JP6017253B2 - CONTROL DEVICE, CONTROL METHOD FOR CONTROL DEVICE, CONTROLLED DEVICE, SERVER, CONTROL PROGRAM, AND RECORDING MEDIUM - Google Patents

Description

  The present invention relates to a control device for controlling the frequency with which a controlled device transmits information to a user.

  Since household electrical machine appliances (hereinafter abbreviated as “home appliances”) are usually used on a daily basis, they tend to be handled as simple objects. For example, a washing machine is merely a tool that reduces the labor required to wash clothes, and a refrigerator is considered to be just a box for cooling food. If the household appliances that are used on a daily basis are just mere things, the user may not be attached to the household appliances that are used regularly, and may feel bored with housework that tends to be monotonous.

  Therefore, various devices have been widely used to make home appliances more convenient and enjoyable. For example, an attempt has been made to add color to daily life by installing a function capable of talking with a human being on a home appliance, and talking to the user as a carefree character. Therefore, technologies for establishing natural communication with humans have been widely developed.

  For example, Patent Document 1 below discloses an emotion expression device that can advance a dialogue with a user while expressing the emotion held by a virtual pseudo creature. Further, Patent Document 2 below discloses an automatic response robot in which the feeling of the robot is rich in changes, so that the feeling of closeness between the user and the robot increases and the user does not get bored.

Japanese Patent Laid-Open No. 2001-209820 (released on August 03, 2001) JP 2003-181784 A (published July 02, 2003)

  The devices or robots disclosed in Patent Documents 1 and 2 described above are insufficient as a technique for establishing natural communication with a human because they only repeat a statement at a predetermined frequency. In other words, simply returning a response to a user's remarks or always speaking at a certain timing may result in excessive or insufficient communication, or a dry and unnatural human interaction.

  In other words, especially in text-based communication such as social network service (SNS), the frequency of utterance according to the situation can be an important factor for establishing natural communication. Nevertheless, the above prior art does not consider this factor.

  The device disclosed in Patent Document 1 expresses emotions by “generating a cry”. However, since the expression of the emotion is too direct, the user feels that the expression is impressed. In the text-based communication, “scream” cannot be used for expressing emotions.

  The present invention has been made in view of the above problems, and its purpose is to adjust the frequency of remarks based on emotions according to the situation, so that natural communication involving emotions between humans and agents is achieved. It is providing the control apparatus etc. which can be materialized.

  In order to solve the above-described problem, a control device according to one aspect of the present invention is a control device that controls a controlled device, and obtains a measurement value measured by the controlled device; The measurement value acquired by the acquisition means and the frequency so that the user can guess the emotion simulated by the controlled device in accordance with the frequency with which the controlled device transmits information to the user. And a deriving means for deriving the frequency from the measured value in accordance with the association.

  In order to solve the above-described problem, a control method for a control device according to an aspect of the present invention is a control method for a control device that controls a controlled device, and is a measurement value measured by the controlled device. In the acquisition step, the user can guess the emotion simulated by the controlled device according to the frequency of the information transmitted to the user by the controlled device. The acquired measurement value and the frequency are associated with each other in advance, and includes a derivation step of deriving the frequency from the measurement value according to the association.

  According to one aspect of the present invention, since the control device and the control method of the device can adjust the frequency of utterances based on emotions according to the situation, natural communication involving emotions between humans and agents There is an effect that can be established.

It is a block diagram which shows the principal part structure of the apparatus control server which concerns on one embodiment of this invention. It is the schematic which shows the outline | summary of the family message board system which concerns on one embodiment of this invention. It is the schematic which shows the outline | summary of the said family message board system in a different form. It is a table | surface which shows an example of the measured value which the said apparatus control server acquires from a cleaning robot. It is a table | surface which shows an example of a frequency table, (a) is a table | surface which shows an example of the correspondence of the stage set with respect to the said measured value, and the emotion simulated by the said cleaning robot, (b) Is a table showing an example of the correspondence between the emotion and the parameter, and (c) is a table showing an example of the correspondence between the parameter and the frequency. In a family message board, it is a mimetic diagram showing signs that a smart phone displays an example of communication performed between a user and the above-mentioned cleaning robot, and (a) is an example of communication when feeling is "happy" (B) represents an example of communication when the emotion is “ordinary”, (c) represents an example of communication when the emotion is “mischievous”, and (d) represents an “invalid” emotion. An example of communication in the case of. It is a table | surface which shows an example of the correspondence of the stage set with respect to the measured value and external information, and the emotion simulated by the said cleaning robot. It is a flowchart which shows an example of the process which the said apparatus control server performs. It is a block diagram which shows the principal part structure of the cleaning robot which concerns on one embodiment of this invention.

  Based on FIGS. 1-9, embodiment of this invention is described in detail.

[Overview of Family Message Board System 400]
Based on FIG. 2, the outline | summary of the family message board system 400 which concerns on one embodiment of this invention is demonstrated. FIG. 2 is a schematic diagram showing an outline of the family message board system 400.

  The family message board system 400 is a system that provides an electronic message board (so-called social network service) that allows information to be shared among users registered in advance (in the example shown in FIG. 2, father, mother, and child). Family message board system 400 includes smartphones 100a, 100b, 100c, device control server 200a, family message board server 200b, home server 200c, cleaning robot 300a, and devices arranged in the home (hereinafter referred to as “home devices”). .

  In the family message board system 400, the cleaning robot 300a or the household device writes a message on the family message board according to the state of the household device, the content of the message written by the user, or the like. In addition, the user can access the family message board using the smartphones 100a, 100b, and 100c possessed by the user and write or browse messages. Further, the user can control the operation of the home device by giving an instruction to the home device via the family message board system 400.

  A cleaning robot 300a is wirelessly connected to the home server 200c so as to be communicable. Further, home devices are further wirelessly (or wired) connected so that they can communicate. Note that FIG. 2 illustrates an example in which home devices are the television 300b, the air conditioner 300c, the lighting device 300d, and the recording device 300e, but the types and number of home devices are not limited to the above devices.

  The device control server (server) 200a includes the control unit 10 (see FIG. 1), and in order to cause the cleaning robot 300a to transmit information at the frequency 1 derived by the control unit, the frequency is calculated based on the family message board server 200b and the cleaning device. It transmits to the robot 300a.

  In addition, the device control server 200a accepts posting of messages and images from the smartphones 100a, 100b, and 100c, and transmits an instruction according to the content of the posting to the home server 200c, so that the operation of the cleaning robot 300a or the household device is performed. To control.

  Family message board server 200b includes an agent that personifies cleaning robot 300a. The agent writes a message or the like on the family message board as an anthropomorphic character of the cleaning robot 300a according to the state of the home device, the information acquired by the home device, the user's written content, and the like. Thereby, the user can experience the pseudo communication with the cleaning robot 300a on the family message board.

  Here, the agent speaks at the frequency received from the device control server 200a (writes a message on the family message board). Therefore, the device control server 200a (the control unit 10) can adjust the frequency of utterances based on emotions according to the situation, so that natural communication can be established between the human and the agent.

  Moreover, the family message board server 200b performs all processes related to the family message board, such as presentation of the display screen of the family message board for the smartphones 100a, 100b, and 100c, and management of writing.

  The home server 200c performs overall control of transmission / reception of information between the cleaning robot 300a or household device and the device control server 200a. Specifically, the home server 200c controls the operation of the cleaning robot 300a or the home device according to the instruction information received from the device control server 200a. The home server 200c transmits information acquired from the cleaning robot 300a and information acquired from home devices to the device control server 200a.

  Smartphones 100a, 100b, and 100c are portable information terminals for browsing a family message board, writing a message on a family bulletin board, and giving operation instructions to the cleaning robot 300a and household devices. Here, it should be noted that functions equivalent to the smartphones 100a, 100b, and 100c can be realized by a mobile phone, a personal computer, a tablet terminal, and the like. That is, the terminal may not be a smartphone as long as it is a device that can input and output necessary information.

  The cleaning robot (controlled device) 300a is a self-propelled cleaner that automatically cleans the floor. In addition to the cleaning function, the cleaning robot 300a includes an operation log storage function, a remaining charge detection and output function, an image capturing function, a voice recognition function, a voice output function, and the like. Furthermore, the cleaning robot 300a also has a function of transmitting a control signal to the home device and operating the home device.

  The air conditioner 300c is an apparatus that performs air conditioning such as cooling and heating. The air conditioner 300c includes a temperature sensor, and transmits the detected room temperature to the home server 200c.

  The illumination device 300d is an illumination device including a light source such as an LED. The lighting device 300d can be turned on and off under the control of the home server 200c.

  The television 300b is a television receiver, and the recording device 300e is a device that records a broadcast program received by the television 300b. These devices can also be controlled by the control of the home server 200c.

  In the example illustrated in FIG. 2, the home server 200 c captures sensing data acquired by the cleaning robot 300 a or a sensor mounted on the home device, an operation log of the home device, and a photograph taken by the home device. Although transmitted, the information to be transmitted is not limited to these examples. Further, when the home server 200c does not require comprehensive control as in the case where there is no home device involved in the family message board, the home robot 200c is not provided, and the cleaning robot 300a transmits and receives information to and from the device control server 200a. It is good also as composition to do.

  Based on FIG. 3, the outline | summary of the family message board system 400 is further demonstrated. FIG. 3 is a schematic diagram showing an outline of the family message board system 400 in different forms.

  The family message board system 400 shown in FIG. 2 can also be shown as in FIG. In FIG. 2, the device control server 200a and the family message board server 200b are separated, but as shown in FIG. 3, both may be realized as one server that integrates both.

  In FIG. 2, the device control server 200a acquires external information from an external server (another device different from the controlled device) 200d. However, as shown in FIG. 3, the cleaning robot 300a is connected to the external server. You may acquire external information from.

[Function of Device Control Server 200a (Control Unit 10)]
Based on FIG. 4, the basic operation of the device control server 200a will be described. FIG. 4 is a table showing an example of the measurement value 2a acquired by the device control server 200a from the cleaning robot 300a.

  As shown in FIG. 4, the cleaning robot 300a measures various measurement target values using sensors provided in the cleaning robot. For example, the measured value 2a is measured by the wear state of a part (part wear level) of the cleaning robot, the remaining battery level (remaining charge) of the cleaning robot, The distance traveled, the amount of dust collected by the cleaning robot (the amount of dust in the dust cup), the number of times the cleaning robot has been operated (the number of times it has been cleaned), the number of times the user has recognized the operation on the cleaning robot (the voice of voice recognition The number of times of application), the operating state of the cleaning robot (whether or not cleaning is being performed), the temperature around the cleaning robot (room temperature, temperature), the humidity around the cleaning robot, and the like.

  Based on FIG. 5, the basic operation of the device control server 200a will be further described. FIG. 5 shows an example of the frequency table 3, wherein (a) is a table showing an example of the correspondence between the stage set for the measured value 2a and the emotion simulated by the cleaning robot 300a. ) Is a table showing an example of the correspondence between the emotion and the parameter, and (c) is a table showing an example of the correspondence between the parameter and the frequency 1.

  According to the frequency table (association) 3 shown in FIGS. 5A to 5C, the device control server 200a (the control unit 10) derives the frequency 1 from the measured value 2a acquired from the cleaning robot 300a. Can do.

  As shown in FIG. 5A, each measurement object is divided into predetermined stages. For example, the room temperature is divided into four stages of “10 ° C. or lower”, “11 ° C. to 20 ° C.”, “21 ° C. to 26 ° C.”, and “27 ° C. or higher”. The emotions simulated by the cleaning robot 300a are associated with each stage. For example, “roomy” is associated with room temperature “10 ° C. or lower”, “normal” is associated with “11 ° C. to 20 ° C.”, and “21 ° C. to 26 ° C.” is “ “I am happy” is associated with “27 ° C. or higher”, and “I am happy” is associated with it.

  That is, the cleaning robot 300a is in an environment where a general human can feel comfortably, or the cleaning robot 300a is in an easy-to-operate state (for example, a state where the degree of component wear is low, a state where the remaining charge is large, etc.). In some cases, positive emotions (such as “joyful” and “normal”) are associated with each other, and in other cases, negative emotions (such as “mischievous” and “good”) are associated. Although four types of emotions are used in the present embodiment, the present invention is not limited to the above example (the number and type of emotions can be arbitrarily set).

  As shown in FIG. 5B, the emotion is associated with a parameter. For example, the parameter Z is associated with “Samii”, the parameter W is associated with “Kana”, the parameter X is associated with “I am happy”, and the parameter is “Normal”. Y is associated.

  As shown in FIG. 5C, the parameter is associated with the frequency 1 (the number of times the agent speaks per unit time) of the cleaning robot 300a (agent). For example, the parameter X is associated with “speak a lot (once every 5 minutes)”, and the parameter Y is associated with “normally speak (once every 20 minutes)”. Z is associated with “not to speak very much (once every 40 minutes)”, and parameter W is associated with “not to speak at all (once every 60 minutes or 0 times)”.

  That is, the frequency 1 increases as the emotion is positive (“joyful”, “normal”, etc.) and decreases as the emotion is negative (“smiling”, “bad”, etc.). Are associated. Therefore, the user can guess the emotion simulated by the cleaning robot 300a according to the level of frequency 1 (the number of times of speaking per unit time).

  Based on FIG. 6, it will be described that the frequency 1 at which the cleaning robot 300a (agent) speaks changes according to the emotion. FIG. 6 is a schematic diagram showing a state where the smartphone 100a displays an example of communication performed between the user and the cleaning robot 300a on the family message board.

  FIG. 6A shows an example of communication when the emotion is “happy”, and FIG. 6B shows an example of communication when the emotion is “normal”. FIG. 6C illustrates an example of communication when the emotion is “miserable”, and FIG. 6D illustrates an example of communication when the emotion is “not good”.

  For example, when the measured value 2a indicates a room temperature at which a human can feel comfortable, the emotion simulated by the cleaning robot 300a is “happy” (see FIG. 4B). At this time, the device control server 200a transmits a frequency 1 of “speak a lot (once every 5 minutes)” to the family message board server 200b.

  As shown in FIG. 6A, the family message board server 200b receives the frequency 1, and the agent included in the family message board server speaks at the frequency (writes a message on the family message board). That is, the cleaning robot 300a (agent) posts a message on the family message board at a high frequency of once every five minutes, for example. Further, the message includes many positive contents, and the ending of the message is positive (positive).

  On the other hand, when the measured value 2a indicates a room temperature at which humans feel uncomfortable, the emotion simulated by the cleaning robot 300a is “not good” (see FIG. 4B). At this time, the device control server 200a transmits the frequency 1 of “not speaking at all (once every 60 minutes or 0 times)” to the family message board server 200b.

  As shown in FIG. 6D, the family message board server 200b receives the frequency 1, and the agent included in the family message board server speaks at the frequency (writes a message on the family message board). That is, the cleaning robot 300a (agent) posts a message to the family message board at a low frequency of once (or 0 times), for example, every 60 minutes. In addition, the message includes many negative contents, and the ending of the message is backward (negative).

  A specific message (for example, an error message or the like that must be transmitted by the cleaning robot 300a) may be transmitted regardless of the frequency 1 derived by the device control server 200a (control unit 10).

In summary, the device control server 200a (control unit 10) operates in the following two steps. That is, the device control server 200a
(1) Obtain a measurement value 2a measured by the cleaning robot 300a,
(2) The measurement value 2a and the frequency 1 are determined in advance as the frequency table 3 so that the user can guess the emotion simulated by the cleaning robot 300a according to the frequency 1, and the frequency 1 The frequency 1 is derived from the measured value 2a according to the table.

  As described above, the conventional technique is merely a technique for causing a device to repeatedly speak at a predetermined frequency, and is insufficient as a technique for establishing natural communication with a human. In particular, in text-based communication such as social network services, although the “frequency of remarks” according to the situation can be an important factor for establishing natural communication, It is because it is not considered.

  In addition, since the conventional technique expresses emotions by a direct method such as “generates a cry”, the user feels that the expression is pressed. Further, in the text-based communication, it is not preferable to express emotions by voice such as “scream”.

  On the other hand, the control unit 10 included in the device control server 200a derives the frequency 1 at which the cleaning robot transmits information to the user based on the measurement value 2a measured by the cleaning robot 300a. Here, the control unit 10 derives the frequency according to the frequency table 3 in which the measurement value 2a is associated with the frequency 1 so that the user can guess the emotion simulated by the cleaning robot.

  Therefore, the device control server 200a (the control unit 10) can adjust the frequency 1 of the utterance based on the emotion according to the situation, so that natural communication with the emotion can be established between the human and the agent. it can.

[Configuration of Device Control Server 200a]
The configuration of the device control server 200a will be described based on FIG. FIG. 1 is a block diagram showing a main configuration of the device control server 200a.

  Note that, from the viewpoint of ensuring the simplicity of the description, portions that are not directly related to the present embodiment (for example, a portion that receives input from the user via a keyboard or the like) are omitted from the description of the configuration and the block diagram. Yes. However, the device control server 200a may include the omitted configuration according to the actual situation.

  Hereafter, the function which each structure bears in order of the communication part 20a, the receiving part 22a, the control part 10, the information acquisition part 11, the frequency derivation | leading-out part 12, the memory | storage part 30a, and the transmission part 21a is demonstrated.

  The communication unit 20a communicates with the outside via a communication network according to a predetermined communication method. It suffices to have an essential function for realizing communication with an external device, and the communication line, communication method, communication medium, and the like are not limited. The communication unit 20a can be configured by a device such as an Ethernet (registered trademark) adapter, for example. The communication unit 20a can use a communication method or a communication medium such as IEEE802.11 wireless communication or Bluetooth (registered trademark). The communication unit 20a includes a transmission unit 21a and a reception unit 22a.

  The receiving unit 22a receives the measurement value 2a from the cleaning robot 300a and outputs the measurement value to the information acquisition unit 11. The receiving unit 22a receives the external information 2b from the external server 200d and outputs the external information to the information acquisition unit 11.

  The control unit (control device) 10 controls the frequency with which the cleaning robot 300a transmits information to the user. Here, the “information” sent to the user can be recognized by the user such as a message written on the family message board by the anthropomorphic agent of the cleaning robot 300a included in the family message board server 200b, and a voice output by the cleaning robot 300a. Widely includes information transmitted in various forms.

  The information acquisition unit (acquisition means) 11 acquires the measurement value 2a measured by the cleaning robot 300a. More specifically, when the measurement value 2a is input from the reception unit 22a, the information acquisition unit 11 outputs the measurement value to the frequency deriving unit 12.

  The information acquisition unit 11 may further acquire external information (information about the external environment) 2b from an external server 200d different from the cleaning robot 300a. More specifically, when the external information 2b is input from the receiving unit 22a, the information acquisition unit 11 outputs the external information to the frequency deriving unit 12.

  Here, the external information 2b is information that can be acquired from the external server 200d via a communication line such as the Internet. The external information 2b may be, for example, weather forecast data, electrical forecast data, various news (current topics), and the like.

  The frequency deriving unit (derivation means) 12 derives the frequency 1 from the measured value 2 a according to the frequency table 3. More specifically, when the measurement value 2a is input from the information acquisition unit 11, the frequency deriving unit 12 reads the frequency table 3 (see FIG. 4) stored in the storage unit 30a and corresponds to the measurement value 2a. The frequency 1 is derived. Then, the frequency deriving unit 12 outputs the derived frequency 1 to the transmitting unit 21a.

  As described above, in the frequency table 3, the measurement value 2a and the frequency 1 are associated with each other so that the user can guess the emotion simulated by the cleaning robot 300a according to the level of the frequency 1. warn.

  For example, the frequency increases as the emotion is positive, so that the user can guess the emotion. Alternatively, the user can guess the emotion by increasing the frequency toward a predetermined emotion (for example, a positive emotion such as “happy”). Note that the measurement value and the frequency may be associated in advance so that the frequency 1 changes stepwise with respect to the measurement value 2a.

  The storage unit 30 a is a storage device that can store the frequency table 3. The storage unit 30a can be configured with, for example, a hard disk, a semiconductor memory, a DVD, or the like. In the present embodiment, the storage unit 30a is shown in FIG. 1 as a device built in the device control server 200a, but is an external storage device that is communicably connected to the outside of the device control server 200a. Also good.

  In addition, the measurement value 2a and the external information 2b acquired by the information acquisition unit 11 are accumulated in the storage unit 30a. That is, the storage unit 30a stores the measurement value and the external information in time series together with the date and time when the measurement value 2a and the external information 2b are acquired.

  The transmission unit (transmission means) 21a transmits the frequency to the family message board server 200b or the cleaning robot 300a in order to cause the cleaning robot 300a to transmit information at the frequency 1 derived by the frequency deriving unit.

[Method for selecting measured value 2a]
As described above with reference to FIGS. 4A and 4B, each measurement object is divided into predetermined stages, and which stage the measurement value 2a acquired from the cleaning robot 300a corresponds to. Accordingly, the emotion simulated by the cleaning robot is determined.

  Here, the measurement object used for determining the emotion is, for example, (a) selected in order, (b) selected at random, (c) selected according to a predetermined priority, (d ) Selected according to a predetermined order.

  That is, in the case of (a), for example, a measurement target is selected in ascending or descending order of ID, and the emotion is determined using the measurement value 2a of the measurement target. In the case of (b) above, a measurement target having an ID corresponding to a random number generated by an appropriate method is selected.

  Alternatively, in the case of (c), a priority is assigned to each measurement target (not shown in FIG. 4A), and the measurement target is selected in proportion to the priority level. The probability that In the case of (d) above, for example, measurement targets are selected in the order of ID.

  Note that a plurality of measurement objects may be selected, and the emotions may be determined using the measurement values 2a of the plurality of measurement objects. For example, when the room temperature is “21 ° C. to 26 ° C.” and the component wear degree is “0 to 30%”, the emotion is “happy” or the room temperature is “27 ° C. or higher”. When the degree of wear is “80% or more”, the emotion may be “fair”.

[Example of using external information 2b]
Based on FIG. 7, it will be described that the emotion is determined according to the combination of the measured value 2a and the external information 2b. FIG. 7 is a table showing an example of a correspondence relationship between the stage set for the measurement value 2a and the external information 2b and the emotion simulated by the cleaning robot 300a.

  As described above, the device control server 200a receives the external information 2b from the external server 200d, and the information acquisition unit 11 can acquire the external information. Therefore, as shown in FIG. 7, the emotion may be determined according to the combination of the measurement value 2a and the external information 2b. If the emotion is determined as described above, the frequency 1 is determined as described above (see FIG. 4).

  When a plurality of pieces of external information 2b are acquired, the type of external information used for determining emotions (for example, whether weather forecast data or electrical forecast data is used) is selected from the measurement target described above. It may be the same as the method to do.

[Processes executed by the device control server 200a]
Based on FIG. 8, the flow of processing executed by the device control server 200a will be described. FIG. 8 is a flowchart illustrating an example of processing executed by the device control server 200a. In the following description, parenthesized “˜step” represents each step of the control method.

  The information acquisition unit 11 acquires the measurement value 2a via the reception unit 22a (step 1: acquisition step, abbreviated as S1). Next, the information acquisition unit 11 acquires the external information 2b via the reception unit 22a (S2). The frequency deriving unit 12 derives the frequency 1 according to the frequency table 3 (S3). The transmission unit 21a transmits the frequency to the family message board server 200b (S4).

  As described above, when the family message board server 200b receives the frequency 1 transmitted by the transmission unit 21a, the agent included in the family message board server writes a message on the family message board at the frequency. Therefore, natural communication with emotion is realized between the human and the agent.

[Modification of Cleaning Robot 300a]
A configuration example in which the cleaning robot 300a includes the control unit 10 (see FIG. 1) will be described based on FIG. FIG. 9 is a block diagram showing a main configuration of the cleaning robot 300a.

  As shown in FIG. 9, the cleaning robot (controlled device) 300 a may include the control unit 10. The frequency 1 derived by the control unit 10 (frequency deriving unit 12) may be used as a frequency at which the cleaning robot itself transmits a message (for example, by voice) or may be transmitted to the family message board server 200b. (Note that frequency 1 is output from frequency deriving unit 12 to output control unit 51 and transmitting unit 21b in FIG. 9).

  Hereinafter, the function which each structure bears in order of the measurement part 40, the memory | storage part 30b, the output part 50, the output control part 51, and the audio | voice output part 52 is demonstrated. In other configurations, the same reference numerals are used to indicate that the members and functions described above are the same, and redundant description is omitted.

  The measurement unit 40 measures various values using a sensor provided in the cleaning robot 300a, and outputs the obtained measurement value 2a to the information acquisition unit 11.

  The storage unit 30b is a storage device that can store the frequency table 3 and the conversation data 7a. The specific hardware configuration is the same as that of the storage unit 30a.

  The output unit (sending unit) 50 transmits information (for example, a voice message) to the user according to the frequency 1 derived by the frequency deriving unit 12. The output unit 50 includes an output control unit 51 and an audio output unit 52.

  The output control unit 51 generates information to be transmitted to the user based on the frequency 1 input from the frequency deriving unit 12 and the conversation data 7a read from the storage unit 30b, and converts the information into an audio signal 7b. As described above, information is transmitted to the user according to frequency 1. The output control unit 51 outputs the audio signal 7b to the audio output unit 52.

  When the audio signal 7b is input from the output control unit 51, the audio output unit 52 outputs audio according to the audio signal. The audio output unit 52 may be a speaker, for example.

[Effects of Control Unit 10, Device Control Server 200a, and Cleaning Robot 300a]
Since the control unit 10, the device control server 200a, and the cleaning robot 300a can adjust the frequency of remarks based on emotion according to the situation, it is possible to establish natural communication with emotion between a human and an agent. There is an effect that can be done.

[Summary]
The control device (control unit 10) according to one aspect of the present invention includes:
(1) A control device for controlling a controlled device,
(2) acquisition means for acquiring a measurement value measured by the controlled device;
(3) Measurement acquired by the acquisition unit so that the user can guess the emotion simulated by the controlled device according to the frequency with which the controlled device transmits information to the user. A value is associated with the frequency in advance, and a deriving unit that derives the frequency from the measured value according to the association is provided.

Further, a control method of the control device according to one aspect of the present invention includes:
(1) A control method of a control device for controlling a controlled device,
(2) An acquisition step of acquiring a measurement value measured by the controlled device;
(3) Measurement acquired in the acquisition step so that the user can guess the emotion simulated by the controlled device according to the frequency with which the controlled device transmits information to the user. The value is associated with the frequency in advance, and includes a deriving step for deriving the frequency from the measured value according to the association.

  As described above, the conventional technique is merely a technique for causing a device to repeatedly speak at a predetermined frequency, and is insufficient as a technique for establishing natural communication with a human. In other words, because it only responded to the user's remarks, or always remarked at a certain timing, there was excessive or insufficient communication, and it was a uniform and impersonal dry exchange. .

  In other words, especially in text-based communication such as social network services, the above-mentioned prior art is used despite the fact that the “frequency of speech” according to the situation can be an important factor for establishing natural communication. This factor is not considered.

  In addition, since the conventional technique expresses emotions by a direct method such as “generates a cry”, the user feels that the expression is pressed. Further, in the text-based communication, it is not preferable to express emotions by voice such as “scream”.

  On the other hand, according to the above configurations (1) to (3), the control device according to one aspect of the present invention and the control method for the device are based on the measured values measured by the controlled device. The frequency with which the control device transmits information to the user is derived. Here, the control device or the like derives the frequency according to the association in which the measurement value and the frequency are associated with each other so that the user can guess the emotion simulated by the controlled device.

  For example, the frequency increases as the emotion is positive, so that the user can guess the emotion. Alternatively, the user can guess the emotion by increasing the frequency toward a predetermined emotion (for example, a positive emotion such as “happy”).

  Therefore, the control device and the control method of the device according to one embodiment of the present invention can adjust the frequency of utterances based on emotions according to the situation, so that natural communication involving emotions between humans and agents Can be established.

In the control device according to one aspect of the present invention,
(1) The acquisition unit further acquires information about an external environment from another device different from the controlled device,
(2) The derivation unit is configured to obtain the measurement value and information acquired by the acquisition unit, the frequency, and the frequency so that the user can guess the emotion simulated by the controlled device according to the level of the frequency. May be associated in advance, and the frequency may be derived from the measured value and the information according to the association.

  According to the above configurations (1) to (2), the control device according to one aspect of the present invention is configured so that the controlled device provides information to the user based on not only the measurement value but also information on the external environment. Deriving the frequency of sending That is, the amount of information serving as a basis for deriving the frequency is increased.

  Therefore, since the control device according to one aspect of the present invention can adjust the frequency of remarks based on emotions according to the situation, more natural communication involving emotions can be established between humans and agents. Can do.

In the control device according to one aspect of the present invention,
(1) The derivation unit associates the measurement value with the frequency in advance so that the frequency changes stepwise with respect to the measurement value acquired by the acquisition unit. Therefore, the frequency may be derived from the measured value.

  According to the configuration (1), the control device according to one aspect of the present invention derives the frequency according to the association determined in detail according to the measurement value.

  Therefore, since the control device according to one aspect of the present invention can adjust the frequency of remarks based on emotions according to the situation, more natural communication involving emotions can be established between humans and agents. Can do.

In the control device according to one aspect of the present invention,
(1) The acquisition means collects dust by the controlled device, the wear state of the components provided in the controlled device, the remaining amount of the battery provided in the controlled device, the distance moved by the controlled device, Amount, number of times the controlled device has been operated, number of times a user has recognized an operation on the controlled device, operating state of the controlled device, ambient temperature of the controlled device, and surroundings of the controlled device At least one of the humidity may be acquired as the measurement value.

  Therefore, since the control device according to one aspect of the present invention can adjust the frequency of remarks based on emotion according to the situation, natural communication with emotion can be established between a human and an agent. .

In addition, the server (device control server 200a) according to one aspect of the present invention includes:
(1) including the control device,
(2) In order to cause the controlled device to transmit information at the frequency derived by the deriving unit, a transmission unit that transmits the frequency to the controlled device may be provided.

  According to said structure (1)-(2), the server which concerns on 1 aspect of this invention has an effect similar to the said control apparatus.

In addition, a controlled device (cleaning robot 300a) according to one embodiment of the present invention includes:
(1) including the control device,
(2) You may provide the transmission means which transmits information with respect to a user according to the frequency derived | led-out by the said derivation means.

  According to said structure (1)-(2), the to-be-controlled device which concerns on 1 aspect of this invention has an effect similar to the said control apparatus.

  The control device, the server, and the controlled device may be realized by a computer. In this case, by causing the computer to operate as each unit of the control device, the server, and the controlled device, a control program for realizing the control device, the server, or the controlled device by the computer, and a computer readable recording the same Various recording media also fall within the scope of the present invention.

[Combination of configurations (technical means) included in each embodiment]
Note that the configurations included in the above-described embodiments can be combined as appropriate. In other words, all the configurations described in the above embodiments can be used in combination with all or a part of the configurations in the other embodiments as well as the embodiment according to the above description. Embodiments are also included in the technical scope of the present invention.

[Example of software implementation]
Finally, each block (particularly, each block included in the control unit 10) of the device control server 200a and the cleaning robot 300a is realized in hardware by a logic circuit formed on an integrated circuit (IC chip). Alternatively, it may be realized by software using a CPU (Central Processing Unit).

  In the latter case, the device control server 200a and the cleaning robot 300a include a CPU that executes program instructions for realizing each function, a ROM (Read Only Memory) that stores the program, and a RAM (Random Access Memory) that expands the program. ), A storage device (recording medium) such as a memory for storing the program and various data. The object of the present invention is to enable the computer to read the program code (execution format program, intermediate code program, source program) of the control program for the device control server 200a or the cleaning robot 300a, which is software that implements the functions described above. This can also be achieved by supplying the recorded recording medium to the device control server 200a or the cleaning robot 300a, and the computer (or CPU or MPU) reads and executes the program code recorded on the recording medium. .

  Examples of the recording medium include non-transitory tangible medium, such as magnetic tape and cassette tape, magnetic disk such as floppy (registered trademark) disk / hard disk, and CD-ROM / MO. Discs including optical discs such as / MD / DVD / CD-R, cards such as IC cards (including memory cards) / optical cards, semiconductor memories such as mask ROM / EPROM / EEPROM (registered trademark) / flash ROM Alternatively, logic circuits such as PLD (Programmable Logic Device) and FPGA (Field Programmable Gate Array) can be used.

  Moreover, the apparatus control server 200a or the cleaning robot 300a may be configured to be connectable to a communication network, and the program code may be supplied via the communication network. The communication network is not particularly limited as long as it can transmit the program code. For example, the Internet, intranet, extranet, LAN, ISDN, VAN, CATV communication network, virtual private network, telephone line network, mobile communication network, satellite communication network, and the like can be used. The transmission medium constituting the communication network may be any medium that can transmit the program code, and is not limited to a specific configuration or type. For example, even with wired lines such as IEEE 1394, USB, power line carrier, cable TV line, telephone line, and ADSL (Asymmetric Digital Subscriber Line) line, infrared rays such as IrDA and remote control, Bluetooth (registered trademark), IEEE 802.11 wireless, HDR ( It can also be used by radio such as High Data Rate (NFC), Near Field Communication (NFC), Digital Living Network Alliance (DLNA), mobile phone network, satellite line, and digital terrestrial network. The present invention can also be realized in the form of a computer data signal embedded in a carrier wave in which the program code is embodied by electronic transmission.

  As described above, in this specification, the means does not necessarily mean a physical means, and includes the case where the function of each means is realized by software. Further, the function of one means may be realized by two or more physical means, and the function of two or more means may be realized by one physical means.

  The present invention can be applied to a server, a personal computer, a smartphone, a tablet terminal, and the like that provide a social network service that allows information to be shared among previously registered users.

1 Frequency (Frequency)
2a Measurement value (measurement value)
2b External information (information about external environment)
3 Frequency table (association)
10 Control unit (control device)
11 Information acquisition unit (acquisition means)
12 Frequency deriving unit (derivation means)
21a Transmission unit (transmission means)
50 Output unit (transmission means)
200a Device control server (server)
200d External server (another device different from the controlled device)
300a Cleaning robot (controlled device)

Claims (8)

A control device for controlling a controlled device,
Obtaining means for obtaining a measurement value measured by the controlled device;
The measurement value acquired by the acquisition unit and the measurement value so that the user can guess the emotion simulated by the controlled device according to the frequency with which the controlled device transmits information to the user A control apparatus comprising: a frequency associated with a frequency in advance; and a derivation unit that derives the frequency from the measured value according to the correlation. The acquisition means further acquires information about an external environment from another device different from the controlled device,
The derivation means corresponds in advance to the measurement value and information acquired by the acquisition means and the frequency so that the user can guess the emotion simulated by the controlled device according to the level of the frequency. The control device according to claim 1, wherein the control device derives the frequency from the measurement value and the information according to the association.   The derivation means associates the measurement value with the frequency in advance so that the frequency changes stepwise with respect to the measurement value acquired by the acquisition means. The control device according to claim 1, wherein the frequency is derived from a value.   The acquisition means includes a wear state of a part included in the controlled device, a remaining amount of a battery included in the controlled device, a distance moved by the controlled device, an amount collected by the controlled device, Of the number of times the controlled device is operated, the number of times the user recognizes the operation on the controlled device, the operating state of the controlled device, the ambient temperature of the controlled device, and the ambient humidity of the controlled device The control device according to claim 1, wherein at least one of the measurement values is acquired. Including the control device according to any one of claims 1 to 4,
A server comprising transmission means for transmitting the frequency to the controlled apparatus to cause the controlled apparatus to transmit information at the frequency derived by the deriving means. Including the control device according to any one of claims 1 to 4,
A controlled apparatus comprising: a transmission unit configured to transmit information to a user according to the frequency derived by the deriving unit. A control method of a control device for controlling a controlled device,
An acquisition step of acquiring a measurement value measured by the controlled device;
In accordance with the frequency with which the controlled device transmits information to the user, the measured value acquired in the acquiring step and the measurement value so that the user can guess the emotion simulated by the controlled device A control method for a control device, characterized in that a frequency is associated in advance and a deriving step of deriving the frequency from the measured value according to the association.   A control program for causing a computer to function as the control device according to claim 1, wherein the control program causes the computer to function as each of the means.

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