JP2015066622A - Robot control system, robot, output control program and output control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable provision of utterance contents by pointing the finger while efficiently utilizing a body of a robot 10.SOLUTION: The robot control system detects a position and a direction of a person (a user) by a plurality of distance image sensors 12a and 12b arranged in a space. A robot 10 can autonomously move in the space. An explanation starting range corresponds to a display item E. For instance, a center control device of the robot control system, when the user enters the explanation starting range and looks at the display item E, determines whether or not the robot 10 can point to the display item E with the finger thereof, and according to the determination result selects either first utterance contents accompanied by pointing with the finger or second utterance contents not accompanied by the pointing with the finger. Then the selected utterance contents are outputted from the robot 10.

Description

  The present invention relates to a robot control system, a robot, an output control program, and an output control method, and more particularly, to a robot control system, a robot, an output control program, and an output control method for explaining an exhibit to a visitor, for example.

  In Non-Patent Document 1, which is an example of background art, a robot points to a finger for explanation and guidance. In addition, the information providing robot of Patent Document 1 specifies an object pointed by the hand of the arm and provides information on the object.

JP 2010-231315 A [G06Q 50/00] O. Sugiyama, T. Kanda, M. Imai, H. Ishiguro, N. Hagita, Humanlike conversation with gestures and verbal cues based on a three-layer attention-drawing model, connection science (Special issues on android science), 18 ( 4), pp. 379-402, 2006.

  However, in the robots of Non-Patent Document 1 and Patent Document 1, when an object is pointed and an obstacle or the like exists between the user and the object, the user cannot correctly recognize the pointed object. There is a case. In this case, even if the user receives provision of information from the robot, there is a high possibility that the content of the information cannot be correctly grasped.

  Therefore, a main object of the present invention is to provide a novel robot control system, robot, output control program, and output control method.

  Another object of the present invention is to provide a robot control system, a robot, an output control program, and an output control method capable of appropriately providing speech content.

  The present invention employs the following configuration in order to solve the above problems. The reference numerals in parentheses, supplementary explanations, and the like indicate the corresponding relationship with the embodiments described in order to help understanding of the present invention, and do not limit the present invention.

  1st invention is a robot control system including the robot which can move autonomously in the space where the exhibit is placed, the determination means for determining whether the exhibit can be pointed by pointing, the determination result by the determination means Is a robot control system comprising selection means for selecting utterance content and output means for outputting the selected utterance content from the robot.

  In the first invention, the robot (10) of the bot control system (100: reference numerals exemplifying corresponding parts in the embodiment; the same applies hereinafter) autonomously moves in the space where the exhibit (E) is placed. Moving. The determination means (16, S11, S31, S33) determines whether or not the exhibit can be pointed by pointing with a robot arm or finger. The selection means (16, S15, S37) selects the utterance content based on the determination result of whether or not pointing is possible. For example, the output means (16, S17, S41) issues an output command for the speech content selected in this way to the robot.

  According to the first aspect of the present invention, it is possible to provide utterance content with pointing using the robot body efficiently.

  The second invention is dependent on the first invention, and the utterance content includes the first utterance content with pointing and the second utterance content without pointing, and can be pointed by pointing at the selected utterance content A pointing means for pointing the exhibit by pointing when it is determined, and the output means outputs and selects the first utterance content when it is determined that pointing can be indicated by pointing in the selected utterance content The second utterance content is output when it is determined that it is impossible to point to the uttered content by pointing.

  In the second invention, it is assumed that the first utterance content is output in a state where an exhibit is pointed by pointing, for example. On the other hand, it is assumed that the second utterance content is output in a state where the exhibit is not pointed by pointing. For example, when it is determined that the exhibit can be pointed by pointing, the pointing means (16, S13) issues a command to point to the exhibit by pointing to the robot. The robot outputs the first utterance content when the exhibit is pointed by pointing, and outputs the second utterance content when the exhibit is not pointed by pointing.

  According to the second invention, since the utterance content can be changed depending on whether the pointing cannot be made or not, the user can easily understand the explanation of the robot.

  The third invention is dependent on the second invention, and the determining means points out by pointing when it is determined that the user has entered the predetermined range and the range determining means for determining whether the user has entered the predetermined range. It includes setting means for setting as possible, and the pointing means points to the exhibit by pointing when it is set to be possible to point by pointing in the selected utterance content.

  In the third invention, the range determination means (16, S55, S85) determines whether or not the user is within a predetermined range set for the exhibit. When the user enters the predetermined range, the setting means (16, S59, S87) sets that the exhibit can be pointed by pointing. In the state set in this way, the pointing means points to the exhibit by pointing, and the first utterance content is output.

  According to the third aspect, since the range in which the pointing is possible is determined as the predetermined range, the user can receive an explanation with pointing within the predetermined range.

  A fourth invention is dependent on the third invention, and the pointing includes a first pointing indicating a part of the exhibit, and the determination means determines whether there is an obstacle between the user and the exhibit. It further includes an obstacle determination means, and the setting means can be pointed by the first pointing when it is determined that the user is within a predetermined range and there is no obstacle between the user and the exhibit. The pointing means indicates a part of the exhibit by the first pointing when it is set that the selected utterance content can be indicated by the first pointing.

  In the fourth invention, the first pointing refers to a part of the exhibit with a finger, for example. The obstacle determination means (16, S57) determines whether another user (person) is standing between the user and the exhibit, for example. If the user is within the predetermined range and no other user is standing between the user and the exhibit, the first setting means (16, S59) can point the exhibit by the first pointing. And set. And in the state set in this way, a pointing means points out a part of exhibit by 1st pointing.

  According to the fourth invention, the description can be made in a state where a part of the exhibit is pointed to by the first pointing.

  The fifth invention is dependent on the third invention or the fourth invention, and the pointing includes the second pointing indicating the entire exhibit, and the setting means determines that the user is within the predetermined range A second setting means for setting that it can be pointed to by the second pointing, wherein the pointing means is set to be pointable by the second pointing in the selected utterance content. The whole is indicated by the second pointing.

  In the fifth invention, the second pointing refers to the entire exhibit using the arm of the robot. When the user is within the predetermined range, the second setting means (16, S87) sets that it can be pointed by the second pointing. And if it sets in this way, a pointing means will point out the whole exhibit by 2nd pointing.

  According to the fifth invention, when it is not possible to indicate a part of the exhibit by the first pointing, it is possible to perform the description with the second pointing pointing to the entire exhibit.

  A sixth invention is dependent on any one of the first to fifth inventions, and further comprises a calculation means for calculating the priority of the utterance content based on a determination result by the determination means, and the selection means includes the calculation The utterance content with the highest priority calculated by the means is selected.

  In the sixth invention, the priority is calculated in order to select an utterance content appropriate for the current user's situation from among a plurality of utterance contents. Then, the calculation means (16, S35) calculates the priority of the utterance content based on the determination result indicating whether or not pointing can be performed. And a selection means selects the speech content with the highest priority.

  According to the sixth aspect, since the utterance content is output based on the priority, the process of selecting the utterance content can be simplified. Also, the robot can give an appropriate explanation according to the situation around the exhibit.

  7th invention can point the exhibit by pointing the processor (16) of the robot control system (100) including the robot (10) autonomously movable in the space where the exhibit (E) is placed. Determination means (S11, S31, S33) for determining whether or not, selection means (S15, S37) for selecting the utterance content based on the determination result by the determination means, and output means for outputting the selected utterance content from the robot This is an output control program that functions as (S17, S41).

  In the seventh invention as well, similar to the first invention, it is possible to provide utterance content with pointing by efficiently using the body of the robot.

  The eighth invention is an output control method in the robot control system (100) including the robot (10) capable of autonomous movement in the space where the exhibit (E) is placed, and the processor (16) of the robot control system However, a determination step (S11, S31, S33) for determining whether or not an exhibit can be pointed by pointing, a selection step (S15, S37) for selecting speech content based on a determination result by the determination step, and a selection are selected. This is an output control method for executing an output step (S17, S41) for outputting the uttered content from the robot.

  In the eighth invention as well, similar to the first invention, it is possible to provide utterance content with pointing by efficiently using the body of the robot.

  A ninth invention is a robot (10) that is autonomously movable in a space where an exhibit (E) is placed, and that determines whether the exhibit can be pointed by pointing (90, S11, S31, S33), selection means (90, S15, S37) for selecting the utterance content based on the determination result by the determination means, and output means (90, S17, S41) for outputting the selected utterance content, It is a robot.

  In the ninth invention as well, similar to the first invention, it is possible to provide utterance contents with pointing by efficiently using the body of the robot.

  According to a tenth aspect of the present invention, the processor (90) of the robot (10) capable of autonomous movement in the space where the exhibit (E) is placed determines whether the exhibit can be pointed by pointing (S11). , S31, S33), output control for functioning as selection means (S15, S37) for selecting the utterance content and output means (S17, S41) for outputting the selected utterance content based on the determination result by the determination means It is a program.

  In the tenth invention as well, similar to the first invention, it is possible to provide utterance content with pointing by efficiently using the body of the robot.

  An eleventh aspect of the invention is an output control method in the robot (10) capable of autonomous movement in the space where the exhibit (E) is placed, wherein the robot processor (90) points to the exhibit by pointing. A determination step (S11, S31, S33) for determining whether it is possible, a selection step (S15, S37) for selecting uttered content based on a determination result by the determination step, and an output step (S17) for outputting the selected utterance content , S41).

  In the eleventh invention as well, as in the first invention, it is possible to provide utterance content with pointing by efficiently using the body of the robot.

  According to the present invention, utterance content can be provided appropriately.

  The above object, 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.

FIG. 1 is an illustrative view showing an outline of a robot control system according to an embodiment of the present invention. FIG. 2 is an illustrative view showing one example of a configuration of the robot control system shown in FIG. FIG. 3 is a block diagram showing an example of the electrical configuration of the central control unit shown in FIG. FIG. 4 is an illustrative view showing the appearance of the robot shown in FIG. 1 from the front. FIG. 5 is a block diagram showing an example of the electrical configuration of the robot shown in FIG. FIG. 6 is an illustrative view showing one example of a map of a certain space in which the distance image sensor shown in FIG. 1 is installed. FIG. 7 is an illustrative view showing one example of a configuration of the utterance content DB shown in FIG. 3. FIG. 8 is an illustrative view showing one example of a memory map of a memory of the central control unit shown in FIG. FIG. 9 is a flowchart showing an example of output control processing of the processor of the central control unit shown in FIG. FIG. 10 is an illustrative view showing another example of a map of a certain space where the distance image sensor shown in FIG. 1 is installed. FIG. 11 is an illustrative view showing another example of the configuration of the utterance content DB shown in FIG. 3. FIG. 12 is an illustrative view showing one example of a configuration of a determination table stored in the memory of the central controller shown in FIG. FIG. 13 is an illustrative view showing another example of the memory map of the memory of the central control unit shown in FIG. FIG. 14 is a flowchart showing an example of the output control process of the second embodiment of the processor of the central controller shown in FIG. FIG. 15 is a flowchart showing an example of the first pointing determination process of the processor of the central controller shown in FIG. FIG. 16 is a flowchart showing an example of the second pointing determination process of the processor of the central controller shown in FIG.

<First embodiment>
With reference to FIG. 1, the robot control system 100 of this embodiment is used in a space (environment) such as an exhibition hall where an exhibit E is placed. Within the exhibition hall, people (users or visitors) and the robot 10 can arbitrarily move, and a plurality of distance image sensors 12 (12a, 12b,...) Are provided on the ceiling.

  The robot 10 is also an interaction-oriented robot (communication robot), and has a function of executing communication behavior including voice with a communication target such as a user. Further, as part of the communication, the robot 10 provides a service for outputting an explanation (uttered content) about the exhibit E to the user and guiding the exhibition hall. The robot 10 autonomously moves within the exhibition hall or operates based on action commands given by the central control device 14 as necessary for providing services.

  The space of the embodiment is an exhibition hall where the exhibition E is placed, but the robot control system 100 can be used not only in this but also in a shopping mall, a company floor, a museum, an attraction hall, or the like.

  For simplicity, only one user is shown in FIG. 1, but there may be more users in the exhibition hall. Similarly, although only one robot 10 is shown, the robot control system 100 can control more than two robots 10 simultaneously.

  Further, the robot 10 may perform a communication action including a body movement such as gesture gesture in addition to voice.

  Referring to FIG. 2, the central control device 14 of the robot control system 100 detects the position of a user that is arbitrarily moved by the distance image sensors 12a and 12b every predetermined time (for example, 1 second), and the user's Detect orientation. The central control device 14 performs wireless communication with the robot 10 via the network 1000, and controls the behavior of the robot 10 if necessary. A user ID is given to the user whose position is detected in the space.

  FIG. 3 is a block diagram showing an electrical configuration of the central controller 14. Referring to FIG. 3, the central controller 14 includes distance image sensors 12a and 12b, a processor 16, and the like. The processor 16 is sometimes called a microcomputer or CPU. In addition to the distance image sensor 12a and the distance image sensor 12b described above, another distance image sensor 12 is connected to the processor 16. When there is no need to distinguish between the distance image sensors 12a and 12b, the distance image sensors 12a and 12b are simply referred to as “distance image sensor 12”.

  A memory 18 and a communication LAN board 20 are connected to the processor 16, and an utterance content database (DB: Database) 24 is also connected to the processor 16.

  The distance image sensor 12 irradiates light such as infrared light or laser, and captures light reflected from the object (reflected light) by an optical sensor such as a CCD sensor. The distance image sensor 12 measures the actual distance to the object by measuring the time until the light returns for each pixel. The distance image sensor 12 of the embodiment employs a product called Xtion manufactured by ASUS (registered trademark). In another embodiment, the distance image sensor 12 is a Kinect (registered trademark) sensor manufactured by Microsoft (registered trademark), a three-dimensional distance image sensor D-IMAGEr (registered trademark) manufactured by Panasonic (registered trademark), or the like. Can also be used. This type of sensor is sometimes called a three-dimensional distance measuring sensor, a 3D scanner, or the like.

  The processor 16 acquires the three-dimensional information of the target through such a distance image sensor 12. The three-dimensional information from the distance image sensor 12 includes the shape of the object and the distance to the object. For example, when the user is sensed by the distance image sensor 12 provided on the ceiling, the shape of the head and both shoulders as seen from above and the distance to the head and both shoulders are obtained as three-dimensional information. It is done.

  For example, 35 distance image sensors 12 are installed in a predetermined position (known) in the space, and the processor 16 acquires three-dimensional information from each to obtain a position in the three-dimensional space (world coordinate system) ( For example, the position coordinates (x, y, z) of feature points such as the center of gravity, and the user's orientation (for example, the orientation of feature parts such as the head and both shoulders) can be calculated.

  In another embodiment, the position and orientation of the user may be detected using a two-dimensional or three-dimensional LRF instead of the distance image sensor 12.

  The memory 18 includes a ROM, an HDD, and a RAM. In the ROM and the HDD, a control program for controlling the operation of the central controller 14 is stored in advance. The RAM is used as a work memory or a buffer memory for the processor 16.

  The communication LAN board 20 is configured by a DSP, for example, and provides transmission data provided from the processor 16 to the wireless communication device 22, and the wireless communication device 22 transmits the transmission data to the robot 10 via the network 1000. For example, the transmission data is data necessary for autonomous movement of the robot 10, data necessary for performing a service, and a signal (command) of an action command instructing the robot 10. The communication LAN board 20 receives data via the wireless communication device 22 and gives the received data to the processor 16.

  The utterance content DB 24 stores the utterance content that the robot 10 outputs to the user.

  In another embodiment, the central controller 14 may include an output device such as a display and input devices such as a mouse and a keyboard.

  FIG. 4 is a front view showing the appearance of the robot 10 of this embodiment. Referring to FIG. 4, robot 10 includes a carriage 40, and two wheels 42 and one slave wheel 44 that autonomously move robot 10 are provided on the lower surface of carriage 40. The two wheels 42 are independently driven by a wheel motor 46 (see FIG. 5), and the carriage 40, that is, the robot 10 can be moved in any direction, front, back, left, and right. The slave wheel 44 is an auxiliary wheel that assists the wheel 42. Therefore, the robot 10 can move in the arranged space by autonomous control.

  A cylindrical sensor mounting panel 48 is provided on the carriage 40, and a large number of infrared distance sensors 50 are mounted on the sensor mounting panel 48. These infrared distance sensors 50 measure the distance to the sensor mounting panel 48, that is, the object (user, obstacle, etc.) around the robot 10.

  In this embodiment, an infrared distance sensor is used as the distance sensor. However, an LRF, an ultrasonic distance sensor, a millimeter wave radar, or the like can be used instead of the infrared distance sensor.

  On the sensor mounting panel 48, the body 52 is provided so as to stand upright. In addition, the above-described infrared distance sensor 50 is further provided at the front upper center of the body 52 (a position corresponding to a human chest), and measures the distance mainly to the user in front of the robot 10. Further, the body 52 is provided with a support column 54 extending from substantially the center of the upper end of the side surface, and an omnidirectional camera 56 is provided on the support column 54. The omnidirectional camera 56 photographs the surroundings of the robot 10 and is distinguished from an eye camera 80 described later. As the omnidirectional camera 56, for example, a camera using a solid-state imaging device such as a CCD or a CMOS can be employed. In addition, the installation positions of the infrared distance sensor 50 and the omnidirectional camera 56 are not limited to the portions, and can be changed as appropriate.

  An upper arm 60R and an upper arm 60L are provided at upper end portions on both sides of the body 52 (a position corresponding to a human shoulder) by a shoulder joint 58R and a shoulder joint 58L, respectively. Although illustration is omitted, each of the shoulder joint 58R and the shoulder joint 58L has three orthogonal degrees of freedom. That is, the shoulder joint 58R can control the angle of the upper arm 60R around each of three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 58R is an axis parallel to the longitudinal direction (or axis) of the upper arm 60R, and the other two axes (pitch axis and roll axis) are orthogonal to the axes from different directions. It is an axis to do. Similarly, the shoulder joint 58L can control the angle of the upper arm 60L around each of the three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 58L is an axis parallel to the longitudinal direction (or axis) of the upper arm 60L, and the other two axes (pitch axis and roll axis) are orthogonal to the axes from different directions. It is an axis to do.

  Further, an elbow joint 62R and an elbow joint 62L are provided at the tips of the upper arm 60R and the upper arm 60L, respectively. Although illustration is omitted, each of the elbow joint 62R and the elbow joint 62L has one degree of freedom, and the angles of the forearm 64R and the forearm 64L can be controlled around the axis (pitch axis).

  A hand 66R and a hand 66L are provided at the tips of the forearm 64R and the forearm 64L, respectively. Each hand 66 is provided with a thumb, an index finger, a middle finger, a ring finger, and a little finger like a person. Finger joints (not shown) are provided at the base of the thumb and forefinger of the hand 66 and can be moved independently. Further, the middle finger, the ring finger and the little finger are integrally molded, and a finger joint is provided at the base like the thumb and the index finger. The middle finger, ring finger, and little finger can be moved together.

  In addition, wrists are provided at the bases of the hands 66R and 66L. Although illustration is omitted, the left and right wrists each have one degree of freedom, and the angles of the hands 66R and 66L can be controlled around the axis (yaw axis). Although not shown, the thumb joints of the hand 66R and hand 66L, the index finger, and the remaining three fingers (middle finger, ring finger, and little finger) each have one degree of freedom, and the fingers around the axis of this axis. Can control the angle.

  Therefore, the robot 10 points to an arbitrary object with the hand 66 in the state of pointing with the thumb, middle finger, ring finger and pinky finger folded, or uses the entire upper arm 60, forearm 64 and hand 66 with the hand 66 open. It is possible to point to any object. Here, in the embodiment, the pointing method using the finger of the hand 66 of the robot 10 may be referred to as first pointing or finger pointing. In addition, the pointing method using the entire upper arm 60, forearm 64, and hand 66 with the hand 66 of the robot 10 open may be referred to as second pointing or palm pointing.

  In another embodiment, a hand 66 may be employed in which each finger is independent and has the same number of finger joints as a person's finger, like a person. In this case, the robot 10 can not only point at the finger but also grasp an object with the finger or perform communication by sign language.

  Although not shown, the front surface of the carriage 40, the portion corresponding to the shoulder including the shoulder joint 58R and the shoulder joint 58L, the upper arm 60R, the upper arm 60L, the forearm 64R, the forearm 64L, the hand 66R, and the hand 66L, , A contact sensor 68 (shown generically in FIG. 5) is provided. The contact sensor 68 on the front surface of the carriage 40 detects contact of the user or other obstacles to the carriage 40. Therefore, the robot 10 can detect the contact with the obstacle during its movement and immediately stop the driving of the wheel 42 to stop the movement of the robot 10 suddenly. In addition, the other contact sensors 68 detect whether or not the respective parts are touched. In addition, the installation position of the contact sensor 68 is not limited to the said site | part, and may be provided in an appropriate position (position corresponding to a person's chest, abdomen, side, back, and waist).

  A neck joint 70 is provided at the upper center of the body 52 (a position corresponding to a person's neck), and a head 72 is further provided thereon. Although illustration is omitted, the neck joint 70 has a degree of freedom of three axes, and the angle can be controlled around each of the three axes. A certain axis (yaw axis) is an axis directed directly above (vertically upward) of the robot 10, and the other two axes (pitch axis and roll axis) are axes orthogonal to each other in different directions.

  The head 72 is provided with a speaker 74 at a position corresponding to a human mouth. The speaker 74 is used for the robot 10 to communicate with a user around it by voice or sound. A microphone 76R and a microphone 76L are provided at a position corresponding to a human ear. Hereinafter, the right microphone 76R and the left microphone 76L may be collectively referred to as a microphone 76. The microphone 76 captures ambient sounds, particularly the voice of the user who is the subject of communication. Furthermore, an eyeball part 78R and an eyeball part 78L are provided at positions corresponding to human eyes. The eyeball part 78R and the eyeball part 78L include an eye camera 80R and an eye camera 80L, respectively. Hereinafter, the right eyeball part 78R and the left eyeball part 78L may be collectively referred to as the eyeball part 78. Further, the right eye camera 80R and the left eye camera 80L may be collectively referred to as an eye camera 80.

  The eye camera 80 takes a picture of a user's face and other parts or objects approaching the robot 10 and captures a corresponding video signal. The eye camera 80 can be the same camera as the omnidirectional camera 56 described above. For example, the eye camera 80 is fixed in the eyeball part 78, and the eyeball part 78 is attached to a predetermined position in the head 72 via an eyeball support part (not shown). Although illustration is omitted, the eyeball support portion has two degrees of freedom, and the angle can be controlled around each of these axes. For example, one of the two axes is an axis (yaw axis) in a direction toward the top of the head 72, and the other is orthogonal to the one axis and goes straight in a direction in which the front side (face) of the head 72 faces. It is an axis (pitch axis) in the direction to be performed. By rotating the eyeball support portion around each of these two axes, the tip (front) side of the eyeball portion 78 or the eye camera 80 is displaced, and the camera axis, that is, the line-of-sight direction is moved. In addition, the installation positions of the above-described speaker 74, microphone 76, and eye camera 80 are not limited to the portions, and may be provided at appropriate positions.

  As described above, the robot 10 of this embodiment includes independent two-axis driving of the wheels 42, three degrees of freedom of the shoulder joint 58 (6 degrees of freedom on the left and right), one degree of freedom of the elbow joint 62 (2 degrees of freedom on the left and right), 1 degree of freedom for wrist (2 degrees of freedom for left and right), 1 degree of freedom for finger joints (6 degrees of freedom for left and right fingers), 3 degrees of freedom for neck joint 70 and 2 degrees of freedom for eyeball support (4 degrees of freedom for left and right) A total of 25 degrees of freedom).

  FIG. 5 is a block diagram showing an electrical configuration of the robot 10. Referring to FIG. 5, robot 10 includes a processor 90. The processor 90 is also called a microcomputer or a processor, and is connected to the memory 94, the motor control board 96, the sensor input / output board 98, the audio input / output board 110, and the communication LAN board 130 via the bus 92.

  The memory 94 includes ROM and RAM. In the ROM, a control program for controlling the operation of the robot 10 is stored in advance. For example, a detection program for detecting the output (sensor information) of each sensor, a communication program for transmitting / receiving necessary data and commands to / from an external computer (central control device 14), and the like are stored. The RAM is used as a work memory or a buffer memory for the processor 90.

  The motor control board 96 is composed of, for example, a DSP, and controls the driving of motors for axes such as arms, neck joints, and eyeballs. That is, the motor control board 96 receives two control data from the processor 90 and controls two angles of the two axes of the right eyeball part 78R (in FIG. 5, collectively shown as “right eyeball motor 112”). Control the rotation angle. Similarly, the motor control board 96 receives the control data from the processor 90, and shows two motors for controlling the respective angles of the two axes of the left eyeball portion 78L (in FIG. 5, collectively referred to as “left eyeball motor 114”). ) To control the rotation angle.

  The motor control board 96 receives control data from the processor 90, and includes a total of three motors that control the angles of the three orthogonal axes of the shoulder joint 58R and one motor that controls the angle of the elbow joint 62R. The rotation angles of four motors (collectively indicated as “right arm motor 116” in FIG. 5) are controlled. Similarly, the motor control board 96 receives control data from the processor 90, and includes three motors for controlling the angles of the three orthogonal axes of the shoulder joint 58L and one motor for controlling the angle of the elbow joint 62L. The rotation angles of a total of four motors (collectively indicated as “left arm motor 118” in FIG. 5) are controlled.

  The motor control board 96 receives control data from the processor 90, one motor for controlling the angle of one axis of the right wrist, and three motors for controlling the angles of the three finger joints of the right hand 66R. The rotation angles of the four motors (collectively indicated as “right-handed motor 120” in FIG. 5) are controlled. Similarly, the motor control board 96 receives control data from the processor 90, and controls three motors for controlling the angle of one of the three wrist joints of the left hand 66L and one motor for controlling the angle of one axis of the wrist of the left hand. The rotation angles of the four motors (collectively indicated as “left-handed motor 122” in FIG. 5) are controlled.

  Here, the angle of the finger joint does not reflect the rotation of the motor as it is, but is controlled by a fluid pressure cylinder that operates by the rotation of the motor. Specifically, a piston for moving the working fluid is movably accommodated in the fluid pressure cylinder, and the position of the piston changes as the motor rotates. Then, the angle of the finger joint changes according to the movement of the fluid pressure cylinder. The hand of the robot using the fluid pressure cylinder is described in detail in, for example, Japanese Patent Application Laid-Open No. 2013-96514, and detailed description thereof will be omitted here by referring to the publication.

  Further, the motor control board 96 receives the control data from the processor 90 and controls three motors for controlling the angles of the three orthogonal axes of the neck joint 70 (in FIG. 5, collectively indicated as “head motor 124”). ) To control the rotation angle.

  The motor control board 96 receives control data from the processor 90 and controls the rotation angles of the two motors that drive the wheels 42 (collectively indicated as “wheel motors 46” in FIG. 5). In this embodiment, a motor other than the wheel motor 46 uses a stepping motor (that is, a pulse motor) in order to simplify the control. However, a DC motor may be used similarly to the wheel motor 46. The actuator that drives the body part of the robot 10 is not limited to a motor that uses a current as a power source, and may be changed as appropriate. For example, in another embodiment, an air actuator or the like may be applied.

  Similar to the motor control board 96, the sensor input / output board 98 is configured by a DSP, and takes in signals from each sensor and supplies them to the processor 90. That is, data relating to the reflection time from each of the infrared distance sensors 50 is input to the processor 90 through the sensor input / output board 98. The video signal from the omnidirectional camera 56 is input to the processor 90 after being subjected to predetermined processing by the sensor input / output board 98 as necessary. Similarly, a video signal from the eye camera 80 is also input to the processor 90. In addition, signals from the plurality of contact sensors 68 described above (collectively referred to as “contact sensors 68” in FIG. 5) are provided to the processor 90 via the sensor input / output board 98.

  Similarly, the voice input / output board 110 is also configured by a DSP, and voice or voice in accordance with voice synthesis data provided from the processor 90 is output from the speaker 74. Also, audio input from the microphone 76 is given to the processor 90 via the audio input / output board 110.

  The communication LAN board 130 is configured by a DSP, for example, and provides transmission data given from the processor 90 to the wireless communication device 132. The wireless communication device 132 sends the transmission data to the external computer (central control device 14) via the network 1000. Send to. In addition, the communication LAN board 130 receives data via the wireless communication device 132 and gives the received data to the processor 90. For example, the transmission data includes surrounding video data captured by the omnidirectional camera 56 and the eye camera 80.

  FIG. 6 is a map of the exhibition hall (space). Referring to FIG. 6, the exhibition hall includes an entrance and three exhibits E (E1, E2, E3). An IRID tag reader is installed at the entrance. For example, the user can enter the exhibition hall by having the reader read the RFID tag that the user has. The RFID tag stores a user ID, and the reader reads the user ID from the RFID tag. A user ID read by the reader is transmitted to the central control device 14. Therefore, the central control apparatus 14 can identify each of the plurality of users in the exhibition hall by associating the user position detected at the entrance with the received user ID.

  Here, two explanation ranges A are associated with the exhibit E1 including the two target points C. The explanation range A1 is associated with the target point C1 of the exhibit E, and the explanation range A2 is associated with the target point C2 of the exhibit E1. Each explanation range A corresponds to the utterance content (contents to be explained) output to the user. The explanation range A is sometimes called a predetermined range.

  Referring to FIG. 7, the utterance content DB 24 is configured by a table, for example, and the table includes columns of numbers, target points, explanation ranges, contents (with pointing), and contents (without pointing). One utterance content is shown in one line. For example, in an utterance content in which “1” is stored in the number column, “C1” is stored in the target point column, and “A1” is stored in the explanation range column. And in the content (with pointing) column, “This is a plug for charging” is stored, and in the content (without pointing) column, “black that extends above the loading platform behind this bike. "The cord is an outlet for charging." In the utterance content in which “2” is stored in the number column, “C1” is stored in the target point column and “A2” is stored in the explanation range column. In the contents (with pointing) column, “This is a motor” is stored, and in the contents (without pointing) column, “silver things at the feet are motors” are stored. Here, in the embodiment, the information stored in the content (with pointing) column is referred to as the first utterance content, and the information stored in the content (without pointing) column is referred to as the second utterance content.

  For example, when the user's position and orientation are detected and the user's position is included in the explanation range A1 and the user's orientation is directed toward the target point C1, the exhibit E (target point C1) Corresponding utterance content is read from the utterance content DB 24. At approximately the same time, an operation command for moving the robot 10 to the vicinity of the user is given to the robot 10. Next, it is determined whether there is no obstacle such as a person blocking the user and the exhibit (target point C), that is, whether the exhibit E can be pointed by pointing with the hand 66 of the robot 10. If the exhibit E can be pointed by pointing, the first utterance content with pointing is selected from the utterance content of “1” and transmitted to the robot 10. As a result, the robot 10 explains the exhibit E according to the received first utterance content. Specifically, after approaching the user, the robot 10 greets the user, and then points to the target point C with the hand 66 while saying “This is a plug for charging” about the exhibit E. Explain (speak). Note that sound based on the utterance content or the like is output from the speaker 74 of the robot 10.

  On the other hand, if the exhibit E cannot be pointed by pointing, the second utterance content without pointing is selected from the utterance contents of “1” and transmitted to the robot 10. As a result, the robot 10 explains the exhibit E according to the received second utterance content. Specifically, the robot 10 greets the user and greets it, and does not point at it, “The black cord that extends above the loading platform behind this bike is an outlet for charging.” Explain (speak) the exhibit E. When the output of the utterance content ends, the robot 10 makes a farewell greeting to the user and then moves to another place or another user's place.

  As described above, in the first embodiment, it is possible to efficiently provide the utterance content with pointing by using the body of the robot 10 efficiently. In particular, since the utterance content can be changed depending on whether the pointing cannot be performed or not, the user can easily understand the explanation of the robot 10.

  If the user goes out of the explanation range A, the output is stopped even if the utterance content is being output. That is, since it is considered that the user is not interested in the exhibit E, the provision of the utterance content can be stopped. Moreover, although illustration is abbreviate | omitted, the object point C, the description range A, and speech content are matched also with the exhibit E2 and the exhibit E3.

  The features of the first embodiment have been outlined above. The first embodiment will be described in detail below using the memory map shown in FIG. 8 and the flowchart shown in FIG.

  FIG. 8 is an illustrative view showing one example of a memory map of the memory 18 in the central controller 14 shown in FIG. As shown in FIG. 8, the memory 18 includes a program storage area 302 and a data storage area 304. The program storage area 302 stores an output control program 310 for controlling the output of uttered content as a program for operating the central control device 14. Although illustration is omitted, the program for operating the central controller 14 includes a program for detecting the position and orientation of the user from the distance image sensor 12.

  The data storage area 304 is provided with a user information buffer 330 and map data 332 is stored. For example, the user information buffer 330 temporarily stores the user position and the user orientation calculated based on the three-dimensional information as user information.

  The map data 332 includes an exhibit E placed in the space and information (coordinates) in a predetermined range corresponding to the exhibit E. Although not shown, the data storage area 304 is also provided with a buffer for temporarily storing the results of various calculations, and other counters and flags necessary for the operation of the central controller 14.

  The processor 16 of the central control unit 14 processes a plurality of tasks including an output control process shown in FIG. 9 under the control of a Linux (registered trademark) -based OS and other OSs.

  FIG. 9 is a flowchart of the output control process. When the central controller 14 is powered on, the processor 16 of the central controller 14 determines whether or not it is an end command in step S1. For example, it is determined whether an operation for terminating the central control device 14 has been performed by an administrator. If “NO” in the step S1, that is, if an end command is not accepted, the processor 16 acquires user information in a step S3. That is, the user position and orientation are read from the user information buffer 330.

  Subsequently, in step S5, the processor 16 determines whether or not the user is in the explanation range A. For example, the processor 16 reads the map data 332 and determines whether or not the user's position is included in the explanation range A1 of the exhibit E1. If “NO” in the step S5, for example, if the user's position is around the entrance, the processor 16 returns to the process of the step S1. If “YES” in the step S5, for example, if the position of the user is included in the explanation range A1, the processor 16 determines whether or not the user is facing the target point C in a step S7. . For example, when the user is in the explanation range A1, it is determined whether the user is facing the target point C1 of the exhibit E1. When determining whether the user is facing the target point C, ± 5 degrees is an allowable range. That is, in step S7, it is determined whether the target point C is included in an allowable range of ± 5 degrees with respect to the user orientation. If “NO” in the step S7, that is, if the user does not face the target point C, the processor 16 returns to the process of the step S1.

  If “YES” in the step S7, that is, if the user is facing the target point C, the processor 16 moves the robot 10 to the vicinity of the user in a step S9. That is, the processor 16 issues a coordinate indicating the position of the user and a movement command to the coordinate to the robot 10. As a result, the robot 10 approaches the user.

  Subsequently, in step S11, the processor 16 determines whether or not pointing is possible. That is, the processor 16 determines whether there is an obstacle between the exhibit E (target point C) and the user. The processor 16 that executes the process of step S11 functions as a determination unit. If “NO” in the step S11, that is, if it is impossible to point to the exhibit E by pointing, the processor 16 proceeds to a process in step S15. On the other hand, if “YES” in the step S11, that is, if it is possible to point to the exhibit by pointing, the processor 16 points the exhibit E in a step S13. That is, the central control device 14 transmits a pointing operation command indicating the target point C to the robot 10. The robot 10 receives the pointing operation command and performs pointing at the target point C. The processor 16 that executes the process of step S13 functions as a pointing means.

  Subsequently, in step S15, the processor 16 selects an utterance content. For example, when the user is in the explanation range A1, the “1” utterance content corresponding to the explanation range A1 is read. Then, the first utterance content or the second utterance content is selected based on the determination result of whether or not the exhibit E can be pointed by pointing. The processor 16 that executes the process of step S15 functions as a selection unit. Subsequently, in step S17, the processor 16 outputs the utterance content. That is, the utterance content selected in step S15 is transmitted to the robot 10. For example, when the first utterance content in the utterance content of “1” corresponding to the explanation range A1 is transmitted to the robot 10, the robot 10 points to the target point C1 of the exhibit E, It ’s a motor. ” The processor 16 that executes the process of step S17 functions as an output unit.

  Subsequently, in step S19, the processor 16 determines whether or not the output is finished. That is, the processor 16 determines whether or not the robot 10 has notified that the output of the utterance content has been completed. If “NO” in the step S19, that is, if the output of the utterance content is continued, the processor 16 repeatedly executes the process of the step S19. On the other hand, if “YES” in the step S19, that is, if the output of the utterance content is finished, the processor 16 returns to the process of the step S1.

  If “YES” in the step S1, for example, when the user performs an operation to end the central control device 14, the processor 16 ends the output control process.

<Second embodiment>
In the second embodiment, the robot 10 performs palm pointing indicating the entire exhibit E in addition to finger pointing indicating a part of the exhibit E. Moreover, the priority of each utterance content is calculated, and the utterance content with a high priority is output. The robot control system 100 according to the second embodiment is substantially the same as that according to the first embodiment. Therefore, the system configuration, the appearance and electrical configuration of the robot 10, the electrical configuration of the central controller 14, and the like are described. Is omitted.

  Referring to FIG. 10, in the second embodiment, in addition to the explanation ranges A1 and A2, an ellipse explanation range A3 centered on the target point C1 is provided. The explanation range A3 includes the exhibit E, the explanation range A1, and the explanation range A2, and the explanation range A3 is wider than the two explanation ranges A. In the explanation range A3, palm pointing indicating the entire exhibit E is associated with the utterance content.

  Referring to FIG. 11, in the utterance content DB 24 of the second embodiment, a column of pointing type and priority is further added. For example, in the “1” and “2” utterance contents corresponding to finger pointing, “finger pointing” is stored in the column of pointing type. Also, “60” is stored in the priority column of the “1” uttered content, and “50” is stored in the priority column of the “2” uttered content. Then, in the “3” utterance content corresponding to palm pointing, “palm pointing” is stored in the pointing type column, and “30” is stored in the “priority” column. In addition, “This is an electric bike” is stored in the “No. 3” utterance content (with pointing) column, and “No electric pointing” is displayed in the “No pointing” column. Is stored. The priority in the embodiment is a value for selecting an utterance content appropriate for the current user situation from among a plurality of utterance contents. For example, when two explanation ranges A overlap, the speech content appropriate for the user's situation can be selected by calculating the priority. The priority is calculated based on a determination result indicating whether or not pointing is possible.

  Here, as described above, the determination result of whether finger pointing is possible / impossible is the range determination as to whether it is in the explanation range A, and the obstacle as to whether there is an obstacle between the user and the target point C. Obtained by judgment. In addition, the determination result of whether palm pointing is possible or not is obtained by range determination as to whether it is within the explanation range A. However, since palm pointing refers to the entire exhibit E, it is not determined whether an obstacle exists.

  Referring to FIG. 12, the determination table storing the determination result of possible / impossible pointing is provided with a column storing the number of the utterance content, the determination result, and the priority based on the determination result. For example, when there is an obstacle between the user and the target point C1 in a state where the user has entered the explanation range A1, the determination result of the utterance content of “1” is “impossible pointing”. Further, since the user in this state is not in the explanation range A2, the determination result of the utterance content of “2” is “impossible to point”. However, since the explanation range A3 includes the explanation range A1, the determination result of the utterance content with the number “3” is “pointing is possible”.

  Next, when the determination result of finger pointing is “impossible pointing”, a first predetermined value (for example, “40”) is subtracted from the priority of the speech content. When the palm pointing determination result is “impossible pointing”, a second predetermined value (for example, “5”) is subtracted from the priority. However, when “pointing is possible”, the priority remains unchanged. Accordingly, in the determination table shown in FIG. 12, the first predetermined value is subtracted from the original priority for the utterance contents of “1” and “2”, and the calculated priorities are “20” and “10”. Remembered. Further, since it is determined that “pointing is possible” for the utterance content of “3”, the priority is not subtracted and “30” is stored.

  When the priority is stored in the determination table, the utterance content with the highest priority is selected. When the utterance content is selected, the utterance content is output based on the pointing determination result. Further, in the determination table, it is determined whether or not pointing is possible, and if it is stored that pointing is possible, the robot 10 points to the exhibit E.

  For example, when priority is stored as shown in FIG. 12, the utterance content of “3” is selected, and the robot 10 points to the entire exhibit E by palm pointing, and “This is an electric motorcycle. Is explained. However, if it is determined that pointing is not possible in the utterance content of “3”, the robot 10 explains that “the electric motorcycle is being viewed” without performing palm pointing.

  If it is determined that the priority of the utterance content of “1” in the determination table is the highest and pointing is possible, the utterance content of “1” is selected, and the robot 10 performs the exhibition E by finger pointing. And a description “This is a plug for charging”. Note that the case where it is determined that pointing cannot be performed in the utterance content of “1” has been described in detail in the first embodiment, and thus description thereof is omitted here.

  Thus, since the range in which the pointing is possible is determined as the explanation range A, the user can receive the explanation with pointing in the explanation range A. Further, since the utterance content is output based on the priority, the process of selecting the utterance content can be simplified. Further, the administrator of the robot control system can set the priority of the uttered content so that finger pointing is performed with priority. For example, when the setting is made in this way, the explanation is usually made in a state where a part of the exhibit E is pointed by finger pointing, and when the part of the exhibit E cannot be pointed by finger pointing, palm pointing is performed. Thus, the explanation is given in a state where the entire exhibit E is pointed to. That is, the robot 10 can provide an appropriate explanation according to the situation around the exhibit E.

  The above has outlined the features of the second embodiment. Hereinafter, the second embodiment will be described in detail with reference to the memory map shown in FIG. 13 and the flowcharts shown in FIGS.

  FIG. 13 is an illustrative view showing one example of a memory map of the memory 18 in the central controller 14 of the second embodiment. In the program storage area 302 of the second embodiment, in addition to the program of the first embodiment, a first pointing determination program 312 for determining whether finger pointing is possible or impossible and palm pointing is possible or impossible. A second pointing program 314 for determining the above is stored.

  In the data storage area 304 of the second embodiment, a determination buffer 334 is set in addition to the buffer and data of the first embodiment. The determination buffer 334 temporarily stores a determination table as shown in FIG.

  The processor 16 of the central control device 14 according to the second embodiment includes an output control process illustrated in FIG. 14, a first pointing determination process illustrated in FIG. A plurality of tasks including the second pointing determination process shown in FIG. 16 is processed.

  FIG. 14 is a flowchart of the output control process of the second embodiment. In the output control process of the second embodiment, steps S1, S3, S11, S15, and S19 are substantially the same as those of the first embodiment, and thus detailed description thereof is omitted.

  When the central controller 14 is powered on, the processor 16 determines whether or not it is an end command in step S1. If “NO” in the step S1, that is, if not an end command, the processor 16 acquires user information in a step S3.

  Subsequently, the processor 16 executes a first pointing determination process in step S31, and executes a second pointing determination process in step S33. That is, for each utterance content, it is determined whether or not the exhibit E can be pointed by pointing. Further, the first pointing determination process and the second pointing determination process will be described in detail with reference to FIGS. 15 and 16, and thus the description thereof is omitted here. The processor 16 that executes the processes of steps S31 and S33 functions as a determination process.

  Subsequently, in step S35, the processor 16 calculates the priority of the utterance content. That is, when two pointing determination processes are executed, the determination result is stored in the determination table, and the priority of each utterance content is calculated based on the determination result. Subsequently, in step S37, the processor 16 selects the utterance content having the highest priority. In other words, in the current surrounding situation of the user and the exhibit E, the utterance content appropriate for output is selected. Subsequently, in step S9, the processor 16 moves the robot 10 to the vicinity of the user. The processor 16 that executes the process of step S35 functions as a calculation unit. The processor 16 that executes the process of step S37 functions as a selection unit.

  Subsequently, in step S39, the processor 16 determines whether or not pointing is possible. That is, it is determined whether “pointing is possible” is stored as the determination result of the determination table in the selected utterance content. If “NO” in the step S39, that is, if the determination result of the selected utterance content is “impossible pointing”, the processor 16 proceeds to a process in step S41. If “YES” in the step S39, that is, if the determination result of the selected utterance content is “pointing is possible”, the processor 16 points the exhibit E in a step S13.

  Subsequently, in step S41, the processor 16 outputs the utterance content based on the pointing determination result. For example, if it is determined that pointing is possible with the selected utterance content, the first utterance content (for example, “This is a motor”) in the selected utterance content is transmitted to the robot 10. On the other hand, if it is determined that pointing is impossible, the second utterance content (for example, “a silver person at the feet is a motor”) is transmitted to the robot 10. Then, the robot 10 outputs the received utterance content. The processor 16 that executes the process of step S41 functions as an output unit.

  Subsequently, in step S19, the processor 16 determines whether or not the processing is finished. If “NO” in the step S19, the processor 16 repeatedly executes the process of the step S19, and if “YES”, the processor 16 returns to the process of the step S1. If “YES” in the step S1, that is, if an end command is issued, the processor 16 ends the output control process.

  FIG. 15 is a flowchart of the first pointing determination process. When the process of step S31 is executed in the output control process of FIG. 14, the processor 16 initializes the variable i in step S51. The variable i is a variable for designating one of a plurality of utterance contents. In addition, the value of the initialized variable i is “1”.

  Subsequently, in step S53, the processor 16 determines whether or not the pointing type of the i-th utterance content is the first pointing. For example, if i is “1”, the processor 16 determines whether the pointing type of the “1” -th utterance content is finger pointing. If “NO” in the step S53, that is, if the pointing type of the “i” th utterance content is the palm pointing, the processor 16 proceeds to a process of step S63. That is, for the selected utterance content, there is no need to determine whether finger pointing is possible or not, so the processor 16 proceeds to the process of step S63.

  On the other hand, if “YES” in the step S53, that is, if the pointing type of the “i” th utterance content is finger pointing, the processor 16 determines whether or not the user is in the explanation range A in a step S55. To do. That is, the processor 16 determines whether or not the user's position is included in the explanation range A of the “i” th utterance content.

  If “YES” in the step S55, that is, if the user is in the explanation range A, the processor 16 determines whether or not there is an obstacle that blocks between the user and the target point C in a step S57. To do. That is, it is determined whether the position of an obstacle (such as a person and another robot) in the space exists between the user and the target point C. The processor 16 that executes the process of step S57 functions as an obstacle determination unit.

  On the other hand, if “YES” in the process of step S57, that is, if there is no obstacle between the user and the target point, in step S59, the processor 16 sets the pointing possibility as the determination result of the i-th utterance content. . For example, if i is “1”, the user is in the explanation range A1, and there is no obstacle between the user and the target point C1, the determination result corresponding to the “1” -th utterance content in the determination table "Pointing is possible" is stored in the column. The processor 16 that executes the process of step S59 functions as a first setting unit.

  If “NO” in step S55 or “NO” in step S57, for example, if the user is not in the explanation range A or there is an obstacle between the user and the target point C, step S61 is performed. Thus, the processor 16 sets “impossible pointing” as the determination result of the i-th utterance content. For example, if i is “1” and the user is not in the explanation range A1, “no pointing” is stored in the determination result column corresponding to the “1” -th utterance content in the determination table.

  Subsequently, in step S63, the processor 16 increments the variable i. That is, in order to designate the next utterance content, the value of the variable i is increased by one. Subsequently, in step S65, the processor 16 determines whether or not the variable i is larger than the maximum value. That is, it is determined whether or not the determination as to whether or not finger pointing is possible is completed for all utterance contents. If “NO” in the step S65, if the determination is not completed for all the utterance contents, the processor 16 returns to the process of the step S53. On the other hand, if “YES” in the step S65, that is, if the determination is completed for all the utterance contents, the processor 16 ends the first pointing determination process and returns to the output control process.

  FIG. 16 is a flowchart of the second pointing determination process. Note that the processes of steps S81, S85, S91, and S93 are substantially the same as the processes of steps S51, S55, S63, and S65 of the first pointing determination process, and thus detailed description thereof is omitted.

  When the process of step S33 is executed in the output control process of FIG. 14, the processor 16 initializes the variable i in step S81.

  Subsequently, in step S83, the processor 16 determines whether or not the pointing type of the i-th utterance content is the second pointing. That is, it is determined whether the pointing corresponding to the selected utterance content is palm pointing. If “NO” in the step S83, that is, if the pointing type of the selected utterance content is finger pointing, the processor 16 proceeds to a process of step S91. That is, for the selected utterance content, there is no need to determine whether palm pointing is possible or not, so the processor 16 proceeds to the process of step S91.

  Subsequently, if “YES” in the step S83, that is, if the pointing type of the selected utterance content is the palm pointing, the processor 16 determines whether or not the user is in the invention range A in a step S85. To do. If “YES” in the step S85, that is, if the user is in the explanation range A, the processor 16 is set to be capable of pointing as a determination result of the i-th utterance content in a step S87. For example, if i is “3” and the user is in the explanation range A3, “pointing is possible” is stored in the determination result column of the determination table corresponding to the “3” -th utterance content. The processor 16 that executes the process of step S87 functions as a second setting unit.

  On the other hand, if “NO” in the step S85, that is, if the user is not in the explanation range A, the processor 16 sets the pointing impossible as the determination result of the i-th utterance content in a step S89. For example, if i is “3”, if the user is not in the explanation range A3, “pointing is impossible” is stored in the determination result column of the determination table corresponding to the “3” -th utterance content. .

  Subsequently, the processor 16 increments the variable i in step S91, and determines whether the variable i is larger than the maximum value in step S93. If “NO” in the step S93, the processor 16 returns to the process of the step S83. On the other hand, if “YES” in the step S93, the processor 16 ends the second pointing determination process and returns to the output control process.

  The processor 16 that executes the processes of steps S55 and S85 functions as a range determination unit. The processor 16 that executes the processes of steps S59 and S87 functions as setting means.

  The pointing to the exhibition E may be performed by the movement of the face of the robot 10 or the line of sight. Further, the robot 10 may include pointing means such as a laser pointer and a pointing stick. In another embodiment, in addition to the first pointing and the second pointing, the robot 10 may perform the third pointing that designates the designated range with a finger or the like.

  In another embodiment, the robot 10 may have the central control device 14 and the robot 10 may be able to directly acquire the three-dimensional information from the distance image sensor 12 by wireless connection or wired connection. In this case, the utterance content to be output to the user can be determined and output by the robot 10 alone. For example, the processor 90 of the robot 10 that executes the output control process of the first embodiment moves to the vicinity of the user based on the user information in the process of step S9, and points to the exhibit E in the process of step S13. In the process of step S17, the utterance content selected by itself is output. Further, the processor 90 of the robot 10 that executes the output control process of the second embodiment executes the processes of step S9 and step S13 in the same manner as in the first embodiment, and the utterance content having the highest priority in the process of step S41. The first utterance content or the second utterance content is selected based on the determination table, and the selected utterance content is output.

  In still another embodiment, when the robot 10 detects the user or the user's entry, the robot 10 issues an output control processing execution command to the central controller 14 in order to output the utterance content. Also good. Thus, the central controller 14 may be used by the robot 10 to support the autonomous behavior of the robot 10.

  In another embodiment, when the robot 10 has a display, the utterance content may be output using video as well as audio. For example, the robot 10 that outputs the utterance content explains the exhibit E while displaying an image on its own display.

  Further, the robot 10 may be a biped walking type robot as well as a wheel movement type robot as in the embodiment.

  A user who enters the space may be identified by face recognition instead of the RFID tag.

  In addition, the plurality of programs described in the present embodiment may be stored in the HDD of a data distribution server and distributed to a system having the same configuration as that of the present embodiment via a network. In addition, storage programs such as CDs, DVDs, and BDs (Blu-ray (registered trademark) Disc) are sold or distributed with these programs stored in storage media such as USB memory and memory card. May be. When the plurality of programs downloaded through the server and storage medium described above are applied to a system having the same configuration as that of this embodiment, the same effect as that of this embodiment can be obtained.

  The specific numerical values given in this specification are merely examples, and can be appropriately changed according to a change in product specifications. Moreover, the specific utterance content mentioned in this specification can be changed as appropriate according to the exhibition hall and the type of the exhibit.

DESCRIPTION OF SYMBOLS 10 ... Robot 12a, 12b ... Distance image sensor 14 ... Central controller 16 ... Processor 18 ... Memory 24 ... Speech content DB
60R, 60L ... upper arm 64R, 64L ... forearm 66R, 66L ... hand 90 ... processor 94 ... memory 100 ... robot control system 1000 ... network

Claims (11)

A robot control system including a robot that can move autonomously in a space where exhibits are placed,
Determination means for determining whether the exhibit can be pointed by pointing;
A robot control system comprising: selection means for selecting speech content based on a determination result by the determination means; and output means for outputting the selected speech content from the robot. The utterance content includes a first utterance content with pointing and a second utterance content without pointing,
When it is determined that the selected utterance content can be pointed by pointing, pointing means for pointing the exhibit by pointing is provided.
The output means outputs the first utterance content when it is determined that the selected utterance content can be pointed by pointing, and determines that the selected utterance content cannot be pointed by pointing. The robot control system according to claim 1, wherein the second utterance content is output when the second utterance content is output. The determination means includes a range determination means for determining whether the user is within a predetermined range and a setting means for setting that the user can point by pointing when it is determined that the user has entered the predetermined range,
The robot control system according to claim 2, wherein when the pointing unit is set to be able to be pointed by pointing in the selected utterance content, the exhibit is pointed to by pointing. The pointing includes a first pointing pointing to a part of the exhibit,
The determination means further includes an obstacle determination means for determining whether there is an obstacle between the user and the exhibit,
The setting means sets that the user can point by the first pointing when it is determined that the user is within a predetermined range and there is no obstacle between the user and the exhibit. Including one setting means,
4. The robot control system according to claim 3, wherein when the pointing unit is set to be able to be pointed by the first pointing in the selected utterance content, the part of the exhibit is pointed to by the first pointing. The pointing includes a second pointing pointing to the entire exhibit,
The setting means includes second setting means for setting that the user can point by the second pointing when it is determined that the user is within a predetermined range,
5. The robot control system according to claim 3, wherein when the pointing unit is set to be able to be pointed by the second pointing in the selected utterance content, the whole exhibit is pointed to by the second pointing. Based on the determination result by the determination means, further comprising a calculation means for calculating the priority of the utterance content,
The robot control system according to claim 1, wherein the selection unit selects an utterance content having the highest priority calculated by the calculation unit. A robot control system processor, including a robot that can move autonomously in the space where the exhibits are placed,
Determination means for determining whether the exhibit can be pointed by pointing;
An output control program that functions as selection means for selecting speech content based on the determination result by the determination means, and output means for outputting the selected speech content from the robot. An output control method in a robot control system including a robot capable of autonomous movement in a space where an exhibit is placed, wherein the processor of the robot control system includes:
A determination step of determining whether the exhibit can be pointed by pointing;
An output control method that executes a selection step of selecting speech content based on the determination result of the determination step, and an output step of outputting the selected speech content from the robot. A robot that can move autonomously in the space where the exhibits are placed,
Determination means for determining whether the exhibit can be pointed by pointing;
A robot comprising: selection means for selecting speech content based on a determination result by the determination means; and output means for outputting the selected speech content. A robot processor that can move autonomously in the space where the exhibits are placed.
Determination means for determining whether the exhibit can be pointed by pointing;
An output control program that functions as a selection unit that selects utterance content and an output unit that outputs the selected utterance content based on a determination result by the determination unit. An output control method in a robot capable of autonomous movement in a space where an exhibit is placed, wherein the processor of the robot includes:
A determination step of determining whether the exhibit can be pointed by pointing;
An output control method for executing a selection step of selecting utterance content and an output step of outputting the selected utterance content based on a determination result by the determination means.

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