WO2023037608A1 - 自律移動体、情報処理方法、及び、プログラム - Google Patents

自律移動体、情報処理方法、及び、プログラム Download PDF

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Publication number
WO2023037608A1
WO2023037608A1 PCT/JP2022/010492 JP2022010492W WO2023037608A1 WO 2023037608 A1 WO2023037608 A1 WO 2023037608A1 JP 2022010492 W JP2022010492 W JP 2022010492W WO 2023037608 A1 WO2023037608 A1 WO 2023037608A1
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WIPO (PCT)
Prior art keywords
mobile body
autonomous mobile
output
bark
stimulus
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/010492
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English (en)
French (fr)
Japanese (ja)
Inventor
慧 高橋
吉秀 藤本
潤一 永原
大介 望月
有加 高橋
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Sony Group Corp
Original Assignee
Sony Group Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Group Corp filed Critical Sony Group Corp
Priority to US18/684,730 priority Critical patent/US20240367065A1/en
Priority to JP2023546754A priority patent/JPWO2023037608A1/ja
Publication of WO2023037608A1 publication Critical patent/WO2023037608A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/28—Arrangements of sound-producing means in dolls; Means in dolls for producing sounds
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/18—Figure toys which perform a realistic walking motion
    • A63H11/20—Figure toys which perform a realistic walking motion with pairs of legs, e.g. horses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K15/00—Acoustics not otherwise provided for
    • G10K15/04—Sound-producing devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H2200/00—Computerized interactive toys, e.g. dolls

Definitions

  • the present technology relates to an autonomous mobile body, an information processing method, and a program, and more particularly to an autonomous mobile body, an information processing method, and a program capable of communicating with a user.
  • Patent Document 1 Conventionally, electronic devices that can recognize user's gestures and can be operated by gestures have been widely used (see Patent Document 1, for example).
  • pet-type robots that can recognize the user's gestures and communicate with the user are becoming more popular.
  • This technology was created in view of this situation, and is intended to improve the expressiveness of autonomous mobile objects such as pet-type robots through voice.
  • An autonomous mobile body is an autonomous mobile body that moves autonomously.
  • an audio controller for controlling the characteristics and output timing of the audio output in response to the stimulus, based on at least one of the other party, the surrounding situation, and the content of the stimulus.
  • An information processing method of one aspect of the present technology recognizes an external stimulus to an autonomous mobile body, and recognizes the behavior of the autonomous mobile body, the state of the autonomous mobile body, the opponent who gave the stimulus, the surrounding situation, and Based on at least one of the contents of the stimulus, the characteristics and output timing of the sound output in response to the stimulus are controlled.
  • a program of one aspect of the present technology recognizes an external stimulus to an autonomous mobile body, and recognizes the behavior of the autonomous mobile body, the state of the autonomous mobile body, the opponent who gave the stimulus, the surrounding situation, and the stimulus.
  • a computer to control the characteristics and output timing of the sound to be output in response to the stimulus, based on at least one of the contents of (1).
  • an external stimulus to an autonomous mobile body is recognized, and the behavior of the autonomous mobile body, the state of the autonomous mobile body, the opponent who gave the stimulus, the surrounding situation, and the stimulus. Based on at least one of the contents, characteristics and output timing of the sound output in response to the stimulus are controlled.
  • FIG. 1 is a block diagram showing an embodiment of an information processing system to which the present technology is applied;
  • FIG. It is a figure which shows the hardware structural example of an autonomous mobile body. It is a structural example of the actuator with which an autonomous mobile body is provided. It is a figure for demonstrating the function of the display with which an autonomous mobile body is provided. It is a figure which shows the operation example of an autonomous mobile body. It is a block diagram which shows the functional structural example of an autonomous mobile body. It is a block diagram which shows the functional structural example of the information processing part of an autonomous mobile body.
  • FIG. 10 is a diagram for explaining an example of a conventional method for outputting voice of an autonomous mobile body; It is a figure for demonstrating the example of the output method of the audio
  • FIG. 10 is a diagram for explaining an example of a method of recognizing how to stroke an autonomous mobile object
  • FIG. 10 is a diagram for explaining an example of a method of recognizing how to stroke an autonomous mobile object
  • FIG. 4 is a diagram for explaining an example of a voice parameter control algorithm
  • It is a figure which shows the example of an opening angle.
  • It is a figure which shows the example of the transition diagram of the internal state of an autonomous mobile body.
  • 9 is a flowchart for explaining touch response sound control processing; It is a flow chart for explaining a first embodiment of bark control processing.
  • FIG. 10 is a diagram for explaining an example of the relationship between the manner of touch and the output bark; FIG.
  • FIG. 10 is a diagram for explaining an example of the relationship between the manner of touch and the output bark; It is a flow chart for explaining a 2nd embodiment of bark control processing. It is a flow chart for explaining a bark control process of a third embodiment.
  • FIG. 10 is a diagram showing an example of voice parameters of a bark when an action of touching and releasing the back of an autonomous mobile object is repeated at short intervals;
  • FIG. 10 is a diagram showing an example of voice parameters of barks when a hand is moved back and forth on the back of an autonomous mobile body and stroked.
  • FIG. 10 is a diagram showing an example of voice parameters of barks when a hand is kept on the back of an autonomous mobile body without moving; It is a flow chart for explaining a bark control process of a fourth embodiment.
  • FIG. 10 is a diagram for explaining an example of the relationship between the manner of touch and the output bark; It is a flow chart for explaining a 2nd embodiment of bark control processing. It is a flow chart for explaining a bark control process of
  • FIG. 11 is a flowchart for explaining details of reaction intensity detection processing; FIG. It is a figure for demonstrating the detection method of reaction intensity.
  • FIG. 10 is a diagram showing an example of how to raise the pitch of a bark;
  • FIG. 10 is a diagram showing an example of parameters used for setting favorite places;
  • FIG. 10 is a flowchart for explaining the details of sleep-talking control processing;
  • FIG. 4 is a flowchart for explaining motion sound control processing; 4 is a graph showing the relationship between the aperture angle and voice parameters;
  • FIG. 10 is a diagram showing the relationship between the result of detecting a sole button and the sound volume of footsteps;
  • FIG. 4 is a diagram for explaining an example of a method of calculating speech parameters;
  • FIG. 4 is a graph showing the relationship between the aperture angle and voice parameters; It is a figure which shows the structural example of a computer.
  • Embodiment >> An embodiment of the present technology will be described with reference to FIGS. 1 to 35.
  • FIG. 1 A block diagram illustrating an embodiment of the present technology.
  • FIG. 1 is a block diagram showing an embodiment of an information processing system 1 to which the present technology is applied.
  • the information processing system 1 includes autonomous mobile bodies 11-1 to 11-n, information processing terminals 12-1 to 12-n, and an information processing server 13.
  • the autonomous mobile bodies 11-1 to 11-n are hereinafter simply referred to as the autonomous mobile bodies 11 when there is no need to distinguish them individually.
  • the information processing terminals 12-1 to 12-n are simply referred to as the information processing terminals 12 when there is no need to distinguish them individually.
  • the autonomous mobile body 11 is an information processing device that recognizes the situation of itself and its surroundings based on collected sensor data, etc., and autonomously selects and executes various actions according to the situation.
  • One of the characteristics of the autonomous mobile body 11 is that it autonomously performs an appropriate action according to the situation, unlike a robot that simply follows a user's instructions.
  • the autonomous mobile body 11 can, for example, perform user recognition and object recognition based on captured images, and perform various autonomous actions according to the recognized user and object. Also, the autonomous mobile body 11 can perform voice recognition based on the user's utterance, and can act based on the user's instructions, for example.
  • the autonomous mobile body 11 performs pattern recognition learning in order to acquire the ability to recognize users and objects.
  • the autonomous mobile body 11 can not only perform supervised learning based on given learning data, but also dynamically collect learning data based on instructions from the user or the like, and perform pattern recognition learning related to objects and the like. It is possible.
  • the autonomous mobile body 11 can be trained by the user.
  • the discipline of the autonomous mobile body 11 is broader than, for example, the general discipline of teaching and remembering rules and prohibitions, and the user can feel the autonomous mobile body 11 by being involved in the autonomous mobile body 11. It means change.
  • the shape, ability, desire, etc. of the autonomous mobile body 11 can be appropriately designed according to its purpose and role.
  • the autonomous mobile body 11 is configured by an autonomous mobile robot that autonomously moves in space and performs various actions.
  • the autonomous mobile body 11 is configured by an autonomous mobile robot having a shape and movement ability that imitates an animal such as a human or a dog.
  • the autonomous mobile body 11 is configured by a vehicle or other device that has the ability to communicate with a user.
  • the information processing terminal 12 is composed of, for example, a smartphone, tablet terminal, PC (personal computer), etc., and is used by the user of the autonomous mobile body 11.
  • the information processing terminal 12 implements various functions by executing a predetermined application program (hereinafter simply referred to as an application).
  • an application for example, the information processing terminal 12 manages and customizes the autonomous mobile body 11 by executing a predetermined application.
  • the information processing terminal 12 communicates with the information processing server 13 via the network 21 or directly communicates with the autonomous mobile body 11 to collect various data related to the autonomous mobile body 11 and send it to the user. It presents information and gives instructions to the autonomous mobile body 11 .
  • the information processing server 13 collects various data from each autonomous mobile body 11 and each information processing terminal 12, provides various data to each autonomous mobile body 11 and each information processing terminal 12, and collects various data from each autonomous mobile body 11 and each information processing terminal 12. For example, it controls the operation of the moving body 11 . Further, for example, the information processing server 13 performs pattern recognition learning and processing corresponding to user discipline, similar to the autonomous mobile body 11, based on data collected from each autonomous mobile body 11 and each information processing terminal 12. It is also possible to Further, for example, the information processing server 13 supplies the above-described applications and various data related to each autonomous mobile body 11 to each information processing terminal 12 .
  • the network 21 includes, for example, the Internet, a telephone line network, a public line network such as a satellite communication network, various LANs (Local Area Networks) including Ethernet (registered trademark), and WANs (Wide Area Networks). be done.
  • the network 21 may also include a dedicated line network such as IP-VPN (Internet Protocol-Virtual Private Network).
  • the network 21 may also include wireless communication networks such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).
  • the configuration of the information processing system 1 can be flexibly changed according to specifications, operation, and the like.
  • the autonomous mobile body 11 may communicate information with various external devices in addition to the information processing terminal 12 and the information processing server 13 .
  • the external device may include, for example, a server that transmits weather, news, and other service information, and various home appliances owned by the user.
  • the autonomous mobile body 11 and the information processing terminal 12 do not necessarily have a one-to-one relationship, and may have a many-to-many, many-to-one, or one-to-many relationship, for example.
  • one user checks data on multiple autonomous mobile bodies 11 using one information processing terminal 12, or checks data on one autonomous mobile body 11 using multiple information processing terminals. It is possible to
  • FIG. 2 is a diagram showing a hardware configuration example of the autonomous mobile body 11.
  • the autonomous mobile body 11 is a dog-shaped quadruped walking robot having a head, a body, four legs, and a tail.
  • the autonomous mobile body 11 has two displays 51L and 51R on its head.
  • the display 51L and the display 51R are simply referred to as the display 51 when it is not necessary to distinguish them individually.
  • the autonomous mobile body 11 is equipped with various sensors.
  • the autonomous mobile body 11 includes, for example, a microphone 52, a camera 53, a ToF (Time Of Flight) sensor 54, a human sensor 55, a ranging sensor 56, a touch sensor 57, an illuminance sensor 58, a sole button 59, and an inertial sensor. 60.
  • the autonomous mobile body 11 has, for example, four microphones 52 on its head.
  • Each microphone 52 collects ambient sounds, including, for example, user speech and ambient environmental sounds.
  • the autonomous mobile body 11 is equipped with two wide-angle cameras 53, for example, on the tip of the nose and waist, and photographs the surroundings of the autonomous mobile body 11.
  • the camera 53 placed on the tip of the nose takes pictures of the forward field of view of the autonomous mobile body 11 (that is, the dog's field of view).
  • a camera 53 placed on the waist takes pictures of the surroundings centered on the upper side of the autonomous mobile body 11 .
  • the autonomous mobile body 11 can, for example, extract characteristic points of the ceiling based on an image captured by a camera 53 placed on the waist, and realize SLAM (Simultaneous Localization and Mapping).
  • SLAM Simultaneous Localization and Mapping
  • the ToF sensor 54 for example, is provided at the tip of the nose and detects the distance to an object present in front of the head.
  • the autonomous mobile body 11 can detect the distances to various objects with high accuracy by the ToF sensor 54, and can realize operations according to relative positions with objects including the user and obstacles.
  • the human sensor 55 is placed on the chest, for example, and detects the location of the user or a pet raised by the user. By detecting a moving object in front of the autonomous moving body 11 with the human sensor 55, the autonomous mobile body 11 can perform various actions with respect to the moving object, for example, actions according to emotions such as interest, fear, and surprise. can.
  • the ranging sensor 56 is placed on the chest, for example, and detects the situation of the floor surface in front of the autonomous mobile body 11 .
  • the autonomous mobile body 11 can detect the distance to an object existing on the front floor surface with high accuracy by the distance measuring sensor 56, and can realize an operation according to the relative position with respect to the object.
  • the touch sensor 57 is placed at a site where the user is likely to touch the autonomous mobile body 11, such as the top of the head, under the chin, or the back, and detects contact (touch) by the user.
  • the touch sensor 57 is configured by, for example, a capacitive or pressure-sensitive touch sensor.
  • the autonomous mobile body 11 can detect a contact action such as touching, stroking, tapping, or pushing by the touch sensor 57, and can perform an action according to the contact action. Further, for example, by arranging the touch sensors 57 linearly or planarly at each part, it becomes possible to detect the touched position within each part.
  • the illuminance sensor 58 is arranged, for example, at the base of the tail on the back of the head, and detects the illuminance of the space in which the autonomous mobile body 11 is located.
  • the autonomous mobile body 11 can detect the ambient brightness with the illuminance sensor 58 and perform operations according to the brightness.
  • the sole buttons 59 are arranged, for example, at portions corresponding to the paw pads of the four legs, and detect whether or not the bottom surface of the leg of the autonomous mobile body 11 is in contact with the floor.
  • the autonomous mobile body 11 can detect contact or non-contact with the floor surface by means of the sole button 59, and can recognize, for example, that it has been picked up by the user.
  • the inertial sensors 60 are arranged, for example, on the head and torso, respectively, and detect physical quantities such as velocity, acceleration, and rotation of the head and torso.
  • the inertial sensor 60 is composed of a 6-axis sensor that detects X-, Y-, and Z-axis accelerations and angular velocities.
  • the autonomous mobile body 11 can detect the movement of the head and body with high accuracy by the inertial sensor 60, and can realize motion control according to the situation.
  • the configuration of the sensors included in the autonomous mobile body 11 can be flexibly changed according to specifications, operation, and the like.
  • the autonomous mobile body 11 may further include various communication devices such as a temperature sensor, a geomagnetic sensor, and a GNSS (Global Navigation Satellite System) signal receiver in addition to the above configuration.
  • GNSS Global Navigation Satellite System
  • FIG. 3 shows a configuration example of the actuator 71 included in the autonomous mobile body 11.
  • the autonomous moving body 11 has a total of 22 rotational degrees of freedom, two each for the ears and the tail, and one for the mouth, in addition to the rotation points shown in FIG.
  • the autonomous mobile body 11 can perform both nodding and tilting movements by having 3 degrees of freedom in the head.
  • the autonomous mobile body 11 reproduces the swing motion of the waist with the actuator 71 provided on the waist, thereby realizing natural and flexible motions that are closer to those of a real dog.
  • the autonomous mobile body 11 may realize the above 22 rotational degrees of freedom by, for example, combining a 1-axis actuator and a 2-axis actuator.
  • one-axis actuators may be used for the elbows and knees of the legs, and two-axis actuators may be used for the shoulders and the roots of the thighs.
  • the autonomous mobile body 11 has two displays 51R and 51L corresponding to the right eye and left eye, respectively.
  • Each display 51 has a function of visually expressing eye movements and emotions of the autonomous mobile body 11 .
  • each display 51 expresses the movements of the eyeballs, pupils, and eyelids according to emotions and movements, thereby producing natural movements that are close to those of real animals such as dogs, and conveying the line of sight and emotions of the autonomous mobile body 11. It can be expressed with high accuracy and flexibility. Also, the user can intuitively grasp the state of the autonomous mobile body 11 from the motion of the eyeball displayed on the display 51 .
  • each display 51 is realized by, for example, two independent OLEDs (Organic Light Emitting Diodes).
  • OLED Organic Light Emitting Diodes
  • the autonomous mobile body 11 controls the motions of joints and eyeballs with high precision and flexibility, thereby reproducing motions and emotional expressions that are closer to those of real living creatures. can be done.
  • FIG. 5 is a diagram showing an operation example of the autonomous mobile body 11, but in FIG. The structure is simplified and shown.
  • the autonomous mobile body 11 includes an input unit 101 , a communication unit 102 , an information processing unit 103 , a drive unit 104 , an output unit 105 and a storage unit 106 .
  • the input unit 101 includes the above-described microphone 52, camera 53, ToF sensor 54, human sensor 55, ranging sensor 56, touch sensor 57, illuminance sensor 58, sole button 59, and inertial sensor 60. It has a function to collect various sensor data related to the surrounding situation.
  • the input unit 101 also includes an input device 121 such as a switch, button, or the like. The input unit 101 supplies the collected sensor data and the input data input via the input device to the information processing unit 103 .
  • the communication unit 102 communicates with the other autonomous mobile body 11, the information processing terminal 12, and the information processing server 13 via the network 21 or not via the network 21, and transmits and receives various data. .
  • the communication unit 102 supplies the received data to the information processing unit 103 and acquires data to be transmitted from the information processing unit 103 .
  • the communication method of the communication unit 102 is not particularly limited, and can be flexibly changed according to specifications and operations.
  • the information processing section 103 includes a processor such as a CPU (Central Processing Unit), for example, and performs various types of information processing and controls each section of the autonomous mobile body 11 .
  • a processor such as a CPU (Central Processing Unit), for example, and performs various types of information processing and controls each section of the autonomous mobile body 11 .
  • CPU Central Processing Unit
  • the drive unit 104 bends and stretches the joints of the autonomous mobile body 11 under the control of the information processing unit 103 . More specifically, the drive unit 104 drives the actuators 71 provided in each joint based on control by the information processing unit 103 . Further, the drive unit 104 supplies the information processing unit 103 with drive data indicating the operation angle of each actuator.
  • the output unit 105 includes, for example, a display 51, a speaker, a haptic device, etc., and outputs visual information, auditory information, tactile information, etc. based on control by the information processing unit 103.
  • the storage unit 106 includes, for example, non-volatile memory and volatile memory, and stores various programs and data.
  • FIG. 7 shows a functional configuration example of the information processing unit 103 of FIG.
  • the information processing section 103 includes a recognition section 151 , a learning section 152 and an action control section 153 .
  • the recognition unit 151 recognizes the autonomous mobile body 11 based on sensor data and input data supplied from the input unit 101, reception data supplied from the communication unit 102, and drive data supplied from the drive unit 104. recognizing situations where
  • the situation in which the autonomous mobile body 11 is placed includes, for example, the situation of itself and its surroundings.
  • My situation includes, for example, the state and movement of the autonomous mobile body 11 .
  • the surrounding conditions include, for example, the state, movement, and instructions of surrounding people such as the user, the state and movement of surrounding creatures such as pets, the state and movement of surrounding objects, time, place, and the surrounding environment. etc.
  • Surrounding objects include, for example, other autonomous mobile bodies.
  • the recognition unit 151 performs, for example, human identification, facial expression and gaze recognition, emotion recognition, object recognition, action recognition, spatial area recognition, color recognition, shape recognition, marker recognition, obstacle recognition, and so on. , step recognition, brightness recognition, temperature recognition, voice recognition, word understanding, position estimation, attitude estimation, etc.
  • the recognition unit 151 has a function of estimating and understanding the situation based on various types of recognized information.
  • the recognition unit 151 recognizes a stimulus given to the autonomous mobile body 11 from the outside and a partner who gave the stimulus.
  • Stimuli to be recognized include, for example, visual stimuli, auditory stimuli, and tactile stimuli.
  • the recognition unit 151 may comprehensively estimate the situation using knowledge stored in advance.
  • the recognition unit 151 supplies data indicating the recognition result or estimation result of the situation (hereinafter referred to as situation data) to the learning unit 152 and the action control unit 153 .
  • the recognition unit 151 also registers the situation data in the action history data stored in the storage unit 106 .
  • the action history data is data indicating the action history of the autonomous mobile body 11 .
  • Action history data includes, for example, the date and time when the action started, the date and time when the action ended, the trigger for executing the action, the place where the action was instructed (if the place was instructed), the situation when the action was taken, and the action Includes an item of whether or not it has been completed (has the action been executed to the end).
  • the content of that instruction is registered as the trigger for executing the action.
  • the content of that situation is registered.
  • the type of the object is registered.
  • the learning unit 152 receives sensor data and input data supplied from the input unit 101, received data supplied from the communication unit 102, driving data supplied from the driving unit 104, situation data supplied from the recognition unit 151, and Based on one or more of the data on the behavior of the autonomous mobile body 11 supplied from the behavior control unit 153, it learns the situation, the behavior, and the effect of the behavior on the environment. For example, the learning unit 152 performs pattern recognition learning as described above, or learns behavior patterns corresponding to user discipline.
  • the learning unit 152 uses a machine learning algorithm such as deep learning to achieve the above learning.
  • the learning algorithm employed by the learning unit 152 is not limited to the above example, and can be designed as appropriate.
  • the learning unit 152 supplies data indicating learning results (hereinafter referred to as learning result data) to the behavior control unit 153 and stores the data in the storage unit 106 .
  • the action control unit 153 controls the action of the autonomous mobile body 11 based on the recognized or estimated situation and learning result data.
  • the action control unit 153 supplies data regarding the action of the autonomous mobile body 11 to the learning unit 152 and registers the data in the action history data stored in the storage unit 106 .
  • the action control unit 153 includes an internal state control unit 161 , an operation control unit 162 and a voice control unit 163 .
  • the internal state control unit 161 controls the internal state of the autonomous mobile body 11 based on the recognized or estimated situation and learning result data. For example, the internal state control unit 161 controls state transition of the internal state of the autonomous mobile body 11 .
  • the internal state of the autonomous mobile body 11 is an internal state that does not appear outside the autonomous mobile body 11. For example, at least one of the behavior, physical condition, emotion, age, remaining battery level, etc. of the autonomous mobile body 11 set based on one or more
  • the physical condition of the autonomous mobile body 11 includes, for example, hunger.
  • the hunger level is set, for example, based on the elapsed time after the autonomous mobile body 11 performs the action of eating food.
  • the age of the autonomous mobile body 11 is set based on, for example, the purchase date of the autonomous mobile body 11, the elapsed time from the first power-on day, or the total operating time of the autonomous mobile body 11.
  • the operation control unit 162 controls the driving unit 104 and the output unit 105 based on at least one of the recognized or estimated situation, the learning result data, and the internal state of the autonomous mobile body 11, thereby enabling autonomous movement. It controls the actions necessary for the body 11 to perform various actions. For example, the operation control unit 162 executes rotation control of the actuator 71, display control of the display 51, and the like.
  • the actions of the autonomous mobile body 11 include, for example, actions required for the operation of the autonomous mobile body 11, actions to express intentions or emotions to the user, and performances.
  • the latter operation is hereinafter referred to as motion.
  • Motion data Data for realizing motion (hereinafter referred to as motion data) is created in advance using an authoring tool, for example, and stored in the storage unit 106 when the autonomous mobile body 11 is manufactured.
  • motion data is downloaded from the information processing terminal 12 or the information processing server 13 to the autonomous mobile body 11 .
  • the motion control unit 162 controls the driving unit 104 and the output unit 105 based on the motion data to cause the autonomous mobile body 11 to perform motion.
  • the voice control unit 163 generates and processes voice data corresponding to the voice output by the autonomous mobile body 11, and controls voice characteristics and output timing.
  • the characteristics of the voice to be controlled include, for example, the type of voice (eg, bark, conversational sound, etc.), content, features (eg, pitch, volume, timbre, etc.), and sound quality.
  • the content of the voice includes, for example, the content of conversation in the case of conversational sound.
  • Control of audio output timing includes control of whether or not to output audio.
  • the audio control unit 163 includes an audio output control unit 171 and an audio processing unit 172.
  • the audio output control unit 171 controls the generation and processing of audio data by the audio processing unit 172.
  • the voice output control unit 171 is based on at least one of the behavior of the autonomous mobile body 11, the state of the autonomous mobile body 11, the stimulus given, the surrounding situation, and the content of the stimulus, the voice processing unit 172 tone generation mode transitions.
  • the pronunciation mode is, for example, a mode for switching algorithms and parameters used by the audio processing unit 172 to generate or process audio data. By switching the algorithm and parameters used to generate the audio data, for example, the characteristics and output timing of the audio based on the audio data generated by the audio processing unit 172 change.
  • the audio output control unit 171 controls the output of audio from the output unit 105 based on one or more of the recognized or estimated situation, the learning result data, and the internal state set by the internal state control unit 161. conduct.
  • the audio output control unit 171 supplies audio data generated or processed by the audio processing unit 172 to a speaker included in the output unit 105, and controls output of audio from the speaker.
  • the audio processing unit 172 holds programs and control scripts for generating or processing audio data, for example.
  • the voice processing unit 172 generates voice data corresponding to the voice output by the autonomous mobile body 11 based on one or more of the recognized or estimated situation, the learning result data, and the internal state of the autonomous mobile body 11. Or, by processing, the characteristics of the voice are controlled.
  • the sound output by the autonomous mobile body 11 is, for example, a voice for the autonomous mobile body 11 to communicate with the user or express a state or emotion, an operation sound accompanying the operation of the autonomous mobile body 11, and an autonomous mobile body 11 includes production sounds to enhance production.
  • Sounds used by the autonomous mobile body 11 to communicate with the user and to express states and emotions include, for example, barks, conversational sounds, sleep talks, and the like.
  • Operation sounds include, for example, barks, footsteps, and the like.
  • Sound effects include, for example, sound effects, music, and the like.
  • the sound output by the autonomous mobile body 11 is, for example, a sound that is output or changes in response to an external stimulus (hereinafter referred to as a stimulus response sound), and in accordance with the operation of the autonomous mobile body 11 (interlocking output or change sound).
  • the stimulus-response sounds include, for example, barks, conversation sounds, sleep talks, and the like.
  • the sound that is output or changes in accordance with the operation of the autonomous mobile body 11 includes, for example, operation sounds and dramatic sounds.
  • motion sounds among the sounds that are output or change in accordance with the motion of the autonomous mobile body 11, the sounds that are output or change in accordance with motion are referred to as motion sounds.
  • voice data corresponding to the voice of the autonomous mobile body 202 is generated and processed, and stored in the autonomous mobile body 202. Then, the autonomous mobile body 202 outputs voice based on the stored voice data.
  • the autonomous mobile body 202 can only output sounds corresponding to pre-stored sound data. Therefore, in order to increase the types of sounds that can be output and improve the expressive power of the autonomous mobile body 11, it is necessary to generate many types of voice data in advance and store them in the autonomous mobile body 11.
  • the external computer 201 generates and processes voice data corresponding to the voice of the autonomous mobile body 202 and stores it in the storage unit 106 of the autonomous mobile body 11 .
  • the audio processing unit 172 processes the audio data stored in the storage unit 106 as necessary (for example, modulates the audio data).
  • the audio output control unit 171 causes the output unit 105 to output audio based on the audio data processed by the audio processing unit 172 .
  • the voice processing unit 172 of the autonomous mobile body 11 generates and processes voice data corresponding to the voice to be output (for example, performs numerical calculation of voice data).
  • the audio output control unit 171 causes the output unit 105 to output audio based on the audio data generated or processed by the audio processing unit 172 .
  • the autonomous mobile body 11 can output various types of voice depending on the situation without preparing many types of voice data in advance.
  • the autonomous mobile body 11 can generate and output sounds that respond to user actions (for example, stroking the autonomous mobile body 11), as shown in A of FIG.
  • the input unit 101 of the autonomous mobile body 11 supplies the recognition unit 151 with sensor data corresponding to the user's action.
  • the recognition unit 151 recognizes user actions based on sensor data.
  • the recognition unit 151 recognizes how the user strokes the autonomous mobile body 11 based on sensor data from the touch sensor 57 .
  • touch sensors 57-1 to 57-4 are provided on the back of the autonomous mobile body 11 so as to be aligned in the front-rear direction.
  • the touch sensor 57-1 is arranged in the foremost position, and the touch sensor 57-4 is arranged in the rearmost position.
  • FIG. 12 shows sensor data S1 to sensor output from the touch sensors 57-1 to 57-4 when the user strokes the back of the autonomous mobile body 11 from front to back as shown in FIG. It shows an example of the waveform of data S4.
  • the horizontal axis of the graph in FIG. 12 indicates time, and the vertical axis indicates sensor data values.
  • the frontmost touch sensor 57-1 reacts first, and the sensor data S1 changes.
  • the second touch sensor 57-2 from the front reacts, and the sensor data S2 changes.
  • the third touch sensor 57-3 from the front reacts, and the sensor data S3 changes.
  • the rearmost touch sensor 57-4 responds and the sensor data S4 changes.
  • the recognition unit 151 can recognize the stroked position, strength, speed, direction, and the like. For example, the recognition unit 151 can recognize a pattern (how to stroke) such as whether the user stroked quickly, stroked slowly, stroked lightly, or stroked carefully.
  • the recognition unit 151 supplies situation data including the action recognition result to the action control unit 153 .
  • the voice processing unit 172 calculates voice parameters used for controlling the voice to be output based on the recognized action.
  • a voice parameter is a parameter used to control voice characteristics. Specifically, for example, frequency, volume, degree of modulation, overtone component, low-pass filter application degree (application degree), effector application degree (application degree), etc. are used as voice parameters.
  • the audio processing unit 172 can generate various types of audio (or corresponding audio data) according to the recognized action.
  • the bark of a dog (woof) is reproduced.
  • the fundamental frequency changes the timbre of the call.
  • a loud dog bark is represented by lowering the fundamental frequency of the bark.
  • the bark of a small dog is represented.
  • an excited emotion is expressed by raising the fundamental frequency of the call.
  • by increasing the rate of change in the frequency of the bark (amount of change per unit time), intense emotional ups and downs can be expressed.
  • the degree of application of the low-pass filter controls the vowels contained in the speech. Specifically, depending on the degree of application of the low-pass filter, a sound close to a (a) pronounced when the mouth is wide open, or a sound close to u (u) pronounced when the mouth is slightly open is reproduced.
  • each voice parameter has a direction that expresses a strong reaction and a direction that expresses a weak reaction to an external stimulus.
  • the louder the volume the stronger response will be represented, and the lower the volume, the weaker response will be represented.
  • a higher frequency represents a stronger response, and a lower frequency represents a weaker response.
  • the audio processing unit 172 generates audio data based on the calculated audio parameters.
  • the audio output control section 171 controls the output timing of audio from the output section 105 based on the recognized action.
  • the autonomous mobile body 11 controls the output timing and voice parameters directly based on the sensor data, for example, the voice is output at unnatural timing, or the voice reacting to the noise component of the sensor data There is a possibility that it will be output.
  • the autonomous mobile body 11 controls the output timing and voice parameters based on the action recognized based on the sensor data, so it can output appropriate voice at appropriate timing.
  • the autonomous mobile body 11 can generate and output a sound corresponding to the internal state of the autonomous mobile body 11, as shown in FIG. 10B.
  • the internal state control unit 161 sets the internal state of the autonomous mobile body 11 based on the situation recognized or estimated by the recognition unit 151 .
  • the sound processing unit 172 calculates sound parameters used for controlling the output sound.
  • the audio processing unit 172 generates audio data based on the calculated audio parameters.
  • the voice output control unit 171 controls the output timing of voice from the output unit 105 based on the internal state of the autonomous mobile body 11 set by the internal state control unit 161 .
  • the autonomous mobile body 11 can output an appropriate sound at an appropriate timing based on the internal state.
  • Example of voice parameter control algorithm Next, an example of a control algorithm for voice parameters of the autonomous mobile body 11 will be described with reference to FIG. Here, a control algorithm for voice parameters of the bark of the autonomous mobile body 11 will be described as a specific example.
  • the recognition unit 151 detects the angle at which the autonomous mobile body 11 opens its mouth (hereinafter referred to as the opening angle) based on the drive data from the drive unit 104 . For example, as shown in FIG. 14, an angle ⁇ centering on the corner of the mouth of the autonomous mobile body 11 is detected as the opening angle.
  • the angle at which the mouth is open during display is used as the opening angle.
  • the recognition unit 151 recognizes the touch amount and touch position on the head based on the sensor value of the touch sensor 57 on the head of the autonomous mobile body 11 .
  • the recognition unit 151 recognizes the touch amount and the touch position on the body of the autonomous mobile body 11 based on the sensor value of the touch sensor 57 on the body of the autonomous mobile body 11 .
  • the touch amount is detected based on the sensor value of the touch sensor 57, and represents, for example, the strength of the touch.
  • the amount of touch may be calculated based on the intensity of the touch and the duration of the touch (for example, based on the product of the intensity of the touch and the duration of the touch). This introduces the concept of time to the touch amount.
  • the touch amount may be calculated based on the strength of the touch and the area of the touched area (for example, based on the product of the strength of the touch and the area of the touched area). This introduces the concept of area to the amount of touch.
  • the amount of touch may be calculated based on the intensity of touch, the duration of touch, and the touched area.
  • the recognition unit 151 recognizes a place where the autonomous mobile body 11 exhibits a strong positive reaction (hereinafter referred to as "favorite place") is recognized.
  • the stroking method is represented by, for example, stroking strength, position, speed, direction, and the like.
  • the voice output control unit 171 controls the output timing of the bark (including whether to output the bark, for example) based on the opening angle and the stroking method.
  • the sound processing unit 172 controls the vowels of the bark based on the opening angle. For example, when a real dog barks, the sounds corresponding to the vowels of the bark change depending on the degree of mouth opening. For example, the barking of a dog becomes a sound close to a when the mouth is wide open, and a sound close to u when the mouth is small. Such vowel control is realized by the degree of application of the low-pass filter, as described above.
  • the audio processing unit 172 controls the pitch and volume of the bark based on whether or not the favorite place is touched. For example, if a favorite location is touched, the pitch and volume of the bark are increased.
  • the voice processing unit 172 controls the pitch of the bark based on the stroke.
  • the pitch (frequency) of the bark changes as the strength and position of the stroke change.
  • the voice output control unit 171 detects the elapsed time since the last bark was output.
  • the elapsed time from the output of the previous bark is, for example, the elapsed time from the end of the previous output of the bark.
  • the audio processing unit 172 controls the velocity of the bark (for example, the attack of the bark) based on the elapsed time since the previous bark output.
  • the internal state of the autonomous mobile body 11 transitions between a normal state, a relaxed state, a slumbering state, and a displeased state in response to an external stimulus or the like.
  • the internal state is set to the normal state as the initial state.
  • the normal state is a neutral state in which the emotion of the autonomous mobile body 11 is neither positive nor negative.
  • the relaxed state is a state in which the autonomous mobile body 11 is relaxed and relaxed.
  • a positive stimulus is, for example, a stimulus that the autonomous mobile body 11 likes. For example, stroking the autonomous mobile body 11 or talking to the autonomous mobile body 11 corresponds to a positive stimulus.
  • the autonomous mobile body 11 when the autonomous mobile body 11 performs a predetermined action such as walking or eating, even if a positive stimulus is given, the internal state remains normal and does not transition to the relaxed state.
  • the dozing state is a state in which the autonomous mobile body 11 is satisfied and sleepy, or in a dozing state.
  • the internal state is in a relaxed state or a slumbering state, and the state in which no stimulus is given continues, it transitions in the negative direction and transitions to the normal state.
  • the internal state transitions in a negative direction and transitions to a displeased state if the state in which no stimulus is given continues in the normal state.
  • the bad mood state is a state in which the emotion of the autonomous mobile body is negative.
  • the bad mood state is a state in which the autonomous mobile body 11 is angry, sulking, or dissatisfied.
  • the autonomous mobile body 11 when the autonomous mobile body 11 performs a predetermined action such as walking or eating, even if the state in which no stimulus is given continues, the internal state remains in the normal state and does not transition to the displeased state.
  • the internal state is in a bad mood
  • when the user gives a positive stimulus to some extent it transitions in a positive direction and transitions to a normal state.
  • the internal state transitions in a positive direction in a short period of time. For example, if it is stroked roughly, the internal state does not transition or transitions in a negative direction.
  • the recognition unit 151 when the recognition unit 151 recognizes that a user who frequently comes into contact with the autonomous mobile body 11 is stroking it, the time required for the internal state to transition in the positive direction is shortened. For example, if the recognizing unit 151 cannot recognize the user who is stroking, the time required for the internal state to transition in the positive direction increases.
  • FIG. 15 shows an example of internal states and state transitions, which can be changed. For example, it is possible to increase or decrease the number of types of internal states, or to change the conditions for state transitions and transition destinations. For example, the internal state may transition based on a negative stimulus from the user.
  • a touch response sound is a type of stimulus response sound, and is a sound that is output in response to a touch on the autonomous mobile body 11 or a voice that changes in response to a touch on the autonomous mobile body 11 .
  • barks and sleep talks are used as touch response sounds.
  • This process is started, for example, when the power of the autonomous mobile body 11 is turned on, and ends when the power of the autonomous mobile body 11 is turned off.
  • step S1 the voice output control unit 171 sets the non-response mode. That is, the voice output control unit 171 sets the pronunciation mode of the voice processing unit 172 to the non-response mode as the initial mode.
  • step S2 the voice output control unit 171 determines whether or not the condition for entering the stroking mode is satisfied. For example, when the internal state of the autonomous mobile body 11 is in the relaxed state, the voice output control unit 171 determines that the condition for entering the stroke mode is satisfied, and the process proceeds to step S3.
  • step S3 the autonomous mobile body 11 enters a cries mode when stroked.
  • the voice output control unit 171 sets the sound generation mode of the voice processing unit 172 to the barking mode when stroked.
  • the sound generation mode transitions from the non-response mode to the stroking mode.
  • the autonomous mobile body 11 does not output any sound that expresses a state or emotion, other than the cry when responding to a touch, while the pronunciation mode is set to the stroking mode. It should be noted that it is possible to output operation sounds and production sounds.
  • step S4 the autonomous mobile body 11 executes bark control processing. Details of the bark control process will be described later, but by this process, the autonomous mobile body 11 outputs a bark in response to the touch.
  • step S5 the voice output control unit 171 determines whether or not the condition for exiting the cries when stroked mode is satisfied. If it is determined that the condition for exiting the stroking mode is not satisfied, the process returns to step S4.
  • steps S4 and S5 are repeatedly executed until it is determined in step S5 that the conditions for exiting the stroking mode are satisfied. During this time, the autonomous mobile body 11 outputs a cry in response to the touch.
  • step S5 for example, when the internal state of the autonomous mobile body 11 is other than the relaxed state, the voice output control unit 171 determines that the condition for exiting the stroking mode is satisfied, and the process proceeds to step S6. .
  • step S6 the autonomous mobile body 11 exits the cries mode when stroked.
  • the voice output control unit 171 sets the pronunciation mode of the voice processing unit 172 to the non-response mode.
  • the sound generation mode transitions from the stroking mode to the non-response mode.
  • step S2 determines whether the condition for entering the stroking mode is satisfied. If it is determined in step S2 that the condition for entering the stroking mode is not satisfied, the processing of steps S3 to S6 is skipped, and the processing proceeds to step S7.
  • step S7 the voice output control unit 171 determines whether or not the conditions for entering the sleep talking mode are met. For example, when the internal state of the autonomous mobile body 11 is in a slumber state, the voice output control unit 171 determines that the conditions for entering the sleep talk mode are satisfied, and the process proceeds to step S8.
  • step S8 the autonomous mobile body 11 enters sleep talk mode.
  • the voice output control unit 171 sets the pronunciation mode of the voice processing unit 172 to sleep talk mode.
  • the pronunciation mode transitions from the non-response mode to the sleeping mode.
  • the autonomous mobile body 11 does not output any sounds that express states or emotions other than sleep talking while the pronunciation mode is set to the sleep talking mode. It should be noted that it is possible to output operation sounds and production sounds.
  • step S9 the autonomous mobile body 11 executes sleep-talking control processing. Although the details of the sleep-talking control process will be described later, the autonomous mobile body 11 outputs sleep-talking through this process. Further, after the autonomous moving body 11 outputs sleep talk, the pronunciation mode transitions from the sleep talk mode to the non-response mode.
  • step S2 After that, the process returns to step S2, and the processes after step S2 are executed.
  • step S7 for example, when the internal state of the autonomous mobile body 11 is other than the slumbering state, the voice output control unit 171 determines that the conditions for entering the sleep talk mode are not satisfied, and the process returns to step S2, Processing after step S2 is executed.
  • step S21 based on the situation data from the recognition unit 151, the voice output control unit 171 determines whether or not a touch amount equal to or greater than a predetermined touch amount has been detected. If it is determined that a touch equal to or greater than the predetermined touch amount has been detected, the process proceeds to step S22.
  • step S22 the voice output control unit 171 determines whether or not a time period equal to or longer than the shortest output interval has elapsed since the last time the bark was output. If the elapsed time from the end of outputting the previous bark is equal to or longer than the shortest output interval, which is a predetermined threshold, the voice output control unit 171 determines that the time equal to or longer than the shortest output interval has elapsed since the previous bark was output. , and the process proceeds to step S23.
  • the shortest output interval may be either a fixed value or a variable value.
  • the shortest output interval is a variable value, for example, the shortest output interval varies almost randomly within a predetermined time range. As a result, when the autonomous mobile body 11 is touched, the interval at which barks are output varies randomly, and a reaction closer to that of a real dog is realized.
  • step S23 the autonomous mobile body 11 outputs a cry according to the touch state.
  • the audio output control unit 171 instructs the audio processing unit 172 to generate barks.
  • the voice processing unit 172 recognizes the touch state (eg, touch amount, touch position, etc.) based on the situation data from the recognition unit 151 .
  • the audio processing unit 172 calculates audio parameters of the bark to be output based on the state of the touch.
  • the voice processing unit 172 generates voice data corresponding to barks based on the calculated voice parameters.
  • the audio output control unit 171 supplies audio data generated by the audio processing unit 172 to the output unit 105 .
  • the output unit 105 outputs barks based on the audio data.
  • the motion control unit 162 may control the driving unit 104 to move the mouth and body of the autonomous mobile body 11 in accordance with the output of the bark.
  • the bark may not be output.
  • the state is not suitable for outputting a bark, for example, when performing a predetermined action such as walking or eating, when outputting a sound other than the bark (for example, a conversational sound), It is assumed that the mouth is physically unable to open due to being held down. For example, if a sound that can be output at the same time as a bark such as an action sound or a production sound is being output, it is not determined that the state is not suitable for outputting the bark.
  • Figures 18 and 19 show the relationship between the amount of touch and the frequency and volume of the output bark.
  • FIG. 18 shows an example of barking when the duration of touch is equal to or less than the longest bark reaction time Tmax.
  • the output of the bark starts, and the frequency and volume of the bark gradually increase until the time t2a when the touch ends, reaching a maximum at time t2a.
  • the frequency of the barking and the maximum value of volume change according to the amount of touch.
  • the frequency and volume of the bark are attenuated, and the output of the bark is finished at time t3a.
  • the autonomous mobile body 11 continuously outputs a bark while being touched, and changes the frequency and volume of the bark according to the amount of touch. Also, the autonomous mobile body 11 fades out the bark after the touch is finished. As a result, a natural cry is realized in response to the touch.
  • FIG. 19 shows an example of barking when the duration of touch exceeds the longest bark reaction time Tmax.
  • the frequency and volume of the bark gradually increase, reaching a maximum at time t2b.
  • the frequency of the barking and the maximum value of volume change according to the amount of touch.
  • the frequency and volume of the bark are attenuated regardless of the amount of touch, and output of the bark ends at time t3b before time t4b at which the touch ends.
  • the longest bark reaction time Tmax may be either a fixed value or a variable value.
  • the longest bark reaction time Tmax is a variable value, for example, the longest bark reaction time Tmax fluctuates almost randomly within a predetermined time range. As a result, the time during which the autonomous mobile body 11 outputs barks to long-time touches varies randomly, and a response closer to that of a real dog is realized.
  • step S23 if it is determined in step S22 that the time equal to or longer than the shortest output interval has not passed since the last time the bark was output, the process of step S23 is skipped and the bark control process ends. That is, if the shortest output interval or more has not passed since the previous bark was output, the bark is not output even if a touch equal to or greater than the predetermined touch amount is detected.
  • step S21 if it is determined in step S21 that a touch equal to or greater than the predetermined touch amount has not been detected, the processing of steps S22 and S23 is skipped, and the bark control processing ends. In other words, no bark is output when a touch equal to or greater than a predetermined touch amount is not detected.
  • step S41 similarly to the process of step S21 in FIG. 17, it is determined whether or not a touch amount equal to or greater than a predetermined touch amount has been detected. If it is determined that a touch equal to or greater than the predetermined touch amount has been detected, the process proceeds to step S42.
  • step S42 the audio output control unit 171 sets the shortest output interval based on the amount of touch. For example, when the touch amount is less than a predetermined threshold, the audio output control unit 171 sets the shortest output interval to a predetermined time. On the other hand, the audio output control unit 171 makes the shortest output interval shorter than a predetermined time, for example, when the amount of touch is equal to or greater than a predetermined threshold. For example, the audio output control unit 171 shortens the shortest output interval as the touch amount increases.
  • step S43 similarly to the process of step S22 in FIG. 17, it is determined whether or not a time period equal to or longer than the shortest output interval has elapsed since the last time the bark was output. If it is determined that the time equal to or longer than the shortest output interval has elapsed since the last time the bark was output, the process proceeds to step S44.
  • step S44 similarly to the process of step S23 in FIG. 17, a bark is output according to the touch state.
  • step S43 determines whether the time equal to or longer than the shortest output interval has not passed since the last time the bark was output. If it is determined in step S43 that the time equal to or longer than the shortest output interval has not passed since the last time the bark was output, the process of step S44 is skipped and the bark control process ends.
  • step S41 if it is determined in step S41 that a touch equal to or greater than the predetermined touch amount has not been detected, the processing of steps S42 to S44 is skipped, and the bark control processing ends.
  • the bark output interval changes based on the amount of touch. For example, when the autonomous mobile body 11 is strongly touched or stroked, it outputs a cry at short intervals. This provides a more natural response to touch.
  • step S61 similarly to the process of step S21 in FIG. 17, it is determined whether or not a touch amount equal to or greater than a predetermined touch amount has been detected. If it is determined that a touch equal to or greater than the predetermined touch amount has been detected, the process proceeds to step S62.
  • step S62 similarly to the process of step S22 in FIG. 17, it is determined whether or not a time period equal to or longer than the shortest output interval has elapsed since the last time the bark was output. If it is determined that the time equal to or longer than the shortest output interval has elapsed since the last time the bark was output, the process proceeds to step S63.
  • step S63 the voice output control unit 171 determines whether or not the same position has been touched since the output of the bark was stopped last time. For example, the voice output control unit 171 recognizes the position of the touch based on the situation data from the recognition unit 151, and based on the recognized position of the touch, the movement of the touch position after stopping the output of the bark last time. Detect quantity. If the amount of movement of the detected touch position is equal to or greater than the predetermined threshold, the sound output control unit 171 determines that the same position has not been touched since outputting the bark last time, and the process proceeds to step S64. proceed to This includes the case where there is a period during which no touch has been detected since output of bark was stopped last time.
  • step S64 the voice output control unit 171 determines whether or not the bark is continuous with the previous bark. For example, when the time equal to or longer than the continuity determination threshold has passed since the output of the previous bark ended, the voice output control unit 171 determines that the previous bark is not continuous, and the process proceeds to step S65. .
  • the continuous determination threshold is set to a time longer than the shortest output interval.
  • step S65 the autonomous mobile body 11 starts outputting the first bark.
  • the first call is a single discontinuous call or the first call in a series of calls.
  • the audio output control unit 171 instructs the audio processing unit 172 to generate the first bark.
  • the voice processing unit 172 starts generating voice data corresponding to the first bark. Specifically, the voice processing unit 172 recognizes the touch state based on the situation data from the recognition unit 151, and calculates voice parameters of the bark to be output based on the touch state. The voice processing unit 172 generates voice data corresponding to barks based on the calculated voice parameters.
  • the audio output control unit 171 starts supplying the audio data generated by the audio processing unit 172 to the output unit 105 .
  • the output unit 105 starts outputting barks based on the audio data.
  • step S64 for example, the voice output control unit 171 determines that the previous bark is continuous when the time equal to or greater than the continuity determination threshold has not elapsed since the output of the previous bark was completed, The process proceeds to step S66.
  • step S66 the autonomous mobile body 11 starts outputting the second and subsequent barks.
  • the voice output control unit 171 instructs the voice processing unit 172 to generate the second and subsequent barks.
  • the second and subsequent barks refer to the second and subsequent barks among the barks determined to be continuous.
  • the audio processing unit 172 starts generating audio data. Specifically, the voice processing unit 172 recognizes the touch state based on the situation data from the recognition unit 151, and calculates voice parameters of the bark to be output based on the touch state. At this time, for example, the sound processing unit 172 sets the velocity to a value lower than the initial bark. The voice processing unit 172 generates voice data corresponding to barks based on the calculated voice parameters.
  • the audio output control unit 171 starts supplying the audio data generated by the audio processing unit 172 to the output unit 105 .
  • the output unit 105 starts outputting barks based on the audio data.
  • step S67 the voice output control unit 171 determines whether or not the amount of touch is equal to or greater than a certain amount based on the situation data from the recognition unit 151. If it is determined that the touch amount is equal to or greater than the given amount, the process proceeds to step S68.
  • step S68 the voice output control unit 171 determines whether or not the autonomous mobile body 11 is being stroked based on the situation data from the recognition unit 151. If it is determined that the autonomous mobile body 11 is being stroked, the process proceeds to step S69.
  • step S69 the voice output control unit 171 determines whether or not a time equal to or longer than the first maximum output time has elapsed since the output of the bark was started. If it is determined that the time equal to or longer than the first maximum output time has not elapsed since the start of outputting the bark, the process returns to step S67.
  • step S67 it is determined that the touch amount is not equal to or greater than a certain amount, or in step S69, it is determined that a time equal to or longer than the first maximum output time has elapsed since the start of outputting the bark, or step S70.
  • the processing from step S67 to step S70 is repeatedly executed until it is determined that the time equal to or longer than the second maximum output time has elapsed since the output of the bark was started.
  • step S68 determines whether the autonomous mobile body 11 has been stroked, for example, if the touch position is fixed without moving. If it is determined in step S68 that the autonomous mobile body 11 has not been stroked, for example, if the touch position is fixed without moving, the process proceeds to step S70.
  • step S70 the voice output control unit 171 determines whether or not a time equal to or longer than the second maximum output time has elapsed since outputting the bark was started.
  • the second maximum output time is set to a time shorter than the first maximum output time in step S69. If it is determined that the time equal to or longer than the second maximum output time has not elapsed since the start of outputting the bark, the process returns to step S67.
  • step S67 it is determined that the touch amount is not equal to or greater than a certain amount, or in step S69, it is determined that a time equal to or longer than the first maximum output time has elapsed since the start of outputting the bark, or step S70.
  • the processing from step S67 to step S70 is repeatedly executed until it is determined that the time equal to or longer than the second maximum output time has elapsed since the output of the bark was started.
  • step S70 determines whether the time equal to or longer than the second maximum output time has elapsed since the start of outputting the bark. If it is determined in step S70 that the time equal to or longer than the second maximum output time has elapsed since the start of outputting the bark, the process proceeds to step S71. This is the case, for example, when the same position is continuously touched for the second maximum time or longer.
  • step S69 if it is determined that a time equal to or longer than the first maximum output time has elapsed since the start of outputting the bark, the process proceeds to step S71. This is the case, for example, when the stroking continues for more than the first maximum time.
  • step S67 determines whether the amount of touch is less than a certain amount. If it is determined in step S67 that the amount of touch is less than a certain amount, the process proceeds to step S71. This is the case, for example, when the touch on the autonomous mobile body 11 ends.
  • step S71 the autonomous mobile body 11 stops outputting the bark.
  • the audio output control unit 171 stops supplying audio data to the output unit 105 .
  • the audio output control unit 171 instructs the audio processing unit 172 to stop generating barks.
  • the audio processing unit 172 stops generating audio data.
  • step S63 if the amount of movement of the detected touch position is less than the predetermined threshold, the sound output control unit 171 determines that the same position has been continuously touched since outputting the bark was stopped last time. Then, the processing from step S64 to step S71 is skipped, and the bark control processing ends.
  • step S62 determines whether the time equal to or longer than the shortest output interval has not passed since the last time the bark was output. If it is determined in step S62 that the time equal to or longer than the shortest output interval has not passed since the last time the bark was output, the processing of steps S63 to S71 is skipped, and the bark control processing ends.
  • step S61 when it is determined in step S61 that a touch equal to or greater than the predetermined touch amount has not been detected, the processing of steps S62 to S71 is skipped, and the bark control processing ends.
  • FIG. 20B to 22B show time-series transitions of the amount of touch, the touch position in the front-rear direction on the back of the autonomous mobile body 11, and the velocity and pitch of barking.
  • FIG. 22 shows an example of barking when the user repeatedly touches and releases the back of the autonomous mobile body 11 at short intervals, as shown in A of FIG.
  • the first touch is performed between time t1c and time t2c
  • the second touch is performed between time t3c and time t4c
  • the third touch is performed between time t5c and time t6c. is touched.
  • the touch amounts and touch positions of the first to third touches are substantially the same.
  • the first to third barks are determined to be continuous.
  • the velocities of the second and third barks are made weaker than the velocity of the first bark.
  • the pitches of the first to third barks are set substantially the same.
  • the user perceives the second and subsequent barks to be less aggressive than the first bark.
  • the user has the impression that the first to third barks are continuous and are temporarily interrupted by taking a breath, so that the user can feel the bark of the autonomous mobile body 11 naturally.
  • FIG. 23 shows an example of barking when the user moves his/her hand back and forth on the back of the autonomous mobile body 11 and strokes it, as shown in FIG. 23A.
  • the touches are continuously performed from time t1d to time t4d.
  • the amount of touch during that period is almost the same except at the start and end, and the touch position moves back and forth.
  • the first bark is output from time t1d to time t2d when the first maximum output time has elapsed, and the output of the first bark stops at time t2d.
  • output of the second bark is started, and at time t4d, output of the second bark is stopped.
  • the velocity of the second cry is made weaker than the velocity of the first cry.
  • the attack of the second bark is suppressed more than the attack of the first bark.
  • the pitch of the bark changes according to the touch position.
  • the user has the impression that the first and second barks are continuous and are temporarily interrupted by taking a breath, so that the user can feel the bark of the autonomous mobile body 11 naturally.
  • FIG. 24 shows an example of barking when the user keeps placing his/her hand on the back of the autonomous mobile body 11 without moving it, as shown in FIG. 24A.
  • the touches are continuously performed from time t1e to time t3e.
  • the amount of touch during that period is almost the same except for the start and end of the touch. Also, the touch positions therebetween are almost the same.
  • the bark is output from time t1e to time t2e when the second maximum output time has elapsed, and the output of the bark stops after time t2e.
  • the output time of the bark is shorter than when the touch position moves (when it is being stroked). In other words, when the touch position moves (when being stroked), the output time of the bark becomes longer than when the touch position does not move.
  • the shortest output interval may be changed based on the amount of touch, as in the second embodiment.
  • step S81 similarly to the process of step S21 in FIG. 17, it is determined whether or not a touch amount equal to or greater than a predetermined touch amount has been detected. If it is determined that a touch equal to or greater than the predetermined touch amount has been detected, the process proceeds to step S82.
  • step S82 similarly to the process of step S22 in FIG. 17, it is determined whether or not a time period equal to or longer than the shortest output interval has elapsed since the last time the bark was output. If it is determined that the time equal to or longer than the shortest output interval has passed since the last time the bark was output, the process proceeds to step S83.
  • step S83 the recognition unit 151 executes reaction intensity detection processing. Although the details of the reaction intensity detection process will be described later, this process detects the reaction intensity based on the touched position or the like.
  • step S84 the autonomous mobile body 11 outputs a bark according to the reaction intensity.
  • the autonomous mobile body 11 uses the reaction intensity instead of the touch amount to perform the same process as the process of step S23 in FIG. 17 .
  • the frequency and volume of the bark are controlled based on the reaction intensity instead of the touch amount.
  • step S82 if it is determined in step S82 that the time equal to or longer than the shortest output interval has not passed since the last time the bark was output, the processing of steps S83 and S84 is skipped, and the bark control processing ends.
  • step S81 when it is determined in step S81 that a touch equal to or greater than the predetermined touch amount has not been detected, the processing of steps S82 to S84 is skipped, and the bark control processing ends.
  • the shortest output interval may be changed based on the amount of touch, as in the second embodiment.
  • the recognition unit 151 acquires individual parameters. For example, the recognition unit 151 acquires individual parameters related to the individual autonomous mobile body 11 stored in the storage unit 106 . Alternatively, for example, the recognition unit 151 receives individual parameters of the autonomous mobile body 11 from the information processing terminal 12 or the information processing server 13 .
  • parameters unique to each autonomous mobile body 11 are used as individual parameters.
  • the product number or the like of the autonomous mobile body 11 is used as the individual parameter.
  • parameters representing the characteristics of the autonomous mobile body 11 are used as individual parameters.
  • the color of the autonomous mobile body 11, the type of creature represented by the autonomous mobile body 11, the type of dog represented by the autonomous mobile body 11, and the like are used as individual parameters.
  • parameters representing attributes given to the autonomous mobile body 11 by the user are used as individual parameters.
  • the name, birthday, etc. of the autonomous mobile body 11 are used as individual parameters.
  • the age based on the birthday of the autonomous mobile body 11 is used as the individual parameter.
  • the recognition unit 151 sets a reaction reference point based on individual parameters. For example, the recognition unit 151 digitizes a character string representing an individual parameter using a hash function or the like, and sets a reaction reference point based on the obtained numerical value.
  • the reaction reference point is a reference point for detecting the intensity (reaction intensity) with which the autonomous mobile body 11 reacts to a touch. For example, the closer the touch position is to the reaction reference point, the stronger the reaction strength, and the farther the touch position is from the reaction reference point, the weaker the reaction strength.
  • a response pattern of the autonomous mobile body 11 to the touch is set by this response reference point.
  • a reaction reference point P0 is set within the reaction area A1 of the autonomous mobile body 11 based on individual parameters.
  • the reaction area A1 is, for example, a range in which the touch sensor 57 provided on the back of the autonomous mobile body 11 can react (a range in which a touch can be detected).
  • the reaction reference point is set at a position specific to the autonomous mobile body 11.
  • the reaction reference point is set at the same position in the autonomous mobile body 11 having the same feature or attribute.
  • step S ⁇ b>103 the recognition unit 151 detects the touch position based on the sensor data from the touch sensor 57 .
  • step S104 the recognition unit 151 detects the distance between the reaction reference point and the touch position.
  • step S105 the recognition unit 151 calculates the reaction intensity based on the detected distance.
  • the recognition unit 151 normalizes the distance between the touch position and the reaction reference point within the range of 0 to 1 by dividing the distance d by the size of the reaction area A1 (for example, the radius of the reaction area A1). become The recognition unit 151 sets, for example, the reciprocal of the normalized distance as the reaction intensity.
  • the recognition unit 151 converts the distance d into a reaction intensity using a predetermined function.
  • reaction intensity increases as the distance d decreases, and decreases as the distance d increases. That is, the closer the touch position P1 is to the reaction reference point P0, the greater the reaction intensity, and the farther the touch position P1 is from the reaction reference point P0, the smaller the reaction intensity.
  • the recognition unit 151 supplies situation data including the detected reaction intensity to the behavior control unit 153 .
  • a reaction reference point is set at a different position for each autonomous mobile body 11 or for each autonomous mobile body 11 having the same feature or attribute.
  • the reaction pattern changes for each autonomous mobile body 11 with respect to the same touch. For example, the characteristics and output timing of the bark output in response to a similar touch change for each autonomous mobile object 11 .
  • the individuality of each autonomous mobile body 11 is expressed, and the user can be attached to the autonomous mobile body 11 more.
  • reaction reference point is any position on the surface of the autonomous mobile body 11 where a touch can be detected. can be set to
  • a reaction reference point may be set for each autonomous mobile body 11 at different parts (eg, head, chin, abdomen, back, etc.).
  • the recognition unit 151 may set a strong reaction location based on the reaction reference point.
  • a strong reaction place is a place where the autonomous mobile body 11 reacts more strongly than other places.
  • the strong reaction place is a favorite place where the autonomous mobile body 11 shows a stronger positive reaction than other places, and a place where the autonomous mobile body 11 shows a stronger negative reaction than other places (hereinafter referred to as a disgusting place) ).
  • the reaction pattern of the autonomous mobile body 11 to the touch is set by this strong reaction place.
  • the learning unit 152 performs learning processing based on the action history data and the like stored in the storage unit 106, and sets the reaction pattern of the autonomous mobile body 11 to the touch by setting the strong reaction location. You may do so.
  • the action history data contains data indicating the recognition result or estimation result of the situation by the recognition unit 151 .
  • the learning unit 152 detects the part that has been stroked in the past, the position within the part, and the stroked time based on the action history data. Then, the learning unit 152 sets the part that has been stroked the most in the past as the favorite place. For example, if the head is stroked the most among the head, chin, abdomen, and back, the head is set as the favorite location.
  • the stroked amount for example, the cumulative value of the stroked time is used. However, the time when the hand is just placed without moving is not included in the stroked time.
  • the recognition unit 151 sets the response pattern of the autonomous mobile body 11 to the touch by setting the location where the autonomous mobile body 11 is injured as a disgusting place.
  • a place where a physical problem occurs may be set as a disgusting place, or a place where a virtual injury is supposed to occur may be set as a disgusting place.
  • the sound processing unit 172 changes the bark between when a strong reaction place is touched and when a non-strong reaction place is touched. Specifically, for example, when the favorite location is touched, the sound processing unit 172 raises the pitch of the bark more than when a location other than the favorite location is touched.
  • Fig. 28 shows an example of how to raise the pitch of the bark.
  • the horizontal axis of the graphs A and B of FIG. 28 indicates time, and the vertical axis indicates pitch.
  • the dotted curve C1a in FIG. 28A shows the pitch characteristics of the bark when a place other than the favorite place is touched, and the dashed-dotted line curve C1b shows the pitch characteristics of the bark when the favorite place is touched. is shown.
  • the dotted curve C2a in FIG. 28B shows the pitch characteristics of the bark when a place other than the favorite place is touched, and the dashed-dotted line curve C2b shows the pitch characteristics of the bark when the favorite place is touched. is shown.
  • the pitch is raised around the peak of the pitch waveform of the cry.
  • the entire pitch waveform of the call is raised. Comparing the example of A in FIG. 28 with the example of B in FIG. 28, it is easier for the user to notice that the pitch of the bark has changed in the example of B in FIG.
  • volume may be increased along with the pitch of the barking.
  • the autonomous mobile body 11 may conversely lower the pitch of its bark when a place other than the disgusting place is touched.
  • the voice output control unit 171 changes the frequency of outputting the bark depending on whether the favorite location is stroked or a part other than the favorite location is stroked. For example, the voice output control unit 171 makes the shortest output interval shorter when a favorite place is stroked than when a part other than the favorite place is stroked. Alternatively, for example, when the favorite location is touched, the audio output control unit 171 compares the touch amount used for determining the bark output in step S21 of FIG. lower the As a result, when the favorite place is stroked, the output frequency of the bark becomes higher than when the part other than the favorite place is stroked.
  • the characteristics and output timing of the bark may change based on the amount of past strokes for each part without setting a favorite location.
  • the voice processing unit 172 controls voice parameters based on the amount of past strokes for each part. For example, when a part that has been stroked a lot in the past is stroked, the sound processing unit 172 increases the volume or frequency of the bark. Conversely, for example, the voice output control unit 171 reduces the volume or frequency of the bark when a part that has been stroked less in the past is stroked.
  • the voice output control unit 171 shortens the shortest output interval or decreases the amount of touch used to determine the output of barks for parts that have been stroked a lot in the past. Conversely, the voice output control unit 171 lengthens the shortest output interval or increases the amount of touch used to determine the output of the bark for a part that has been stroked in a small amount in the past.
  • FIG. 29 shows an example of parameters used for setting favorite places.
  • individual_voice_param is a parameter that indicates the individual difference in voice quality of the autonomous mobile body 11.
  • individual_voice_param is set to a value in the range 0.0 to 1.0.
  • chin_weight is a parameter that indicates the degree of preference for touching the chin of the autonomous mobile body 11 .
  • chin_weight is set to a value in the range 0.0 to 1.0. For example, the closer chin_weight is to 1.0, the higher the degree of preference for touching the chin of the autonomous mobile body 11 . That is, the autonomous mobile body 11 is more likely to respond positively to the touch on the chin.
  • the closer chin_weight is to 0.0, the lower the degree of preference for touching the chin of the autonomous mobile body 11 . That is, the autonomous mobile body 11 is less likely to respond positively to the touch on the chin.
  • the degree to which the autonomous mobile body 11 shows a negative reaction to a touch on the chin increases.
  • head_weight is a parameter that indicates the degree of preference for touching the head of the autonomous mobile body 11, similar to chin_weight.
  • body_forward_weight is a parameter that indicates the degree of preference for touching the front of the body of the autonomous mobile body 11 (for example, abdomen).
  • body_back_weight like chin_weight, head_weight, and body_forward_weight, is a parameter that indicates the degree of preference for touching the rear body (for example, the back) of the autonomous mobile body 11 .
  • the recognition unit 151 may set a strong reaction location in units of areas within a part instead of in units of parts. For example, the recognizing unit 151 sets, as a strong reaction location, the region with the largest amount of strokes within the region that has been stroked the most in the past.
  • step S201 the autonomous mobile body 11 starts outputting sleep talk.
  • the voice output control unit 171 instructs the voice processing unit 172 to generate sleep talk.
  • the voice processing unit 172 starts generating and supplying voice data corresponding to the sleep talk. Specifically, the speech processing unit 172 calculates the speech parameters of the sleep talk to be output based on the situation data from the recognition unit 151 . The voice processing unit 172 generates voice data corresponding to the sleep talk based on the calculated voice parameters.
  • the voice processing unit 172 detects, for example, the action details of the current day based on the action history data stored in the storage unit 106, and sets the content of the sleep talk based on the action details of the current day. good too.
  • the audio output control unit 171 starts supplying the audio data generated by the audio processing unit 172 to the output unit 105 .
  • the output unit 105 starts outputting sleep talk based on the voice data.
  • sleep talk will only be output for a set amount of time.
  • the sleep talk output time may be either a fixed value or a variable value.
  • the sleep talk output time is a variable value, for example, the output time varies almost randomly within a predetermined range. This realizes more natural sleep talking.
  • step S202 based on the situation data from the recognition section 151, the speech processing section 172 determines whether or not an external stimulus has been given. If it is determined that an external stimulus has been applied, the process proceeds to step S203.
  • step S203 the voice processing unit 172 changes sleep talk in response to external stimulation. For example, when the autonomous mobile body 11 is stroked, shaken, or spoken to, the voice processing unit 172 modulates the sleep talking by changing voice parameters of the sleep talking according to these stimuli.
  • step S202 determines whether an external stimulus is applied. If it is determined in step S202 that an external stimulus is not applied, the process of step S203 is skipped and the process proceeds to step S204.
  • step S204 the voice output control unit 171 determines whether or not the output of the sleep talk has ended. If it is determined that the sleep talk output has not ended, the process returns to step S202.
  • step S204 the processing from step S202 to step S204 is repeatedly executed until it is determined in step S204 that the output of the sleep talk has ended. As a result, the output of sleep talking is continued, and the sleep talking changes in response to external stimuli.
  • step S204 determines whether the output of sleep talking has ended. If it is determined in step S204 that the output of sleep talking has ended, the process proceeds to step S205.
  • step S205 the autonomous mobile body 11 exits the sleep talking mode.
  • the voice output control unit 171 sets the pronunciation mode of the voice processing unit 172 to the non-response mode.
  • the pronunciation mode transitions from the sleep-talking mode to the no-response mode.
  • the voice expressiveness of the autonomous mobile body 11 is improved.
  • the autonomous mobile body 11 can output more natural and rich stimulus response sounds in response to various external stimuli.
  • individuality comes to appear in the reaction to a stimulus for every autonomous mobile body 11.
  • FIG. For example, the characteristics and output timing of the stimulus response sound for the same stimulus are changed for each autonomous mobile object 11 .
  • the user will feel the autonomous mobile body 11 more like a real living creature such as a pet, and attachment and satisfaction to the autonomous mobile body 11 will be improved.
  • This process is started, for example, when the conditions for the autonomous mobile body 11 to perform a predetermined motion are met.
  • step S301 the autonomous mobile body 11 starts motion.
  • the motion control unit 162 controls the driving unit 104 and the output unit 105 based on the motion data stored in the storage unit 106 to start execution of the motion that satisfies the conditions for execution. .
  • the recognition unit 151 recognizes the external state of the autonomous mobile body 11 based on the sensor data supplied from the input unit 101 and the driving data supplied from the driving unit 104.
  • the external state of the autonomous mobile body 11 is a state that appears outside the autonomous mobile body 11 .
  • the recognition unit 151 detects state variables representing external states such as the positions and angles of the head, body, legs, tail, mouth, and the like of the autonomous mobile body 11 .
  • the recognition unit 151 supplies the action control unit 153 with situation data including the recognition result of the external state of the autonomous mobile body 11 (for example, the detection result of the state variable representing the external state).
  • step S ⁇ b>303 the audio output control unit 171 determines whether the output of motion sound is necessary based on the recognition result of the external state of the autonomous mobile body 11 . If it is determined that the motion sound needs to be output, the process proceeds to step S304.
  • step S304 the audio processing unit 172 calculates the audio parameters of the motion sound and generates audio data.
  • the audio output control unit 171 instructs the generation of audio data corresponding to the motion sound corresponding to the external state of the autonomous mobile body 11 .
  • the audio processing unit 172 calculates the audio parameters of the motion sounds to be output based on the detection results of the state variables representing the external state of the autonomous mobile body 11 .
  • FIG. 32 shows the relationship between the opening angle and the voice parameter when the autonomous mobile body 11 is executing the motion of opening and closing the mouth and outputting barks as motion sounds in accordance with the movement of the mouth. Specifically, FIG. 32 shows the time-series transition of the opening angle, which is the state variable of the autonomous mobile body 11, and the volume, which is the audio parameter of the bark, the application degree of the low-pass filter, and the frequency.
  • the sound processing unit 172 sets the volume of the bark, the degree of application of the low-pass filter, and the frequency based on the opening angle, as shown in the graph of FIG.
  • the volume of the bark is proportional to the opening angle until the opening angle reaches a predetermined value, that is, until the mouth of the autonomous mobile body 11 is opened to some extent.
  • the aperture angle reaches a predetermined value
  • the low-pass filtering depth and frequency of the bark are constant.
  • the opening angle is greater than or equal to a predetermined value, that is, when the mouth of the autonomous mobile body 11 is opened more than a certain amount, the volume of the bark becomes constant.
  • the aperture angle is greater than or equal to the predetermined value, the degree of application of the low-pass filter is inversely proportional to the aperture angle, and the frequency is proportional to the aperture angle.
  • the volume changes according to the change in the opening angle while the sound quality of the cry is fixed.
  • the opening angle is greater than or equal to a predetermined value
  • the sound quality changes according to the change in the opening angle while the volume of the cry is fixed. For example, as described above, when the mouth of the creature is closed, the pronunciation is similar to "u”, and when the mouth is open, the pronunciation is similar to "a”. This vowel change is realized by changing the degree of application of the low-pass filter according to the aperture angle.
  • a breather may be inserted in the middle.
  • the bark is stopped or attenuated. After that, when the mouth of the autonomous mobile body 11 continues to open until the shortest output interval elapses, the bark with a lower velocity than the first bark is output again.
  • the audio processing unit 172 generates audio data corresponding to motion sounds based on the calculated audio parameters.
  • step S305 the autonomous mobile body 11 outputs a motion sound.
  • the audio output control unit 171 supplies the audio data generated by the audio processing unit 172 to the output unit 105 .
  • the output unit 105 outputs motion sounds based on the audio data.
  • step S303 determines whether motion sound output is required. If it is determined in step S303 that motion sound output is not required, the processing of steps S304 and S305 is skipped, and the processing proceeds to step S306.
  • step S306 the motion control unit 162 determines whether the motion has ended. If it is determined that the motion has not ended, the process returns to step S302.
  • steps S302 to S306 are repeatedly executed until it is determined in step S306 that the motion has ended.
  • the motion sound is output in accordance with the motion as needed during execution of the motion.
  • step S306 if it is determined in step S306 that the motion has ended, the motion sound control process ends.
  • the autonomous mobile body 11 can output motion sounds other than barks based on the external state of the autonomous mobile body 11 by a similar method.
  • the recognizing unit 151 detects the vertical direction of the center of gravity of the autonomous mobile body 11 based on the sensor data from the inertial sensor 60 and the driving data from the driving unit 104 during execution of movement such as running or walking. and the angles of the joints of each leg are detected as state variables.
  • the sound processing unit 172 expresses sighs or breaths output according to the movement of the autonomous mobile body 11 based on the vertical position of the center of gravity of the autonomous mobile body 11 and the detection result of the angle of the joint of each leg. Generate audio data corresponding to the audio.
  • the audio output control unit 171 causes the output unit 105 to output a sound representing sighing or breathing according to the movement of the autonomous mobile body 11 .
  • the autonomous mobile body 11 can output sighs and breaths according to movement like a real dog.
  • the recognition unit 151 detects the presence or absence of impact on the autonomous mobile body 11 and the magnitude of the impact as state variables based on the sensor data from the inertial sensor 60 during execution of the movement motion.
  • the sound processing unit 172 generates sound data corresponding to an impact sound to be output according to the magnitude of the impact, based on the presence or absence of the impact on the autonomous mobile body 11 and the detection result of the magnitude of the impact.
  • the audio output control unit 171 causes the output unit 105 to output an impact sound in accordance with the impact on the autonomous mobile body 11.
  • the autonomous mobile body 11 can output an impact sound according to the magnitude of the impact. Also, for example, when an unexpected impact is applied during motion execution, the autonomous mobile body 11 can quickly follow and output an impact sound.
  • the impact to the autonomous mobile body 11 can be, for example, a collision with a wall, a trip, or a fall.
  • Impact sounds include, for example, collision sounds, stumbling sounds, and falling sounds.
  • the recognition unit 151 determines whether or not each leg of the autonomous mobile body 11 has landed and the magnitude of the impact at the time of landing based on the sensor data from the sole button 59 and the inertial sensor 60 during execution of the movement motion. is detected as a state variable.
  • the audio processing unit 172 generates audio data corresponding to the footsteps according to the magnitude of the impact at the time of landing based on the presence or absence of the landing of each leg of the autonomous mobile body 11 and the detection result of the magnitude of the impact at the time of landing. do.
  • the audio output control unit 171 causes the output unit 105 to output footstep sounds in accordance with the landing of each leg.
  • the autonomous mobile body 11 can output footsteps in accordance with the landing of each leg, and output footsteps with a volume corresponding to the impact at the time of landing.
  • the recognition unit 151 detects the shaking of the body of the autonomous mobile body 11 as a state variable based on the sensor data from the inertial sensor 60 during execution of the movement motion.
  • the audio processing unit 172 detects the shaking of the body part of the autonomous mobile body 11 based on the detection result of the shaking of the body part of the autonomous mobile body 11. Generate audio data corresponding to the sound.
  • the audio output control unit 171 causes the output unit 105 to output a rustling sound in accordance with the shaking of the body of the autonomous mobile body 11 .
  • the autonomous mobile body 11 can output the rustling sound in accordance with the shaking of the body of the autonomous mobile body 11 .
  • the autonomous mobile body 11 may output the sound of the bell along with the rustling of clothes, assuming that the user is wearing clothes with a bell attached during the Christmas season, for example.
  • the recognition unit 151 detects the angle of the neck joint of the autonomous mobile body 11 as a state variable based on the driving data from the driving unit 104 during execution of the motion of turning backward.
  • the audio processing unit 172 generates audio data corresponding to the turning sound representing the turning direction of the autonomous mobile body 11 based on the detection result of the angle of the joint of the neck of the autonomous mobile body 11 .
  • the audio output control unit 171 causes the output unit 105 to output turning sound in accordance with the movement of the neck (head) of the autonomous mobile body 11 .
  • the autonomous mobile body 11 can output a turn-around sound as the autonomous mobile body 11 turns around.
  • the audio output control unit 171 switches the algorithms and parameters used by the audio processing unit 172 as necessary, for example, depending on the type of motion being executed. As a result, even if the external state of the autonomous mobile body 11 is the same, it is possible to change the motion sound characteristics and output timing according to the type of motion being executed.
  • a short-breathing cry is output according to the movement of the mouth.
  • a sweet cry is output according to the movement of the mouth.
  • the sole button 59 detects the contact of an object with the sole, the presence or absence of motion sound output is switched depending on the difference in the motion being executed.
  • FIG. 33 shows the relationship between the detection result of the sole button 59 and the volume of footsteps, which are motion sounds.
  • footstep sounds are output in accordance with the detection of contact with the sole button 59 .
  • a motion sound designer listens to each motion sound actually output from the autonomous mobile body 11, adjusts the audio parameters, and designs appropriate motion sounds. Also, for example, the designer uses the authoring tool to create an algorithm for generating each motion sound and to set voice parameters.
  • the designer for example, based on the maximum value and the maximum change width of the movement of each part of the autonomous mobile body 11, to cover the movement of the autonomous mobile body 11, set the audio parameters of each motion sound. set.
  • data indicating the relationship between state variables and audio parameters in key frames of each motion is held in the audio processing unit 172 of the autonomous mobile body 11 . More specifically, for example, the audio processing unit 172 holds data indicating the relationship between the state variables in the key frames of each motion and the values and variation amounts of the audio parameters.
  • the audio processing unit 172 calculates the audio parameters of the motion sound in real time based on the data indicating the relationship between the state variables in the key frames and the values and amounts of change of the audio parameters.
  • the audio processing unit 172 generates audio data corresponding to the motion sound based on the calculated audio parameters.
  • FIG. 34 shows an example of key frames. Specifically, in FIG. 34, an auxiliary line representing time t1f to time t6f corresponding to the keyframe is added to the graph in FIG.
  • Time t1f is the time when the opening angle rises (starts to rise from 0 degrees).
  • Time t2f is the time when the opening angle reaches the angle at which the sound volume becomes a constant value.
  • Time t3f is the time when the opening angle reaches the maximum value.
  • Time t4f is the time when the opening angle starts to decrease from the maximum value.
  • Time t5f is the time when the opening angle reaches the angle at which the sound volume becomes a constant value.
  • Time t6f is the time when the opening angle becomes 0 degrees.
  • the audio processing unit 172 interpolates the audio parameters at the opening angles other than the key frames based on the values and variation of the opening angles and the audio parameters in each key frame. Thereby, the speech parameters at each aperture angle are calculated in real time.
  • FIG. 35 is a graph showing the relationship between the opening angle and audio parameters (for example, volume).
  • the horizontal axis indicates the aperture angle, and the vertical axis indicates the sound parameter.
  • the audio processing unit 172 holds the values and variation of the audio parameters at the opening angles of 0 degrees, 30 degrees, and 60 degrees in the key frames.
  • the audio processor 172 performs linear interpolation based on the audio parameters at the opening angles of 0 degrees, 30 degrees, and 60 degrees to calculate the audio parameters at other opening angles in real time.
  • the audio processing unit 172 generates audio data corresponding to the motion sound in real time based on the calculated audio parameters.
  • the designer may create a function that converts the state variables representing the external state of the autonomous mobile body 11 into voice parameters of each motion sound for each motion of the autonomous mobile body 11 .
  • the sound processing unit 172 may use the created function to calculate the sound parameters of each motion sound in real time based on the state variables of the autonomous mobile body 11 .
  • the audio data corresponding to the motion sound is generated or processed in real time based on the external state of the autonomous mobile body 11, and the motion sound is output based on the generated or processed audio data.
  • a stimulus other than the above-described touch stimulus can be used to trigger the stimulus response sound.
  • the action of lifting, shaking, or holding the autonomous mobile body 11 can be used to trigger the stimulus response sound.
  • a stimulus given without touching the autonomous mobile body 11 can be used to trigger the stimulus response sound.
  • a stimulus reaction sound may be output.
  • Favorites include, for example, favorite creatures (including people), favorite plants, companions (for example, other autonomous moving bodies that are on good terms), favorite toys, favorite food, and the like.
  • Disliked items include, for example, disliked creatures (including humans), disliked plants, enemies (for example, other autonomous moving bodies that are on bad terms with each other), disliked food, and the like.
  • a stimulus response sound may be output.
  • a favorite sound may be, for example, a conversation from a user or a colleague, favorite music, or the like.
  • Disliked sounds may include, for example, reprimands, speaking from enemies, and disliked music.
  • the output stimulus response sound may change according to the content of the stimulus. That is, the output timing (for example, the shortest output interval, etc.), voice parameters, etc. may be changed according to the contents of various stimuli.
  • the stimulus content is represented by, for example, the type of stimulus, the manner of stimulus, the intensity of stimulus, the timing of stimulus, the period of stimulus, the position of stimulus, or a combination thereof.
  • the output stimulus response sound may be changed according to a method of combining multiple types of stimuli. For example, when the autonomous mobile body 11 is stroked while showing a favorite object to the autonomous mobile body 11, and when the autonomous mobile body 11 is stroked while the autonomous mobile body 11 hears a favorite sound, output The stimulus response sound may be changed.
  • stimulus response sounds For example, it is possible to use sounds other than the barks and sleep talks described above as stimulus response sounds. For example, it is possible to use barks, growls, stomach rumbling sounds when hungry, etc. as stimulus response sounds.
  • the characteristics and output timing of the stimulus-response sound to be output may be changed by factors other than the content of the stimulus.
  • factors include, for example, the behavior of the autonomous mobile body 11, the state of the autonomous mobile body 11, the opponent who gave the stimulus, and the surrounding circumstances.
  • the autonomous mobile body 11 changes the output stimulus response sound depending on the behavior of the autonomous mobile body 11 at that time. Specifically, for example, the autonomous mobile body 11 outputs a bark when being stroked while not doing anything, and does not output a bark when performing some action.
  • the autonomous mobile body 11 changes the stimulus response sound to be output according to the previous action. For example, when the autonomous mobile body 11 is stroked when it is exercising immediately before, it outputs a cry of rough breathing compared to when it is stroked when it is not exercising immediately before.
  • the autonomous mobile body 11 changes the stimulus response sound to be output according to the state of that part. Specifically, for example, the autonomous mobile body 11 outputs a happy bark when a part where nothing is generated is stroked. On the other hand, when the part set as the disgusting place is stroked, the autonomous mobile body 11 outputs a bark expressing disgust, or performs a disgusting action without outputting a bark. In addition, the autonomous mobile body 11 outputs a pleasing bark when the site where itching is virtually generated is stroked.
  • the autonomous mobile body 11 changes the stimulus sound to be output according to the emotion of the autonomous mobile body 11 . Specifically, for example, when the autonomous mobile body 11 is in a good mood and is stroked, it outputs a happy cry. On the other hand, when the autonomous mobile body 11 is stroked when it is in a bad mood, it outputs an unpleasant cry.
  • the autonomous mobile body 11 when the autonomous mobile body 11 is shown food, it changes the stimulus response sound to be output according to the degree of hunger. For example, when the autonomous mobile body 11 is shown food when the hunger level is high, the autonomous mobile body 11 outputs a happy bark or a rumbling sound. On the other hand, the autonomous mobile body 11 does not respond particularly when shown food when the hunger level is low, and does not output the stimulus response sound.
  • the autonomous mobile body 11 changes the stimulus response sound based on age. For example, as the age of the autonomous mobile body 11 increases, the pitch of the bark is lowered so as to make the user feel aging.
  • the autonomous mobile body 11 changes the stimulus response sound to be output according to the relationship (for example, intimacy) with the stimulus partner.
  • the degree of intimacy with the stimulus partner is set, for example, based on the number of times the user has met the stimulus partner in the past and the cumulative time.
  • the autonomous mobile body 11 outputs a bark (for example, a bark that sounds like a spoiled child) that makes the person feel more friendly as the degree of intimacy with the touched partner increases.
  • a bark for example, a bark that sounds like a spoiled child
  • the autonomous mobile body 11 cannot recognize the touched partner (for example, when it has not met the touched partner in the past), it outputs a default cry.
  • the autonomous mobile body 11 may temporarily increase the sensitivity for detecting a touch when a state in which the amount of touch is small continues for a predetermined time or longer.
  • the autonomous mobile body 11 changes the stimulus response sound according to the surrounding environmental sounds.
  • the autonomous mobile body 11 changes the volume of the cry according to the volume of the surrounding environmental sound. This ensures, for example, that barks are audible regardless of the loudness of the surrounding environmental sounds.
  • the autonomous mobile body 11 changes the stimulus response sound depending on the place and time.
  • the autonomous mobile body 11 changes its bark depending on whether it is indoors or out for a walk or the like, or changes the bark depending on the time of day.
  • the autonomous mobile body 11 when the autonomous mobile body 11 outputs a bark, it changes the bark according to the reaction of the surroundings. For example, when outputting a bark, the autonomous mobile body 11 changes the bark according to the reaction when the other party (for example, a surrounding user or another autonomous mobile body) shows a positive reaction. On the other hand, when the autonomous moving body 11 outputs the bark, if the other party does not react or shows a negative reaction, the autonomous mobile body 11 stops outputting the bark and becomes quiet.
  • the other party for example, a surrounding user or another autonomous mobile body
  • a positive reaction is, for example, a reaction such as smiling, talking, or approaching.
  • a negative reaction is, for example, a reaction of making a disgusting face or running away.
  • the autonomous mobile body 11 predicts the owner's return home time based on the location information of the owner, who is the user who owns the autonomous mobile body 11, or the learning result of the owner's return home time by the learning unit 152.
  • the way of crying may be changed when the time to go home approaches.
  • the output stimulus response sound changes depending on a combination of two or more of the behavior of the autonomous mobile body 11, the state of the autonomous mobile body 11, the opponent who gave the stimulus, the surrounding situation, and the content of the stimulus. You may do so.
  • the set value of the voice parameter of the stimulus response sound may be different for each autonomous mobile object 11 .
  • the sound processing unit 172 of each autonomous mobile body 11 may change the frequency and timbre of the stimulus response sound based on the individual parameters of each autonomous mobile body 11 .
  • ⁇ Modified example of reaction pattern> an example of setting the response pattern of the autonomous mobile body 11 to the touch by setting the response reference point or the strong response location was shown.
  • the response pattern of the autonomous mobile body 11 to the touch may be set by a method other than the response reference point and the strong response location.
  • the learning unit 152 may learn the stimulation method of the user and set the reaction pattern of the autonomous mobile body 11 based on the learning result of the stimulation method.
  • the learning unit 152 performs learning processing based on the action history data and the like stored in the storage unit 106, and learns the owner's pattern of stroking the autonomous mobile body 11.
  • the stroking pattern is represented by, for example, stroking position, strength, speed, and the like. Then, the learning unit 152 sets the owner's stroking pattern and similar patterns as strong reaction touch patterns.
  • the voice processing unit 172 changes the bark depending on whether it is stroked with a strong touch pattern or with a pattern other than that. For example, the sound processing unit 172 increases the volume of the bark or reduces the volume of the bark so that a more positive reaction is shown when stroked with a strong reaction touch pattern than when stroked with other patterns. Raise your pitch.
  • the autonomous mobile body 11 responds better. Also, for example, when the owner strokes the autonomous mobile body 11, the response of the autonomous mobile body 11 is better than when other users stroke it. As a result, the owner can feel, for example, the feeling that the autonomous mobile body 11 is becoming attached to them, and attachment to the autonomous mobile body 11 increases.
  • the learning unit 152 may set a reaction pattern to stimuli other than touches by learning the contents of stimuli other than touches given to the autonomous mobile body 11 in the past.
  • the learning unit 152 may set a response pattern to the content spoken by the user by learning the content spoken by the user in the past.
  • the autonomous mobile body 11 can change the motion sound characteristics and output timing according to the surrounding conditions.
  • the autonomous mobile body 11 changes the volume and tone quality of the motion sound according to the surrounding environmental sounds.
  • the sound of the motion of eating food may be changed according to the food to be eaten.
  • the autonomous mobile body 11 performs a preliminary operation for outputting motion sounds as necessary. For example, when the autonomous mobile body 11 performs a motion of outputting a bark, when it is holding a bone in its mouth, it first performs an action of placing the bone in its mouth.
  • the information processing terminal 12 may output a motion sound in synchronization with the motion of the autonomous mobile body 11 on the screen while an application for managing the autonomous mobile body 11 is being executed.
  • the audio parameters of the motion sound are changed from the audio parameters for the autonomous mobile body 11 according to the difference in sound systems such as speakers between the information processing terminal 12 and the autonomous mobile body 11 .
  • the motion sound is output by changing the color of the autonomous moving body 11 in the screen or displaying a waveform representing the motion sound. You may enable a user to recognize that.
  • the information processing terminal 12 or the information processing server 13 may execute part of the processing of the autonomous mobile body 11 described above.
  • the information processing terminal 12 or the information processing server 13 may perform all or part of the processing of the information processing unit 103 of the autonomous mobile body 11 to remotely control the autonomous mobile body 11 .
  • the information processing terminal 12 or the information processing server 13 may remotely control the output of the stimulus response sound and the motion sound of the autonomous mobile body 11 .
  • this technology can also be applied to autonomous mobile objects that output stimulus response sounds and motion sounds.
  • the series of processes described above can be executed by hardware or by software.
  • a program that constitutes the software is installed in the computer.
  • the computer includes, for example, a computer built into dedicated hardware and a general-purpose personal computer capable of executing various functions by installing various programs.
  • FIG. 36 is a block diagram showing an example of the hardware configuration of a computer that executes the series of processes described above by a program.
  • CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • An input/output interface 1005 is further connected to the bus 1004 .
  • An input unit 1006 , an output unit 1007 , a storage unit 1008 , a communication unit 1009 and a drive 1010 are connected to the input/output interface 1005 .
  • the input unit 1006 consists of input switches, buttons, a microphone, an imaging device, and the like.
  • the output unit 1007 includes a display, a speaker, and the like.
  • the storage unit 1008 includes a hard disk, nonvolatile memory, and the like.
  • a communication unit 1009 includes a network interface and the like.
  • a drive 1010 drives a removable medium 1011 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.
  • the CPU 1001 loads, for example, a program recorded in the storage unit 1008 into the RAM 1003 via the input/output interface 1005 and the bus 1004, and executes the program. A series of processes are performed.
  • the program executed by the computer 1000 can be provided by being recorded on removable media 1011 such as package media, for example. Also, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.
  • the program can be installed in the storage unit 1008 via the input/output interface 1005 by loading the removable medium 1011 into the drive 1010 . Also, the program can be received by the communication unit 1009 and installed in the storage unit 1008 via a wired or wireless transmission medium. In addition, programs can be installed in the ROM 1002 and the storage unit 1008 in advance.
  • the program executed by the computer may be a program that is processed in chronological order according to the order described in this specification, or may be executed in parallel or at a necessary timing such as when a call is made. It may be a program in which processing is performed.
  • a system means a set of multiple components (devices, modules (parts), etc.), and it does not matter whether all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a single device housing a plurality of modules in one housing, are both systems. .
  • this technology can take the configuration of cloud computing in which one function is shared by multiple devices via a network and processed jointly.
  • each step described in the flowchart above can be executed by a single device, or can be shared by a plurality of devices.
  • one step includes multiple processes
  • the multiple processes included in the one step can be executed by one device or shared by multiple devices.
  • a recognition unit that recognizes an external stimulus; Sound output in response to the stimulus based on at least one of the behavior of the autonomous mobile body, the state of the autonomous mobile body, the person who gave the stimulus, the surrounding situation, and the contents of the stimulus. and a voice control unit that controls characteristics and output timing.
  • the voice control unit controls characteristics and output timing of barks for the stimulation.
  • the voice control unit controls the output timing of the bark based on the elapsed time since the previous output of the bark.
  • the voice control unit does not output the bark when the elapsed time from outputting the bark last time is less than a threshold.
  • the stimulus is a touch; Any one of (2) to (8) above, wherein the voice control unit lengthens the output time of the bark when the position to touch the autonomous mobile body moves compared to when the position to touch does not move The autonomous mobile body described in . (10) Any of the above (2) to (9), wherein, when the stimulus is repeated within a predetermined time, the vocal control unit changes the characteristics of the bark for the second stimulus from the bark for the first stimulus.
  • the autonomous mobile body described in . (11) According to any one of (1) to (10), the voice control unit controls characteristics and output timing of the voice based on the response pattern of the autonomous mobile body to the stimulus and the content of the stimulus. autonomous mobile body.
  • the reaction pattern includes a reaction reference point that serves as a reference for detecting the reaction intensity to the stimulus in the autonomous mobile body,
  • the recognition unit detects the reaction intensity based on the distance between the position where the stimulus is applied and the reaction reference point,
  • the autonomous mobile body according to (11), wherein the voice control unit controls characteristics and output timing of the voice based on the reaction intensity.
  • the autonomous mobile body according to any one of (1) to (14), wherein the voice control unit controls characteristics of the voice by generating or processing voice data corresponding to the voice.
  • the voice control unit responds to the voice based on at least one of the behavior of the autonomous mobile body, the state of the autonomous mobile body, the person who gave the stimulus, the surrounding situation, and the content of the stimulus.
  • the autonomous mobile body according to any one of the above (1) to (15), which controls the transition of the pronunciation mode for switching the algorithm and parameters used for generating or processing the voice data.
  • An internal state control unit that is included in the state of the autonomous mobile body and controls transition of an internal state that is an internal state of the autonomous mobile body, The autonomous mobile body according to any one of (1) to (16), wherein the voice control unit controls characteristics and output timing of the voice based on the internal state of the autonomous mobile body.
  • the recognition unit further recognizes at least one of the state of the autonomous mobile body, the person who gave the stimulus, and the surrounding situation. .
  • Information processing method for controlling characteristics and output timing (20) Recognizing external stimuli to the autonomous mobile body, Sound output in response to the stimulus based on at least one of the behavior of the autonomous mobile body, the state of the autonomous mobile body, the person who gave the stimulus, the surrounding situation, and the contents of the stimulus.

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