JP4468777B2 - Control device for legged walking robot - Google Patents
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- JP4468777B2 JP4468777B2 JP2004283782A JP2004283782A JP4468777B2 JP 4468777 B2 JP4468777 B2 JP 4468777B2 JP 2004283782 A JP2004283782 A JP 2004283782A JP 2004283782 A JP2004283782 A JP 2004283782A JP 4468777 B2 JP4468777 B2 JP 4468777B2
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Description
本発明は、音声入力手段への入力から注目音声を識別する音声識別手段を備える移動ロボットの制御装置に関するものである。 The present invention relates to a control device for a mobile robot provided with a voice identification unit for identifying a target voice from an input to a voice input unit.
ビデオカメラから得た視覚情報と、マイクロフォンから得た聴覚情報とに基づいて周囲の状況を認識しつつ二足歩行で自律的に移動するヒト型ロボットの開発が近時盛んである。そして一般的な生活環境における人間とヒト型ロボットとの親和性の向上および作業性の向上を図るために、音声による対話機能の充実が望まれている。 The development of humanoid robots that move autonomously by bipedal walking while recognizing surrounding conditions based on visual information obtained from video cameras and auditory information obtained from microphones has been active recently. In order to improve the compatibility between humans and humanoid robots in a general living environment and to improve workability, it is desired to enhance the dialogue function by voice.
このような音声対話機能に適用可能な音声認識に関する技術として、音声入力装置に入力された音声パターンを予め設定された標準パターンと比較して注目音声であるか否かを判別するに際し、騒音の影響を回避するため、環境騒音を加味した標準パターンを設定する手法が特許文献1に提案されている。また騒音スペクトルを推定し、音声入力から騒音成分を除去する手法が特許文献2に提案されている。
しかるに、ロボットの頭部に設けたマイクロフォンで集音して音声認識を行う際には、例えば、手足の関節に設けられたサーボモータや電子制御ユニットの冷却ファンの回転音、各可動部の動作音、あるいは歩行中の足音など、ロボット自身が発する騒音の影響を受けることが問題となる。因みに本出願人の開発したロボットの場合、歩行時の脚部が発する着地音(足音)が、1メートル離れた位置からの「おい」という呼び掛け音声と同等の音量であり、かつ波形も似ている(図3を参照されたい)。 However, when performing sound recognition by collecting sound with a microphone provided on the head of the robot, for example, rotation sound of a servo motor provided on a joint of a limb or a cooling fan of an electronic control unit, operation of each movable part The problem is that it is affected by noise generated by the robot itself, such as sounds or footsteps while walking. Incidentally, in the case of the robot developed by the present applicant, the landing sound (footsteps) emitted by the legs during walking is the same volume as the call sound of “Oi” from a position 1 meter away, and the waveform is also similar. (See FIG. 3).
つまり特許文献1、2に記載の従来の騒音対策手法は、不規則に入り込む騒音や、注目音声に似たパターンの騒音には対処し難いため、これを移動ロボットの聴覚に適用しても、周囲の騒音から人間の声を識別することの確実性は必ずしも高められないことがあり得た。 In other words, since the conventional noise countermeasure methods described in Patent Documents 1 and 2 are difficult to deal with irregularly entering noise and noise with a pattern similar to the speech of interest, even if this is applied to the hearing of a mobile robot, The certainty of distinguishing human voice from ambient noise could not always be improved.
本発明は、このような従来技術の欠点を解消することを課題として案出されたものであり、その主な目的は、自身の発する作動音に阻害されずに音声認識を行うことのできる移動ロボットの制御装置を提供することにある。 The present invention has been devised with the object of eliminating the disadvantages of the prior art, and the main purpose of the present invention is to make it possible to perform speech recognition without being disturbed by the operation sound generated by itself. The object is to provide a robot control device.
このような課題を解決するため、本発明による脚式歩行ロボットの制御装置は、可動部の運動を制御する行動制御手段、少なくとも移動速度を含む運動状態量検出手段、音声入力手段、及び音声入力手段への入力から注目音声を識別する音声認識手段を備える移動ロボットの制御装置において、音声入力手段への入力からロボットの作動音を識別させ、人間と話す際には作動音が減少するように可動部の動作を制御する。 In order to solve such a problem, a control device for a legged walking robot according to the present invention includes behavior control means for controlling movement of a movable part, movement state quantity detection means including at least a moving speed, voice input means, and voice input. In a control apparatus for a mobile robot provided with voice recognition means for identifying speech of interest from the input to the means, the operation sound of the robot is identified from the input to the voice input means so that the operation sound is reduced when talking to a human. that controls the operation of the movable portion.
特に、当該ロボットが脚式歩行ロボットの場合は、作動音の識別結果に基づいて歩容を変更すると良く、さらに、作動音の識別結果に基づいて音源方向へ転回し且つ音源に接近するようにしたり、冷却ファンを備える場合は、作動音の識別結果に基づいて冷却ファンの風量を変更するようにしたり、また作動音の識別結果に基づいて発話者に再度の発声を依頼するようにしたりしても良い。
Particularly, if the robot is a legged walking robot, rather good when you change the gait based on the identification result of the operation sound, furthermore, to and close to the sound source turning the sound source direction based on the identification result of the operation sound Ri and, if provided with a cooling fan, Ri was to change the air volume of the cooling fan based on the identification result of the operation sound, also to ask the utterance again to speaker based on the identification result of the operation sound but it may also be or to.
本発明によれば、運動状態量検出手段の信号から作動音を発するタイミングを予測でき、これによってロボット自身が発する作動音を把握することができる。そして人間との対話の時は、極力静止して音声を取り込むようにすることにより、注目音声の識別に作動音が干渉することを回避し得る。 According to the present invention, it is possible to predict the timing at which the operation sound is generated from the signal of the motion state quantity detection means, and thereby it is possible to grasp the operation sound generated by the robot itself. And, when interacting with a human being, it is possible to avoid the interference of the operating sound with the identification of the target voice by capturing the voice while still as much as possible.
特に、歩容を変更して着地音が注目音声の識別の妨げとなることを回避したり、音源方向へ転回し且つ音源に接近して聞き取り易くなるようにしたり、冷却ファンの回転を低下させて自身の発する騒音レベルが低くなるようにしたり、発話者に再度の発声を依頼したりするようにすれば、音声認識の確実性を高める上に効果的である。 In particular, changing the gait to avoid the landing sound from interfering with the target speech, turning in the direction of the sound source and approaching the sound source to make it easier to hear, or reducing the cooling fan rotation It is effective to increase the certainty of voice recognition by reducing the noise level generated by itself or by requesting the speaker to speak again.
以下に添付の図面を参照して本発明について詳細に説明する。 Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
図1は、移動ロボットに適用された本発明の要部構成を示すブロック図である。このロボットには、一対のマイクロフォン1が頭部に設けられており、マイクロフォン1からの音声信号が音声認識部2に入力され、一対のマイクロフォン1間の音圧差及び音の到達時間差に基づいて音源位置の特定が行われる。 FIG. 1 is a block diagram showing a main configuration of the present invention applied to a mobile robot. In this robot, a pair of microphones 1 is provided on the head, and a sound signal from the microphone 1 is input to the sound recognition unit 2, and a sound source is generated based on a sound pressure difference between the pair of microphones 1 and a sound arrival time difference. The position is specified.
音声認識部2では、騒音データ管理部3に格納されたその環境の騒音レベルに対応した入力ゲイン、ノイズフィルタの周波数応答特性、およびスピーカ4の音量レベルなどの各パラメータを参照すると共に、運動状態量検出器5からのロボットの脚部・腕部6の動きを入力し、ロボットが発する動作音や足音を把握して注目音声を識別し易くすると共に、音の波形から、人が発する音声であるか、何らかの物体同士がぶつかり合う衝撃音であるかを推定すると共に、人が発する音声パターンを標準パターンと比較してその内容を理解する処理を行う。
The voice recognition unit 2 refers to parameters such as the input gain corresponding to the noise level of the environment stored in the noise data management unit 3, the frequency response characteristics of the noise filter, and the volume level of the speaker 4, and the motion state The movement of the leg / arm part 6 of the robot from the
行動制御部7では、所定の動作指令に基づいて設定されたアクション指示値を脚部・腕部6に設けられたアクチュエータなどに与えてロボットの運動を制御する。特に脚部は、音声認識部2での識別結果に基づいて必要に応じて歩幅を小さくしたり、重心を下げて着地衝撃を緩和したり、歩速を低くして着地間隔を長くしたりするなどの静音モードでの歩行が指示される。さらに、適宜な合成音声生成手段で生成された発話信号をスピーカ4から出力したり、電子制御ユニットの冷却ファン8などの風量を制御して自身が発する騒音を極力低減したりする。 In the behavior control unit 7, an action instruction value set based on a predetermined operation command is given to an actuator or the like provided on the leg / arm unit 6 to control the movement of the robot. In particular, the leg portion reduces the step length as necessary based on the identification result in the speech recognition unit 2, lowers the center of gravity to reduce the landing impact, or lowers the walking speed to increase the landing interval. Instructed to walk in silent mode. Furthermore, an utterance signal generated by an appropriate synthesized voice generation unit is output from the speaker 4, or the noise generated by itself is reduced as much as possible by controlling the air volume of the cooling fan 8 of the electronic control unit.
またカメラ9及び画像認識部10が設けられ、カメラの撮像画像を分析し、発話者までの距離、ジェスチュア並びに口の動きの認識などを行うと共に発話者の特定を行い、それらの情報に適合した対応動作を行わせるように、行動制御部7から指示を発する。
A camera 9 and an
次に本発明の音声認識に関わる処理について説明する。音声認識部2では、音声信号の入力を行う(ステップ1)と共に、行動制御部7の動作指令値に基づいて脚部6の運動状態量を検出し、着地タイミングを推定する(ステップ2)。そして音声信号に着地音が重畳しているか否かを推定し、且つ着地時には音源位置の検出は行わず、ロボット固有の名前が含まれているか等注目音声の識別を行い(ステップ3)、注目音声信号が独立している場合は音声認識処理を行い(ステップ4)、着地音が重畳している場合は、採取した音声の完全な認識は困難と判断し、一旦停止や音源方向への正対などを行い、また必要に応じて静音モードで歩行しつつ音源に接近する(ステップ5)。 Next, processing related to speech recognition according to the present invention will be described. The voice recognition unit 2 inputs a voice signal (step 1), detects the motion state amount of the leg 6 based on the operation command value of the behavior control unit 7, and estimates the landing timing (step 2). Then, it is estimated whether or not a landing sound is superimposed on the audio signal, and the sound source position is not detected at the time of landing, and the attention sound is identified such as whether a name unique to the robot is included (step 3). If the audio signal is independent, the voice recognition process is performed (step 4). If the landing sound is superimposed, it is determined that it is difficult to completely recognize the collected voice, and it is temporarily stopped or corrected in the direction of the sound source. Pairing is performed, and the sound source is approached while walking in the silent mode as necessary (step 5).
また周囲の騒音レベルを判断し(ステップ6)、騒音レベルが高い場所であった場合は、電子制御ユニットの冷却ファン8や関節部に設けられたサーボモータなどの出力を最低限にし(ステップ7)、自身の発生する騒音を下げて注目音声をより一層聞き取り易くする。 Further, the ambient noise level is judged (step 6). If the noise level is high, the output of the cooling fan 8 of the electronic control unit or the servo motor provided at the joint is minimized (step 7). ), Reduce the noise generated by itself, and make it easier to hear the voice of interest.
さらに場合によっては、声をもっと大きくしてもらえるように発話によって依頼する(ステップ8)。 Further, depending on the case, a request is made by utterance so that the voice is louder (step 8).
このようにして、得た音声信号を音声認識部2で処理して注目音声を識別することにより、ロボット自身が発する騒音で注目音声の正確な識別が妨げられることを回避し、音声をきっかけとした対人対話機能の高度な推進を実現することができる。 In this way, the obtained speech signal is processed by the speech recognition unit 2 to identify the attention speech, thereby avoiding that the accurate identification of the attention speech is hindered by the noise generated by the robot itself. Advanced interpersonal dialogue function.
1 マイクロフォン
2 音声認識部
5 運動状態量検出器
6 脚部・腕部
7 行動制御部
8 冷却ファン
DESCRIPTION OF SYMBOLS 1 Microphone 2
Claims (5)
前記音声認識手段は、前記音声入力手段への入力から注目音声と当該ロボットの着地音を識別し、
前記行動制御手段は、前記着地音の識別結果に基づいて当該着地音が減少するように当該ロボットの歩容を変更する制御を行う脚式歩行ロボットの制御装置。 Action control means for controlling the movement of the movable portion, the motion state quantity detecting means including at least moving speed, voice input means, a control device of a legged walking robot having a及beauty speech recognition means,
The voice recognition means identifies the target voice and the landing sound of the robot from the input to the voice input means,
The action control means, the control system of a legged walking robot that performs control for changing the gait of the robot such that the landing sound is reduced on the basis of the identification result of the landing sound.
前記行動制御手段は、前記注目音声と前記着地音とが重畳する場合に限って当該着地音が減少するように当該ロボットの歩容を変更する制御を行う請求項1に記載の脚式歩行ロボットの制御装置。 The voice recognition means estimates whether or not a preset attention voice and the landing sound are superimposed,
2. The legged walking robot according to claim 1, wherein the behavior control unit performs control to change a gait of the robot so that the landing sound is reduced only when the attention sound and the landing sound are superimposed. Control device.
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JP2004283782A JP4468777B2 (en) | 2004-09-29 | 2004-09-29 | Control device for legged walking robot |
US11/221,903 US7840308B2 (en) | 2004-09-10 | 2005-09-09 | Robot device control based on environment and position of a movable robot |
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Cited By (2)
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US9378752B2 (en) | 2012-09-05 | 2016-06-28 | Honda Motor Co., Ltd. | Sound processing device, sound processing method, and sound processing program |
JP2019166272A (en) * | 2018-03-26 | 2019-10-03 | カシオ計算機株式会社 | Control device for apparatus, control method for apparatus, and program |
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JP5978027B2 (en) * | 2012-06-28 | 2016-08-24 | 本田技研工業株式会社 | Mobile robot controller |
WO2020071235A1 (en) | 2018-10-03 | 2020-04-09 | ソニー株式会社 | Control device for mobile body, control method for mobile body, and program |
JP2020121375A (en) * | 2019-01-30 | 2020-08-13 | 株式会社Preferred Networks | Control device, control target device, control method and program |
JP2020185630A (en) * | 2019-05-13 | 2020-11-19 | 株式会社Preferred Networks | Control device, robot, control method and control program |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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US9378752B2 (en) | 2012-09-05 | 2016-06-28 | Honda Motor Co., Ltd. | Sound processing device, sound processing method, and sound processing program |
JP2019166272A (en) * | 2018-03-26 | 2019-10-03 | カシオ計算機株式会社 | Control device for apparatus, control method for apparatus, and program |
JP7200492B2 (en) | 2018-03-26 | 2023-01-10 | カシオ計算機株式会社 | Equipment control device, equipment control method and program |
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