KR20090079655A - Method of executing robot behavior based on user behavior and its robot - Google Patents

Abstract

A method for performing robot reaction behavior according to a stimulus of a user and a robot using the same are provided to offer education of humanism effects, and to offer change of reaction behaviors of a robot according to a stimulus of the user. A method for performing robot reaction behavior according to a stimulus of a user includes the following steps of: setting up robot reaction behavior affirmation parameter and closeness, a robot reaction behavior value etc; sensing data about a stimulus action of the user with at least one sensing unit; recognizing the robot reaction behavior value; selecting the robot reaction behavior value based on the robot reaction behavior affirmation parameter and the closeness; and performing reaction behaviors to the user according to corresponding script contents of the selected robot reaction behavior value.

Description

Method of executing robot behavior based on user behavior and its robot}

The present invention relates to a method of performing a robot's behavior and the robot, and more particularly, by updating the intimacy between the user and the robot by executing a script-based reaction behavior corresponding to a stimulus behavior of a user (eg, a child) facing the robot. The present invention relates to a method of performing a robot reaction behavior according to a user stimulus behavior, and a robot thereof to induce a child's personalization through a robot.

Recently, with the development of intelligent robots (also known as "URC (Ubiquitous Robotic Companion robots)"), it is possible to provide various contents and services to users through robots connected to the Internet.

For example, such intelligent robots provide various contents and services to users, such as news, weather, educational content, calendar reminders, wake-up calls, home monitoring, and cleaning. The specifications, functions, services, and shapes of each intelligent robot are all different, and each user uses the corresponding intelligent robot according to his purpose of use and taste.

On the other hand, recently, thanks to the generalization of robots, several robots in each home, such as a health care robot that checks the state of grandmother's health, a cleaning robot that helps mom's cleaning, a work robot that assists father's work, education for children, Robot for providing entertainment, pet function [Note; Specifically, it can be classified into an edu robot, an entertainment robot, a pet robot, etc.].

Even now, but in the future, as more and more small nuclear families become more advanced, as mentioned above, children will have a very close relationship with robots and acquire various information through robots. It is expected to be done.

However, looking at the developed and proposed robots and related technologies to date, only the quality of robot education contents to be provided to children is concentrated, and in particular, the robot itself is improving only in consideration of children's immature usage.

Such prior arts can enable children to cultivate their knowledge skills through early education through providing excellent educational contents and providing convenient operation and operation functions, but most importantly in the development of personality. It is not able to induce purification.

In other words, in the above-described conventional techniques, children of young age are not aware of their own personality wrong through contents provided by the robot, but also realize their personality through the masterpieces of educational contents. Things are very difficult issues in reality.

Therefore, there is an urgent need for a technology that utilizes the latest robot technology to enable the purification of the personality of other specific people including children through stimulation / reaction between robots. In addition, there is a need to develop a connection (matching) technology between the user's stimulus behavior and the robot's reaction behavior, and to efficiently construct the information (script-based behavior DB) necessary for the robot to respond to the user. .

Accordingly, the present invention has been proposed in order to solve the above problems and to meet the above requirements, by executing a script-based reaction behavior corresponding to the stimulus behavior of the user (for example, a child) dealing with the robot, the user and the robot The purpose of the present invention is to provide a method for performing a robot reaction behavior according to user stimulus behavior and a robot for inducing the purification of the personality of the child through the robot by updating the intimacy between the two.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned above can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

In the method of the present invention for achieving the above object, in the method of performing a robot reaction behavior, setting the user stimulus behavior value, the user stimulus behavior affirmation parameter, the robot reaction behavior value, the robot reaction behavior affirmation parameter and intimacy ; Sensing data relating to stimulus behavior of the user using at least one sensing means; Recognizing a user stimulus behavior value of the sensed data; A robot reaction behavior for selecting a robot reaction behavior value matching the recognized user stimulus behavior value based on the set user stimulus behavior value, robot response behavior value, user stimulus behavior affirmation parameter, robot response behavior affirmation parameter and intimacy Selection step; And a reaction action execution step of executing a reaction action for the user according to the contents of the corresponding script of the selected robot reaction action value.

The method may further include an intimacy updating step of updating the current intimacy by reflecting the executed reaction behavior in the intimacy as the reaction behavior is completed.

On the other hand, the present invention, the robot, the user stimulus behavior value, the user stimulus behavior affirmation parameter, the robot reaction behavior value, the robot reaction behavior affirmation parameter and the familiarity database is set; Sensing means for sensing data relating to stimulus behavior of a user; A controller for querying the behavioral database based on the data sensed by the sensing means to execute a script-based reaction behavior corresponding to the stimulus behavior of the user through an output interface and to update the intimacy with the user; And the output interface unit for outputting the reaction action to the user.

The present invention as described above allows the user (especially the child) to watch the change in the response behavior of the robot according to the actions stimulated by the robot, and to mimic the positive personality change of the robot through the purification of his personality There is an advantage that can provide character education effect.

In addition, the present invention is equipped with only a simple software module, such as script-based behavior DB can implement the child personality purification function to the robot, and can effectively implement the child personality purification function without adding / replacing / modifying existing hardware modules. have.

The above objects, features, and advantages will become more apparent from the detailed description given hereinafter with reference to the accompanying drawings, and accordingly, those skilled in the art to which the present invention pertains may share the technical idea of the present invention. It will be easy to implement. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a flowchart illustrating a method for performing a robot reaction behavior according to a user stimulus behavior according to the present invention, FIG. 2 is a diagram illustrating an embodiment of a script-based behavior DB according to the present invention, and FIGS. 3A and 3B. 2 is a detailed table illustrating a behavior DB of FIG. 2, FIG. 4 is a diagram illustrating an embodiment of a robot according to the present invention, and FIG. 5 is a perspective view of an embodiment of a robot to which the present invention is applied.

According to the present invention, a script-based action is used to recognize a robot's response to a user's stimulus behavior according to a stimulus behavior of a user (eg, a child), for example, a smile, frowning, hitting, stroking, swearing, praising, or the like. It is to induce the refinement of the personality of the child through the robot by updating the intimacy between the user and the robot by changing the robot response behavior according to the user's stimulus behavior by executing the corresponding response behavior from the DB through the speaker, ear, and LED. . In the present invention as described above, any person can be a subject without limiting personality education subjects, in particular, subjects for character purifying education, to children. Hereinafter, the child will be described as an example.

To this end, the present invention proposes a connection (matching) technique between the user's stimulus behavior and the robot's reaction behavior, configures the information necessary for the robot to respond to the user as a script-based behavior DB, and The evaluation method, the evaluation method for robot reaction behavior, and the intimacy derivation method between the user and the robot are presented.

Hereinafter, the present invention will be described in detail. First, the robot to which the present invention is applied will be briefly described with reference to FIG. 5.

The robot shown in FIG. 5 is a product name "Porong", which provides contents and services such as education and entertainment to children, and includes a camera, a touch sensor, a microphone, a speaker, a wing-shaped ear, an LED mounted on the ear, a face part, and a face part. It is equipped with hardware specifications such as the LED and the control unit mounted on the. As described above, the present invention aims to efficiently implement a child personality purification function without adding / replacing / modifying a hardware module to an existing robot (that is, using a hardware module mounted on the robot as it is).

Meanwhile, in describing the present invention, a speaker, a wing-shaped ear, and an LED mounted on the ear are provided by a technology and a control unit for controlling the situation based on the data received from the camera, the touch sensor, and the microphone. The technology for controlling robot behavior through the face part, the LED mounted on the face part, and the like may be used, and thus description thereof will be omitted below.

Then, the flow of the present invention will be described with reference to FIG. 1. Hereinafter, the robot performs a number of reaction actions in accordance with a stimulus action of a child, and intimacy according to the reaction action, that is, intimacy between the current child and the robot. It is set to have some value as an index indicating the degree. This intimacy ranges from "-1" to "+1", which means that the closer to "-1", the poorer the robot and children are, and the closer to "+1", the better the robot and children. do. In addition, the initial familiarity set by the robot is set to have a value of "-1".

The child has taken or done good actions in dealing with the robot, such as smiling, frowning or struck, showing a normal or ordinary routine, hitting the robot, pressing the robot, stroking the robot, tickling the robot, or embracing the robot. A variety of stimulus actions such as positive voicement such as robots, negative voicement such as swear words, and ordinary voicement such as show tales are selected and combined.

Then, the robot senses (collects) the child's image data (look), touch data, voice data, etc. using a sensor such as a camera, a touch sensor, a microphone, and the like (101).

Thereafter, the robot recognizes (102) which child stimulus behavior value each of the input sensing data (image data, image, touch data, voice data, etc.) has. Here, the recognition result, that is, the data representation of the child stimulus behavior value is in the form of information that can be understood by a normal person and has a format that can be handled in a script-based behavior DB to be described later.

Thereafter, the robot selects a robot response behavior value that matches the recognized child stimulus behavior value based on the script-based behavior DB query and current familiarity installed in the robot (103). The robot reaction behavior value selection process will be described in more detail with reference to FIGS. 2, 3A, and 3B as follows.

The script-based behavior DB according to the present invention shown in FIG. 2 has a structure in which a child stimulus action ID / robot reaction action ID list, a child stimulation action list, and a robot reaction action list are connected. Such behavior DB of the present invention is script-based, and those skilled in the art will readily understand that it can be easily implemented in a robot with a simple software module.

In particular, a child stimulus behavior value corresponding to a child stimulation behavior that can be sensed and recognized by the robot is set in the child stimulus behavior list, and the robot response behavior list corresponds to a robot reaction behavior that the robot can take. The robot response behavior value is set in advance.

In addition, the child stimulus behavior list includes a child stimulus behavior positive parameter indicating whether the child's stimulus behavior is positive, negative, or neutral, and the robot reaction behavior list indicates whether the robot's reaction behavior is positive or negative The robot response behavior affinity parameter, which indicates whether it is neutral or not, is included.

3A and 3B show detailed table examples of the behavior DB of FIG. 2, in which the first column acquires a child stimulus behavior value recognized for a child image acquired by a camera, and the second column obtains a child stimulus behavior value from a touch sensor. Recognized child stimulus behavior value for a child touch, the third column recognizes child stimulus behavior value for the child's voice announcement obtained from the microphone, and the fourth column the same row recognized through the camera / touch sensor / microphone. In the fifth column, a script describing the robot response behavior values representing the actions taken by the robot according to the combination of the child stimulation behavior values is shown. In the column, the robot reaction behavior positive parameters corresponding to the above robot reaction behavior values are respectively recorded.

3A and 3B, when looking at the table of the behavior DB, a plurality of robot response behavior values matching the same child stimulus behavior value combination, that is, one child stimulus behavior list in FIG. You can see that it is connected. This will be described later.

Referring to FIGS. 2, 3A, and 3B, a process of selecting a robot response behavior value matching the aforementioned child stimulation behavior value will be described below.

First, the robot retrieves at least one robot response behavior value matching the recognized child stimulus behavior value from the script-based behavior DB (103a).

The robot checks a preset (accumulated) current intimacy value (103b), multiplies the robot response behavior affinity parameter of each searched robot response behavior value with the checked intimacy value, respectively, and then each robot response behavior value. Obtain each probability for (103c).

Then, the robot selects the corresponding robot reaction behavior value as the corresponding robot reaction behavior to be taken by the robot according to the child stimulation behavior based on the respective probabilities of the obtained robot reaction behavior values (103d). That is, in the robot response behavior selection process proposed in the present invention, the robot response behavior [target behavior] is probabilistically determined by applying each probability for each robot response behavior value to a weighted random selection method. It is to be possible. For example, in the process of "103c", the probability for "A robot reaction behavior value" is "0.2", the probability for "B robot reaction behavior value" is "0.4", and the "C robot reaction behavior value". In the case of obtaining the probability of each of them as "0.6", the "A robot reaction behavior" is selected as the probability of "0.2" and the "B robot reaction behavior" is the probability of "0.4" for the target behavior to be taken by the robot. And the "C robot reaction behavior" is selected with a probability of "0.6". This process of choosing robot response behavior is to show children more diverse robot response behavior in order to further enhance the psychological effect of child personality purification, which can be summarized through "learning and behavior" of "Paul Chance". Based on the results of psychological experiments. For example, in the present invention, focusing on the fact that the robot's response to the child's stimulus behavior is not always as expected, it is more powerful in purifying the child's personality, so that the robot always responds positively to the child's positive behavior. It is not intended to show a higher educational effect by making children's positive behavior more sustainable when showing positive tendencies.

As another example, in the present invention, in selecting a robot response behavior, the robot may select a robot response behavior having the highest probability value as a robot response behavior to be taken according to the child stimulation behavior based on the obtained probability. Such another example of the present invention is very effective when the robot wants to show appropriate response behavior to the child.

In the present invention as described above, if the robot response behavior positive parameter is positive according to the current intimacy of the robot and the child, the robot response behavior is positive for the child, and if the robot response behavior positive parameter is negative, the robot response behavior is negative. Negative to children.

Then, the robot executes the corresponding reaction behavior through the speaker, the wing-shaped ears, the LED mounted on the ear, the face portion, the LED mounted on the face portion, and the like according to the corresponding script content of the selected robot reaction behavior value (104). ).

Thereafter (ie, after executing the robot reaction action), the robot updates the current familiarity by reflecting the reaction action performed on the child in intimacy (105). For example, the robot may add a predetermined value (eg, "0.05") to the current intimacy value if the robot response behavior positive parameter of the executed robot response action value is a positive value (eg, "+1"). Positively update the intimacy value, and if the robot response behavior positive parameter of the executed robot response behavior value is a negative value (eg "-1"), a predetermined value (eg "0.05") from the current intimacy value Update the intimacy value negatively by subtracting This updated intimacy subsequently affects the stimulus / response between the child and the robot, allowing the child to watch the robot's response behavior change as a result of his or her own stimulation.

Next, a robot according to the present invention will be described with reference to FIG. 4.

As shown in FIG. 4, the robot according to the present invention includes a sensor 40 such as a camera 41, a touch sensor 42, a microphone 43, a speaker 51, two ears 52 in the shape of a wing. ), An output interface 50 such as an LED 53 mounted on each ear 52, a face 54, an LED 55 mounted on the face 54, and a child stimulus behavior [child stimulation behavior] List], a script-based behavioral DB 60 including a child stimulus behavior affirmation parameter, a robot response behavior value [robot response behavior list], a robot response behavior affirmation parameter, and intimacy, a recognizer 71, and a selector 72. ), The executor 73, and the controller 70 including the modifier 74.

The camera 41 senses image data of the child, such as the child smiles, frowns, struck, or looks normal to the robot.

The touch sensor 42 senses contact data and action data of a child, such as hitting, pressing, stroking, tickling, and embracing the child with respect to the robot.

The microphone 43 senses data of a child's voicement such as a positive voicement such as a robot that is good for a robot, a negative voicement such as abusive language, or an ordinary voicement such as a traditional story.

The recognizer 71 of the controller 70 recognizes a child stimulus behavior value of a combination of data sensed by the sensor 40 such as the camera 41, the touch sensor 42, the microphone 43, or the like. . Here, the recognizer 71 uses a user's facial expression recognition technology through a known camera, uses a range and size recognition technology of a touch sensor, and uses a user's spoken voice volume and a wavelength recognition technology through a microphone. Recognize that

The selector 72 of the controller 70 may be configured to recognize the recognizer based on the child stimulus behavior value, the robot response behavior value, the child stimulus behavior affirmation parameter, the robot response behavior affirmation parameter, and the intimacy on the script-based behavior DB 60. The robot response behavior value that matches the child stimulus behavior value recognized in 71) is selected.

The executor 73 of the controller 70 includes a speaker 51 of the output interface unit 50, two ears 52 in the shape of wings, according to the contents of the corresponding script of the robot response action value selected by the selector 72. The reaction action is executed through the combination of the LEDs 53 mounted on each ear 52, the face portion 54, and the LEDs 55 mounted on the face portion 54.

Through the speaker 51, a pre-stored sound of a wave file or the like is reproduced (eg; It hurts, don't, don't shit, don't say that, I'm feeling bad, too soft, what's bothering me, don't choke, thank you, etc.] and the ear 52 is built into both wings of the robot. Operating via a drive motor [eg; flip_down: lowers both ears 45 degrees, flip_up: raises both ears 45 degrees, Flap: raises both ears slowly up and down 30 degrees and repeats twice, Shake: quickly raises and lowers both ears 10 degrees 4 times, etc., and the LED 53 mounted on the ear 52 indicates the color of the ear [eg; Blue: blue LED light, Red: red LED light, Green: green LED light, Twinkle: red, green, blue LED light alternately.

The modifier 74 of the controller 70 updates the current intimacy by reflecting the reaction behavior executed by the executor 73 in the intimacy.

On the other hand, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily inferred by a computer programmer in the art. In addition, the written program is stored in a computer-readable recording medium (information storage medium), and read and executed by a computer to implement the method of the present invention. The recording medium may include any type of computer readable recording medium.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

1 is a flowchart illustrating a method for performing a robot reaction behavior according to a user stimulus behavior according to the present invention;

2 is a structural diagram of an embodiment of a script-based behavior DB according to the present invention;

3A and 3B are exemplary diagrams illustrating specific tables of the behavior DB of FIG. 2.

4 is a configuration diagram of an embodiment of a robot according to the present invention;

5 is a perspective view of an embodiment of a robot to which the present invention is applied.

* Explanation of symbols on the main parts of the drawing

41: camera 42: touch sensor

43: microphone 51: speaker

52: wing-shaped ear 53: LED mounted on the ear

54: face part 55: LED mounted on face part

60: behavior DB 71: recognizer

72: Selector 73: Launcher

74: modifier

Claims (15)

In the robot reaction behavior method, Setting a user stimulus behavior value, a user stimulus behavior affirmation parameter, a robot response behavior value, a robot response behavior affirmation parameter, and an intimacy; Sensing data relating to stimulus behavior of the user using at least one sensing means; Recognizing a user stimulus behavior value of the sensed data; A robot reaction behavior for selecting a robot reaction behavior value matching the recognized user stimulus behavior value based on the set user stimulus behavior value, robot response behavior value, user stimulus behavior affirmation parameter, robot response behavior affirmation parameter and intimacy Selection step; And Reaction action execution step of executing the reaction action for the user according to the content of the script of the selected robot reaction action value Robot response behavior according to the user stimulus behavior comprising a. The method of claim 1, An intimacy updating step of updating the current intimacy by reflecting the executed reaction behavior to the intimacy as the reaction behavior is completed; Robot response behavior according to the user stimulus behavior further comprising a. The method of claim 2, The intimacy update step, As the robot reaction behavior positive parameter of the robot response behavior value to the executed reaction behavior is a positive value, a predetermined value is added to the value of the intimacy to positively update the intimacy value, and And a method of performing a robot reaction behavior according to user stimulus behavior, wherein the familiarity value of the robot response behavior is negatively updated by subtracting a predetermined value from the intimacy value as the robot response behavior positive parameter of the robot response behavior value is negative. The method according to any one of claims 1 to 3, The user stimulus behavior value includes a value corresponding to user stimulation behavior that can be sensed and recognized by the robot, and the robot response behavior value includes a value corresponding to a robot response behavior that the robot can take. Robot response behavior according to the user stimulus behavior. The method of claim 4, wherein And the user stimulus behavior value is connected (matched) to at least one robot response behavior value. The method according to any one of claims 1 to 3, The user stimulus behavior positive parameter indicates whether the user's stimulus behavior is positive, negative or neutral, and the robot reaction behavior positive parameter indicates whether the robot's response behavior is positive, negative or neutral. Robot response behavior according to the user stimulus behavior. The method according to any one of claims 1 to 3, The sensed data includes at least one of user image data sensed by a camera, user touch data sensed by a touch sensor, and user voicement data sensed by a microphone. How to do it. The method according to any one of claims 1 to 3, The robot reaction action selection step, Searching for at least one robot response behavior value matching the recognized user stimulus behavior value; Determining a probability value for each robot response behavior value by checking the set current familiarity value and multiplying the robot response behavior positive parameter of each searched robot response behavior value by the value of the identified intimacy value; And A robot reaction behavior determination process for determining a robot reaction behavior to be taken according to the user stimulus behavior based on the probabilities of the obtained robot reaction behavior values. Robot response behavior according to the user stimulus behavior comprising a. The method of claim 8, The robot reaction behavior determination process, And a corresponding robot reaction action value to be taken by the robot according to the user stimulus action as a respective probability for each of the obtained robot reaction action values. The method of claim 8, The robot reaction behavior determination process, Performing the robot response behavior according to the user stimulus behavior, characterized in that the robot response behavior value having the highest probability value among the probabilities for the respective robot response behavior values is determined as the corresponding robot response behavior to be taken according to the user stimulation behavior. Way. The method according to any one of claims 1 to 3, The reaction action execution step, According to the script content of the selected robot response behavior value, the response behavior is performed using at least one of a speaker mounted on the robot, a wing-shaped ear, a first indicator mounted on the ear, a face part, and a second indicator mounted on the face part. Robot response behavior according to the user stimulation behavior, characterized in that for executing. In robots, A behavior database in which a user stimulus behavior value, a user stimulus behavior affirmation parameter, a robot response behavior value, a robot response behavior affinity parameter, and an intimacy are set; Sensing means for sensing data relating to stimulus behavior of a user; A controller for querying the behavioral database based on the data sensed by the sensing means to execute a script-based reaction behavior corresponding to the stimulus behavior of the user through an output interface and to update the intimacy with the user; And The output interface unit for outputting the reaction behavior to the user A robot that performs a reaction action according to a user stimulus action comprising a. The method of claim 12, The control unit, A recognizer for recognizing a user stimulus action value of the data sensed by the sensing means; Selecting a robot response behavior value matching the user stimulus behavior value recognized by the recognizer based on the user stimulus behavior value, the robot response behavior value, the user stimulus behavior affirmation parameter, the robot response behavior affirmation parameter, and the intimacy on the behavior database Selector for; An executor for executing a reaction action for the user through the output interface unit according to the contents of the script of the robot reaction action value selected by the selector; And Modifier for updating the current intimacy by reflecting the reaction behavior executed in the executor to the intimacy on the behavior database A robot that performs a reaction action according to a user stimulus action comprising a. The method according to claim 12 or 13, The sensing means, the robot for performing a reaction behavior according to the user stimulus action, characterized in that it comprises at least one of a camera, a touch sensor and a microphone. The method according to claim 12 or 13, The output interface unit may include at least one of a speaker, a wing-shaped ear, a first indicator mounted on the ear, a face unit, and a second indicator mounted on the face unit to perform a reaction action according to a user stimulus action. Robot.

Images