the operation unit 24 and supplied to the control unit 21.

  The display unit 25 is configured by a CRT (Cathode Ray Tube), an LCD (Liquid Crystal Display), or the like, and displays the robot unit 8 when the robot unit 8 in FIG. 1 has a virtual object shape. In addition to the robot unit 8, task contents and the like, and a setting screen of the communication robot system 1 are also displayed.

  The input / output unit 26 includes a serial interface or a parallel interface. The input / output unit 26 is connected to the sensor and actuator of the robot unit 8. In the case of a device to which the detection unit 10 such as a sensor or a camera is attached, or in the case of a display device type robot unit 8, it is connected thereto. Further, when information such as voice, image, or video is input / output in association with each other, the voice input device, the image input device, and the like are also connected.

  The transmission / reception unit 27 includes a network termination device or a wireless communication device connected to the network, and a serial interface or a LAN (Local Area Network) interface connected to them. The transmission / reception unit 27 transmits / receives the task corresponding to the user's behavior or the like or the data of the personality condition DB 11 to / from the basic condition DB 2 via the network, and also uses it when registering the data.

  The processing of the task determination unit 3, the action recognition unit 5 and the execution unit 6 of the communication robot system 1 shown in FIG. 1, FIG. 6, or FIG. 11 is performed by the control program 30, the control unit 21, the main storage unit 22, and the external storage unit 23. The operation unit 24, the display unit 25, the input / output unit 26, the transmission / reception unit 27, and the like are used as resources for processing.

  Other suitable modifications of the present invention include the following configurations.

About the activity record creation system according to the first aspect of the present invention,
Preferably, the robot has a structure in which at least a part thereof is deformed,
The change part of the program includes an operation of changing the structure to be deformed to a different deformation degree corresponding to the condition of the forcing degree.
It is characterized by that.

  Preferably, the deforming structure includes a change in at least a part of the length of the robot.

Preferably, the action recognition means includes means for detecting a distance between the person and the robot or a line-of-sight angle of the person,
The enforcement degree determination means determines the condition of the enforcement degree based on the distance and / or the line-of-sight angle.
It is characterized by that.

Preferably, the behavior recognition means includes behavior comparison means for acquiring and comparing information representing the behavior of the person before and after executing the program,
The compulsory degree determining means determines the condition of the compulsory degree based on the result of comparison by the behavior comparing means.
It is characterized by that.

Preferably, comprising a character acquisition means for acquiring information representing the personality of the person,
The enforcement degree determination means determines the condition of the enforcement degree based on information representing the person's personality in addition to information representing the person's behavior.
It is characterized by that.

Preferably, a display device is provided,
The robot is accompanied by a virtual object shape displayed on the screen of the display device,
It is characterized by that.

About the activity record creation method according to the second aspect of the present invention,
Preferably, the robot has a structure in which at least a part thereof is deformed,
The changing part of the program includes an operation for changing the deforming structure of the robot to a different degree of deformation corresponding to the condition of the degree of forcing.
The information transmission step selects an operation for changing the deforming structure of the robot to a different deformation degree in accordance with the condition of the forcing degree determined in the forcing degree determination step, and causes the robot to execute.
It is characterized by that.

Preferably, the action recognition step includes a step of detecting a distance between the person and the robot or a gaze angle of the person.
The enforcement degree determination step determines the condition of the enforcement degree based on the distance and / or the line-of-sight angle.
It is characterized by that.

Preferably, the behavior recognition step includes a behavior comparison step of acquiring and comparing information representing the behavior of the person before and after executing the program,
The forcing level determination step determines the forcing level condition based on the result of the comparison in the behavior comparison step.
It is characterized by that.

Preferably, a personality acquisition step of acquiring information representing a personality of a person is provided,
In the enforcement degree determination step, in addition to information representing the person's behavior, the condition of the enforcement degree is determined based on information representing the person's personality.
It is characterized by that.

  In addition, the above-described hardware configuration and flowchart are examples, and can be arbitrarily changed and modified.

  The central part that performs communication processing of the robot composed of the basic condition DB 2, the task determining unit 3, the compulsory degree determining unit 4, the action recognizing unit 5, the executing unit 6 and the like is not a dedicated system, but a normal computer It can be realized using the system. For example, a computer program for executing the above operation is stored and distributed in a computer-readable recording medium (flexible disk, CD-ROM, DVD-ROM, etc.), and the computer program is installed in the computer. Thus, a communication robot system that executes the above-described processing may be configured. Alternatively, the communication robot system may be configured by storing the computer program in a storage device included in a server device on a communication network such as the Internet and downloading it by a normal computer system.

  Further, when the communication robot system is realized by sharing an OS (operating system) and an application program, or by cooperation between the OS and the application program, only the application program portion may be stored in a recording medium or a storage device. Good.

  It is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be posted on a bulletin board (BBS, Bulletin Board System) on a communication network, and the computer program distributed via the network. The computer program may be started and executed in the same manner as other application programs under the control of the OS, so that the above-described processing may be executed.

  INDUSTRIAL APPLICABILITY According to the present invention, the present invention can be applied to a use such as a communication robot system that uses an impression given to a user by a communication robot and that has a high effect of interaction behavior to the user of the communication robot.

It is a block diagram which shows the structural example of the whole communication robot system which concerns on embodiment of this invention. It is a flowchart which shows an example of the operation | movement of action extraction which concerns on embodiment. It is a flowchart which shows an example of operation | movement of the task execution which concerns on embodiment. It is a figure which shows an example of the preservation | saving form of the compulsion degree registered into basic condition DB. It is a figure which shows the example showing the state of the operation | movement by the change of the forced degree of a robot part. It is a block diagram which shows the structural example of the whole communication robot system which concerns on the modification 1 of embodiment. It is a figure which shows an example of the positional relationship of a person and a robot part. (A) is a figure which shows the detection of the gaze angle from a person to a robot part, (b) is a figure which shows the detection of the distance of a person and a robot part. It is a figure which shows the example showing the state (shape of a robot part) by the change of the forced degree of a robot part. It is a figure which shows an example of the shape change of a robot part. It is a figure which shows an example of the virtual object shape of the robot part which concerns on the modification 2 of embodiment. It is a block diagram which shows the structural example of the whole communication robot system which concerns on the modification 3 of embodiment. It is a block diagram which shows an example of the hardware constitutions of the control apparatus which concerns on embodiment, and basic condition DB.

Explanation of symbols

1 Communication robot system 2 Basic condition DB
3 Task determination unit 4 Forced degree determination unit 5 Action recognition unit 6 Execution unit 7 Input unit 8 Robot unit 9 Measurement unit 10 Detection unit 11 Personality condition DB
DESCRIPTION OF SYMBOLS 12 Control apparatus 21 Control part 22 Main memory part 23 External storage part 24 Operation part 25 Display part 26 Input / output part 27 Transmission / reception part 30 Control program

Claims (13)

A program for causing a robot to execute an operation for transmitting information to a person, and storing a program having a change portion that executes a different operation in response to a condition of a degree of forcing when the operation for transmitting information to the person is executed Storage means for
Action recognition means for acquiring information representing human behavior,
Based on information representing the behavior of the person acquired by the action recognition means, a forcing degree determination means for determining a condition of a forcing degree when executing the program;
A robot that executes the program by selecting a change portion that performs the different operations in response to the condition of the forcing degree;
A communication robot system comprising: The robot has a structure in which at least a part thereof is deformed,
The change part of the program includes an operation of changing the structure to be deformed to a different deformation degree corresponding to the condition of the forcing degree.
The communication robot system according to claim 1.   The communication robot system according to claim 2, wherein the deforming structure includes a change in at least a part of the length of the robot. The action recognition means includes means for detecting a distance between the person and the robot, or a line-of-sight angle of the person,
The enforcement degree determination means determines the condition of the enforcement degree based on the distance and / or the line-of-sight angle.
The communication robot system according to any one of claims 1 to 3, wherein The behavior recognition means includes behavior comparison means for acquiring and comparing information representing the behavior of the person before and after executing the program,
The compulsory degree determining means determines the condition of the compulsory degree based on the result of comparison by the behavior comparing means.
The communication robot system according to any one of claims 1 to 4, wherein: Comprising personality acquisition means for acquiring information representing the personality of the person,
The enforcement degree determination means determines the condition of the enforcement degree based on information representing the person's personality in addition to information representing the person's behavior.
The communication robot system according to any one of claims 1 to 5, wherein A display device,
The robot is accompanied by a virtual object shape displayed on the screen of the display device,
The communication robot system according to any one of claims 1 to 6, wherein: An action recognition step for obtaining information representing a person's action;
On the basis of information representing the behavior of the person, a forcing degree determining step for determining a condition of a forcing degree when executing a program for transmitting information to the person;
A program for causing a robot to perform an operation for transmitting information to a person, the program having a change portion for performing a different operation in response to a condition of a degree of forcing when performing an operation for transmitting information to the person An information transmission step for causing the robot to select the different change portion corresponding to the condition of the forcing degree determined in the forcing degree determination step;
A communication robot control method comprising: The robot has a structure in which at least a part thereof is deformed,
The changing part of the program includes an operation for changing the deforming structure of the robot to a different degree of deformation corresponding to the condition of the degree of forcing.
The information transmission step selects an operation for changing the deforming structure of the robot to a different deformation degree in accordance with the condition of the forcing degree determined in the forcing degree determination step, and causes the robot to execute.
The communication robot control method according to claim 8. The action recognition step includes a step of detecting a distance between the person and the robot or a line-of-sight angle of the person,
The enforcement degree determination step determines the condition of the enforcement degree based on the distance and / or the line-of-sight angle.
The communication robot control method according to claim 8 or 9, characterized by the above. The behavior recognition step includes a behavior comparison step of acquiring and comparing information representing the behavior of the person before and after executing the program,
The forcing level determination step determines the forcing level condition based on the result of the comparison in the behavior comparison step.
The communication robot control method according to any one of claims 8 to 10, wherein: A personality acquisition step for acquiring information representing the personality of the person,
In the enforcement degree determination step, in addition to information representing the person's behavior, the condition of the enforcement degree is determined based on information representing the person's personality.
The communication robot control method according to any one of claims 8 to 11, wherein On the computer,
An action recognition step for obtaining information representing a person's action;
On the basis of information representing the behavior of the person, a forcing degree determining step for determining a condition of a forcing degree when executing a program for transmitting information to the person;
A program for causing a robot to perform an operation for transmitting information to a person, the program having a change portion for performing a different operation in response to a condition of a degree of forcing when performing an operation for transmitting information to the person A communication robot program that executes the information transmission step of selecting the different changed portion in accordance with the condition of the forcing degree determined in the forcing degree determining step and causing the robot to execute the selected information.

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