WO2020100488A1 - Communication robot - Google Patents
Communication robot Download PDFInfo
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- WO2020100488A1 WO2020100488A1 PCT/JP2019/040217 JP2019040217W WO2020100488A1 WO 2020100488 A1 WO2020100488 A1 WO 2020100488A1 JP 2019040217 W JP2019040217 W JP 2019040217W WO 2020100488 A1 WO2020100488 A1 WO 2020100488A1
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- WIPO (PCT)
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- person
- distance
- communication robot
- communication
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Definitions
- the present invention relates to a communication robot.
- Patent Document 1 describes a technique relating to a robot control device applicable to a communication robot. That is, in Patent Document 1, the robot control device determines an action to be performed on a person (user) and causes the communication robot to execute the action. Then, when a reaction from a person to this action is detected, the robot control device determines the possibility of talking to a person based on the reaction, and a technique for controlling the operation mode of the communication robot based on the determination result is described. ing.
- An object of the present invention is to provide a communication robot capable of appropriately guiding and guiding even in a situation where communication such as conversation is impossible.
- the composition described in a claim is adopted, for example.
- the present application includes a plurality of means for solving the above problems.
- the communication robot of the present invention can move at least one of a part attached to a housing and the housing itself.
- a driving unit for driving the sound a sound acquisition unit for acquiring a sound of a person around the housing, and a sound generation unit for generating a sound.
- the communication robot of the present invention calculates the person detection unit that detects the presence of a person and the position or distance of the person detected by the person detection unit, based on the detection signal of the detection sensor attached to the housing.
- a motion control unit that controls the motion of the part or the housing by the drive unit under preset execution conditions based on the position or distance of the person calculated by the calculation unit.
- FIG. 3 is a front view showing an example of appearance of a communication robot by a 1st example of an embodiment of the present invention. It is a block diagram which shows the internal structural example of the communication robot by the 1st Embodiment of this invention. It is a block diagram which shows the structural example of the drive part of the communication robot by the 1st Embodiment of this invention. It is a top view which shows the example of the external appearance of the communication robot by the 1st Embodiment of this invention. It is a side view which shows the example of the external appearance of the communication robot by the 1st Embodiment of this invention.
- FIG. 3 is a front view showing an example of a state in which the communication robot according to the first exemplary embodiment of the present invention has an arm opened.
- FIG. 6 It is a front view which shows the example of the face of the communication robot by the 1st Embodiment of this invention. It is explanatory drawing which shows the example which changed the facial expression shown in FIG. 6 is a flowchart showing an example of operation control according to the first exemplary embodiment of the present invention. It is a characteristic view which shows the example of control of the amplitude and period by the 1st Embodiment of this invention. It is a block diagram which shows the internal structural example of the communication robot by the 2nd Embodiment of this invention. It is a flow chart which shows the example of operation control by the 2nd example of an embodiment of the present invention. It is a block diagram which shows the internal structural example of the communication robot by the 3rd Embodiment of this invention.
- FIG. 1 shows an example of the external shape of the communication robot 1 according to the first embodiment.
- the communication robot 1 of the present embodiment is installed, for example, at a reception desk near a doorway of a building where the direction in which a person comes and the area in which the person exists are fixed.
- the communication robot 1 is a stationary robot that cannot move autonomously.
- the stationary type of the communication robot 1 is an example, and the communication robot 1 may be provided with wheels and legs for walking.
- the communication robot 1 includes a head 2, a body upper portion 3, a body lower portion 4, and a waist portion 5 as a casing forming a robot body.
- the face 2a is attached to the head 2, and pseudo right eyes 8R and left eyes 8L that express eyes are attached to the surface of the face 2a.
- a right arm portion 6R and a left arm portion 6L are attached to the upper body portion 3.
- the pseudo right eye 8R and left eye 8L, upper body 3, lower body 4, right arm 6R and left arm 6L are configured as movable parts that can be moved. Each of these movable parts is driven by a drive part 21 mounted inside the communication robot 1. An example of moving each movable part will be described later with reference to FIGS. 4 to 8.
- display units 7R, 7L, 7ER, and 7EL are arranged in each unit of the communication robot 1. That is, the display portions 7R and 7L are arranged on the right arm portion 6R and the left arm portion 6L, and the display portions 7ER and 7EL are arranged on the head portion 2.
- the display units 7R, 7L, 7ER, 7EL are configured by light emitting diodes (LEDs) and the like, and the places where the respective display units 7R, 7L, 7ER, 7EL are arranged emit light of a predetermined color.
- the light emission color, the light emission brightness, and the blinking period of the display units 7R, 7L, 7ER, and 7EL are set by a command from the operation plan execution unit 75 described later with reference to FIG.
- a display unit capable of displaying a text message, an image, or the like can be provided.
- a detection sensor 10 is arranged on the head 2 of the communication robot 1.
- the detection sensor 10 is a sensor that detects a person around the communication robot 1.
- a stereo camera, a depth sensor, an RGB camera, an infrared distance sensor, a range sensor, or the like can be applied.
- the detection sensor 10 may be composed of a plurality of the above-mentioned cameras and sensors.
- a voice acquisition unit 9 including a microphone array including a plurality of microphones is attached to the lower part of the body 4 of the communication robot 1 to acquire the voices of people around the communication robot 1.
- the head 2 of the communication robot 1 is provided with a voice generating unit 11 including a speaker and a buzzer, and outputs a voice and a warning sound.
- FIG. 2 shows an internal configuration example of the operation control system of the communication robot 1.
- the communication robot 1 includes an arithmetic processing unit 70 as its operation control system.
- the arithmetic processing unit 70 includes a computer device, a storage device, and the like, and controls the operation of the communication robot 1 by executing the installed program (software).
- the internal configuration of the arithmetic processing unit 70 shown in FIG. 2 is the configuration viewed from the software function performed by the arithmetic processing unit 70.
- the arithmetic processing unit 70 is supplied with the output signal of the detection sensor 10 and the audio signal obtained by the audio acquisition unit 9. Further, based on the calculation result in the calculation processing unit 70, the display on the display units 7R, 7L, 7ER, 7EL is performed. Further, based on the result of this calculation, the sound output in the sound generating unit 11 and the driving of each movable unit by the driving unit 21 are performed.
- the arithmetic processing unit 70 includes a person detection unit 71, a position calculation unit 72, a voice / language processing unit 73, a motion control unit 74, a motion plan execution unit 75, and a language response database unit 76.
- the human detection unit 71 detects a human face based on the output signal of the detection sensor 10.
- the position calculator 72 calculates the distance to the person whose face is detected by the person detector 71, or the position where the person is. Specifically, when the face of a person is detected, the position calculation unit 72 acquires the position of the face of the person.
- the distance between the human face and the communication robot 1 is DF
- the deviation angle between the front direction of the communication robot 1 and the face of the human is ⁇ F.
- the position calculation unit 72 has a memory function and can store the distance DF and the deviation angle ⁇ F for the detected face, and the distance change ⁇ DF and the deviation angle change ⁇ F can be calculated from the difference between the distance recorded last time. It can be calculated.
- the voice / language processing unit 73 determines whether or not a language is present based on the voice signal acquired by the voice acquisition unit 9, and if it is determined that the language is present, records the language information that is the content spoken by the person. To do.
- the voice / language processing unit 73 determines the type of language (Japanese, English, etc.) included in the voice signal acquired by the voice acquisition unit 9, and also records information on the determined language type.
- the motion control unit 74 selects a motion of the communication robot 1 based on the determination result of the presence / absence of a human detection and the position and position change of the human face, and controls the execution condition of the motion.
- the operation performed based on the control of the operation control unit 74 includes a response operation for communicating with a person around the communication robot 1 and a person outside the communicable range to a communicable area. There is a guiding action to do.
- the communicable range is, for example, a range of a distance of several meters from the communication robot 1.
- the range in which this communication is possible is also the range in which the voice acquisition unit 9 can pick up a human voice.
- response actions such as utterance actions, movable part actions, and display actions for the acquired language contents (conversation contents) are registered.
- the voice / language processing unit is registered.
- the response action corresponding to the language acquired in step 73 is read.
- the motion plan execution unit 75 calculates various commands related to the motion based on the motion selected by the motion control unit 74 and the motion condition thereof. Then, the operation selected by the operation control unit 74 and various commands calculated by the operation plan execution unit 75 are output to the display units 7R, 7L, 7ER, 7EL, the sound generation unit 11, and the drive unit 21.
- FIG. 3 shows the configuration of the drive unit 21.
- the drive unit 21 includes a movable unit motor control unit 21a, a movable unit motor drive unit 21b, a movable unit motor 21c, and a movable unit position sensor 21d.
- the drive unit 21 shown in FIG. 3 is prepared for each movable unit.
- the movable part motor control part 21a calculates a control signal based on the operation command input to the drive part 21, converts it into a voltage corresponding to the control signal in the movable part motor drive part 21b, and applies it to the movable part motor 21c. .. Further, the movable part position sensor 21d detects the operation angle of the movable part, and the detection result is fed back to the movable part motor control part 21a to control the operation of the movable part motor 21c.
- FIG. 4 shows a state in which the lower body 4 of the communication robot 1 is movable.
- the lower part 4 of the body of the communication robot 1 can move around the z-axis with respect to the waist 5 and can make a turning motion.
- the communication robot 1 is in a state in which the lower torso 4 is moving to the right with respect to the waist 5 by the turning angle ⁇ A (a movable amount shown as an angle 52) with respect to the waist 5. Is shown.
- FIG. 5 shows a state in which the upper body 3 of the communication robot 1 is movable.
- the upper body 3 can be moved around the x-axis with respect to the lower body 4, and when it is viewed from the front side of the communication robot 1, an operation that looks like a bow is possible.
- the communication robot 1 is in a state in which the upper body 3 is moving with respect to the lower body 4 by a bow angle ⁇ B (a movable amount shown as an angle 54 in this case) with respect to the lower body 4 of the body. Is shown.
- ⁇ B a movable amount shown as an angle 54 in this case
- FIG. 6 shows a state in which the right arm 6R and the left arm 6L of the communication robot 1 are movable.
- the right arm portion 6R and the left arm portion 6L can be moved around the rotation shafts 55R and 55L with respect to the upper body 3, and the arm can be swung up.
- the right arm portion 6R and the left arm portion 6L are moved to the positions of the right arm portion 6RA and the left arm portion 6LA by rotating around the rotary shafts 55R and 55L, respectively.
- the operation is performed such that the right arm portion 6R and the left arm portion 6L shown by imaginary lines are swung up by operating angles 56R and 56L, respectively.
- FIG. 7 and 8 show a state in which the right eye 8R and the left eye 8L of the face portion 2a of the communication robot 1 are movable.
- the right eye 8R and the left eye 8L can be tilted by moving the face 2a on the head 2 along the face 2a.
- the right eye 8R and the left eye 8L are moved by the eye inclination angles 58R ( ⁇ DR) and 58L ( ⁇ DL) with reference to the movable center points 57R and 57L, respectively.
- each of the right eye 8R and the left eye 8L can be in a vertically long state.
- Various facial expressions can be given to the face portion 2a by the movements of the right eye 8R and the left eye 8L as shown in FIG. 6, FIG. 7, or FIG.
- the operation angle in each operation direction shown in FIGS. 4 to 7 is positive (plus), and the opposite operation angle is negative (minus).
- FIG. 9 is a flowchart showing an example of control processing performed by the operation control unit 74.
- the operation control unit 74 acquires the language information detected by the voice / language processing unit 73 (step S11). Then, the operation control unit 74 determines whether or not language information exists in the acquired information (step S12). Here, if the language information is present (YES in step S12), the process of the flowchart of FIG. 9 is ended, and the process shifts to a communication process for providing guidance or conversation based on the detected language information.
- the communication processing performed here are omitted, it is processing such as responding to a question from a person or guiding a destination to an approaching person.
- step S12 When it is determined in step S12 that the language information does not exist (NO in step S12), the operation control unit 74 refers to the person detection result acquired by the person detecting unit 71 (step S13). Then, the operation control unit 74 determines whether or not a human face is present based on the detection result of the human detection unit 71 (step S14). In the determination in step S14, based on the information on the position or distance of the person calculated by the position calculation unit 72, it is determined whether or not the human face exists within a certain distance (for example, within several meters) from the communication robot 1. To judge. The determination as to whether the communication robot 1 is within the range of the constant distance corresponds to the determination as to whether or not the communication robot 1 described above is within the range where it can communicate with a person.
- step S14 When it is determined in step S14 that the human face does not exist (NO in step S14), the operation control unit 74 selects a preset search operation for changing the detection direction of the detection sensor 10 (step S14). S15).
- the operation control unit 74 performs a bowing operation (see FIG. 5). Then, the bowing angle ⁇ B is changed (step S16).
- the bowing angle ⁇ B shown in FIG. 5 is changed to be ( ⁇ B + ⁇ B1).
- ⁇ B1 is set to a positive value in advance, and the angle is changed to the forward tilt side.
- the bowing angle ⁇ B exceeds the operation angle limit value on the forward leaning side, the positive / negative is inverted, and the bowing angle ⁇ B is changed to the backward leaning side.
- the operation angle limit value on the backward tilt side is exceeded, the positive / negative is inverted again, and the bow angle ⁇ B is changed to the forward tilt side.
- this operation is repeated each time a transition is made.
- step S14 If it is determined in step S14 that a person's face is present (YES in step S14), the motion control unit 74 selects a preset motion for guiding the person (step S17).
- the motion control unit 74 refers to the distance DF between the communication robot 1 and the human face and the change amount ⁇ DF thereof, which is acquired and stored by the position calculation unit 72 ( Step S18). Then, the operation control unit 74 determines whether or not the distance DF is within the response distance D1 to the person (step S19).
- step S19 When it is determined in step S19 that the distance DF is not within the response distance D1 to the person (NO in step S19), the motion control unit 74 determines the distance DF of the human face and the variation ⁇ DF thereof.
- the guidance operation is executed by changing the size and cycle of the operation (step S20).
- the distance DF is large and the amount of change ⁇ DF is positive and large, the magnitude of the operation is increased and the cycle of the operation is shortened.
- the distance DF is large and the amount of change ⁇ DF is positive and large, it means that a person exists far away and is going to move further.
- the distance DF is small and the distance change ⁇ DF is negative and small, that is, when a person is near and trying to move closer, the size of the motion is reduced and the motion cycle is Change it to be slower.
- step S19 when it is determined in step S19 that the distance DF is within the distance D1 that can respond to a person (YES in step S19), the operation control unit 74 sets the size and cycle of the operation for the response operation. Yes (step S21). At this time, the operation control unit 74 reduces the size of the operation and sets the cycle to be slow so as not to interfere with the language judgment in the voice / language processing unit 73 at the time of response.
- FIG. 10 shows an example of processing for changing the size and cycle of the guiding operation in step S20 of the flowchart of FIG.
- the left side of FIG. 10 shows the relationship between the swing-up motion angle ⁇ CR of the right arm 6R (such as the angle 56R shown in FIG. 6) and the distance DF to the human face, where the vertical axis represents the swing-up motion angle value and the horizontal axis represents the face. Shows the change in distance to.
- the right side of FIG. 10 shows the relationship between the cycle of the motion of swinging up the right arm 6R and the amount of change ⁇ DF in the distance to the human face, the vertical axis represents the motion cycle, and the horizontal axis represents the amount of change in distance. ..
- the swing-up motion angle ⁇ CR is a swing-up motion angle that shows, as an example, the motion angle 56R of the right arm 6R shown in FIG. 6.
- ⁇ CR0 is the amplitude when the swing-up motion angle ⁇ CR changes
- TCR0 is the cycle when the right arm 6R repeats the swing-up motion.
- the amplitude ⁇ CR0 and the cycle TCR0 are changed as shown in FIG.
- the amplitude ⁇ CR0 becomes 0. Further, when the distance DF between the communication robot 1 and the person changes from the first distance D1 to the second distance D2, the amplitude ⁇ CR0 gradually increases. When the distance is the second distance D2, the movable limit limit value becomes ⁇ CR2, and when the second distance D2 or more, the movable limit limit value ⁇ CR2 is reached.
- the cycle TCR0 when the distance change amount ⁇ DF is the negative side specific change amount ⁇ D3, it becomes the maximum period TCR2, and when the change amount ⁇ DF is the positive side specific change amount ⁇ D4, the minimum period (movable Limit limit value) TCR1.
- the value When the value is between the distance change amounts ⁇ D3 and ⁇ D4, the value gradually changes between the maximum period TCR2 and the minimum period TCR1 as shown in FIG. 10.
- the distance change ⁇ D4 or more the minimum value is obtained.
- the cycle is TCR1. With respect to the left arm 6L, the upper torso 3, the right eye 8R, and the left eye 8L, it is possible to change the amplitude and cycle of each change based on the face of the person by the same control process.
- the display units 7R, 7L, 7ER, and 7EL when the distance DF is large and the change amount ⁇ DF is positive and large, the brightness is changed to be brighter and the blinking cycle is shortened. On the contrary, when the distance DF is small and the change amount ⁇ DF is negative and small, the brightness is changed so as to be dark and the blinking cycle is delayed. Further, regarding the sound generating unit 11, when the distance DF is large and the distance variation ⁇ DF is positive and large, the sound generation unit 11 is changed so that the buzzer sound is large and the buzzer cycle is short. On the contrary, when the distance DF is small and the distance change ⁇ DF is negative and small, the buzzer sound is reduced and the buzzer cycle is delayed.
- the right eye 8R and the left eye 8L can form a facial expression.
- D1 ⁇ DF0 and ⁇ DR K1 ⁇ (DF-DF0) + K2 * ⁇ DF.
- step S20 the utterance operation that prompts guidance during the processing in step S20 may be performed, and the utterance operation that prompts conversation during the processing in step S21 may be performed.
- a person outside the range where communication such as conversation is possible is positively detected, and the detected person is guided to a range where communication is possible. be able to.
- the searching operation is performed by bowing or the like before the guiding operation is performed, so that the person around the communication robot 1 can be efficiently searched. become able to.
- the display units 7R, 7L, 7ER, and 7EL are changed in conjunction with each other during the guiding operation, so that the guiding is better. It can be carried out.
- interlocking the display state of the display unit with another guidance operation is an example, and the display state of the display unit may not be changed during the guidance operation.
- the right eye 8R and the left eye 8L are moved during the guiding operation so that the face has a facial expression. Therefore, appropriate guiding is performed also from this point. Will be able to.
- the facial expression is given as an example, and the facial expression may be given by the movement of other parts (parts or housing) of the robot. Further, the process of giving a facial expression with eyes at the time of guiding may be omitted, or the facial expression may be changed only when the guided person approaches the robot to a certain distance.
- the communication robot 1 of the second embodiment has the same outer shape and the shape of each movable part as the communication robot 1 described in the first embodiment, and its operation control system is the same as that of the first embodiment. It differs from the form example.
- the communication robot 1 according to the second embodiment is a robot that is installed in an open environment such as a station or an airport, which is a facility in which the direction in which people come and the area in which it is present, is not fixed and performs reception and guidance. Is.
- FIG. 11 shows an internal configuration example of the operation control system of the communication robot 1 according to the second embodiment.
- the arithmetic processing unit 70 of the operation control system shown in FIG. 11 is provided with a guideable direction data storage unit 77 in addition to the arithmetic processing unit 70 described in the first embodiment.
- a guideable direction data storage unit 77 in addition to the arithmetic processing unit 70 described in the first embodiment.
- the arithmetic processing unit 70 of the present embodiment is provided with the guideable direction data storage unit 77 in the arithmetic processing unit 70.
- the guidable direction data storage unit 77 is data about a direction in which a person can be guided (guidable direction data) around the installation position of the communication robot 1 in order to avoid a direction having a factor that hinders communication. have.
- the guideable direction data is generated, for example, in the initial setting when the communication robot 1 is installed.
- the position of the person when the corresponding situation occurs is excluded from the guideable direction, and guidance is provided.
- the possible direction data may be updated at any time.
- the operation control unit 74 reads the guideable direction data stored in the guideable direction data storage unit 77.
- the navigable direction data is indicated by the turning angle ⁇ A of the lower body 4 shown in FIG. 4, for example, and the navigable area is set in the navigable angular range ⁇ A0 ⁇ ⁇ A ⁇ ⁇ A1.
- the lower limit value ⁇ A0 and the upper limit value ⁇ A1 of these inducible angle ranges are values set according to actual installation conditions.
- the motion control unit 74 When the motion control unit 74 detects the person by reading the data of the navigable angle range stored in the navigable direction data storage unit 77, the motion control unit 74 communicates with the person in the navigable angle range so that the person can communicate with the person. Perform the action of inducing. In this guiding motion, the size and the cycle of the turning motion and the bowing motion are changed depending on how far the guiding person is from the angular range that can be guided.
- the other configuration of the arithmetic processing unit 70 is the same as that of the arithmetic processing unit 70 shown in FIG. 2 described in the first embodiment.
- FIG. 12 is a flowchart showing an example of control processing performed by the operation control unit 74.
- the same steps or steps as those in the flowchart of FIG. 9 described in the first embodiment are designated by the same step numbers, and duplicated description will be omitted.
- the operation control unit 74 determines in step S19 whether or not the distance DF is within the response distance D1 to the person, and the distance DF is within the response distance D1 to the person. If it is determined that the answer is YES (YES in step S19), the process proceeds to step S24 described below. If the distance DF is not within the response distance D1 to the person in step S19 (NO in step S19), the operation control unit 74 proceeds to step S20, and the operation control unit 74 determines the distance DF of the human face and the variation ⁇ DF thereof. Based on the above, the induction operation is executed by changing the size and cycle of the operation.
- step S20 is an operation of the right arm 6R, the left arm 6L, and the right eye 8R, the left eye 8L.
- step S23 the motion control unit 74 changes the size and cycle of the turning motion of the lower body 4 and executes the guiding motion.
- step S23 the size and cycle of the bowing motion (see FIG. 5) of the upper body 3 may be changed to execute the guiding motion.
- step S24 which is performed when it is determined that the distance DF is within the response distance D1 to the person in step S19, the operation control unit 74 determines whether or not the position of the person is within the range of the guideable direction data. To judge. When it is determined in step S24 that the position of the person is within the range of the guideable direction data (YES in step S24), the process proceeds to step S21, and the motion control unit 74 determines the size and cycle of the motion. Set for response operation.
- step S24 when it is determined in step S24 that it is out of the range of the guideable direction data (NO in step S24), the process proceeds to step S23, and the motion control unit 74 determines the magnitude of the turning motion of the lower torso 4 and The cycle is changed and the guidance operation to the guidance is performed. Further, at the time of this guiding operation, the operation control unit 74 also performs the bowing operation (see FIG. 5) of the upper body 3 and changes the magnitude and cycle of the operation at that time to execute the guiding operation.
- Other processes and determinations of the flowchart of FIG. 12 are the same as those of the flowchart shown in FIG. 9 described in the first embodiment.
- step S24 when the motion control unit 74 determines in step S24 that the position of the person is outside the range of the guideable direction data, the motion of the lower torso 4 in step S23 hinders communication.
- the guiding operation is performed so as to avoid the direction in which there is a factor. That is, since the communication robot 1 of the present embodiment is installed in an open environment such as a station or an airport, the direction in which a person comes is not fixed, and there is a possibility that a person will exist in any turning direction. is there. Therefore, the motion control unit 74 causes the communication robot 1 to perform a turning motion and a bowing motion of the lower torso 4 and performs a process of guiding a person to a range where proper communication can be achieved.
- ⁇ A2 and ⁇ B2 are changes in the turning angle and the bowing angle.
- the turning angle ⁇ A and the bowing angle ⁇ B may be changed at the same time, but the turning angle ⁇ A and the bowing angle ⁇ B may be changed alternately.
- the deviation angle ⁇ F is a deviation angle between the front direction of the communication robot 1 and the direction in which the person 80 faces.
- the communication robot 1 and the person 80 are separated by a distance DF.
- the operation control unit 74 determines whether or not the direction ⁇ H of the person satisfies the guide range ⁇ A0 ⁇ ⁇ H ⁇ ⁇ A1. If the condition is satisfied, the operation control unit 74 advances to step S21. Transition.
- step S23 which is performed when the condition of ⁇ A0 ⁇ ⁇ H ⁇ ⁇ A1 is not satisfied, the direction ⁇ H of the person is compared with the upper limit value ⁇ A1 and the lower limit value ⁇ A0.
- the process of the operation control unit 74 is a process of setting a limit value of the closer one.
- the motion control unit 74 sets the region of the person's direction ⁇ H and the target guiding direction ⁇ HREF as the range of the turning motion. That is, the larger the distance DF to the person in the circumferential direction, the larger the magnitude of the turning motion, and the smaller the distance, the smaller the turning motion. Further, when the value of the change amount ⁇ H is positive and large, the cycle of the turning motion is set early, and when the value of the change amount ⁇ H is large and negative, the cycle of the turning motion is set late.
- the person around the communication robot 1 can be appropriately guided from the area where communication is difficult to the area where communication is possible. Therefore, the communication robot 1 can smoothly communicate with a person. It will be possible.
- the direction in which there is a factor that hinders communication is the direction in which there is noise or the like.
- the communication is hindered in a range in which the face of the person cannot be properly detected because the illumination is due to external light and the backlight is captured.
- the direction may have a factor. That is, as a direction having a factor that hinders communication, in addition to a direction in which sound cannot be collected properly, a direction in which shooting with a camera can be appropriately performed may be set.
- multiple directions and ranges are set in advance, and depending on conditions such as time, the current state is blocked from the multiple directions and ranges. You may make it select the direction and range with a factor.
- the communication robot 1 of the third embodiment has the same outer shape and the shape of each movable part as the communication robot 1 described in the first embodiment, and its operation control system is the same as that of the first embodiment. It differs from the form example.
- FIG. 13 shows an internal configuration example of the operation control system for the communication robot 1 according to the third embodiment.
- the operation processing unit 70 of the operation control system shown in FIG. 13 has a configuration including a group determination unit 78 in addition to the configuration of the operation processing unit 70 described in the first embodiment.
- the human detection unit 71 detects faces of a plurality of people at the same time.
- the group determining section 78 determines whether the plurality of persons belong to the same group based on the change in the position of each person's face calculated by the position calculating section 72. Or, it judges whether a plurality of people are not a group.
- the operation control unit 74 performs a process of collectively guiding a plurality of persons in the same group.
- the other configuration of the arithmetic processing unit 70 is the same as that of the arithmetic processing unit 70 shown in FIG. 2 described in the first embodiment.
- FIG. 14 shows an example of the judgment processing in the group judgment unit 78.
- the example shown in FIG. 14 is a case where two persons 81 and 82 exist around the communication robot 1.
- the distance between the robot 1 and the person 81 is DFA
- the distance between the robot 1 and the person 82 is DFB
- the distance DFdiffAB between the persons 81 and 82 and their distance changes ⁇ DFA, ⁇ DFB, and ⁇ DFdiffAB
- the determination unit 78 acquires these distances and distance changes.
- the group determination unit 78 determines whether the person 81 and the person 82 are in the same group based on the distance and the change in the distance.
- a threshold value D10 for determining the difference between the distances DFA and DFB and a threshold value D11 for determining the distance DFdiffAB between two persons are set. Then, when the following conditions 1, 2, and 3 are continuously satisfied for the fixed time T10, the group determination unit 78 determines the person 81 and the person 82 as the same group.
- the group determination unit 78 does not consider the person 81 and the person 82 as the same group.
- FIGS. 15 and 16 are flowcharts showing an example of control processing performed by the operation control unit 74.
- the location indicated by [A1] in FIG. 15 is connected to the location indicated by [A1] in FIG. 16, and the location indicated by [B1] in FIG. 16 is connected to the location indicated by [B1] in FIG.
- the same process or determination as the flowchart of FIG. 9 described in the first embodiment is denoted by the same step number, and the duplicated description will be omitted.
- step S26 the operation control unit 74 determines whether there are a plurality of acquired faces.
- the operation control unit 74 proceeds to step S31 in the flowchart of FIG.
- step S31 the operation control unit 74 selects the person C having the shortest distance DF among the detected plural persons, that is, the person C closest to the communication robot 1 as the guidance target. Then, the operation control unit 74 determines whether the person C to be guided and another person in the vicinity are in the same group based on the processing result of the group determination unit 78 (step S32). Here, when the guide target person C and the surrounding people are in the same group (YES in step S32), the operation control unit 74 calculates the distance DFCG as a group (step S33). Here, the distance DFC of the closest person C in the group is set to the distance DFCG as a group.
- the operation control unit 74 sets the direction range of the guidance target so as to include the persons in the group based on the distance DFCG of the group (step S34).
- the motion control unit 74 determines the magnitude of the turning motion of the lower body 4 from the angle ⁇ CGmin to the angle ⁇ CGmax. Set to be in the interval.
- step S19 of FIG. the operation control unit 74 executes the process in step S19 in FIG. Move to judgment.
- the communication robot 1 of the present embodiment when the faces of a plurality of people are detected at the same time, it is determined whether or not the plurality of people are a group, and at the time of a group, guidance is provided for the entire group. become. Therefore, even when the communication robot 1 is installed in an environment where there are a plurality of people, such as a station or an airport, it is possible to positively detect the people and smoothly guide them to the available area.
- the present invention is not limited to the above-described embodiments and includes various modifications.
- the position or distance at which communication can be performed a certain range of about several meters is set in advance, and guidance is made within that range.
- the position or distance at which communication can be performed may be variably set according to the situation at the place where the robot is installed. For example, when installed in a station or an airport, when the surrounding noise is low, the communication distance is set to, for example, about 3 m, and when the surrounding noise is high, the communication is possible. The distance may be set to about 1 m, for example.
- the range in which it is difficult to collect sound and the range in which it is difficult to shoot with a camera due to backlight or the like are examples, and other communication is not possible.
- Factors that hinder may be considered. For example, in a situation where a large number of people are constantly passing, a range that hinders people from passing (a range that becomes a passage) is defined as a factor that hinders communication, and people are guided to a place outside the passage. You may communicate with each other.
- the person closest to the communication robot 1 is set as the guiding target.
- the center position of the positions of a plurality of people forming a group may be virtually obtained, and the virtually obtained center position may be guided to a range where communication can be taken.
- a group when a group is detected, it may be guided to a range in which communication can be performed while alternately turning to each person in the group.
- a search operation an operation of changing the bowing angle for inclining the upper body 3 and the head 2 is periodically performed.
- the search operation another operation such as a turning operation of the lower body 4 may be performed.
- the bowing motion and the turning motion may be combined.
- the left arm and the right arm and the eye are operated during the guiding operation.
- This movement of the arms and eyes is also an example, and the movement of the body itself such as the body and face that make up the robot, and the parts (parts) attached to the robot other than the arms and eyes during guidance movement It may be moved during the search operation. It is also an example that both the amplitude (size) of moving the arm and the body and the cycle are changed during the guiding operation or the searching operation, and at least one of them may be changed.
- the position calculation unit 72 calculates the distance from the robot to the person.
- the position calculation unit 72 calculates the position of the person in the space where the robot is placed, and calculates the distance from the difference between the calculated position of the person and the installation position of the robot. Good.
- the static type robot is applied, but the present invention may be applied to a self-propelled robot.
- the robot is self-propelled, when performing the process of the present invention, it is possible to stop at a predetermined place, detect people around it at the stopped place, and perform the process. preferable.
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Abstract
This communication robot is provided with: a drive unit which moves a housing and/or a part mounted to the housing; a voice acquisition unit which acquires the voice of a person around the housing; a voice generate unit which generates a voice; a person detection unit which detects the presence of a person; and a calculation unit which calculates the position of, or a distance to, the person detected by the person detection unit. On the basis of the position of or the distance to the person calculated by the calculation unit, the movement of the part or the housing due to the drive unit is controlled with a pre-set execution condition. With such control, it is possible to provide an appropriate guidance or explanation even in a situation in which communications, such as a conversation, cannot be performed.
Description
本発明は、コミュニケーションロボットに関する。
The present invention relates to a communication robot.
近年、利用者と会話を行うコミュニケーションロボットが各種開発されている。例えば、特許文献1には、コミュニケーションロボットに適用可能なロボット制御装置に関する技術が記載されている。
すなわち、特許文献1には、ロボット制御装置が人(利用者)に対して行うアクションを決定してコミュニケーションロボットに実行させる。そして、このアクションに対する人からのリアクションが検出されると、ロボット制御装置は、リアクションに基づいて人に話しかける可能性を判定し、判定結果に基づいてコミュニケーションロボットの動作モードを制御する技術が記載されている。 In recent years, various communication robots have been developed for talking with users. For example,Patent Document 1 describes a technique relating to a robot control device applicable to a communication robot.
That is, inPatent Document 1, the robot control device determines an action to be performed on a person (user) and causes the communication robot to execute the action. Then, when a reaction from a person to this action is detected, the robot control device determines the possibility of talking to a person based on the reaction, and a technique for controlling the operation mode of the communication robot based on the determination result is described. ing.
すなわち、特許文献1には、ロボット制御装置が人(利用者)に対して行うアクションを決定してコミュニケーションロボットに実行させる。そして、このアクションに対する人からのリアクションが検出されると、ロボット制御装置は、リアクションに基づいて人に話しかける可能性を判定し、判定結果に基づいてコミュニケーションロボットの動作モードを制御する技術が記載されている。 In recent years, various communication robots have been developed for talking with users. For example,
That is, in
しかしながら、従来提案されている技術は、いずれも人がロボット近傍の会話できる位置に接近したことを検出した際に実行される動作であり、ロボットの近傍に人がいないときの動作については何も考慮されていない。
特に、ロボットが設置された位置から移動できない静置型のコミュニケーションロボットの場合、応対可能領域が設置位置の周囲に制限されてしまう。したがって、静置型コミュニケーションロボットの場合には、誘導や案内などのロボットに与えられた役割を果たすことが困難なケースが発生する。
また、歩行などの移動が可能なコミュニケーションロボットの場合でも、移動可能な範囲が制限される等の理由で、静置型コミュニケーションロボットの場合と同様の問題が発生することもある。 However, all of the techniques proposed so far are operations that are executed when a person approaches a position where conversation can be performed near the robot, and there is nothing about the operation when there is no person near the robot. Not considered.
Particularly, in the case of a stationary communication robot in which the robot cannot move from the installed position, the available area is limited to the periphery of the installed position. Therefore, in the case of the stationary communication robot, it may be difficult to perform the role given to the robot such as guidance or guidance.
In addition, even in the case of a communication robot that can move such as walking, the same problem as in the case of the stationary communication robot may occur because the movable range is limited.
特に、ロボットが設置された位置から移動できない静置型のコミュニケーションロボットの場合、応対可能領域が設置位置の周囲に制限されてしまう。したがって、静置型コミュニケーションロボットの場合には、誘導や案内などのロボットに与えられた役割を果たすことが困難なケースが発生する。
また、歩行などの移動が可能なコミュニケーションロボットの場合でも、移動可能な範囲が制限される等の理由で、静置型コミュニケーションロボットの場合と同様の問題が発生することもある。 However, all of the techniques proposed so far are operations that are executed when a person approaches a position where conversation can be performed near the robot, and there is nothing about the operation when there is no person near the robot. Not considered.
Particularly, in the case of a stationary communication robot in which the robot cannot move from the installed position, the available area is limited to the periphery of the installed position. Therefore, in the case of the stationary communication robot, it may be difficult to perform the role given to the robot such as guidance or guidance.
In addition, even in the case of a communication robot that can move such as walking, the same problem as in the case of the stationary communication robot may occur because the movable range is limited.
本発明の目的は、会話などのコミュニケーションができない状況であっても、適切に誘導や案内などを行うことができるコミュニケーションロボットを提供することにある。
An object of the present invention is to provide a communication robot capable of appropriately guiding and guiding even in a situation where communication such as conversation is impossible.
上記課題を解決するために、例えば請求の範囲に記載の構成を採用する。
本願は、上記課題を解決する手段を複数含んでいるが、その一例を挙げるならば、本発明のコミュニケーションロボットは、筐体に取り付けられたパーツと、筐体そのものとの少なくともいずれか一方を可動させる駆動部と、筐体の周囲の人の音声を取得する音声取得部と、音声を発生する音声発生部とを備える。
さらに、本発明のコミュニケーションロボットは、筐体に取り付けられた検出センサの検出信号に基づいて、人の存在を検出する人検出部と、人検出部が検出した人の位置又は距離を算出する算出部と、算出部が算出した人の位置又は距離に基づいて、予め設定された実行条件で駆動部によるパーツ又は筐体の動作を制御する動作制御部と、を備える。 In order to solve the above-mentioned subject, the composition described in a claim is adopted, for example.
The present application includes a plurality of means for solving the above problems. As an example thereof, the communication robot of the present invention can move at least one of a part attached to a housing and the housing itself. A driving unit for driving the sound, a sound acquisition unit for acquiring a sound of a person around the housing, and a sound generation unit for generating a sound.
Furthermore, the communication robot of the present invention calculates the person detection unit that detects the presence of a person and the position or distance of the person detected by the person detection unit, based on the detection signal of the detection sensor attached to the housing. And a motion control unit that controls the motion of the part or the housing by the drive unit under preset execution conditions based on the position or distance of the person calculated by the calculation unit.
本願は、上記課題を解決する手段を複数含んでいるが、その一例を挙げるならば、本発明のコミュニケーションロボットは、筐体に取り付けられたパーツと、筐体そのものとの少なくともいずれか一方を可動させる駆動部と、筐体の周囲の人の音声を取得する音声取得部と、音声を発生する音声発生部とを備える。
さらに、本発明のコミュニケーションロボットは、筐体に取り付けられた検出センサの検出信号に基づいて、人の存在を検出する人検出部と、人検出部が検出した人の位置又は距離を算出する算出部と、算出部が算出した人の位置又は距離に基づいて、予め設定された実行条件で駆動部によるパーツ又は筐体の動作を制御する動作制御部と、を備える。 In order to solve the above-mentioned subject, the composition described in a claim is adopted, for example.
The present application includes a plurality of means for solving the above problems. As an example thereof, the communication robot of the present invention can move at least one of a part attached to a housing and the housing itself. A driving unit for driving the sound, a sound acquisition unit for acquiring a sound of a person around the housing, and a sound generation unit for generating a sound.
Furthermore, the communication robot of the present invention calculates the person detection unit that detects the presence of a person and the position or distance of the person detected by the person detection unit, based on the detection signal of the detection sensor attached to the housing. And a motion control unit that controls the motion of the part or the housing by the drive unit under preset execution conditions based on the position or distance of the person calculated by the calculation unit.
本発明によれば、コミュニケーションロボットの筐体又はパーツの動きで、コミュニケーションロボットの周囲の人に対して誘導などの動作を行うことができる。
上記した以外の課題、構成および効果は、以下の実施形態の説明により明らかにされる。 According to the present invention, it is possible to perform an operation such as guidance to a person around the communication robot by the movement of the housing or parts of the communication robot.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
上記した以外の課題、構成および効果は、以下の実施形態の説明により明らかにされる。 According to the present invention, it is possible to perform an operation such as guidance to a person around the communication robot by the movement of the housing or parts of the communication robot.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
<1.第1の実施の形態例>
以下、本発明の第1の実施の形態例について、図1~図10を参照して詳細に説明する。 <1. First embodiment example>
Hereinafter, a first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 10.
以下、本発明の第1の実施の形態例について、図1~図10を参照して詳細に説明する。 <1. First embodiment example>
Hereinafter, a first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 10.
[1-1.コミュニケーションロボットの構成]
図1は、第1の実施の形態例のコミュニケーションロボット1の外観形状の例を示す。本実施の形態例のコミュニケーションロボット1は、例えば人が来る方向や人が存在するエリアが定まっているような、建物の出入口付近の受付などに設置されるものである。コミュニケーションロボット1は、自律移動ができない静置型のロボットである。但し、コミュニケーションロボット1を静置型としたのは一例であり、コミュニケーションロボット1に車輪や歩行用の脚部を設けるようにしてもよい。 [1-1. Communication robot configuration]
FIG. 1 shows an example of the external shape of thecommunication robot 1 according to the first embodiment. The communication robot 1 of the present embodiment is installed, for example, at a reception desk near a doorway of a building where the direction in which a person comes and the area in which the person exists are fixed. The communication robot 1 is a stationary robot that cannot move autonomously. However, the stationary type of the communication robot 1 is an example, and the communication robot 1 may be provided with wheels and legs for walking.
図1は、第1の実施の形態例のコミュニケーションロボット1の外観形状の例を示す。本実施の形態例のコミュニケーションロボット1は、例えば人が来る方向や人が存在するエリアが定まっているような、建物の出入口付近の受付などに設置されるものである。コミュニケーションロボット1は、自律移動ができない静置型のロボットである。但し、コミュニケーションロボット1を静置型としたのは一例であり、コミュニケーションロボット1に車輪や歩行用の脚部を設けるようにしてもよい。 [1-1. Communication robot configuration]
FIG. 1 shows an example of the external shape of the
コミュニケーションロボット1は、ロボット本体を構成する筐体として、頭部2、胴体上部3、胴体下部4、及び腰部5を備える。
頭部2には、顔部2aと、その表面に目を表現する疑似的な右目8R及び左目8Lが取り付けられている。また、胴体上部3には、右腕部6R及び左腕部6Lが取り付けられている。 Thecommunication robot 1 includes a head 2, a body upper portion 3, a body lower portion 4, and a waist portion 5 as a casing forming a robot body.
Theface 2a is attached to the head 2, and pseudo right eyes 8R and left eyes 8L that express eyes are attached to the surface of the face 2a. A right arm portion 6R and a left arm portion 6L are attached to the upper body portion 3.
頭部2には、顔部2aと、その表面に目を表現する疑似的な右目8R及び左目8Lが取り付けられている。また、胴体上部3には、右腕部6R及び左腕部6Lが取り付けられている。 The
The
疑似的な右目8R及び左目8L、胴体上部3、胴体下部4、右腕部6R及び左腕部6Lは、それぞれ可動できる可動部として構成されている。これらの各可動部は、それぞれコミュニケーションロボット1の内部に取り付けられた駆動部21によって駆動される。各可動部を可動させる例については、図4~図8にて後述する。
The pseudo right eye 8R and left eye 8L, upper body 3, lower body 4, right arm 6R and left arm 6L are configured as movable parts that can be moved. Each of these movable parts is driven by a drive part 21 mounted inside the communication robot 1. An example of moving each movable part will be described later with reference to FIGS. 4 to 8.
また、コミュニケーションロボット1の各部には、表示部7R、7L、7ER、7ELが配置されている。すなわち、右腕部6R及び左腕部6Lに、表示部7R及び7Lが配置され、頭部2に表示部7ER及び7ELが配置されている。表示部7R、7L、7ER、7ELは、発光ダイオード(LED)などで構成され、それぞれの表示部7R、7L、7ER、7ELが配置された箇所が所定の色に発光する。表示部7R、7L、7ER、7ELの発光色、発光輝度、及び点滅周期は、図2で後述する動作計画実行部75からの指令で設定される。なお、表示部7R、7L、7ER、7ELの他に、文字メッセージや画像などを表示可能な表示部を配置することもできる。
Further, display units 7R, 7L, 7ER, and 7EL are arranged in each unit of the communication robot 1. That is, the display portions 7R and 7L are arranged on the right arm portion 6R and the left arm portion 6L, and the display portions 7ER and 7EL are arranged on the head portion 2. The display units 7R, 7L, 7ER, 7EL are configured by light emitting diodes (LEDs) and the like, and the places where the respective display units 7R, 7L, 7ER, 7EL are arranged emit light of a predetermined color. The light emission color, the light emission brightness, and the blinking period of the display units 7R, 7L, 7ER, and 7EL are set by a command from the operation plan execution unit 75 described later with reference to FIG. In addition to the display units 7R, 7L, 7ER, and 7EL, a display unit capable of displaying a text message, an image, or the like can be provided.
また、コミュニケーションロボット1の頭部2には、検出センサ10が配置されている。この検出センサ10は、コミュニケーションロボット1の周囲にいる人を検出するセンサである。検出センサ10としては、ステレオカメラ、デプスセンサ、RGBカメラ、赤外線距離センサ、測域センサなどが適用可能である。なお、検出センサ10は、上述したカメラやセンサの内の複数で構成してもよい。
A detection sensor 10 is arranged on the head 2 of the communication robot 1. The detection sensor 10 is a sensor that detects a person around the communication robot 1. As the detection sensor 10, a stereo camera, a depth sensor, an RGB camera, an infrared distance sensor, a range sensor, or the like can be applied. The detection sensor 10 may be composed of a plurality of the above-mentioned cameras and sensors.
コミュニケーションロボット1の胴体下部4には、複数のマイクよりなるマイクアレイなどで構成される音声取得部9が取り付けられ、コミュニケーションロボット1の周囲にいる人の話し声などを取得する。コミュニケーションロボット1の頭部2には、スピーカやブザーなどで構成される音声発生部11が取り付けられ、音声や警告音などを出力する。音声取得部9での音声取得処理と、音声発生部11での音声発生処理により、コミュニケーションロボット1は、コミュニケーションロボット1の周囲にいる人とコミュニケーションをとることができる。
A voice acquisition unit 9 including a microphone array including a plurality of microphones is attached to the lower part of the body 4 of the communication robot 1 to acquire the voices of people around the communication robot 1. The head 2 of the communication robot 1 is provided with a voice generating unit 11 including a speaker and a buzzer, and outputs a voice and a warning sound. By the voice acquisition process in the voice acquisition unit 9 and the voice generation process in the voice generation unit 11, the communication robot 1 can communicate with people around the communication robot 1.
図2は、コミュニケーションロボット1の動作制御システムの内部構成例を示す。
コミュニケーションロボット1は、その動作制御システムとして演算処理部70を備える。演算処理部70は、コンピュータ装置と記憶装置などで構成され、実装されたプログラム(ソフトウェア)を実行することにより、コミュニケーションロボット1の動作を制御する。図2に示す演算処理部70の内部構成は、演算処理部70が行うソフトウェア機能から見た構成である。 FIG. 2 shows an internal configuration example of the operation control system of thecommunication robot 1.
Thecommunication robot 1 includes an arithmetic processing unit 70 as its operation control system. The arithmetic processing unit 70 includes a computer device, a storage device, and the like, and controls the operation of the communication robot 1 by executing the installed program (software). The internal configuration of the arithmetic processing unit 70 shown in FIG. 2 is the configuration viewed from the software function performed by the arithmetic processing unit 70.
コミュニケーションロボット1は、その動作制御システムとして演算処理部70を備える。演算処理部70は、コンピュータ装置と記憶装置などで構成され、実装されたプログラム(ソフトウェア)を実行することにより、コミュニケーションロボット1の動作を制御する。図2に示す演算処理部70の内部構成は、演算処理部70が行うソフトウェア機能から見た構成である。 FIG. 2 shows an internal configuration example of the operation control system of the
The
演算処理部70には、検出センサ10の出力信号と音声取得部9で得た音声信号とが供給される。また、演算処理部70での演算結果に基づいて、表示部7R、7L、7ER、7ELにおける表示がなされる。また、この演算結果に基づいて、音声発生部11における音声出力と、駆動部21によるそれぞれの可動部に対する駆動が行われる。
The arithmetic processing unit 70 is supplied with the output signal of the detection sensor 10 and the audio signal obtained by the audio acquisition unit 9. Further, based on the calculation result in the calculation processing unit 70, the display on the display units 7R, 7L, 7ER, 7EL is performed. Further, based on the result of this calculation, the sound output in the sound generating unit 11 and the driving of each movable unit by the driving unit 21 are performed.
演算処理部70は、人検出部71、位置算出部72、音声・言語処理部73、動作制御部74、動作計画実行部75、及び言語応答データベース部76を備える。
人検出部71は、検出センサ10の出力信号に基づいて、人の顔を検出する。
位置算出部72は、人検出部71が顔を検出した人までの距離、又は人がいる位置を算出する。具体的には、位置算出部72において、人の顔が検出されている場合、その人の顔の位置を取得する。 Thearithmetic processing unit 70 includes a person detection unit 71, a position calculation unit 72, a voice / language processing unit 73, a motion control unit 74, a motion plan execution unit 75, and a language response database unit 76.
Thehuman detection unit 71 detects a human face based on the output signal of the detection sensor 10.
Theposition calculator 72 calculates the distance to the person whose face is detected by the person detector 71, or the position where the person is. Specifically, when the face of a person is detected, the position calculation unit 72 acquires the position of the face of the person.
人検出部71は、検出センサ10の出力信号に基づいて、人の顔を検出する。
位置算出部72は、人検出部71が顔を検出した人までの距離、又は人がいる位置を算出する。具体的には、位置算出部72において、人の顔が検出されている場合、その人の顔の位置を取得する。 The
The
The
ここで、図10で後述するように、人の顔とコミュニケーションロボット1との距離をDFとし、コミュニケーションロボット1の正面方向と人の顔がある方向の偏差角度をΦFとする。
また、位置算出部72はメモリ機能を有しており、検出した顔に対する距離DFと偏差角度ΦFを記憶することができ、前回記録された距離との差分から距離変化ΔDF、偏差角度変化ΔΦFを算出することができる。 Here, as described later with reference to FIG. 10, the distance between the human face and thecommunication robot 1 is DF, and the deviation angle between the front direction of the communication robot 1 and the face of the human is ΦF.
Further, theposition calculation unit 72 has a memory function and can store the distance DF and the deviation angle ΦF for the detected face, and the distance change ΔDF and the deviation angle change ΔΦF can be calculated from the difference between the distance recorded last time. It can be calculated.
また、位置算出部72はメモリ機能を有しており、検出した顔に対する距離DFと偏差角度ΦFを記憶することができ、前回記録された距離との差分から距離変化ΔDF、偏差角度変化ΔΦFを算出することができる。 Here, as described later with reference to FIG. 10, the distance between the human face and the
Further, the
音声・言語処理部73は、音声取得部9で取得した音声信号に基づいて言語が存在するかどうかを判別し、言語が存在すると判断した場合は、人が話した内容である言語情報を記録する。なお、音声・言語処理部73は、音声取得部9で取得した音声信号に含まれる言語の種類(日本語、英語など)を判別して、その判別した言語種類の情報についても記録する。
The voice / language processing unit 73 determines whether or not a language is present based on the voice signal acquired by the voice acquisition unit 9, and if it is determined that the language is present, records the language information that is the content spoken by the person. To do. The voice / language processing unit 73 determines the type of language (Japanese, English, etc.) included in the voice signal acquired by the voice acquisition unit 9, and also records information on the determined language type.
動作制御部74は、人の検出有無の判断結果と人の顔の位置および位置変化に基づき、コミュニケーションロボット1の動作を選択し、その動作の実行条件を制御する。動作制御部74の制御に基づいて行われる動作には、コミュニケーションロボット1の周囲にいる人とコミュニケーションを行う応答動作と、そのコミュニケーションが可能な範囲外にいる人を、コミュニケーションが可能なエリアに誘導する誘導動作とがある。
コミュニケーションが可能な範囲は、例えばコミュニケーションロボット1から数m程度までの距離の範囲である。このコミュニケーションが可能な範囲は、音声取得部9で人の話し声を拾うことができる範囲でもある。
言語応答データベース部76には、取得した言語の内容(会話内容)に対する発話動作、可動部動作及び表示動作などの応答動作が登録されており、この言語応答データベース部76から、音声・言語処理部73で取得した言語に対応した応答動作が読み出される。 Themotion control unit 74 selects a motion of the communication robot 1 based on the determination result of the presence / absence of a human detection and the position and position change of the human face, and controls the execution condition of the motion. The operation performed based on the control of the operation control unit 74 includes a response operation for communicating with a person around the communication robot 1 and a person outside the communicable range to a communicable area. There is a guiding action to do.
The communicable range is, for example, a range of a distance of several meters from thecommunication robot 1. The range in which this communication is possible is also the range in which the voice acquisition unit 9 can pick up a human voice.
In the languageresponse database unit 76, response actions such as utterance actions, movable part actions, and display actions for the acquired language contents (conversation contents) are registered. From the language response database unit 76, the voice / language processing unit is registered. The response action corresponding to the language acquired in step 73 is read.
コミュニケーションが可能な範囲は、例えばコミュニケーションロボット1から数m程度までの距離の範囲である。このコミュニケーションが可能な範囲は、音声取得部9で人の話し声を拾うことができる範囲でもある。
言語応答データベース部76には、取得した言語の内容(会話内容)に対する発話動作、可動部動作及び表示動作などの応答動作が登録されており、この言語応答データベース部76から、音声・言語処理部73で取得した言語に対応した応答動作が読み出される。 The
The communicable range is, for example, a range of a distance of several meters from the
In the language
動作計画実行部75は、動作制御部74で選択された動作と、その動作条件に基づいて、動作に関する各種指令を算出する。そして、動作制御部74で選択された動作と動作計画実行部75で算出された各種指令が、表示部7R、7L、7ER、7EL、音声発生部11、及び駆動部21に出力される。
The motion plan execution unit 75 calculates various commands related to the motion based on the motion selected by the motion control unit 74 and the motion condition thereof. Then, the operation selected by the operation control unit 74 and various commands calculated by the operation plan execution unit 75 are output to the display units 7R, 7L, 7ER, 7EL, the sound generation unit 11, and the drive unit 21.
図3は、駆動部21の構成を示す。駆動部21は、可動部モータ制御部21a、可動部モータ駆動部21b、可動部モータ21c、及び可動部位置センサ21dで構成されている。この図3に示す駆動部21が、可動部ごとに用意されている。
FIG. 3 shows the configuration of the drive unit 21. The drive unit 21 includes a movable unit motor control unit 21a, a movable unit motor drive unit 21b, a movable unit motor 21c, and a movable unit position sensor 21d. The drive unit 21 shown in FIG. 3 is prepared for each movable unit.
可動部モータ制御部21aは、駆動部21に入力された動作指令に基づいて制御信号を算出し、可動部モータ駆動部21bで制御信号に対応する電圧に変換し、可動部モータ21cに印加する。また、可動部位置センサ21dにより可動部の動作角度を検出し、検出結果を可動部モータ制御部21aにフィードバックして、可動部モータ21cの動作を制御する。
The movable part motor control part 21a calculates a control signal based on the operation command input to the drive part 21, converts it into a voltage corresponding to the control signal in the movable part motor drive part 21b, and applies it to the movable part motor 21c. .. Further, the movable part position sensor 21d detects the operation angle of the movable part, and the detection result is fed back to the movable part motor control part 21a to control the operation of the movable part motor 21c.
[1-2.コミュニケーションロボットの動作例]
次に、コミュニケーションロボット1が行う動作の例を、図4~図8を参照して説明する。なお、以下の動作で説明する3軸(x軸、y軸、z軸)は、図1の右下に示す軸で規定される。すなわち、図1に示すようにコミュニケーションロボット1の水平面の左右方向をx軸、水平面の前後方向をy軸、上下方向(垂直方向)をz軸とする。 [1-2. Communication robot operation example]
Next, an example of the operation performed by thecommunication robot 1 will be described with reference to FIGS. The three axes (x axis, y axis, z axis) described in the following operation are defined by the axes shown in the lower right of FIG. That is, as shown in FIG. 1, the horizontal direction of the communication robot 1 is the x-axis, the front-back direction of the horizontal plane is the y-axis, and the vertical direction (vertical direction) is the z-axis.
次に、コミュニケーションロボット1が行う動作の例を、図4~図8を参照して説明する。なお、以下の動作で説明する3軸(x軸、y軸、z軸)は、図1の右下に示す軸で規定される。すなわち、図1に示すようにコミュニケーションロボット1の水平面の左右方向をx軸、水平面の前後方向をy軸、上下方向(垂直方向)をz軸とする。 [1-2. Communication robot operation example]
Next, an example of the operation performed by the
図4は、コミュニケーションロボット1の胴体下部4が可動する状態を示す。
図4に示すように、コミュニケーションロボット1の胴体下部4は、腰部5に対してz軸周りに可動することができ、旋回動作が可能である。図4に示す例では、コミュニケーションロボット1は、可動中心点51を基準に、腰部5に対して胴体下部4が旋回角度θA(ここでは角度52として示す可動量)だけ右側に動作している状態を示している。 FIG. 4 shows a state in which thelower body 4 of the communication robot 1 is movable.
As shown in FIG. 4, thelower part 4 of the body of the communication robot 1 can move around the z-axis with respect to the waist 5 and can make a turning motion. In the example shown in FIG. 4, the communication robot 1 is in a state in which the lower torso 4 is moving to the right with respect to the waist 5 by the turning angle θA (a movable amount shown as an angle 52) with respect to the waist 5. Is shown.
図4に示すように、コミュニケーションロボット1の胴体下部4は、腰部5に対してz軸周りに可動することができ、旋回動作が可能である。図4に示す例では、コミュニケーションロボット1は、可動中心点51を基準に、腰部5に対して胴体下部4が旋回角度θA(ここでは角度52として示す可動量)だけ右側に動作している状態を示している。 FIG. 4 shows a state in which the
As shown in FIG. 4, the
図5は、コミュニケーションロボット1の胴体上部3が可動する状態を示す。
図5に示すように、胴体上部3は胴体下部4に対して、x軸周りに可動することができ、コミュニケーションロボット1の正面側から見たとき、お辞儀するように見える動作が可能である。図5に示す例では、コミュニケーションロボット1は、可動中心点53を基準に、胴体下部4に対して胴体上部3が、お辞儀角度θB(ここでは角度54として示す可動量)だけ動作している状態を示している。 FIG. 5 shows a state in which theupper body 3 of the communication robot 1 is movable.
As shown in FIG. 5, theupper body 3 can be moved around the x-axis with respect to the lower body 4, and when it is viewed from the front side of the communication robot 1, an operation that looks like a bow is possible. In the example shown in FIG. 5, the communication robot 1 is in a state in which the upper body 3 is moving with respect to the lower body 4 by a bow angle θB (a movable amount shown as an angle 54 in this case) with respect to the lower body 4 of the body. Is shown.
図5に示すように、胴体上部3は胴体下部4に対して、x軸周りに可動することができ、コミュニケーションロボット1の正面側から見たとき、お辞儀するように見える動作が可能である。図5に示す例では、コミュニケーションロボット1は、可動中心点53を基準に、胴体下部4に対して胴体上部3が、お辞儀角度θB(ここでは角度54として示す可動量)だけ動作している状態を示している。 FIG. 5 shows a state in which the
As shown in FIG. 5, the
図6は、コミュニケーションロボット1の右腕部6Rと左腕部6Lが可動する状態を示す。
図6に示すように、右腕部6Rと左腕部6Lはそれぞれ胴体上部3に対して、回転軸55R、55L周りに可動することができ、腕を振り上げる動作が可能である。右腕部6Rと左腕部6Lは、それぞれ回転軸55R、55L周りに回動することで、右腕部6RAと左腕部6LAの位置に移動した状態になる。この図6に示す状態では、仮想線で示す右腕部6Rと左腕部6Lの位置に対して、それぞれ動作角度56R、56Lだけ振り上げた状態になるように動作している。 FIG. 6 shows a state in which theright arm 6R and the left arm 6L of the communication robot 1 are movable.
As shown in FIG. 6, theright arm portion 6R and the left arm portion 6L can be moved around the rotation shafts 55R and 55L with respect to the upper body 3, and the arm can be swung up. The right arm portion 6R and the left arm portion 6L are moved to the positions of the right arm portion 6RA and the left arm portion 6LA by rotating around the rotary shafts 55R and 55L, respectively. In the state shown in FIG. 6, the operation is performed such that the right arm portion 6R and the left arm portion 6L shown by imaginary lines are swung up by operating angles 56R and 56L, respectively.
図6に示すように、右腕部6Rと左腕部6Lはそれぞれ胴体上部3に対して、回転軸55R、55L周りに可動することができ、腕を振り上げる動作が可能である。右腕部6Rと左腕部6Lは、それぞれ回転軸55R、55L周りに回動することで、右腕部6RAと左腕部6LAの位置に移動した状態になる。この図6に示す状態では、仮想線で示す右腕部6Rと左腕部6Lの位置に対して、それぞれ動作角度56R、56Lだけ振り上げた状態になるように動作している。 FIG. 6 shows a state in which the
As shown in FIG. 6, the
図7及び図8は、コミュニケーションロボット1の顔部2aの右目8Rと左目8Lが可動する状態を示す。
図7に示すように、右目8Rと左目8Lは、頭部2にある顔部2aに対して、顔部2aに沿うように可動することで、目を傾斜させることができる。図7に示す状態では、右目8Rと左目8Lは、それぞれ可動中心点57R、57Lを基準に、目の傾斜角度58R(θDR)、58L(θDL)だけ動いた状態になっている。 7 and 8 show a state in which theright eye 8R and the left eye 8L of the face portion 2a of the communication robot 1 are movable.
As shown in FIG. 7, theright eye 8R and the left eye 8L can be tilted by moving the face 2a on the head 2 along the face 2a. In the state shown in FIG. 7, the right eye 8R and the left eye 8L are moved by the eye inclination angles 58R (θDR) and 58L (θDL) with reference to the movable center points 57R and 57L, respectively.
図7に示すように、右目8Rと左目8Lは、頭部2にある顔部2aに対して、顔部2aに沿うように可動することで、目を傾斜させることができる。図7に示す状態では、右目8Rと左目8Lは、それぞれ可動中心点57R、57Lを基準に、目の傾斜角度58R(θDR)、58L(θDL)だけ動いた状態になっている。 7 and 8 show a state in which the
As shown in FIG. 7, the
さらに、図8に示すように目の傾斜を左右対称にすることも考えられる。すなわち、図7に示したθDR=-θDLとすると、目の傾斜により、コミュニケーションロボットの表情を変更することができる。図8(a)に示す例では、右目8Rと左目8Lの外側の端が上がった状態になり、図8(b)に示す例では、右目8Rと左目8Lの外側の端が下がった状態になる。
Furthermore, it is possible to make the inclination of the eyes symmetrical as shown in FIG. That is, when θDR = −θDL shown in FIG. 7, the facial expression of the communication robot can be changed by the inclination of the eyes. In the example shown in FIG. 8A, the outer ends of the right eye 8R and the left eye 8L are raised, and in the example shown in FIG. 8B, the outer ends of the right eye 8R and the left eye 8L are lowered. Become.
さらに別の例として、図1に示すように、右目8Rと左目8Lのそれぞれが、縦長になった状態とすることもできる。
この図6、図7、あるいは図1に示すような右目8Rと左目8Lの動きで、顔部2aに様々な表情を持たせることができる。
なお、以下の説明では、図4~図7に示した各動作方向の動作角度を正(プラス)とし、これとは逆の動作角度を負(マイナス)とする。 As yet another example, as shown in FIG. 1, each of theright eye 8R and the left eye 8L can be in a vertically long state.
Various facial expressions can be given to theface portion 2a by the movements of the right eye 8R and the left eye 8L as shown in FIG. 6, FIG. 7, or FIG.
In the following description, the operation angle in each operation direction shown in FIGS. 4 to 7 is positive (plus), and the opposite operation angle is negative (minus).
この図6、図7、あるいは図1に示すような右目8Rと左目8Lの動きで、顔部2aに様々な表情を持たせることができる。
なお、以下の説明では、図4~図7に示した各動作方向の動作角度を正(プラス)とし、これとは逆の動作角度を負(マイナス)とする。 As yet another example, as shown in FIG. 1, each of the
Various facial expressions can be given to the
In the following description, the operation angle in each operation direction shown in FIGS. 4 to 7 is positive (plus), and the opposite operation angle is negative (minus).
[1-3.動作制御例]
図9は、動作制御部74が行う制御処理例を示すフローチャートである。
まず、動作制御部74は、音声・言語処理部73で検出した言語情報を取得する(ステップS11)。そして、動作制御部74は、取得した情報に言語情報が存在するか否かを判断する(ステップS12)。ここで、言語情報が存在する場合には(ステップS12のYES)、図9のフローチャートの処理を終了し、検出した言語情報に基づいて案内や会話などを行うコミュニケーション処理に移行する。ここで行われるコミュニケーション処理の詳細については省略するが、例えば人からの質問に応答したり、接近した人に対して行き先を案内するなどの処理である。 [1-3. Operation control example]
FIG. 9 is a flowchart showing an example of control processing performed by theoperation control unit 74.
First, theoperation control unit 74 acquires the language information detected by the voice / language processing unit 73 (step S11). Then, the operation control unit 74 determines whether or not language information exists in the acquired information (step S12). Here, if the language information is present (YES in step S12), the process of the flowchart of FIG. 9 is ended, and the process shifts to a communication process for providing guidance or conversation based on the detected language information. Although details of the communication processing performed here are omitted, it is processing such as responding to a question from a person or guiding a destination to an approaching person.
図9は、動作制御部74が行う制御処理例を示すフローチャートである。
まず、動作制御部74は、音声・言語処理部73で検出した言語情報を取得する(ステップS11)。そして、動作制御部74は、取得した情報に言語情報が存在するか否かを判断する(ステップS12)。ここで、言語情報が存在する場合には(ステップS12のYES)、図9のフローチャートの処理を終了し、検出した言語情報に基づいて案内や会話などを行うコミュニケーション処理に移行する。ここで行われるコミュニケーション処理の詳細については省略するが、例えば人からの質問に応答したり、接近した人に対して行き先を案内するなどの処理である。 [1-3. Operation control example]
FIG. 9 is a flowchart showing an example of control processing performed by the
First, the
そして、ステップS12で言語情報が存在しないと判断したとき(ステップS12のNO)、動作制御部74は、人検出部71で取得された人の検出結果を参照する(ステップS13)。そして、動作制御部74は、人検出部71での検出結果で、人の顔が存在するか否かを判断する(ステップS14)。
なお、ステップS14での判断では、位置算出部72で算出した人の位置又は距離の情報から、コミュニケーションロボット1から一定距離の範囲内(例えば数メートル程度内)に人の顔が存在するか否かを判断する。この一定距離の範囲内であることの判断は、先に説明したコミュニケーションロボット1が人とコミュニケーションが可能な範囲内か否かの判断に相当する。 When it is determined in step S12 that the language information does not exist (NO in step S12), theoperation control unit 74 refers to the person detection result acquired by the person detecting unit 71 (step S13). Then, the operation control unit 74 determines whether or not a human face is present based on the detection result of the human detection unit 71 (step S14).
In the determination in step S14, based on the information on the position or distance of the person calculated by theposition calculation unit 72, it is determined whether or not the human face exists within a certain distance (for example, within several meters) from the communication robot 1. To judge. The determination as to whether the communication robot 1 is within the range of the constant distance corresponds to the determination as to whether or not the communication robot 1 described above is within the range where it can communicate with a person.
なお、ステップS14での判断では、位置算出部72で算出した人の位置又は距離の情報から、コミュニケーションロボット1から一定距離の範囲内(例えば数メートル程度内)に人の顔が存在するか否かを判断する。この一定距離の範囲内であることの判断は、先に説明したコミュニケーションロボット1が人とコミュニケーションが可能な範囲内か否かの判断に相当する。 When it is determined in step S12 that the language information does not exist (NO in step S12), the
In the determination in step S14, based on the information on the position or distance of the person calculated by the
ステップS14で人の顔が存在しないと判断された場合には(ステップS14のNO)、動作制御部74は、あらかじめ設定されている検出センサ10の検出方向を変更する探索動作を選択する(ステップS15)。ここでは、コミュニケーションロボット1が、人が来る方向が定まっているような出入口付近の受付などに設置されることを想定しているため、動作制御部74は、お辞儀動作(図5参照)を行って、お辞儀角度θBを変更する(ステップS16)。
When it is determined in step S14 that the human face does not exist (NO in step S14), the operation control unit 74 selects a preset search operation for changing the detection direction of the detection sensor 10 (step S14). S15). Here, since it is assumed that the communication robot 1 is installed at a reception desk or the like near a doorway where the direction in which a person comes is fixed, the operation control unit 74 performs a bowing operation (see FIG. 5). Then, the bowing angle θB is changed (step S16).
すなわち、図5に示すお辞儀角度θBを(θB+ΔθB1)となるように変更する。ここで、ΔθB1は、あらかじめ正の値で設定されており、前傾側に角度が変更される。お辞儀角度θBが前傾側の動作角度制限値を超えると正負が反転されて、お辞儀角度θBが後傾側に変更される。一方、後傾側の動作角度制限値を超えるときに再度正負が反転されて、お辞儀角度θBが前傾側に変更される。なお、ステップS16では、遷移されるたびにこの動作を繰り返す。
That is, the bowing angle θB shown in FIG. 5 is changed to be (θB + ΔθB1). Here, ΔθB1 is set to a positive value in advance, and the angle is changed to the forward tilt side. When the bowing angle θB exceeds the operation angle limit value on the forward leaning side, the positive / negative is inverted, and the bowing angle θB is changed to the backward leaning side. On the other hand, when the operation angle limit value on the backward tilt side is exceeded, the positive / negative is inverted again, and the bow angle θB is changed to the forward tilt side. In step S16, this operation is repeated each time a transition is made.
また、ステップS14で人の顔が存在すると判断された場合には(ステップS14のYES)、動作制御部74は、あらかじめ設定されている人を誘導する動作を選択する(ステップS17)。ここでは、人を誘導する動作を行うために、動作制御部74は、位置算出部72で取得されて記憶された、コミュニケーションロボット1と人の顔の距離DFとその変化量ΔDFを参照する(ステップS18)。そして、動作制御部74は、距離DFが人への応答可能距離D1以内であるか否かを判断する(ステップS19)。
If it is determined in step S14 that a person's face is present (YES in step S14), the motion control unit 74 selects a preset motion for guiding the person (step S17). Here, in order to perform the motion of guiding the person, the motion control unit 74 refers to the distance DF between the communication robot 1 and the human face and the change amount ΔDF thereof, which is acquired and stored by the position calculation unit 72 ( Step S18). Then, the operation control unit 74 determines whether or not the distance DF is within the response distance D1 to the person (step S19).
ステップS19で、距離DFが人への応答可能距離D1以内でないと判断された場合には(ステップS19のNO)、動作制御部74は、人の顔の距離DFとその変化量ΔDFに基づいて、動作の大きさと周期を変更して誘導動作を実行する(ステップS20)。ここでは、距離DFが大きくかつ変化量ΔDFが正で大きい場合には、動作の大きさが大きくなるように、そして動作の周期が早くなるように変更する。ここで、距離DFが大きくかつ変化量ΔDFが正で大きい場合人が遠くに存在し、さらに遠くに移動しようとしている場合を意味する。
一方、距離DFが小さくと距離変化ΔDFが負で小さい場合、すなわち、人が近くに存在し、さらに近くに移動しようとしている場合は、動作の大きさが小さくなるように、かつ動作の周期が遅くなるように変更する。 When it is determined in step S19 that the distance DF is not within the response distance D1 to the person (NO in step S19), themotion control unit 74 determines the distance DF of the human face and the variation ΔDF thereof. The guidance operation is executed by changing the size and cycle of the operation (step S20). Here, when the distance DF is large and the amount of change ΔDF is positive and large, the magnitude of the operation is increased and the cycle of the operation is shortened. Here, when the distance DF is large and the amount of change ΔDF is positive and large, it means that a person exists far away and is going to move further.
On the other hand, when the distance DF is small and the distance change ΔDF is negative and small, that is, when a person is near and trying to move closer, the size of the motion is reduced and the motion cycle is Change it to be slower.
一方、距離DFが小さくと距離変化ΔDFが負で小さい場合、すなわち、人が近くに存在し、さらに近くに移動しようとしている場合は、動作の大きさが小さくなるように、かつ動作の周期が遅くなるように変更する。 When it is determined in step S19 that the distance DF is not within the response distance D1 to the person (NO in step S19), the
On the other hand, when the distance DF is small and the distance change ΔDF is negative and small, that is, when a person is near and trying to move closer, the size of the motion is reduced and the motion cycle is Change it to be slower.
また、ステップS19で、距離DFが人への応答可能距離D1以内であると判断された場合には(ステップS19のYES)、動作制御部74は、動作の大きさと周期を応答動作用に設定する(ステップS21)。このとき、動作制御部74は、応答時の音声・言語処理部73での言語判断を阻害しない程度に、動作の大きさを小さくし、周期を遅く設定する。
In addition, when it is determined in step S19 that the distance DF is within the distance D1 that can respond to a person (YES in step S19), the operation control unit 74 sets the size and cycle of the operation for the response operation. Yes (step S21). At this time, the operation control unit 74 reduces the size of the operation and sets the cycle to be slow so as not to interfere with the language judgment in the voice / language processing unit 73 at the time of response.
図10は、図9のフローチャートのステップS20での誘導動作の大きさと周期を変更する処理の一例を示す。図10の左側は、右腕部6Rの振り上げ動作角度θCR(図6に示す角度56Rなど)と人の顔までの距離DFとの関係を示し、縦軸は振り上げ動作角度の値、横軸は顔までの距離の変化を示す。
また、図10の右側は、右腕部6Rを振り上げる動作の周期と人の顔までの距離の変化量ΔDFとの関係を示し、縦軸は動作の周期、横軸は距離の変化量を示す。 FIG. 10 shows an example of processing for changing the size and cycle of the guiding operation in step S20 of the flowchart of FIG. The left side of FIG. 10 shows the relationship between the swing-up motion angle θCR of theright arm 6R (such as the angle 56R shown in FIG. 6) and the distance DF to the human face, where the vertical axis represents the swing-up motion angle value and the horizontal axis represents the face. Shows the change in distance to.
The right side of FIG. 10 shows the relationship between the cycle of the motion of swinging up theright arm 6R and the amount of change ΔDF in the distance to the human face, the vertical axis represents the motion cycle, and the horizontal axis represents the amount of change in distance. ..
また、図10の右側は、右腕部6Rを振り上げる動作の周期と人の顔までの距離の変化量ΔDFとの関係を示し、縦軸は動作の周期、横軸は距離の変化量を示す。 FIG. 10 shows an example of processing for changing the size and cycle of the guiding operation in step S20 of the flowchart of FIG. The left side of FIG. 10 shows the relationship between the swing-up motion angle θCR of the
The right side of FIG. 10 shows the relationship between the cycle of the motion of swinging up the
例えば、右腕部6Rの振り上げ動作角度θCRとして、
θCR=θCR0×sin(2Πt/TCR0)
とする。振り上げ動作角度θCRは、図6に示す右腕部6Rの動作角度56Rを一例として示す振り上げ時の動作角度である。θCR0は、振り上げ動作角度θCRが変化する際の振幅であり、TCR0は、右腕部6Rが振り上げ動作を繰り返す際の周期である。
振幅θCR0と、周期TCR0は図10に示すように変更される。 For example, as the swing-up motion angle θCR of theright arm 6R,
θCR = θCR0 × sin (2Πt / TCR0)
And The swing-up motion angle θCR is a swing-up motion angle that shows, as an example, themotion angle 56R of the right arm 6R shown in FIG. 6. θCR0 is the amplitude when the swing-up motion angle θCR changes, and TCR0 is the cycle when the right arm 6R repeats the swing-up motion.
The amplitude θCR0 and the cycle TCR0 are changed as shown in FIG.
θCR=θCR0×sin(2Πt/TCR0)
とする。振り上げ動作角度θCRは、図6に示す右腕部6Rの動作角度56Rを一例として示す振り上げ時の動作角度である。θCR0は、振り上げ動作角度θCRが変化する際の振幅であり、TCR0は、右腕部6Rが振り上げ動作を繰り返す際の周期である。
振幅θCR0と、周期TCR0は図10に示すように変更される。 For example, as the swing-up motion angle θCR of the
θCR = θCR0 × sin (2Πt / TCR0)
And The swing-up motion angle θCR is a swing-up motion angle that shows, as an example, the
The amplitude θCR0 and the cycle TCR0 are changed as shown in FIG.
つまり、コミュニケーションロボット1と人との距離DFが、図10に示す第1の距離D1以下であるとき、振幅θCR0が0になる。また、コミュニケーションロボット1と人との距離DFが、第1の距離D1から第2の距離D2へ変化する場合には、徐々に振幅θCR0が大きくなる。第2の距離D2のとき、可動限界制限値のθCR2になり、第2の距離D2以上のときには、その可動限界制限値θCR2になる。
That is, when the distance DF between the communication robot 1 and the person is less than or equal to the first distance D1 shown in FIG. 10, the amplitude θCR0 becomes 0. Further, when the distance DF between the communication robot 1 and the person changes from the first distance D1 to the second distance D2, the amplitude θCR0 gradually increases. When the distance is the second distance D2, the movable limit limit value becomes θCR2, and when the second distance D2 or more, the movable limit limit value θCR2 is reached.
また、周期TCR0については、距離の変化量ΔDFがマイナス側の特定の変化量ΔD3のとき、最大の周期TCR2となり、変化量ΔDFがプラス側の特定の変化量ΔD4のとき、最小の周期(可動限界制限値)TCR1となる。
距離の変化量ΔD3とΔD4との間の値のとき、最大の周期TCR2と最小の周期TCR1との間で図10に示すように徐々に変化する値とし、距離変化ΔD4以上のときは、最小の周期TCR1とする。左腕部6L、胴体上部3、右目8R、左目8Lに関しても、同様の制御処理で人の顔に基づいて、それぞれの変化の振幅や周期を変更することが可能である。 Regarding the cycle TCR0, when the distance change amount ΔDF is the negative side specific change amount ΔD3, it becomes the maximum period TCR2, and when the change amount ΔDF is the positive side specific change amount ΔD4, the minimum period (movable Limit limit value) TCR1.
When the value is between the distance change amounts ΔD3 and ΔD4, the value gradually changes between the maximum period TCR2 and the minimum period TCR1 as shown in FIG. 10. When the distance change ΔD4 or more, the minimum value is obtained. The cycle is TCR1. With respect to theleft arm 6L, the upper torso 3, the right eye 8R, and the left eye 8L, it is possible to change the amplitude and cycle of each change based on the face of the person by the same control process.
距離の変化量ΔD3とΔD4との間の値のとき、最大の周期TCR2と最小の周期TCR1との間で図10に示すように徐々に変化する値とし、距離変化ΔD4以上のときは、最小の周期TCR1とする。左腕部6L、胴体上部3、右目8R、左目8Lに関しても、同様の制御処理で人の顔に基づいて、それぞれの変化の振幅や周期を変更することが可能である。 Regarding the cycle TCR0, when the distance change amount ΔDF is the negative side specific change amount ΔD3, it becomes the maximum period TCR2, and when the change amount ΔDF is the positive side specific change amount ΔD4, the minimum period (movable Limit limit value) TCR1.
When the value is between the distance change amounts ΔD3 and ΔD4, the value gradually changes between the maximum period TCR2 and the minimum period TCR1 as shown in FIG. 10. When the distance change ΔD4 or more, the minimum value is obtained. The cycle is TCR1. With respect to the
また、表示部7R、7L、7ER、7ELに関しては、距離DFが大きく、その変化量ΔDFが正で大きい場合、明るくなるように明るさを変更し、点滅周期を早くする。逆に、距離DFが小さく、かつ変化量ΔDFが負で小さい場合は暗くなるように明るさを変更し、点滅周期を遅くする。
さらに、音声発生部11に関しては、距離DFが大きく、距離の変化量ΔDFが正で大きい場合、ブザー音が大きく、かつブザー周期が早くなるように変更する。逆に、距離DFが小さくと距離変化ΔDFが負で小さい場合はブザー音が小さく、かつブザー周期が遅くなるように変更する。 Regarding the display units 7R, 7L, 7ER, and 7EL, when the distance DF is large and the change amount ΔDF is positive and large, the brightness is changed to be brighter and the blinking cycle is shortened. On the contrary, when the distance DF is small and the change amount ΔDF is negative and small, the brightness is changed so as to be dark and the blinking cycle is delayed.
Further, regarding thesound generating unit 11, when the distance DF is large and the distance variation ΔDF is positive and large, the sound generation unit 11 is changed so that the buzzer sound is large and the buzzer cycle is short. On the contrary, when the distance DF is small and the distance change ΔDF is negative and small, the buzzer sound is reduced and the buzzer cycle is delayed.
さらに、音声発生部11に関しては、距離DFが大きく、距離の変化量ΔDFが正で大きい場合、ブザー音が大きく、かつブザー周期が早くなるように変更する。逆に、距離DFが小さくと距離変化ΔDFが負で小さい場合はブザー音が小さく、かつブザー周期が遅くなるように変更する。 Regarding the
Further, regarding the
さらに、目に関して右目8Rと左目8Lの傾斜角度が左右対称になるように設定すると(θDR=-θDL)、右目8Rと左目8Lとで表情を構成することができる。
例えば、D1<DF0とし、θDR=K1×(DF-DF0)+K2*ΔDFとする。このようにすることで、距離DFが大きく、距離変化ΔDFが正で大きい場合、図8(a)に示すような怒った表情になり、距離DFが小さくと、距離変化ΔDFが負で小さい場合は、図8(b)に示すような穏和な表情になる。距離DF0のときは、目が回転しない図1に示すような無表情になる。 Further, when theright eye 8R and the left eye 8L are set to have bilaterally symmetrical inclination angles (θDR = −θDL), the right eye 8R and the left eye 8L can form a facial expression.
For example, D1 <DF0 and θDR = K1 × (DF-DF0) + K2 * ΔDF. By doing so, when the distance DF is large and the distance change ΔDF is positive and large, the expression becomes angry as shown in FIG. 8A, and when the distance DF is small and the distance change ΔDF is negative and small. Has a gentle expression as shown in FIG. When the distance is DF0, the eyes do not rotate and there is no expression as shown in FIG.
例えば、D1<DF0とし、θDR=K1×(DF-DF0)+K2*ΔDFとする。このようにすることで、距離DFが大きく、距離変化ΔDFが正で大きい場合、図8(a)に示すような怒った表情になり、距離DFが小さくと、距離変化ΔDFが負で小さい場合は、図8(b)に示すような穏和な表情になる。距離DF0のときは、目が回転しない図1に示すような無表情になる。 Further, when the
For example, D1 <DF0 and θDR = K1 × (DF-DF0) + K2 * ΔDF. By doing so, when the distance DF is large and the distance change ΔDF is positive and large, the expression becomes angry as shown in FIG. 8A, and when the distance DF is small and the distance change ΔDF is negative and small. Has a gentle expression as shown in FIG. When the distance is DF0, the eyes do not rotate and there is no expression as shown in FIG.
なお、ステップS20での処理時に誘導を促す発話動作を行い、ステップS21での処理時に会話を促す発話動作にしてもよい。
Note that the utterance operation that prompts guidance during the processing in step S20 may be performed, and the utterance operation that prompts conversation during the processing in step S21 may be performed.
以上説明したように、本実施の形態例のコミュニケーションロボット1によると、会話などのコミュニケーションがとれる範囲外の人を積極的に検出して、その検出した人に対してコミュニケーションがとれる範囲に誘導することができる。特に、検出した人を誘導する際には、検出した距離に応じて腕などを動作させる振幅や周期を変えることで、誘導時に人に興味を失わせないように反応示すことができ、コミュニケーションロボット1の応対可能領域に円滑に誘導することができる。また、本実施の形態例のコミュニケーションロボット1の場合、誘導動作を行う前に、お辞儀動作などで探索動作を行うようにしたことで、コミュニケーションロボット1の周囲にいる人を効率よく探索することができるようになる。
As described above, according to the communication robot 1 of the present embodiment, a person outside the range where communication such as conversation is possible is positively detected, and the detected person is guided to a range where communication is possible. be able to. In particular, when guiding a detected person, by changing the amplitude and cycle of operating the arm etc. according to the detected distance, it is possible to show a reaction so as not to lose interest to the person when guiding, and the communication robot It is possible to smoothly guide to one available area. Further, in the case of the communication robot 1 of the present embodiment, the searching operation is performed by bowing or the like before the guiding operation is performed, so that the person around the communication robot 1 can be efficiently searched. become able to.
また、誘導動作時には、検出した人との距離又は位置の変化に応じて、誘導動作の大きさ(振幅)と周期の少なくともいずれか一方を変化させるようにしたことで、適切にコミュニケーションがとれる範囲に誘導できるようになる。
さらに、本実施の形態例のコミュニケーションロボット1の場合、誘導動作時に表示部7R、7L、7ER、7ELの明るさや点滅周期などを、連動して変化させるようにしたことで、より良好に誘導を行うことができる。但し、表示部の表示状態を、他の誘導動作と連動させるのは一例であり、表示部での表示状態を誘導動作時に変化させないようにしてもよい。 Further, at the time of the guiding action, at least one of the magnitude (amplitude) and the period of the guiding action is changed according to the change in the distance or the position with respect to the detected person, so that an appropriate communication range can be obtained. Will be able to guide you.
Furthermore, in the case of thecommunication robot 1 of the present embodiment, the brightness and blinking period of the display units 7R, 7L, 7ER, and 7EL are changed in conjunction with each other during the guiding operation, so that the guiding is better. It can be carried out. However, interlocking the display state of the display unit with another guidance operation is an example, and the display state of the display unit may not be changed during the guidance operation.
さらに、本実施の形態例のコミュニケーションロボット1の場合、誘導動作時に表示部7R、7L、7ER、7ELの明るさや点滅周期などを、連動して変化させるようにしたことで、より良好に誘導を行うことができる。但し、表示部の表示状態を、他の誘導動作と連動させるのは一例であり、表示部での表示状態を誘導動作時に変化させないようにしてもよい。 Further, at the time of the guiding action, at least one of the magnitude (amplitude) and the period of the guiding action is changed according to the change in the distance or the position with respect to the detected person, so that an appropriate communication range can be obtained. Will be able to guide you.
Furthermore, in the case of the
さらにまた、本実施の形態例のコミュニケーションロボット1の場合、誘導動作時に、右目8Rや左目8Lを動かすようにして、顔に表情を持たせるようにしたので、この点からも適切な誘導を行うことができるようになる。目で表情を持たせるようにしたのは一例であり、ロボットのその他の箇所(パーツや筐体)の動きで表情を持たせるようにしてもよい。また、誘導時に目などで表情を持たせる処理は省略するか、あるいは、誘導した人がロボットにある程度の距離に近づいたときだけ、表情を変化させるようにしてもよい。
Furthermore, in the case of the communication robot 1 according to the present embodiment, the right eye 8R and the left eye 8L are moved during the guiding operation so that the face has a facial expression. Therefore, appropriate guiding is performed also from this point. Will be able to. The facial expression is given as an example, and the facial expression may be given by the movement of other parts (parts or housing) of the robot. Further, the process of giving a facial expression with eyes at the time of guiding may be omitted, or the facial expression may be changed only when the guided person approaches the robot to a certain distance.
<2.第2の実施の形態例>
次に、本発明の第2の実施の形態例について、図11及び図12を参照して詳細に説明する。この図11及び図12において、第1の実施の形態例で説明した図1~図10に対応する部分には同一符号を付して重複説明を省略し、以下の説明では第1の実施の形態例と相違する点を中心に説明する。 <2. Second embodiment example>
Next, a second exemplary embodiment of the present invention will be described in detail with reference to FIGS. 11 and 12. 11 and 12, parts corresponding to those in FIGS. 1 to 10 described in the first embodiment are denoted by the same reference numerals and redundant description will be omitted. In the following description, the first embodiment will be described. The difference from the embodiment will be mainly described.
次に、本発明の第2の実施の形態例について、図11及び図12を参照して詳細に説明する。この図11及び図12において、第1の実施の形態例で説明した図1~図10に対応する部分には同一符号を付して重複説明を省略し、以下の説明では第1の実施の形態例と相違する点を中心に説明する。 <2. Second embodiment example>
Next, a second exemplary embodiment of the present invention will be described in detail with reference to FIGS. 11 and 12. 11 and 12, parts corresponding to those in FIGS. 1 to 10 described in the first embodiment are denoted by the same reference numerals and redundant description will be omitted. In the following description, the first embodiment will be described. The difference from the embodiment will be mainly described.
第2の実施の形態例のコミュニケーションロボット1は、第1の実施の形態例で説明したコミュニケーションロボット1と外形形状や各可動部の形状は同じであり、その動作制御システムが第1の実施の形態例と相違する。
第2の実施の形態例のコミュニケーションロボット1は、人の来る方向や存在するエリアが定まっていないような施設である、駅や空港などの開けた環境下に設置され、受付や案内を行うロボットである。 Thecommunication robot 1 of the second embodiment has the same outer shape and the shape of each movable part as the communication robot 1 described in the first embodiment, and its operation control system is the same as that of the first embodiment. It differs from the form example.
Thecommunication robot 1 according to the second embodiment is a robot that is installed in an open environment such as a station or an airport, which is a facility in which the direction in which people come and the area in which it is present, is not fixed and performs reception and guidance. Is.
第2の実施の形態例のコミュニケーションロボット1は、人の来る方向や存在するエリアが定まっていないような施設である、駅や空港などの開けた環境下に設置され、受付や案内を行うロボットである。 The
The
[2-1.システム全体の構成]
図11は、第2の実施の形態例のコミュニケーションロボット1の動作制御システムの内部構成例を示す。
図11に示す動作制御システムの演算処理部70は、第1の実施の形態例で説明した演算処理部70に加えて、誘導可能方向データ格納部77を備えるようにした。
上述したように、駅や空港などの開けた環境下では、アナウンスに用いられるスピーカの音源など、人とのコミュニケーションを阻害する要因が存在する。適切かつ正確なコミュニケーションをとるためには、この要因がある方向を避けて、人とのコミュニケーションをとることが望ましく、コミュニケーションを阻害する要因がある場所を避けるように、人を誘導することが望ましい。 [2-1. Overall system configuration]
FIG. 11 shows an internal configuration example of the operation control system of thecommunication robot 1 according to the second embodiment.
Thearithmetic processing unit 70 of the operation control system shown in FIG. 11 is provided with a guideable direction data storage unit 77 in addition to the arithmetic processing unit 70 described in the first embodiment.
As described above, in open environments such as train stations and airports, there are factors that hinder communication with people, such as the sound source of the speaker used for the announcement. In order to communicate properly and accurately, it is desirable to avoid communication in which this factor is directed and to communicate with people, and to induce people to avoid places where there are factors that obstruct communication. ..
図11は、第2の実施の形態例のコミュニケーションロボット1の動作制御システムの内部構成例を示す。
図11に示す動作制御システムの演算処理部70は、第1の実施の形態例で説明した演算処理部70に加えて、誘導可能方向データ格納部77を備えるようにした。
上述したように、駅や空港などの開けた環境下では、アナウンスに用いられるスピーカの音源など、人とのコミュニケーションを阻害する要因が存在する。適切かつ正確なコミュニケーションをとるためには、この要因がある方向を避けて、人とのコミュニケーションをとることが望ましく、コミュニケーションを阻害する要因がある場所を避けるように、人を誘導することが望ましい。 [2-1. Overall system configuration]
FIG. 11 shows an internal configuration example of the operation control system of the
The
As described above, in open environments such as train stations and airports, there are factors that hinder communication with people, such as the sound source of the speaker used for the announcement. In order to communicate properly and accurately, it is desirable to avoid communication in which this factor is directed and to communicate with people, and to induce people to avoid places where there are factors that obstruct communication. ..
上述したように、本実施の形態例の演算処理部70は、演算処理部70に、誘導可能方向データ格納部77を設けている。誘導可能方向データ格納部77は、コミュニケーションロボット1の設置位置の周囲で、コミュニケーションを阻害する要因がある方向を避けるために、人を誘導することが可能な方向についてのデータ(誘導可能方向データ)を持つ。この誘導可能方向データは、例えばコミュニケーションロボット1を設置する際の初期設定で生成される。また、コミュニケーションロボット1を設置した後の実際の運用で、コミュニケーションをとることが難しい状況が発生したとき、該当する状況が発生したときの人の位置を、誘導可能方向から除くようにして、誘導可能方向データを随時更新するようにしてもよい。
As described above, the arithmetic processing unit 70 of the present embodiment is provided with the guideable direction data storage unit 77 in the arithmetic processing unit 70. The guidable direction data storage unit 77 is data about a direction in which a person can be guided (guidable direction data) around the installation position of the communication robot 1 in order to avoid a direction having a factor that hinders communication. have. The guideable direction data is generated, for example, in the initial setting when the communication robot 1 is installed. In addition, when a situation in which communication is difficult occurs in the actual operation after the communication robot 1 is installed, the position of the person when the corresponding situation occurs is excluded from the guideable direction, and guidance is provided. The possible direction data may be updated at any time.
誘導可能方向データ格納部77が格納した誘導可能方向データは、動作制御部74が読み出す。
誘導可能方向データは、例えば図4に示す胴体下部4の旋回角度θAで示され、誘導可能エリアが、誘導可能な角度範囲θA0≦θA≦θA1で設定される。
これらの誘導可能な角度範囲の下限値θA0と上限値θA1は、実際の設置状況によって設定される値である。 Theoperation control unit 74 reads the guideable direction data stored in the guideable direction data storage unit 77.
The navigable direction data is indicated by the turning angle θA of thelower body 4 shown in FIG. 4, for example, and the navigable area is set in the navigable angular range θA0 ≦ θA ≦ θA1.
The lower limit value θA0 and the upper limit value θA1 of these inducible angle ranges are values set according to actual installation conditions.
誘導可能方向データは、例えば図4に示す胴体下部4の旋回角度θAで示され、誘導可能エリアが、誘導可能な角度範囲θA0≦θA≦θA1で設定される。
これらの誘導可能な角度範囲の下限値θA0と上限値θA1は、実際の設置状況によって設定される値である。 The
The navigable direction data is indicated by the turning angle θA of the
The lower limit value θA0 and the upper limit value θA1 of these inducible angle ranges are values set according to actual installation conditions.
動作制御部74は、この誘導可能方向データ格納部77に格納された誘導可能な角度範囲のデータを読み出して人を検知すると、誘導可能な角度範囲で人とコミュニケーションとることができるように、人を誘導する動作を行う。この誘導動作では、誘導中の人が、誘導可能な角度範囲からどの程度の距離があるかによって、旋回動作やお辞儀動作の大きさと周期が変更される。
演算処理部70のその他の構成は、第1の実施の形態例で説明した図2に示す演算処理部70と同様である。 When themotion control unit 74 detects the person by reading the data of the navigable angle range stored in the navigable direction data storage unit 77, the motion control unit 74 communicates with the person in the navigable angle range so that the person can communicate with the person. Perform the action of inducing. In this guiding motion, the size and the cycle of the turning motion and the bowing motion are changed depending on how far the guiding person is from the angular range that can be guided.
The other configuration of thearithmetic processing unit 70 is the same as that of the arithmetic processing unit 70 shown in FIG. 2 described in the first embodiment.
演算処理部70のその他の構成は、第1の実施の形態例で説明した図2に示す演算処理部70と同様である。 When the
The other configuration of the
[2-2.動作制御例]
図12は、動作制御部74が行う制御処理例を示すフローチャートである。この図12のフローチャートにおいて、第1の実施の形態例で説明した図9のフローチャートと同一の処理又は判断は同一のステップ番号を付し、重複説明を省略する。 [2-2. Operation control example]
FIG. 12 is a flowchart showing an example of control processing performed by theoperation control unit 74. In the flowchart of FIG. 12, the same steps or steps as those in the flowchart of FIG. 9 described in the first embodiment are designated by the same step numbers, and duplicated description will be omitted.
図12は、動作制御部74が行う制御処理例を示すフローチャートである。この図12のフローチャートにおいて、第1の実施の形態例で説明した図9のフローチャートと同一の処理又は判断は同一のステップ番号を付し、重複説明を省略する。 [2-2. Operation control example]
FIG. 12 is a flowchart showing an example of control processing performed by the
図12に示す動作制御では、動作制御部74は、ステップS19で距離DFが人への応答可能距離D1以内であるか否かを判断し、距離DFが人への応答可能距離D1以内であると判断された場合に(ステップS19のYES)、後述するステップS24に移行する。また、ステップS19で距離DFが人への応答可能距離D1以内でない場合には(ステップS19のNO)、ステップS20に移行し、動作制御部74は、人の顔の距離DFとその変化量ΔDFに基づいて、動作の大きさと周期を変更して誘導動作を実行する。このステップS20での動作は、右腕部6R、左腕部6Lと、右目8R、左目8Lの動作である。
その後、さらにステップS23に移行し、動作制御部74は、胴体下部4の旋回動作の大きさと周期を変更して、誘導動作を実行する。このステップS23では、胴体上部3のお辞儀動作(図5参照)の大きさと周期を変更して、誘導動作を実行してもよい。 In the operation control shown in FIG. 12, theoperation control unit 74 determines in step S19 whether or not the distance DF is within the response distance D1 to the person, and the distance DF is within the response distance D1 to the person. If it is determined that the answer is YES (YES in step S19), the process proceeds to step S24 described below. If the distance DF is not within the response distance D1 to the person in step S19 (NO in step S19), the operation control unit 74 proceeds to step S20, and the operation control unit 74 determines the distance DF of the human face and the variation ΔDF thereof. Based on the above, the induction operation is executed by changing the size and cycle of the operation. The operation in step S20 is an operation of the right arm 6R, the left arm 6L, and the right eye 8R, the left eye 8L.
After that, the process further proceeds to step S23, and themotion control unit 74 changes the size and cycle of the turning motion of the lower body 4 and executes the guiding motion. In this step S23, the size and cycle of the bowing motion (see FIG. 5) of the upper body 3 may be changed to execute the guiding motion.
その後、さらにステップS23に移行し、動作制御部74は、胴体下部4の旋回動作の大きさと周期を変更して、誘導動作を実行する。このステップS23では、胴体上部3のお辞儀動作(図5参照)の大きさと周期を変更して、誘導動作を実行してもよい。 In the operation control shown in FIG. 12, the
After that, the process further proceeds to step S23, and the
また、ステップS19で距離DFが人への応答可能距離D1以内であると判断された場合に移行するステップS24では、動作制御部74は、人の位置が誘導可能方向データの範囲内か否かを判断する。このステップS24で、人の位置が誘導可能方向データの範囲内であると判断された場合には(ステップS24のYES)、ステップS21に移行し、動作制御部74は、動作の大きさと周期を応答動作用に設定する。
In addition, in step S24, which is performed when it is determined that the distance DF is within the response distance D1 to the person in step S19, the operation control unit 74 determines whether or not the position of the person is within the range of the guideable direction data. To judge. When it is determined in step S24 that the position of the person is within the range of the guideable direction data (YES in step S24), the process proceeds to step S21, and the motion control unit 74 determines the size and cycle of the motion. Set for response operation.
また、ステップS24で、誘導可能方向データの範囲外であると判断された場合には(ステップS24のNO)、ステップS23に移行し、動作制御部74は、胴体下部4の旋回動作の大きさと周期を変更して、誘導可能への誘導動作を実行する。また、この誘導動作時には、動作制御部74は、胴体上部3のお辞儀動作(図5参照)についても行い、その際の動作の大きさと周期を変更して、誘導動作を実行する。
図12のフローチャートのその他の処理及び判断は、第1の実施の形態例で説明した図9に示すフローチャートと同じである。 Further, when it is determined in step S24 that it is out of the range of the guideable direction data (NO in step S24), the process proceeds to step S23, and themotion control unit 74 determines the magnitude of the turning motion of the lower torso 4 and The cycle is changed and the guidance operation to the guidance is performed. Further, at the time of this guiding operation, the operation control unit 74 also performs the bowing operation (see FIG. 5) of the upper body 3 and changes the magnitude and cycle of the operation at that time to execute the guiding operation.
Other processes and determinations of the flowchart of FIG. 12 are the same as those of the flowchart shown in FIG. 9 described in the first embodiment.
図12のフローチャートのその他の処理及び判断は、第1の実施の形態例で説明した図9に示すフローチャートと同じである。 Further, when it is determined in step S24 that it is out of the range of the guideable direction data (NO in step S24), the process proceeds to step S23, and the
Other processes and determinations of the flowchart of FIG. 12 are the same as those of the flowchart shown in FIG. 9 described in the first embodiment.
図12に示すように、動作制御部74は、ステップS24で、人の位置が誘導可能方向データの範囲外であると判断したとき、ステップS23での胴体下部4の旋回動作で、コミュニケーションを阻害する要因がある方向を避けるような誘導動作を行う。すなわち、本実施の形態例のコミュニケーションロボット1は、駅や空港などの開けた環境に設置されるため、人が来る方向が定まっておらず、いずれの旋回方向にも人が存在する可能性がある。そのため、動作制御部74では、胴体下部4の旋回動作とお辞儀動作をコミュニケーションロボット1に実行させ、適正にコミュニケーションがとれる範囲に人を誘導する処理を行う。
As shown in FIG. 12, when the motion control unit 74 determines in step S24 that the position of the person is outside the range of the guideable direction data, the motion of the lower torso 4 in step S23 hinders communication. The guiding operation is performed so as to avoid the direction in which there is a factor. That is, since the communication robot 1 of the present embodiment is installed in an open environment such as a station or an airport, the direction in which a person comes is not fixed, and there is a possibility that a person will exist in any turning direction. is there. Therefore, the motion control unit 74 causes the communication robot 1 to perform a turning motion and a bowing motion of the lower torso 4 and performs a process of guiding a person to a range where proper communication can be achieved.
具体的には、ステップS23として、旋回角度θA=θA+ΔθA2、お辞儀角度θB=θB+ΔθB2とする処理が行われる。ΔθA2とΔθB2は、旋回角度とお辞儀角度の変化分である。
この場合、旋回角度θAの変更と、お辞儀角度θBの変更は、同時に行ってもよいが、旋回角度θAの変更と、お辞儀角度θBの変更を交互に行ってもよい。 Specifically, in step S23, a process of turning angle θA = θA + ΔθA2 and bow angle θB = θB + ΔθB2 is performed. ΔθA2 and ΔθB2 are changes in the turning angle and the bowing angle.
In this case, the turning angle θA and the bowing angle θB may be changed at the same time, but the turning angle θA and the bowing angle θB may be changed alternately.
この場合、旋回角度θAの変更と、お辞儀角度θBの変更は、同時に行ってもよいが、旋回角度θAの変更と、お辞儀角度θBの変更を交互に行ってもよい。 Specifically, in step S23, a process of turning angle θA = θA + ΔθA2 and bow angle θB = θB + ΔθB2 is performed. ΔθA2 and ΔθB2 are changes in the turning angle and the bowing angle.
In this case, the turning angle θA and the bowing angle θB may be changed at the same time, but the turning angle θA and the bowing angle θB may be changed alternately.
ここで、ステップS24での判断例の具体的な例を説明する。
まず、位置算出部72は、図17に示す偏差角度ΦFと、胴体下部4の旋回角度θAに基づいて、人の方向θH(=θA+ΦF)を算出する。偏差角度ΦFは、コミュニケーションロボット1の正面方向と人80の顔がある方向の偏差角度である。ここでは、図17に示すように、コミュニケーションロボット1と人80とが、距離DFだけ離れている。
そして、ステップS24で動作制御部74は、人の方向θHが、誘導範囲であるθA0≦θH≦θA1の条件が成立するかどうかを判断し、成立する場合に動作制御部74は、ステップS21に移行する。 Here, a specific example of the determination example in step S24 will be described.
First, theposition calculation unit 72 calculates the direction θH (= θA + ΦF) of the person based on the deviation angle ΦF shown in FIG. 17 and the turning angle θA of the lower body 4. The deviation angle ΦF is a deviation angle between the front direction of the communication robot 1 and the direction in which the person 80 faces. Here, as shown in FIG. 17, the communication robot 1 and the person 80 are separated by a distance DF.
Then, in step S24, theoperation control unit 74 determines whether or not the direction θH of the person satisfies the guide range θA0 ≦ θH ≦ θA1. If the condition is satisfied, the operation control unit 74 advances to step S21. Transition.
まず、位置算出部72は、図17に示す偏差角度ΦFと、胴体下部4の旋回角度θAに基づいて、人の方向θH(=θA+ΦF)を算出する。偏差角度ΦFは、コミュニケーションロボット1の正面方向と人80の顔がある方向の偏差角度である。ここでは、図17に示すように、コミュニケーションロボット1と人80とが、距離DFだけ離れている。
そして、ステップS24で動作制御部74は、人の方向θHが、誘導範囲であるθA0≦θH≦θA1の条件が成立するかどうかを判断し、成立する場合に動作制御部74は、ステップS21に移行する。 Here, a specific example of the determination example in step S24 will be described.
First, the
Then, in step S24, the
一方、θA0≦θH≦θA1の条件が成立しないときに移行するステップS23では、人の方向θHを上限値θA1や下限値θA0と比較する。この比較で、θH>θA1のとき、目標とする誘導方向θHREFとして、θHREF=θA1とする。また、θH<θA0のとき、目標とする誘導方向θHREFとして、θHREF=θA0とする。この動作制御部74の処理は、近い方の制限値を設定する処理である。
On the other hand, in step S23, which is performed when the condition of θA0 ≦ θH ≦ θA1 is not satisfied, the direction θH of the person is compared with the upper limit value θA1 and the lower limit value θA0. In this comparison, when θH> θA1, θHREF = θA1 is set as the target guiding direction θHREF. When θH <θA0, the target guiding direction θHREF is θHREF = θA0. The process of the operation control unit 74 is a process of setting a limit value of the closer one.
そして、動作制御部74は、人の方向θHと目標誘導方向θHREFの領域を、旋回動作の範囲として設定する。すなわち、周方向において人との距離DFが遠くなるほど旋回動作の大きさが大きく、近くなるほど小さくなる。また、変化量ΔθHの値が正で大きいと旋回動作の周期を早く設定し、変化量ΔθHの値が負で大きいと旋回動作の周期を遅く設定する。
Then, the motion control unit 74 sets the region of the person's direction θH and the target guiding direction θHREF as the range of the turning motion. That is, the larger the distance DF to the person in the circumferential direction, the larger the magnitude of the turning motion, and the smaller the distance, the smaller the turning motion. Further, when the value of the change amount ΔθH is positive and large, the cycle of the turning motion is set early, and when the value of the change amount ΔθH is large and negative, the cycle of the turning motion is set late.
この処理により、コミュニケーションロボット1の周囲の人を、コミュニケーションをとることが難しい領域から、応対可能領域に適切に誘導することができるので、コミュニケーションロボット1は、円滑に人とのコミュニケーションをとることが可能になる。
なお、上述した例では、コミュニケーションを阻害する要因がある方向として、騒音などがある方向とした。これに対して、例えば検出センサ10であるカメラが人を撮影する際に、照明が外光などで、逆光状態で撮影されて、人の顔などが適切に検知できない範囲を、コミュニケーションを阻害する要因がある方向としてもよい。つまり、コミュニケーションを阻害する要因がある方向として、音声の集音が適切にできない方向に加えて、カメラでの撮影が適切にできる方向に設定してもよい。 By this processing, the person around thecommunication robot 1 can be appropriately guided from the area where communication is difficult to the area where communication is possible. Therefore, the communication robot 1 can smoothly communicate with a person. It will be possible.
In the above example, the direction in which there is a factor that hinders communication is the direction in which there is noise or the like. On the other hand, for example, when the camera that is thedetection sensor 10 captures a person, the communication is hindered in a range in which the face of the person cannot be properly detected because the illumination is due to external light and the backlight is captured. The direction may have a factor. That is, as a direction having a factor that hinders communication, in addition to a direction in which sound cannot be collected properly, a direction in which shooting with a camera can be appropriately performed may be set.
なお、上述した例では、コミュニケーションを阻害する要因がある方向として、騒音などがある方向とした。これに対して、例えば検出センサ10であるカメラが人を撮影する際に、照明が外光などで、逆光状態で撮影されて、人の顔などが適切に検知できない範囲を、コミュニケーションを阻害する要因がある方向としてもよい。つまり、コミュニケーションを阻害する要因がある方向として、音声の集音が適切にできない方向に加えて、カメラでの撮影が適切にできる方向に設定してもよい。 By this processing, the person around the
In the above example, the direction in which there is a factor that hinders communication is the direction in which there is noise or the like. On the other hand, for example, when the camera that is the
また、コミュニケーションを阻害する要因がある方向や範囲は、予め複数の方向や範囲を設定しておき、時間などの条件に応じて、その複数の方向や範囲の中から、現在の状態で阻害する要因がある方向や範囲を選ぶようにしてもよい。
In addition, for directions and ranges that have factors that hinder communication, multiple directions and ranges are set in advance, and depending on conditions such as time, the current state is blocked from the multiple directions and ranges. You may make it select the direction and range with a factor.
<3.第3の実施の形態例>
次に、本発明の第3の実施の形態例について、図13~図16を参照して詳細に説明する。この図13~図16において、第1の実施の形態例で説明した図1~図10、並びに2の実施の形態例で説明した図11~図12に対応する部分には同一符号を付して重複説明を省略し、以下の説明では第1の実施の形態例と相違する点を中心に説明する。 <3. Third Embodiment>
Next, a third embodiment of the present invention will be described in detail with reference to FIGS. 13 to 16. 13 to 16, parts corresponding to those of FIGS. 1 to 10 described in the first embodiment and FIGS. 11 to 12 described in the second embodiment are denoted by the same reference numerals. Overlapping description will be omitted, and the following description will be focused on the points that differ from the first embodiment.
次に、本発明の第3の実施の形態例について、図13~図16を参照して詳細に説明する。この図13~図16において、第1の実施の形態例で説明した図1~図10、並びに2の実施の形態例で説明した図11~図12に対応する部分には同一符号を付して重複説明を省略し、以下の説明では第1の実施の形態例と相違する点を中心に説明する。 <3. Third Embodiment>
Next, a third embodiment of the present invention will be described in detail with reference to FIGS. 13 to 16. 13 to 16, parts corresponding to those of FIGS. 1 to 10 described in the first embodiment and FIGS. 11 to 12 described in the second embodiment are denoted by the same reference numerals. Overlapping description will be omitted, and the following description will be focused on the points that differ from the first embodiment.
第3の実施の形態例のコミュニケーションロボット1は、第1の実施の形態例で説明したコミュニケーションロボット1と外形形状や各可動部の形状は同じであり、その動作制御システムが第1の実施の形態例と相違する。
The communication robot 1 of the third embodiment has the same outer shape and the shape of each movable part as the communication robot 1 described in the first embodiment, and its operation control system is the same as that of the first embodiment. It differs from the form example.
[3-1.システム全体の構成]
図13は、第3の実施の形態例のコミュニケーションロボット1の動作制御システムの内部構成例を示す。
図13に示す動作制御システムの演算処理部70は、第1の実施の形態例で説明した演算処理部70の構成に加えて、グループ判断部78を備える構成とした。例えば、駅、空港などの人数が多い環境下に設置されたコミュニケーションロボット1の場合、人検出部71が複数の人の顔を同時に検出するケースが多々想定される。 [3-1. Overall system configuration]
FIG. 13 shows an internal configuration example of the operation control system for thecommunication robot 1 according to the third embodiment.
Theoperation processing unit 70 of the operation control system shown in FIG. 13 has a configuration including a group determination unit 78 in addition to the configuration of the operation processing unit 70 described in the first embodiment. For example, in the case of the communication robot 1 installed in an environment with a large number of people such as stations and airports, it is often assumed that the human detection unit 71 detects faces of a plurality of people at the same time.
図13は、第3の実施の形態例のコミュニケーションロボット1の動作制御システムの内部構成例を示す。
図13に示す動作制御システムの演算処理部70は、第1の実施の形態例で説明した演算処理部70の構成に加えて、グループ判断部78を備える構成とした。例えば、駅、空港などの人数が多い環境下に設置されたコミュニケーションロボット1の場合、人検出部71が複数の人の顔を同時に検出するケースが多々想定される。 [3-1. Overall system configuration]
FIG. 13 shows an internal configuration example of the operation control system for the
The
グループ判断部78は、人検出部71が複数の人の顔を検出したとき、位置算出部72で算出したそれぞれの人の顔の位置の変化などから、その複数の人が同じグループの人か、あるいは複数の人がグループでないかを判断するものである。グループ判断部78で、同じグループの人であると判断したとき、動作制御部74は、その同じグループの複数の人を、一括して誘導する処理を行う。
演算処理部70のその他の構成は、第1の実施の形態例で説明した図2に示す演算処理部70と同様である。 When theperson detecting section 71 detects the faces of a plurality of persons, the group determining section 78 determines whether the plurality of persons belong to the same group based on the change in the position of each person's face calculated by the position calculating section 72. Or, it judges whether a plurality of people are not a group. When the group determination unit 78 determines that the persons are in the same group, the operation control unit 74 performs a process of collectively guiding a plurality of persons in the same group.
The other configuration of thearithmetic processing unit 70 is the same as that of the arithmetic processing unit 70 shown in FIG. 2 described in the first embodiment.
演算処理部70のその他の構成は、第1の実施の形態例で説明した図2に示す演算処理部70と同様である。 When the
The other configuration of the
[3-2.グループ判断の例]
図14は、グループ判断部78での判断処理の例を示す。
図14に示す例は、コミュニケーションロボット1の周囲に、2人の人81、82が存在する場合である。
ここで、ロボット1と人81との距離をDFA、ロボット1と人82との距離をDFB、人81と人82との距離DFdiffAB、並びにそれらの距離変化ΔDFA、ΔDFB、ΔDFdiffABとしたとき、グループ判断部78はこれらの距離及び距離変化を取得する。そして、グループ判断部78は、これらの距離及び距離変化から、人81と人82とが同一グループかどうかを判断する。 [3-2. Group judgment example]
FIG. 14 shows an example of the judgment processing in thegroup judgment unit 78.
The example shown in FIG. 14 is a case where two persons 81 and 82 exist around the communication robot 1.
Here, when the distance between therobot 1 and the person 81 is DFA, the distance between the robot 1 and the person 82 is DFB, the distance DFdiffAB between the persons 81 and 82, and their distance changes ΔDFA, ΔDFB, and ΔDFdiffAB, The determination unit 78 acquires these distances and distance changes. Then, the group determination unit 78 determines whether the person 81 and the person 82 are in the same group based on the distance and the change in the distance.
図14は、グループ判断部78での判断処理の例を示す。
図14に示す例は、コミュニケーションロボット1の周囲に、2人の人81、82が存在する場合である。
ここで、ロボット1と人81との距離をDFA、ロボット1と人82との距離をDFB、人81と人82との距離DFdiffAB、並びにそれらの距離変化ΔDFA、ΔDFB、ΔDFdiffABとしたとき、グループ判断部78はこれらの距離及び距離変化を取得する。そして、グループ判断部78は、これらの距離及び距離変化から、人81と人82とが同一グループかどうかを判断する。 [3-2. Group judgment example]
FIG. 14 shows an example of the judgment processing in the
The example shown in FIG. 14 is a case where two
Here, when the distance between the
具体的には、距離DFA,DFBの差分を判断する閾値D10と、2人の距離DFdiffABを判断する閾値D11とを設定する。そして、以下の条件1、2、3を、一定時間T10の間、連続して満たすとき、グループ判断部78は、人81と人82を同一のグループとして判断する。
条件1:|DFA-DFB|<D10
条件2:DFdiffAB<D11
条件3:|ΔDFA-ΔDFB|<ΔD10
逆に、条件1、2、3のいずれか1つでも、一定時間T10の間、連続して満たすことがないとき、グループ判断部78は、人81と人82を同じグループとは見なさないようにする。 Specifically, a threshold value D10 for determining the difference between the distances DFA and DFB and a threshold value D11 for determining the distance DFdiffAB between two persons are set. Then, when the following conditions 1, 2, and 3 are continuously satisfied for the fixed time T10, the group determination unit 78 determines the person 81 and the person 82 as the same group.
Condition 1: | DFA-DFB | <D10
Condition 2: DFdiffAB <D11
Condition 3: | ΔDFA-ΔDFB | <ΔD10
On the contrary, when any one of the conditions 1, 2, and 3 is not satisfied continuously for the fixed time T10, the group determination unit 78 does not consider the person 81 and the person 82 as the same group. To
条件1:|DFA-DFB|<D10
条件2:DFdiffAB<D11
条件3:|ΔDFA-ΔDFB|<ΔD10
逆に、条件1、2、3のいずれか1つでも、一定時間T10の間、連続して満たすことがないとき、グループ判断部78は、人81と人82を同じグループとは見なさないようにする。 Specifically, a threshold value D10 for determining the difference between the distances DFA and DFB and a threshold value D11 for determining the distance DFdiffAB between two persons are set. Then, when the following
Condition 1: | DFA-DFB | <D10
Condition 2: DFdiffAB <D11
Condition 3: | ΔDFA-ΔDFB | <ΔD10
On the contrary, when any one of the
[3-3.動作制御例]
図15及び図16は、動作制御部74が行う制御処理例を示すフローチャートである。図15の[A1]で示す箇所が、図16の[A1]で示す箇所に接続され、図16の[B1]で示す箇所が、図15の[B1]で示す箇所に接続される。
この図15及び図16のフローチャートにおいて、第1の実施の形態例で説明した図9のフローチャートと同一の処理又は判断は同一のステップ番号を付し、重複説明を省略する。 [3-3. Operation control example]
15 and 16 are flowcharts showing an example of control processing performed by theoperation control unit 74. The location indicated by [A1] in FIG. 15 is connected to the location indicated by [A1] in FIG. 16, and the location indicated by [B1] in FIG. 16 is connected to the location indicated by [B1] in FIG.
In the flowcharts of FIGS. 15 and 16, the same process or determination as the flowchart of FIG. 9 described in the first embodiment is denoted by the same step number, and the duplicated description will be omitted.
図15及び図16は、動作制御部74が行う制御処理例を示すフローチャートである。図15の[A1]で示す箇所が、図16の[A1]で示す箇所に接続され、図16の[B1]で示す箇所が、図15の[B1]で示す箇所に接続される。
この図15及び図16のフローチャートにおいて、第1の実施の形態例で説明した図9のフローチャートと同一の処理又は判断は同一のステップ番号を付し、重複説明を省略する。 [3-3. Operation control example]
15 and 16 are flowcharts showing an example of control processing performed by the
In the flowcharts of FIGS. 15 and 16, the same process or determination as the flowchart of FIG. 9 described in the first embodiment is denoted by the same step number, and the duplicated description will be omitted.
図15に示す動作制御では、動作制御部74は、ステップS18で人の顔の位置(距離)情報を取得した後、取得した顔が複数か否かを判断する(ステップS26)。ここで、取得した顔が複数であるとき(ステップS26のYES)、動作制御部74は、図16のフローチャートのステップS31に移行する。
In the operation control shown in FIG. 15, after the operation control unit 74 acquires the position (distance) information of the human face in step S18, the operation control unit 74 determines whether there are a plurality of acquired faces (step S26). Here, when there are a plurality of acquired faces (YES in step S26), the operation control unit 74 proceeds to step S31 in the flowchart of FIG.
ステップS31では、動作制御部74は、検出された複数人の中で最も距離DFが小さい、すなわちコミュニケーションロボット1に最も近い人Cを、誘導対象として選択する。そして、動作制御部74は、グループ判断部78での処理結果に基づいて、その誘導対象の人Cと、周囲の別の人とが同じグループか否かを判断する(ステップS32)。
ここで、誘導対象の人Cと、周囲の人とが同じグループである場合(ステップS32のYES)、動作制御部74は、グループとしての距離DFCGを算出する(ステップS33)。ここでは、グループの中で最も近い人Cの距離DFCを、グループとしての距離DFCGに設定する。 In step S31, theoperation control unit 74 selects the person C having the shortest distance DF among the detected plural persons, that is, the person C closest to the communication robot 1 as the guidance target. Then, the operation control unit 74 determines whether the person C to be guided and another person in the vicinity are in the same group based on the processing result of the group determination unit 78 (step S32).
Here, when the guide target person C and the surrounding people are in the same group (YES in step S32), theoperation control unit 74 calculates the distance DFCG as a group (step S33). Here, the distance DFC of the closest person C in the group is set to the distance DFCG as a group.
ここで、誘導対象の人Cと、周囲の人とが同じグループである場合(ステップS32のYES)、動作制御部74は、グループとしての距離DFCGを算出する(ステップS33)。ここでは、グループの中で最も近い人Cの距離DFCを、グループとしての距離DFCGに設定する。 In step S31, the
Here, when the guide target person C and the surrounding people are in the same group (YES in step S32), the
そして、動作制御部74は、そのグループの距離DFCGに基づいて、グループ内の人を包括するように誘導対象の方向範囲を設定する(ステップS34)。
ここでは、例えばグループの最端の方向角度がθCGmin(最小値)とθCGmax(最大値)とすると、動作制御部74は、胴体下部4の旋回動作の大きさとして、角度θCGminから角度θCGmaxまでの間になるように設定する。 Then, theoperation control unit 74 sets the direction range of the guidance target so as to include the persons in the group based on the distance DFCG of the group (step S34).
Here, for example, when the direction angles at the extreme ends of the group are θCGmin (minimum value) and θCGmax (maximum value), themotion control unit 74 determines the magnitude of the turning motion of the lower body 4 from the angle θCGmin to the angle θCGmax. Set to be in the interval.
ここでは、例えばグループの最端の方向角度がθCGmin(最小値)とθCGmax(最大値)とすると、動作制御部74は、胴体下部4の旋回動作の大きさとして、角度θCGminから角度θCGmaxまでの間になるように設定する。 Then, the
Here, for example, when the direction angles at the extreme ends of the group are θCGmin (minimum value) and θCGmax (maximum value), the
そして、誘導対象の方向範囲を設定した後、動作制御部74は、図15のステップS19の判断に移行する。
また、ステップS26で取得した顔が複数でないとき(ステップS26のNO)、及びステップS32でグループでないと判断したときにも(ステップS32のNO)、動作制御部74は、図15のステップS19の判断に移行する。 Then, after setting the direction range of the guidance target, theoperation control unit 74 proceeds to the determination of step S19 of FIG.
In addition, when there are not a plurality of faces acquired in step S26 (NO in step S26) and when it is determined that the face is not a group in step S32 (NO in step S32), theoperation control unit 74 executes the process in step S19 in FIG. Move to judgment.
また、ステップS26で取得した顔が複数でないとき(ステップS26のNO)、及びステップS32でグループでないと判断したときにも(ステップS32のNO)、動作制御部74は、図15のステップS19の判断に移行する。 Then, after setting the direction range of the guidance target, the
In addition, when there are not a plurality of faces acquired in step S26 (NO in step S26) and when it is determined that the face is not a group in step S32 (NO in step S32), the
このように本実施の形態例のコミュニケーションロボット1によると、複数人の顔を同時に検出したとき、その複数人がグループか否かを判断して、グループ時には、そのグループ全体に対して誘導するようになる。したがって、例えば駅、空港などの複数の人が存在する環境化にコミュニケーションロボット1を設置した場合であっても、積極的に人を検出して円滑に応対可能領域に誘導することができる。
As described above, according to the communication robot 1 of the present embodiment, when the faces of a plurality of people are detected at the same time, it is determined whether or not the plurality of people are a group, and at the time of a group, guidance is provided for the entire group. become. Therefore, even when the communication robot 1 is installed in an environment where there are a plurality of people, such as a station or an airport, it is possible to positively detect the people and smoothly guide them to the available area.
<4.変形例>
本発明は、上述した各実施の形態例に限定されるものではなく、様々な変形例が含まれる。
例えば、上述した第2の実施の形態例で説明した、コミュニケーションを阻害する要因がある範囲から適切は範囲に誘導する処理と、第3の実施の形態例で説明した、グループ時にグループ全体で誘導する処理を組み合わせるようにしてもよい。 <4. Modification>
The present invention is not limited to the above-described embodiments and includes various modifications.
For example, the process of guiding a communication blocking factor from a certain range to an appropriate range as described in the above-described second embodiment, and the group-wide guidance at the time of group described in the third embodiment. You may make it combine the process to perform.
本発明は、上述した各実施の形態例に限定されるものではなく、様々な変形例が含まれる。
例えば、上述した第2の実施の形態例で説明した、コミュニケーションを阻害する要因がある範囲から適切は範囲に誘導する処理と、第3の実施の形態例で説明した、グループ時にグループ全体で誘導する処理を組み合わせるようにしてもよい。 <4. Modification>
The present invention is not limited to the above-described embodiments and includes various modifications.
For example, the process of guiding a communication blocking factor from a certain range to an appropriate range as described in the above-described second embodiment, and the group-wide guidance at the time of group described in the third embodiment. You may make it combine the process to perform.
また、第1の実施の形態例では、コミュニケーションをとることが可能な位置又は距離として、予め数m程度の一定の範囲を設定して、その範囲内に誘導するようにした。これに対して、コミュニケーションをとることが可能な位置又は距離として、ロボットを設置した場所での状況に応じて、可変設定するようにしてもよい。例えば、駅や空港などに設置した状況で、周囲の騒音が小さい状況では、コミュニケーションをとることが可能な距離を例えば3m程度に設定し、周囲の騒音が大きい状況では、コミュニケーションをとることが可能な距離を例えば1m程度に設定してもよい。
In addition, in the first embodiment, as a position or distance at which communication can be performed, a certain range of about several meters is set in advance, and guidance is made within that range. On the other hand, the position or distance at which communication can be performed may be variably set according to the situation at the place where the robot is installed. For example, when installed in a station or an airport, when the surrounding noise is low, the communication distance is set to, for example, about 3 m, and when the surrounding noise is high, the communication is possible. The distance may be set to about 1 m, for example.
また、第2の実施の形態例で説明した、コミュニケーションを阻害する要因として、音声の集音が困難な範囲や、カメラでの撮影が逆光などで困難な範囲は一例であり、その他のコミュニケーションを阻害する要因を考慮してもよい。例えば、多数の人が絶えず通行するような状況で、人の通行を邪魔するような範囲(通路となる範囲)については、コミュニケーションを阻害する要因の範囲とし、通路から外れた箇所に人を誘導して、コミュニケーションをとるようにしてもよい。
Further, as the factors that hinder the communication described in the second embodiment, the range in which it is difficult to collect sound and the range in which it is difficult to shoot with a camera due to backlight or the like are examples, and other communication is not possible. Factors that hinder may be considered. For example, in a situation where a large number of people are constantly passing, a range that hinders people from passing (a range that becomes a passage) is defined as a factor that hinders communication, and people are guided to a place outside the passage. You may communicate with each other.
また、第3の実施の形態例で説明したグループ全体で誘導する処理時には、コミュニケーションロボット1に最も近い人を誘導対象とした。これに対して、例えばグループを構成する複数人の位置の中心位置を仮想的に求めて、その仮想的に求めた中心位置を、コミュニケーションがとれる範囲に誘導するようにしてもよい。
あるいは、グループを検出したとき、グループ内のそれぞれの人に交互に振り向きながら、コミュニケーションがとれる範囲に誘導するようにしてもよい。 Further, during the process of guiding the entire group described in the third embodiment, the person closest to thecommunication robot 1 is set as the guiding target. On the other hand, for example, the center position of the positions of a plurality of people forming a group may be virtually obtained, and the virtually obtained center position may be guided to a range where communication can be taken.
Alternatively, when a group is detected, it may be guided to a range in which communication can be performed while alternately turning to each person in the group.
あるいは、グループを検出したとき、グループ内のそれぞれの人に交互に振り向きながら、コミュニケーションがとれる範囲に誘導するようにしてもよい。 Further, during the process of guiding the entire group described in the third embodiment, the person closest to the
Alternatively, when a group is detected, it may be guided to a range in which communication can be performed while alternately turning to each person in the group.
また、上述した各実施の形態例では、探索動作として、胴体上部3や頭部2を傾斜させるお辞儀角度を変更する動作を周期的に行うようにした。これに対して、探索動作として、胴体下部4の旋回動作などの他の動作を行うようにしてもよい。あるいは、お辞儀動作と旋回動作を組み合わせるようにしてもよい。
Also, in each of the above-described embodiments, as a search operation, an operation of changing the bowing angle for inclining the upper body 3 and the head 2 is periodically performed. On the other hand, as the search operation, another operation such as a turning operation of the lower body 4 may be performed. Alternatively, the bowing motion and the turning motion may be combined.
また、上述した各実施の形態例では、誘導動作時に左腕と右腕の動作や目の動作を行うようにした。この腕や目を動かす点についても一例であり、ロボットを構成する胴体や顔などの筐体そのものの動作や、腕や目以外のロボットに取り付けられた各部の部品(パーツ)を、誘導動作時や探索動作時に、動かすようにしてもよい。
誘導動作時や探索動作時に、腕や胴体などを動かす振幅(大きさ)と、周期の双方を変化させる点についても一例であり、少なくともいずれか一方のみを変化させればよい。 Further, in each of the above-described embodiments, the left arm and the right arm and the eye are operated during the guiding operation. This movement of the arms and eyes is also an example, and the movement of the body itself such as the body and face that make up the robot, and the parts (parts) attached to the robot other than the arms and eyes during guidance movement It may be moved during the search operation.
It is also an example that both the amplitude (size) of moving the arm and the body and the cycle are changed during the guiding operation or the searching operation, and at least one of them may be changed.
誘導動作時や探索動作時に、腕や胴体などを動かす振幅(大きさ)と、周期の双方を変化させる点についても一例であり、少なくともいずれか一方のみを変化させればよい。 Further, in each of the above-described embodiments, the left arm and the right arm and the eye are operated during the guiding operation. This movement of the arms and eyes is also an example, and the movement of the body itself such as the body and face that make up the robot, and the parts (parts) attached to the robot other than the arms and eyes during guidance movement It may be moved during the search operation.
It is also an example that both the amplitude (size) of moving the arm and the body and the cycle are changed during the guiding operation or the searching operation, and at least one of them may be changed.
また、上述した各実施の形態例では、位置算出部72は、ロボットから人までの距離を算出するようした。これに対して、位置算出部72は、ロボットが配置された空間内での人の位置を算出して、算出した人の位置とロボットの設置位置との差から、距離を算出するようにしてもよい。
In addition, in each of the above-described embodiments, the position calculation unit 72 calculates the distance from the robot to the person. On the other hand, the position calculation unit 72 calculates the position of the person in the space where the robot is placed, and calculates the distance from the difference between the calculated position of the person and the installation position of the robot. Good.
また、上述した各実施の形態では、静置型のロボットに適用したが、自走可能なロボットに適用してもよい。但し、自走可能なロボットであっても、本発明の処理を行う際には、決められた場所に停止して、その停止した場所で周囲の人などを検出して、処理を行うことが好ましい。
In addition, in each of the above-described embodiments, the static type robot is applied, but the present invention may be applied to a self-propelled robot. However, even if the robot is self-propelled, when performing the process of the present invention, it is possible to stop at a predetermined place, detect people around it at the stopped place, and perform the process. preferable.
また、上述した実施の形態例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、図2、図3、図11、図13などの構成図や機能ブロック図では、制御線や情報線は説明上必要と考えられるものだけを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。また、図9、図12、図15、図16に示すフローチャートにおいて、実施の形態例の処理結果に影響がない範囲で、一部の処理ステップの実行順序を入れ替えたり、一部の処理ステップを同時に実行したりするようにしてもよい。
Also, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, in the configuration diagrams and functional block diagrams of FIGS. 2, 3, 11, and 13 and the like, only control lines and information lines that are considered necessary for explanation are shown, and not all control lines and product lines are considered in the product. The information lines are not always shown. In practice, it may be considered that almost all configurations are connected to each other. Further, in the flowcharts shown in FIGS. 9, 12, 15, and 16, the execution order of some of the processing steps may be changed or some of the processing steps may be performed within a range that does not affect the processing results of the embodiment. You may make it perform simultaneously.
1…コミュニケーションロボット、2…頭部、3…胴体上部、4…胴体下部、5…腰部、6R…右腕部、6L…左腕部、7R、7L、7ER、7EL…表示部、8R…右目、8L…左目、9…音声取得部、10…検出センサ、11…音声発生部、21…駆動部、21a…可動部モータ制御部、21b…可動部モータ駆動部、21c…可動部モータ、21d…可動部位置センサ、70…演算処理部、71…人検出部、72…位置算出部、73…音声・言語処理部、74…動作制御部、75…動作計画実行部、76…言語応答データベース部、77…誘導可能方向データ格納部、78…グループ判断部
1 ... Communication robot, 2 ... Head, 3 ... Upper body, 4 ... Lower body, 5 ... Waist, 6R ... Right arm, 6L ... Left arm, 7R, 7L, 7ER, 7EL ... Display, 8R ... Right eye, 8L ... left eye, 9 ... voice acquisition unit, 10 ... detection sensor, 11 ... voice generation unit, 21 ... drive unit, 21a ... movable unit motor control unit, 21b ... movable unit motor drive unit, 21c ... movable unit motor, 21d ... movable Part position sensor, 70 ... Arithmetic processing unit, 71 ... Human detection unit, 72 ... Position calculation unit, 73 ... Voice / language processing unit, 74 ... Motion control unit, 75 ... Motion plan execution unit, 76 ... Language response database unit, 77 ... Guidable direction data storage unit, 78 ... Group determination unit
Claims (9)
- 筐体に取り付けられたパーツと、前記筐体そのものとの少なくともいずれか一方を可動させる駆動部と、
前記筐体の周囲の人の音声を取得する音声取得部と、
音声を発生する音声発生部と、
前記筐体に取り付けられた検出センサの検出信号に基づいて、人の存在を検出する人検出部と、
前記人検出部が検出した人の位置又は距離を算出する算出部と、
前記算出部が算出した人の位置又は距離に基づいて、予め設定された実行条件で前記駆動部による前記パーツ又は前記筐体の動作を制御する動作制御部と、を備える
コミュニケーションロボット。 A part attached to the housing, and a drive unit that moves at least one of the housing itself,
A voice acquisition unit that acquires voices of people around the casing,
A voice generator that generates voice,
Based on the detection signal of the detection sensor attached to the housing, a person detection unit for detecting the presence of a person,
A calculation unit that calculates the position or distance of the person detected by the person detection unit,
A communication robot, comprising: a motion control unit that controls a motion of the part or the housing by the driving unit under preset execution conditions based on the position or distance of the person calculated by the calculation unit. - 前記動作制御部の制御による前記駆動部の動作には、探索動作と誘導動作とがあり、
前記探索動作は、前記検出センサが検出する方向が変更するように、前記筐体を前記駆動部で可動させ、
前記誘導動作は、前記算出部が算出した位置又は距離に応じて、前記実行条件を変更しながら、前記パーツと前記筐体の少なくともいずれか一方の可動により人を誘導するように、前記パーツ又は前記筐体を可動させる
請求項1に記載のコミュニケーションロボット。 The operation of the drive unit under the control of the operation control unit includes a search operation and a guidance operation,
In the search operation, the casing is moved by the drive unit so that the direction detected by the detection sensor is changed,
The guiding operation is performed by changing the execution condition according to the position or the distance calculated by the calculating unit, and guiding the person by moving at least one of the part and the housing. The communication robot according to claim 1, wherein the housing is movable. - 前記算出部が算出した人の位置又は距離が、前記音声取得部による音声の取得と前記音声発生部による発生でコミュニケーションをとることが可能な位置又は距離でない場合に、前記動作制御部が前記誘導動作を行って、コミュニケーションをとることが可能な位置又は距離に人を誘導する
請求項2に記載のコミュニケーションロボット。 When the position or distance of the person calculated by the calculation unit is not a position or distance at which the voice acquisition unit and the voice generation unit can communicate with each other, the operation control unit performs the guidance. The communication robot according to claim 2, wherein the communication robot guides a person to a position or a distance where communication is possible by performing an operation. - 前記実行条件の変更は、前記算出部が算出した位置又は距離の変化に応じて、前記筐体を周期的に可動させる際の、周期と大きさの少なくともいずれか一方の変更である
請求項2に記載のコミュニケーションロボット。 The change of the execution condition is a change of at least one of a cycle and a size when the casing is cyclically moved according to a change in a position or a distance calculated by the calculation unit. Communication robot described in. - 前記動作制御部が前記誘導動作の際に行う前記実行条件には、前記音声発生部からの誘導用の音声の出力が含まれる
請求項2に記載のコミュニケーションロボット。 The communication robot according to claim 2, wherein the execution condition performed by the operation control unit at the time of the guidance operation includes output of a guidance voice from the voice generation unit. - さらに、表示部を備え、
前記動作制御部が前記誘導動作の際に行う前記実行条件には、前記表示部での誘導用の表示処理が含まれる
請求項2に記載のコミュニケーションロボット。 Furthermore, with a display unit,
The communication robot according to claim 2, wherein the execution condition performed by the operation control unit during the guiding operation includes a display process for guiding on the display unit. - 前記実行条件には、前記パーツの動きにより、当該コミュニケーションロボットの表情を設定する条件が含まれる
請求項1に記載のコミュニケーションロボット。 The communication robot according to claim 1, wherein the execution condition includes a condition for setting a facial expression of the communication robot by a movement of the part. - さらに、人を誘導可能な方向についての情報を保持する誘導可能方向データ保持部を備え、
前記誘導動作の際に、前記動作制御部は、前記誘導可能方向データで示される誘導可能な方向に対する、前記算出部が算出した人の位置又は距離に基づいて、前記実行条件を変更する
請求項2に記載のコミュニケーションロボット。 Furthermore, a guideable direction data holding unit that holds information about directions that can guide a person is provided,
At the time of the guide operation, the operation control unit changes the execution condition based on the position or distance of the person calculated by the calculation unit with respect to the guideable direction indicated by the guideable direction data. The communication robot described in 2. - さらに、前記算出部が算出した複数の人の位置又は距離の変化に基づいて、複数人が同じグループか否かを判断するグループ判断部を備え、
前記誘導動作の際に、前記動作制御部は、前記グループ判断部が複数人を同じグループと判断した場合に、前記算出部が算出したグループの位置又は距離に基づいて、前記実行条件を変更する
請求項2に記載のコミュニケーションロボット。 Furthermore, based on changes in the positions or distances of the plurality of people calculated by the calculation unit, a group judgment unit for judging whether or not the plurality of people are in the same group,
During the guiding operation, the operation control unit changes the execution condition based on the position or distance of the group calculated by the calculation unit when the group determination unit determines that a plurality of people belong to the same group. The communication robot according to claim 2.
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