JP2009131914A - Robot control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot control system capable of reducing the number of remote operations by an operator as much as possible, because the system performs autonomous actions based on the operation history information of the remote operation. <P>SOLUTION: The robot control system 10 includes a robot 12 which transmits the operation history information of communication actions to a central controller 14. The central controller 14 builds an individual behavior transition DB, an age and sex dependence behavior transition DB and a place dependence behavior transition DB based on the information concerning the remote operation of the operation history information from the robot 12. Then the robot 12 selects a DB according to the name, the age and sex, and the place of a dialogue partner, and refers to the selected DB to decide a next communication action based on the operation history information corresponding to a command showing the present action of the robot 12 and to the behavior of the dialogue partner toward the action of the robot 12. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a robot control system, and more particularly to a robot control system using, for example, a robot that executes communication behavior with a human.

  An example of this type of conventional robot control system is disclosed in Patent Document 1. The communication robot of Patent Document 1 executes a first mode in which an autonomous operation is performed, a second mode in which an operation instructed by an expert is executed, and an action reflecting the operation of the expert. A third mode for mediating communication between the person and the expert is executed. In the second mode and the third mode, the communication robot is operated by a remote operation by an expert. Normally, the communication robot communicates with the target person in the first mode, but is switched to the second mode or the third mode and remotely operated depending on the communication status or the like.

For example, this communication robot is installed in a museum or the like and communicates with people who visit the museum. When the expert gives an instruction to the communication robot by the operation side device, the communication robot is switched from the first mode to the second mode. In addition, when the subject person (person around the communication robot) speaks (when asked), the communication robot switches from the first mode to the third mode.
JP2007-216363 [B25J 13/08, B25J 5/00]

  Since the communication robot shown in Patent Document 1 is installed in a museum, for example, it communicates with an unspecified number of subjects who have come to the museum. Under such circumstances, it is presumed that the communication robot is often spoken to the target person. For this reason, the communication robot is frequently operated in the third mode. Therefore, the burden on the expert who remotely operates this communication robot increases.

  Therefore, the main object of the present invention is to provide a novel robot control system.

  Another object of the present invention is to provide a robot control system capable of reducing the number of remote operations by an operator as much as possible.

  The present invention employs the following configuration in order to solve the above problems. The reference numerals in parentheses, supplementary explanations, and the like indicate the corresponding relationship with the embodiments described in order to help understanding of the present invention, and do not limit the present invention.

  According to a first aspect of the present invention, there is provided a robot that performs a communication action with a human by at least one of body movement and voice by remote operation or autonomous control, an operation terminal that performs remote operation of the robot via a network, and a network. And a central control device that mediates between the robot and the operation terminal. In this robot control system, the robot performs autonomous operation by referring to a remote operation mode in which communication behavior is executed in accordance with remote operation from an operation terminal and a database of communication behavior in accordance with the communication situation. A switching means for switching between the control modes, and a transmission means for transmitting operation history information about the communication behavior in the remote operation mode or the autonomous control mode switched by the switching means to the central control device. A receiving unit that receives the transmitted operation history information; a determination unit that determines whether a communication action for the operation history information received by the receiving unit has been executed by a remote operation; Storage means for storing operation history information determined to be remote operation in a storage device, and construction means for constructing a database based on remote operation operation history information stored by the storage means. To do.

  In the first invention, the robot control system (10) includes a robot (12) that performs a communication action with a human by at least one of body motion and voice by remote control or autonomous control, and a robot via a network. An operation terminal (16) that performs remote operation and a central control device (14) that mediates between the robot and the operation terminal via a network are provided. In the robot, the switching means (80, S313, S319, S321) is autonomously controlled with reference to a remote operation mode in which communication behavior is executed according to remote operation from the operation terminal and a database of communication behavior according to the communication situation. Switch to autonomous control mode to execute communication action. The transmission means (80, 102, 104, S329) transmits the operation history information about the communication behavior in the remote operation mode or the autonomous control mode switched by the switching means to the central control device. In the central controller, the receiving means (S3) receives the operation history information transmitted by the transmitting means. The determining means (S13) determines whether or not the communication action for the operation history information received by the receiving means has been executed by remote operation. The storage means (S7, S9, S15) stores the operation history information determined to be remote operation by the determination means in the storage device (14a). The construction means (S37, S41, S45) constructs a database based on the operation history information by remote operation stored by the storage means. For example, the operation history information is stored in the memory of the central controller with a name such as a remote operation history recording table.

  According to the first invention, since the same movement that the robot behaved in the past by remote operation is stored as an experience, when performing an autonomous action, the autonomous action can be performed based on the stored experience. it can. As a result, the number of remote operations by the operator can be reduced as much as possible.

  A second invention is according to the first invention, wherein the central control device further includes attribute information acquisition means for acquiring attribute information of a human subject to which the robot performs communication behavior, and the construction means includes attribute information Build a database according to your needs.

  In the second invention, the attribute information acquisition means (S9) acquires the attribute information of the person who is the target for the robot to perform the communication action. In the construction means, a database corresponding to the attribute information is constructed. That is, when the attribute information of the person who is to perform the communication action is acquired, the construction unit constructs a database from the operation information history of the remote operation performed on the person from whom the attribute information has been acquired.

  According to the second aspect of the invention, the robot can perform an autonomous action based on an action performed in the past, that is, an experience with respect to a person whose attribute information has been acquired.

  A third invention is dependent on the second invention, wherein the attribute information includes information on a human name, and the construction unit constructs a database for each name indicated by the information on the human name.

  In the third aspect of the invention, the attribute information includes human name information. In the construction means, a database is constructed for each name indicated by the human name information. For example, the database constructed in the third invention is stored under the name of the personal behavior transition DB. When the personal name is Ichiro Yamada, the personal behavior transition DB is a database dedicated to Ichiro Yamada. That is, since the attribute information includes human name information, the construction means constructs a database for each operation information history of remote operations performed on humans with different names.

  According to the third aspect of the invention, the robot can perform the autonomous behavior based on the behavior that has been performed on the human in the past, that is, the experience, by acquiring the name of the human subject of the communication behavior. Furthermore, a person whose personal database is stored in the central controller can smoothly communicate with the robot even if it is a place where the robot control system is introduced even if it is the first place to visit.

  A fourth invention is dependent on the second invention or the third invention, wherein the attribute information includes information on a person's age and sex, and the construction means is provided for each age and sex indicated by the information on the person's age and sex. Build a database.

  In the fourth invention, the attribute information includes human age (age) and sex information. In the construction means, a database is constructed for each age and sex indicated by the information on the age and sex of the person. For example, the database constructed in the fourth invention is stored under the name of the age / sex dependent behavior transition DB.

  According to the fourth invention, the robot can perform an autonomous action based on an action performed in the past, that is, an experience with respect to a person whose age and sex are acquired even when the personal name cannot be specified. it can. Furthermore, humans whose age and gender databases are stored in the central controller can be used by robot control system users who have an age and gender database built in places where people of various ages gather, such as department stores and department stores. This can be used when a robot control system is newly introduced in department stores or department stores.

  A fifth invention is dependent on any one of the first to fourth inventions, and the central control device acquires location information where the human is present when the robot performs a communication action. And a construction means for constructing a database for each location indicated by the location information.

  In the fifth invention, in the central control device, the location information acquisition means (S5) acquires information on the location where the person exists when the robot performs the communication action. The construction means constructs a database for each location indicated by the location information. For example, the database constructed in the fifth invention is stored under the name of the location-dependent behavior transition DB.

  According to the fifth invention, even if the attribute information of the human subject of the communication action cannot be acquired, the construction means constructs the database based on the information on the place where the robot has performed the remote operation. Thereby, even when the attribute information of the human subject of the communication action cannot be acquired, the robot can perform the autonomous action based on the action performed in the past at the place where the communication action is performed, that is, the experience. In addition, users of robot control systems may use the location database built at events held in the past when introducing the robot control system at various venues where the content is almost the same. it can.

  A sixth invention is according to the fifth invention, wherein the robot detects a situation in which a communication action is performed with a human, and a selection means that selects a database corresponding to the situation detected by the detection means Is further provided.

  In the sixth invention, the detection means (80, S313) of the robot detects a situation where a communication action is performed with a human. The selection means (80, S303, S307) selects a database corresponding to the situation detected by the detection means. For example, the search means searches for data corresponding to the current operation of the robot.

  According to the sixth invention, the robot can search the database of the same action that has behaved in the past selected according to the current action. As a result, the robot can perform communication behavior with humans by autonomous behavior without calling an operator.

  A seventh invention is according to the sixth invention, and the situation in which the communication action is performed includes at least one of a human name, a human age and sex, and a human location.

  In the seventh invention, the situation in which the communication action is performed includes at least one of a human name, a human age and sex, and a human location. That is, the robot can select the database based on at least one of the human name, the human age and sex, and the human location.

  According to the seventh aspect, the robot can select the database based on at least one of the human name, the human age and sex, and the human location.

  According to the present invention, since the same motion that the robot behaved in the past is stored as an experience, when performing an autonomous behavior, the autonomous behavior can be performed based on the stored experience. As a result, the number of remote operations by the operator can be reduced as much as possible.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  Referring to FIG. 1, the robot control system 10 of this embodiment includes a robot 12. The robot 12 is connected to the central control device 14 and the operation terminal 16 via the network 200. The robot 12 is an interaction-oriented robot (communication robot), and mainly includes a communication action including at least one of body movement such as gesture gesture and voice with a communication target (communication target) such as the human A. It has a function to execute. The robot 12 is, for example, a reception robot, a babysitting robot, a nursing robot, and the like, and is arranged in various places and situations such as a company reception and a living room in a general home. Also plays a role such as nursing (autonomous control mode).

  In FIG. 1, for simplicity, one robot 12 and one operation terminal 16 are shown, but any two or more may be used. Further, the number of humans is not limited to one, and may be plural.

  The robot 12 calls an operator in situations where it is difficult to respond by autonomous control alone or when a more detailed response (communication or the like) is required by a human. Specifically, the robot 12 transmits an operator call request (remote operation request) to the central control device 14 via the network 200. In response to the call request from the robot 12, the central control device 14 selects the operation terminal 16 operated by an operator who can respond (remote operation). The central control device 14 notifies the selected operation terminal 16 of the communication information (IP address) of the robot 12. Then, the robot 12 and the operation terminal 16 are communicably connected via the network 200 by an operation of the operator of the operation terminal 16. That is, the central controller 14 mediates between the robot 12 and the operation terminal 16. Thereafter, the operator remotely operates the robot 12 using the operation terminal 16. For example, when an operator transmits an operation command to the robot 12 using the operation terminal 16, the robot 12 receives the operation command and executes an operation (communication action) according to the received operation command (remote operation mode).

  The hardware configuration of the robot 12 will be described with reference to FIG. FIG. 2 is a front view showing the appearance of the robot 12 of this embodiment. The robot 12 includes a carriage 30, and two wheels 32 and one slave wheel 34 for autonomously moving the robot 12 are provided on the lower surface of the carriage 30. The two wheels 32 are independently driven by a wheel motor 36 (see FIG. 3), and the carriage 30, that is, the robot 12 can be moved in any direction, front, back, left, and right. The slave wheel 34 is an auxiliary wheel that assists the wheel 32. Therefore, the robot 12 can move in the arranged space by autonomous control. However, the robot 12 may be fixedly arranged at a certain place.

  A cylindrical sensor attachment panel 38 is provided on the carriage 30, and a large number of infrared distance sensors 40 are attached to the sensor attachment panel 38. These infrared distance sensors 40 measure the distance to the sensor mounting panel 38, that is, the object (human being, obstacle, etc.) around the robot 12.

  In this embodiment, an infrared distance sensor is used as the distance sensor, but an ultrasonic distance sensor, a millimeter wave radar, or the like can be used instead of the infrared distance sensor.

  A body 42 is provided on the sensor mounting panel 38 so as to stand upright. Further, the above-described infrared distance sensor 40 is further provided in the upper front upper portion of the body 42 (a position corresponding to a human chest), and measures the distance mainly to a human in front of the robot 12. Further, the body 42 is provided with a support column 44 extending from substantially the center of the upper end of the side surface, and an omnidirectional camera 46 is provided on the support column 44. The omnidirectional camera 46 photographs the surroundings of the robot 12 and is distinguished from an eye camera 70 described later. As this omnidirectional camera 46, for example, a camera using a solid-state imaging device such as a CCD or a CMOS can be adopted. In addition, the installation positions of the infrared distance sensor 40 and the omnidirectional camera 46 are not limited to the portions, and can be changed as appropriate.

  An upper arm 50R and an upper arm 50L are provided at upper end portions on both sides of the torso 42 (position corresponding to a human shoulder) by a shoulder joint 48R and a shoulder joint 48L, respectively. Although illustration is omitted, each of the shoulder joint 48R and the shoulder joint 48L has three orthogonal degrees of freedom. That is, the shoulder joint 48R can control the angle of the upper arm 50R around each of three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 48R is an axis parallel to the longitudinal direction (or axis) of the upper arm 50R, and the other two axes (pitch axis and roll axis) are orthogonal to the axes from different directions. It is an axis to do. Similarly, the shoulder joint 48L can control the angle of the upper arm 50L around each of three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 48L is an axis parallel to the longitudinal direction (or axis) of the upper arm 50L, and the other two axes (pitch axis and roll axis) are orthogonal to the axes from different directions. It is an axis to do.

  In addition, an elbow joint 52R and an elbow joint 52L are provided at the respective distal ends of the upper arm 50R and the upper arm 50L. Although illustration is omitted, each of the elbow joint 52R and the elbow joint 52L has one degree of freedom, and the angle of the forearm 54R and the forearm 54L can be controlled around the axis (pitch axis).

  A sphere 56R and a sphere 56L corresponding to a human hand are fixedly provided at the tips of the forearm 54R and the forearm 54L, respectively. However, when a finger or palm function is required, a “hand” in the shape of a human hand can be used. Although not shown, the front surface of the carriage 30, the portion corresponding to the shoulder including the shoulder joint 48R and the shoulder joint 48L, the upper arm 50R, the upper arm 50L, the forearm 54R, the forearm 54L, the sphere 56R, and the sphere 56L, A contact sensor 58 (shown generically in FIG. 3) is provided. A contact sensor 58 on the front surface of the carriage 30 detects contact of a person or another obstacle with the carriage 30. Therefore, the robot 12 can detect the contact with the obstacle during its movement and immediately stop the driving of the wheel 32 to suddenly stop the movement of the robot 12. Further, the other contact sensors 58 detect whether or not the respective parts are touched. In addition, the installation position of the contact sensor 58 is not limited to the said site | part, and may be provided in an appropriate position (position corresponding to a person's chest, abdomen, side, back, and waist).

  A neck joint 60 is provided at the upper center of the body 42 (a position corresponding to a person's neck), and a head 62 is further provided thereon. Although illustration is omitted, the neck joint 60 has a degree of freedom of three axes, and the angle can be controlled around each of the three axes. A certain axis (yaw axis) is an axis directed directly above (vertically upward) of the robot 12, and the other two axes (pitch axis and roll axis) are axes orthogonal to each other in different directions.

  The head 62 is provided with a speaker 64 at a position corresponding to a human mouth. The speaker 64 is used for the robot 12 to communicate with humans around it by voice or sound. A microphone 66R and a microphone 66L are provided at a position corresponding to a human ear. Hereinafter, the right microphone 66R and the left microphone 66L may be collectively referred to as a microphone 66. The microphone 66 captures ambient sounds, in particular, the voices of humans who are subjects of communication. Furthermore, an eyeball part 68R and an eyeball part 68L are provided at positions corresponding to human eyes. The eyeball portion 68R and the eyeball portion 68L include an eye camera 70R and an eye camera 70L, respectively. Hereinafter, the right eyeball part 68R and the left eyeball part 68L may be collectively referred to as the eyeball part 68. The right eye camera 70R and the left eye camera 70L may be collectively referred to as an eye camera 70.

  The eye camera 70 captures a human face approaching the robot 12, other parts or objects, and captures a corresponding video signal. The eye camera 70 can be the same camera as the omnidirectional camera 46 described above. For example, the eye camera 70 is fixed in the eyeball unit 68, and the eyeball unit 68 is attached to a predetermined position in the head 62 via an eyeball support unit (not shown). Although illustration is omitted, the eyeball support portion has two degrees of freedom, and the angle can be controlled around each of these axes. For example, one of the two axes is an axis (yaw axis) in a direction toward the top of the head 62, and the other is orthogonal to the one axis and goes straight in a direction in which the front side (face) of the head 62 faces. It is an axis (pitch axis) in the direction to be performed. By rotating the eyeball support portion around each of these two axes, the tip (front) side of the eyeball portion 68 or the eye camera 70 is displaced, and the camera axis, that is, the line-of-sight direction is moved. Note that the installation positions of the speaker 64, the microphone 66, and the eye camera 70 described above are not limited to those portions, and may be provided at appropriate positions.

  As described above, the robot 12 of this embodiment includes independent two-axis driving of the wheels 32, three degrees of freedom of the shoulder joint 48 (6 degrees of freedom on the left and right), one degree of freedom of the elbow joint 52 (2 degrees of freedom on the left and right), It has a total of 17 degrees of freedom, 3 degrees of freedom for the neck joint 60 and 2 degrees of freedom for the eyeball support (4 degrees of freedom on the left and right).

  FIG. 3 is a block diagram showing the electrical configuration of the robot 12. With reference to FIG. 3, the robot 12 includes a CPU 80. The CPU 80 is also called a microcomputer or a processor, and is connected to the memory 84, the motor control board 86, the sensor input / output board 88 and the audio input / output board 90 via the bus 82.

  The memory 84 includes a ROM, an HDD, and a RAM (not shown). In the ROM and the HDD, a control program for controlling the operation of the robot 12 is stored in advance. For example, a detection program for detecting the output (sensor information) of each sensor, a communication program for transmitting / receiving necessary data and commands to / from external computers (such as the central control device 14 and the operation terminal 16), etc. To be recorded. The RAM is used as a work memory or a buffer memory.

  The motor control board 86 is constituted by, for example, a DSP, and controls driving of each axis motor such as each arm, neck joint, and eyeball unit. That is, the motor control board 86 receives control data from the CPU 80, and controls two motors (collectively indicated as “right eyeball motor 92” in FIG. 3) that control the angles of the two axes of the right eyeball portion 68R. Control the rotation angle. Similarly, the motor control board 86 receives control data from the CPU 80, and controls two angles of the two axes of the left eyeball portion 68L (in FIG. 3, collectively referred to as “left eyeball motor 94”). ) To control the rotation angle.

  The motor control board 86 receives control data from the CPU 80, and includes a total of four motors including three motors for controlling the angles of the three orthogonal axes of the shoulder joint 48R and one motor for controlling the angle of the elbow joint 52R. The rotation angle of two motors (collectively indicated as “right arm motor 96” in FIG. 3) is controlled. Similarly, the motor control board 86 receives control data from the CPU 80, and includes three motors for controlling the angles of the three orthogonal axes of the shoulder joint 48L and one motor for controlling the angle of the elbow joint 52L. The rotation angles of a total of four motors (collectively indicated as “left arm motor 98” in FIG. 3) are controlled.

  Further, the motor control board 86 receives control data from the CPU 80, and controls three motors that control the angles of the three orthogonal axes of the neck joint 60 (in FIG. 3, collectively indicated as “head motor 100”). Control the rotation angle. The motor control board 86 receives control data from the CPU 80 and controls the rotation angles of the two motors (collectively indicated as “wheel motor 36” in FIG. 3) that drive the wheels 32. In this embodiment, a motor other than the wheel motor 36 uses a stepping motor (that is, a pulse motor) in order to simplify the control. However, a DC motor may be used similarly to the wheel motor 36. The actuator that drives the body part of the robot 12 is not limited to a motor that uses a current as a power source, and may be changed as appropriate. For example, in another embodiment, an air actuator may be applied.

  Similar to the motor control board 86, the sensor input / output board 88 is configured by a DSP and takes in signals from each sensor and gives them to the CPU 80. That is, data relating to the reflection time from each of the infrared distance sensors 40 is input to the CPU 80 through the sensor input / output board 88. The video signal from the omnidirectional camera 46 is input to the CPU 80 after being subjected to predetermined processing by the sensor input / output board 88 as necessary. Similarly, the video signal from the eye camera 70 is also input to the CPU 80. Further, signals from the plurality of contact sensors 58 described above (collectively indicated as “contact sensors 58” in FIG. 3) are provided to the CPU 80 via the sensor input / output board 88. Similarly, the voice input / output board 90 is also configured by a DSP, and voice or voice in accordance with voice synthesis data provided from the CPU 80 is output from the speaker 64. In addition, voice input from the microphone 66 is given to the CPU 80 via the voice input / output board 90.

  The CPU 80 is connected to the communication LAN board 102 via the bus 82. The communication LAN board 102 is configured by, for example, a DSP, and sends transmission data given from the CPU 80 to the wireless communication device 104. The wireless communication device 104 sends the transmission data to an external computer (the central controller 14 and the operation via the network 200). To the terminal 16). In addition, the communication LAN board 102 receives data via the wireless communication device 104 and provides the received data to the CPU 80. For example, the transmission data may be an operator call request signal (command) from the robot 12 to the central control device 14, or operation history information (history data) regarding communication behavior performed by the robot 12. The reason why the history data is transmitted as well as the command is to reduce the capacity of the memory 84 and to reduce power consumption. In this embodiment, the history data is transmitted to the central control device 14 every time a communication action is executed. However, the history data may be transmitted to the central control device 14 in units of a fixed time or a fixed amount.

  Further, the wireless tag reader 106 is connected to the CPU 80 via the bus 82. The wireless tag reader 106 receives a radio wave superimposed with identification information transmitted from the wireless tag 18 (RFID tag) via an antenna (not shown). Then, the RFID tag reader 106 amplifies the received radio wave signal, separates the identification signal from the radio wave signal, demodulates (decodes) the identification information, and supplies the identification information to the CPU 80. According to FIG. 1, the wireless tag 18 is attached to a person (person A) in the reception of the company where the robot 12 is disposed or in the living room of a general household, and the wireless tag reader 106 is connected to the wireless tag within the communicable range. 18 is detected. Note that the wireless tag 18 may be an active type or a passive type that is driven according to a radio wave transmitted from the wireless tag reader 106.

  Returning to FIG. 1, the central control device 14 is a computer that controls the call of the operator in the robot remote operation system 10, and manages information indicating the states of the robot 12 and the operation terminal 16. Although not shown, the central control device 14 includes a CPU, to which a memory 14a, a display device, an input device, a communication device, and the like are connected. The central control device 14 is connected to the network 200 via a communication device in a wired or wireless manner. The memory 14a stores a control program and necessary data for controlling the operation of the central control device 14. The control program is, for example, an operator (operation terminal 16) when a communication program for transmitting / receiving necessary data and commands between the robot 12 and the operation terminal 16 and an operator call request from the robot 12 are received. Including a calling program for calling.

  The operation terminal 16 is a computer and includes a CPU (not shown). A memory, a display device, an input device, a speaker, a microphone, a communication device, and the like are connected to the CPU. The operation terminal 16 is connected to the network 200 via a communication device in a wired or wireless manner. In the memory, a control program and necessary data for controlling the operation of the operation terminal 16 are recorded. The control program includes, for example, a communication program for transmitting and receiving necessary data and commands between the robot 12 and the central control device 14, a detection program for detecting an operation command input from the input device, and an image on the display device. Includes a display program for display.

  Here, history data of communication behavior transmitted from the robot 12 is recorded in the memory 14 a of the central control device 14. In this embodiment, two types of communication behavior history data are recorded in the memory 14a: behavior history record table data and remote operation history record table data. The behavior history record table records a history of communication behavior of the robot 12 by autonomous control and remote operation of the operator, and the remote operation history record table records a history of communication behavior of the robot 12 by remote operation of the operator.

  FIG. 4 is an illustrative view showing one example of a behavior history record table. Referring to FIG. 4, information such as BEFORE, VALUE, AFTER, location, name, age, and sex is recorded in the behavior history record table. In the column of BEFORE (behavior name before change), a command name of a communication action (behavior) performed by the robot 12 with respect to the conversation partner before the value of VALUE described later is changed is recorded. For example, command names such as “GREET”, “HEAR”, and “AKUSHU” are recorded.

  Here, when a GREET command is executed, the robot 12 executes a communication action for greeting. For example, the robot 12 is, "Good morning", while speaking with "Hello" or "Good evening", to bow. When the HEAR command is executed, the robot 12 executes a communication action regarding the question. For example, the robot 12 speaks “What do you want to play?” Or “What did you do?”, And then waits for a reply from the conversation partner. When the AKUSHU command is executed, the robot 12 executes a communication action for shaking hands. For example, the robot 12 presents a hand.

  Although not shown in FIG. 4, there are other commands such as “GOCHISOUSAMAMA”, “ZYAN”, and “HUG”. When the GOCHISOUSAMA command is executed, the robot 12 executes a communication action for a greeting that means the end of the meal. For example, the robot 12 speaks “Feast” and joins hands. When the ZYAN command is executed, the robot 12 executes a communication action for janken. For example, the robot 12 puts its hand forward while speaking “Janken Pon”. When the HUG command is executed, the robot 12 executes a communication action regarding a hug. For example, the robot 12 puts both hands forward.

  Returning to FIG. 4, in the VALUE (return value) column, the actions and reactions of the conversation partner with respect to the communication behavior according to the command recorded in the BEFORE column are recorded with corresponding numerical values. The value of VALUE has a different meaning and content, and is determined in advance corresponding to each command (communication action). In this embodiment, the interaction partner's response to the behavior (communication behavior) before the change (including the presence or absence of the response) is recorded in the memory 14a or the like so that the meaning and content obtained in advance through experiments can be identified numerically. is there.

  For example, when a GREET command is executed, “1 (always)” is recorded in VALUE regardless of the response (including no response) of the conversation partner.

  Further, when the HEAR command is executed and the conversation partner says “Let's play”, “1 (said to play)” is recorded in VALUE. In the same case, when the conversation partner says “I want to go to XX”, “2 (requested route guidance)” is recorded in VALUE. Although a detailed description is omitted, the robot 12 has a voice recognition function. For example, a voice signal corresponding to the voice of the conversation partner inputted through the microphone 66 is used by a DP matching method or an HMM (Hidden Markov Model) method. By recognizing the voice, it is possible to recognize the utterance content of the conversation partner.

  Further, when the AKUSHU command is executed, when the conversation partner touches the sphere 56 of the robot 12, “1 (shake)” is recorded in VALUE. In the same case, if the conversation partner does not touch the hand of the robot 12, “2 (not touched)” is recorded in VALUE. However, the robot 12 determines whether or not the hand is shaken (touched) based on an input from the hand, that is, the contact sensor 58 provided on the sphere 56R or the sphere 56L.

  The same applies to “GOCHISOUSAMAMA”, “ZAYN” and “HUG” which are not shown in FIG. When the GOCHISOUSAMA command is executed, “1 (always)” is recorded in VALUE regardless of the reaction (including no response) of the conversation partner. When a ZYAN command is executed, “1 (always)” is recorded in VALUE regardless of the reaction (including no response) of the conversation partner. Further, when a HUG command is executed, “1 (always)” is recorded in VALUE regardless of the reaction (including no response) of the conversation partner.

  Returning to FIG. 4, the command name of the communication action performed by the robot 12 is recorded in the AFTER (behavior name after change) field after the action (including no response) of the conversation partner recorded in the VALUE field. Is done. For example, “AKUSHU”, “GUIDE”, “NAME”, “BYE”, “HUG”, and the like are recorded.

  Here, when the GUIDE command is executed, the robot 12 executes a communication action regarding the route guidance. For example, the robot 12 guides the conversation partner to the destination (inquired) obtained by executing the HEAR command. However, the robot 12 may guide the conversation partner to a predetermined destination. When the NAME command is executed, a communication action for speaking the name of the robot 12 itself is executed. For example, the robot 12 transmits its own name (Robobie R1 or the like) to a certain conversation partner. When a BYE command is executed, a communication action for the end of communication is executed. For example, the robot 12 speaks “goodbye”, “see you again”, or “thank you”.

  Note that the commands “AKUSHU” and “HUG” are as described above, and thus redundant description is omitted.

  Although not shown in FIG. 4, there are other commands such as “SONG”, “DRAG”, “FROM”, “PATROL”, and “KISS”. When the SONG command is executed, the robot 12 executes a communication action for singing. For example, the robot 12 performs a reproduction process on music data (for example, data in the mp3 file format, etc.) recorded in the memory 84 and outputs it as sound from the speaker 64. Further, when a DRAG command is executed, the robot 12 executes a communication action for taking medicine. For example, the robot 12 urges a certain conversation partner to take a medicine by saying “Please take medicine”. Further, when the FROM command is executed, the robot 12 executes a communication action regarding the question of the birth place. For example, the robot 12 speaks “Where did you come from?” And then waits for the reply of the conversation partner. When the PATROL command is executed, the robot 12 executes a communication action for patrol. For example, the robot 12 moves in a predetermined course in a space (environment) in which the robot 12 is placed. Further, when a KISS command is executed, the robot 12 executes a communication action regarding skinship. For example, the robot 12 performs a game such as playing with a conversation partner and utters “Kiss me”.

  Returning to FIG. 4, the place where the robot 12 is arranged (the place where the corresponding behavior was performed) is recorded in the place column. For example, “outside” and “home” are recorded. “Outside” means that the place where the robot 12 is arranged is a certain event venue or a building other than a house that is held outdoors. “In-home” means that the place where the robot 12 is located is in a certain house. In the name column, the name of the conversation partner with whom the robot 12 has performed the behavior (communication behavior) is recorded. For example, “Saburo Sato”, “Shiro Omura”, “Ichiro Yamada”, “Jiro Suzuki” and the like are described. The age of the dialogue partner is recorded in the age column. For example, the age is recorded separately for “adult” or “child” based on the age of the conversation partner. However, the ages may be divided into small parts such as “10's”, “20's”,... In the sex column, the gender of the conversation partner is recorded. Specifically, “male” and “female” are stored separately.

  Here, the name, age and gender information recorded in the behavior history record table (the same applies to the remote operation history table described later) is the identification information (tag ID) transmitted from the wireless tag 18 possessed by the conversation partner. Get based on. For example, name, age (age), and sex information are stored in the memory 14a of the central control unit 14 in correspondence with the tag ID. This is because an administrator of the central control device 14 (robot control device system 10) acquires such information from a person who can interact with the robot 12 (a person who receives provision of the service of the robot 12), and the central control device 14 14 is registered. However, the name, age and gender information of a person who can be a conversation partner may be registered in a database (not shown) accessible by the central control device 14.

  As will be described later, the robot 12 detects the tag ID of the wireless tag 18 possessed by the conversation partner and transmits it to the central controller 14. When the central controller 14 receives the tag ID, the central controller 14 acquires information on the name, age, and sex corresponding to the tag ID from the memory 14a and the like, and records them in the behavior history recording table.

  However, among the information (attribute information) related to the conversation partner such as the place, name, age, and sex, there is information that cannot be acquired for the name, age, and sex information. Therefore, when information cannot be acquired, the corresponding part is left blank.

  As a means for identifying (specifying) an individual, biometric recognition such as face image recognition, vein recognition, iris recognition, and fingerprint recognition may be used.

  In such a robot control system 10, as described above, the robot 12 executes a communication action by autonomous control or an operator's remote operation. However, even when the operator performs remote control, in the same situation, the communication action to be executed by the robot 12 may be repeated (same). Therefore, in this embodiment, a database for each different situation is generated from the history information in the case of remote operation, and the number of remote operations by the operator (by selectively referring to the generated database and performing autonomous control) Frequency) is reduced as much as possible.

  However, in this embodiment, the situation means a case where a communication action is carried out with a specific individual, a case where a communication action is carried out with a specific age and sex partner, and a case where a communication action is carried out at a specific place.

  FIG. 5 is an illustrative view showing a remote operation history record table. Referring to FIG. 5, information such as BEFORE, VALUE, AFTER, location, name, age, and sex is recorded in the remote operation history recording table. Further, as described above, the remote operation history record table records the operation history information of the communication behavior of the robot 12 by the operator's remote operation. In this embodiment, of the operation history information recorded in the behavior history record table, only the operation history information when the operator remotely operates the robot 12 is recorded in the remote operation history record table. The information recorded in each column is the same as the behavior history recording table shown in FIG.

  Three types of data sets are extracted from this remote operation history recording table. Specifically, a data set Dp obtained by extracting data in which an individual name is recorded, a data set Das obtained by extracting data in which age and sex are recorded, and data in which other information (location, etc.) is recorded The extracted data set Dn. As shown in FIG. 6, the data set Dp is generated by extracting the operation history information whose name is recorded in the remote operation history recording table shown in FIG. Further, as shown in FIG. 7, the data set Das is generated by extracting operation history information in which the age and gender are recorded in the remote operation history recording table shown in FIG. Further, as shown in FIG. 8, the data set Dn is generated by extracting the operation history information in which the location is recorded in the remote operation history table shown in FIG.

  Next, as described above, in this embodiment, the central controller 14 generates (constructs) a database (DB) for each situation from each of the data sets Dp, Das, and Dn. In this embodiment, the central control unit 14 constructs a personal behavior transition DB based on the data set Dp, constructs a age / gender dependent behavior transition DB based on the data set Das, and based on the data set Dn. To build a location-dependent behavior transition DB.

  FIG. 9 is an illustrative view showing one example of a personal behavior transition DB. This personal behavior transition DB is generated based on data filtered for a specific individual (here, Ichiro Yamada) in the above-described data set Dp. As can be seen from FIG. 9, in the personal behavior transition DB, information on location, BEFORE, VALUE, and AFTER is recorded, and information on COUNT (number of times) is recorded. Since the information on the location, BEFORE, VALUE, and AFTER is as described above, a duplicate description is omitted. The COUNT information indicates the number of times that the contents indicated by the location, BEFORE, VALUE, and AFTER information are the same in the data obtained by filtering the data set Dp for a specific individual.

  In the example illustrated in FIG. 9, when the location information is “outside”, the BEFORE information is “AKUSHU”, the “VALUE” information is “1 (shake)”, and the AFTER information is “NAME”. It can be seen that there are 20 behavioral transitions. In addition, when the location information is “in-home”, the number of times that the BEFORE information is “GOCHISOUSAMA”, the VALUE information is “1 (always)”, and the AFTER information is “DRUG” is 30 times. I understand that there is.

  Although explanation is omitted, the same applies to other cases. Moreover, although illustration is abbreviate | omitted, the same personal behavior transition DB can be produced | generated also about other specific individuals (for example, Jiro Suzuki and Saburo Sato).

  FIG. 10 shows the age / sex dependent behavior transition DB. This age / sex-dependent behavior transition DB is generated based on data filtered for a certain age and sex (here, adult / male) in the above-described data set Das. As can be seen from FIG. 10, in the age / gender-dependent behavior transition DB, information on location, BEFORE, VALUE, AFTER is recorded, and information on COUNT is recorded. Since these pieces of information are as described above, a duplicate description is omitted.

  In the example shown in FIG. 10, when the location information is “outside”, the BEFORE information is “AKUSHU”, the VALUE information is “2 (not touched)”, and the AFTER information is “BYE”. It can be seen that there are five behavior transitions. Further, when the location information is “in-home”, the transition of the behavior in which the BEFORE information is “ZYAN”, the VALUE information is “1 (always)”, and the AFTER information is “PATROL” is 3 It turns out that it is times.

  Although explanation is omitted, the same applies to other cases. Although not shown, the same age / sex-dependent behavior transition DB can be generated for other age / sex (adult / female, child / male, child / woman).

  FIG. 11 shows a location-dependent behavior DB. This place-dependent behavior transition DB is generated based on data filtered for a certain place (here, outside) in the above-described data set Dn. As can be seen from FIG. 11, in the location-dependent behavior transition DB, information on BEFORE, VALUE, and AFTER is recorded, and information on COUNT is recorded. Since these pieces of information are as described above, a duplicate description is omitted.

  In the example illustrated in FIG. 11, when the location information is “outside”, the BEFORE information is “AKUSHU”, the VALUE information is “1 (shake)”, and the AFTER information is “FROM”. It can be seen that there are five behavior transitions. In addition, when the location information is “outside”, the behavior transition in which the BEFORE information is “HUG”, the VALUE information is “1 (always)”, and the AFTER information is “KISS” is 10 times. It turns out that it is.

  Although explanation is omitted, the same applies to other cases. Moreover, although illustration is abbreviate | omitted, the same place dependence behavior transition DB can be produced | generated also about other places (home etc.).

  Specifically, the CPU of the central controller 14 constructs a plurality of databases by executing a plurality of processes in parallel including the processes shown in FIGS. Further, the CPU 80 of the robot 12 executes a plurality of processes in parallel including the autonomous action process shown in FIG.

  FIG. 12 is a flowchart showing the history storage process. As shown in FIG. 12, when starting the history storage process, the CPU of the central controller 14 determines whether or not there is a stop command in step S1. For example, it is determined whether or not an instruction of a stop command is given by an administrator of the central control device 14. If “YES” in the step S1, that is, if there is a stop command, the history storing process is ended as it is. On the other hand, if “NO” in the step S1, that is, if there is no stop command, it is determined whether or not the behavior of the robot 12 has changed in a step S3. That is, it is determined whether or not the operation history information of the communication action is transmitted from the robot 12. If “NO” in the step S3, that is, if the behavior of the robot 12 is not changed, the process returns to the step S1. On the other hand, if “YES” in the step S3, that is, if the behavior of the robot 12 changes, the BEFORE, VALUE, AFTER, and the place value are temporarily recorded in the buffer area of the memory 14a in a step S5.

  In the next step S7, it is determined whether or not personal identification has been performed. Here, it is determined whether or not information such as the name, age, and sex of the conversation partner with whom the robot 12 that has been determined that the behavior has changed in step S3 communicates is known. As described above, the robot 12 receives the tag ID transmitted from the wireless tag 18 possessed by the conversation partner and transmits it to the central controller 14. The central control device 14 refers to the memory 14a and acquires information such as the name, age, and sex of the conversation partner corresponding to the tag ID. However, as described above, information such as name, age, and sex may not be acquired for all or part of the information. If “YES” in the step S7, that is, if personal identification is performed, in a step S9, the name, age, sex, and the like are temporarily recorded in the buffer area of the memory 14a, and the process proceeds to the step S13. On the other hand, if “NO” in the step S7, that is, if personal identification is not performed, the process proceeds to a step S11 as it is.

  In step S11, the data temporarily recorded in the buffer area of the memory 14a is recorded in the behavior history recording table (see FIG. 4). That is, in the case of NO at step S7, BEFORE, VALUE, AFTER and location information are recorded in the behavior history record table. On the other hand, if YES in step S7, the name, age, and sex of the conversation partner are recorded in the behavior history record table in addition to the BEFORE, VALUE, AFTER, and location information.

  In the next step S13, it is determined whether or not the behavior (action) has been changed by remote control. Although a detailed description is omitted, as described above, the central control device 14 mediates between the robot 12 and the operation terminal 16 (operator). Therefore, in the central control device 14, is the operation terminal 16 being operated remotely? Information about whether or not and which operation terminal 16 is remotely controlling which robot 12 is managed. Therefore, it is possible to know whether or not the robot 14 that has transmitted the action history information this time is in remote operation (remote operation mode). Thereby, it is determined whether or not the behavior has been changed by remote control.

  If “NO” in the step S13, that is, if the behavior is not changed by the remote operation, it is determined that the robot 12 is not remotely operated by the operator (autonomous control mode), and the process returns to the step S1 as it is. On the other hand, if “YES” in the step S13, that is, if the behavior is changed by the remote operation, it is determined that the robot 12 is remotely operated by the operator, and the buffer area of the memory 14a is temporarily stored in the step S15. The recorded data is recorded in the remote operation history storage table, and the process returns to step S1. That is, in step S15, the data recorded in the behavior history storage table in step S11 is also recorded in the remote operation history storage table.

  FIG. 13 is a flowchart showing the database construction process. As shown in FIG. 13, when the CPU of the central control device 14 executes the database construction process, it determines whether or not there is a stop instruction in step S31. Here, for example, it is determined whether or not the administrator of the central control device 14 has input an instruction to stop the database construction. If “YES” in the step S31, that is, if there is a cancel instruction, the database construction process is ended. On the other hand, if “NO” in the step S31, that is, if there is no end instruction, it is determined whether or not new history data with a personal name is recorded in the remote operation history recording table in a step S33. That is, it is determined whether or not operation history information including the name of the conversation partner is recorded in the remote operation history recording table.

  If YES in step S33, that is, if new history data with an individual name is recorded in the remote operation history recording table, in step S37, a personal behavior transition DB is constructed from a data set Dp described later (see FIG. 14). To proceed to step S39. On the other hand, if NO in step S33, that is, if new history data with an individual name is not recorded in the remote operation history table, whether new history data without an individual name is recorded in the remote operation history recording table in step S35. Judge whether or not. That is, it is determined whether or not operation history information not including information on the name of the conversation partner is recorded in the remote operation history recording table. If “NO” in the step S35, that is, if new history data without an individual name is not recorded in the remote operation history recording table, the process returns to the step S31. On the other hand, if “YES” in the step S35, that is, if history data without an individual name is recorded in the remote operation history recording table, the process proceeds to a step S39.

  In step S39, it is determined whether or not age and gender information is recorded in the new history data. If “NO” in the step S39, that is, if age and gender information is not recorded in the new history data, the process proceeds to a step S43 as it is. On the other hand, if YES in step S39, that is, if age and gender information is recorded in the new history data, in step S41, the construction processing of the age / gender-dependent behavior DB is performed from the data set Das described later (see FIG. 15). ) And the process proceeds to step S43.

  In step S43, it is determined whether or not there is history data in which age and gender are not recorded. If “NO” in the step S43, that is, if there is no history data in which age and gender are not recorded, the process returns to the step S31. On the other hand, if “YES” in the step S43, that is, if there is history data in which the age and the sex are not recorded, in a step S45, the process of constructing the location-dependent behavior transition DB from the data set Dn described later (see FIG. 16) is performed. Execute and return to step S31.

  In this embodiment, the database construction process (S37, S41, S45) is performed every time new operation history information is recorded. However, in order to reduce the processing load on the CPU of the central controller 14, The database construction process may be performed every time a certain time (for example, 3 hours) elapses or a certain number (for example, 100) of new operation history information is recorded.

FIG. 14 is a flowchart of the process of constructing the personal behavior transition DB in step S37 shown in FIG. As shown in FIG. 14, when the CPU of the central controller 14 starts the construction process of the personal behavior transition DB, the CPU initializes a variable n in step S61 (n = 1). The variable n is a variable for identifying an individual (person name) NNa _n (n = 1, 2,..., Na) included in the data set Dp. However, the maximum value Na of the variable i corresponds to the total number of people included in the data set Dp.

In the next step S63, it is determined whether or not the variable n is larger than the maximum value Na. That is, it is determined whether or not personal behavior transition DBs for all personal names included in the data set Dp have been constructed. If “YES” in the step S63, that is, if the variable n is larger than the maximum value Na, the process returns to the database construction process shown in FIG. On the other hand, if NO in step S63, that is, if the variable n is equal to or less than the maximum value Na, other variables i, j, k, and p are initialized in step S65 (i = 1, j = 1, k = 1, p = 1). Here, the variable i is a variable for identifying the place NL _i (i = 1, 2,..., L). However, the maximum value L of the variable i corresponds to the total number of types of places included in the data set Dp. The variable j is a variable for identifying the BEFORE command name NB _j (j = 1, 2,..., B). However, the maximum value B of the variable j corresponds to the total number of types of BEFORE command names included in the data set Dp. Furthermore, the variable k is a variable for identifying the return value NV _k (k = 1, 2,..., V) of VALUE. However, the maximum value V of the variable k corresponds to the maximum value of VALUE returned in the data set Dp. Furthermore, the variable p is a variable for identifying the command name NAfp (p = 1, 2,..., Af) of AFTER. However, the maximum value Af of the variable p corresponds to the total number of AFTER command names included in the data set Dp.

  In the next step S67, the array Transition [1, 2,..., M] [1, 2,..., M] [1, 2,. That is, 0 is set to each array of the array Transition [1, 2,..., M] [1, 2,..., M] [1, 2,.

Subsequently, in step S69, it is determined whether or not the variable i is larger than the maximum value L. That is, it is determined whether or not all the locations NL _i have been searched. If “NO” in the step S69, that is, if the variable i is equal to or less than the maximum value L, it is determined whether or not the variable j is larger than the maximum value B in a step S71. That is, it is determined whether or not all BEFORE command names NB _j have been searched. If “YES” in the step S71, that is, if the variable j is larger than the maximum value B, in the step S81, the variable i is incremented and the variables j, k, and p are initialized (i = 1, k). = 1, p = 1) and return to step 69. On the other hand, if “NO” in the step S71, that is, if the variable j is equal to or less than the maximum value B, it is determined whether or not the variable k is larger than the maximum value V in a step S73. That is, it is determined whether or not the return value NV _{k of} VALUE exceeds the maximum value.

If “YES” in the step S73, that is, if the variable k is larger than the maximum value V, the variable j is incremented and the variables k and p are initialized in the step S83 (k = 1, p = 1). Then, the process returns to step S71. On the other hand, if “NO” in the step S73, that is, if the variable k is equal to or less than the maximum value V, it is determined whether or not the variable p is larger than the maximum value Af in a step S75. In other words, it is determined whether or not to search the name of the command NAf _p of all of the AFTER.

If “YES” in the step S75, that is, if the variable p is larger than the maximum value Af, the variable k is incremented and the variable p is initialized (p = 1) in a step S85, and the process returns to the step S73. On the other hand, if NO in step S75, that is, if the variable p is equal to or less than the maximum value Af, in step S77, of the data specified by the variables i, j, k, and p among the data included in the data set Dp. The number (number) is set for the array Transition [NL _i ] [NB _j ] [NV _k ] [NAf _p ], and in step S 79, the variable p is incremented, and the process returns to step S 75.

For example, the variable (i, j, k, p) = ( _{1, 1, 1, 1} ), and the location NL ₁ corresponding to the variable i, j, k, p = outside, the command name NB _{1 of} BEFORE = AKUSHU, VALUE return value NV ₁ = 1 (shake hand), AFTER command name NAfp ₁ = NAME, and as a result of searching the data set Dp, the number of data regarding such behavior transition is 20 If found, in step S77, “20” is set in the array Transition [NL ₁ ] [NB ₁ ] [NV ₁ ] [NAf ₁ ].

That is, in step S77, the CPU of the central controller 14 searches the data set Dp from the head to the tail, and changes the behavior determined by the variables i, j, k, and p, that is, the array Transition [NL _i ] [NB _j. ] [NV _k ] [NAf _p ], the number of times corresponding to the sequence Transition [NL _i ] [NB _j ] [NV _k ] [NAf _p ] each time (Count) is detected. 1 is added.

Incidentally, all of the sequences _{Transition [NL i] [NB j} ] [NV k] for searching for [NAf _p], sequences not present in the data set _{Dp Transition [NL i] [NB} j] [NV k] [NAf p ] Is also present. The number of times in this case is “0”. Since the data whose number is “0” is not used for the subsequent autonomous control of the robot 12, as shown in FIG. 9, the personal behavior transition DB (the age / gender-dependent behavior transition DB and the location) are used. The same applies to the dependent behavior transition DB), in which the data regarding the behavior transition with the number of times “0” is deleted.

Returning to FIG. 14, if YES in step S69, that is, if the variable i is larger than the maximum value L, in step S87, the array Transition [1, 2,..., M] [1, 2,. [1,2, ..., m] [ 1,2, ..., m] writes the value of the table NNa _n. Here, the table NNa _n means a table of personal names (individuals) specified by the variable n. For example, when the personal name designated by n = 1 is Ichiro Yamada, the table NNa ₁ is the personal behavior transition DB for Ichiro Yamada. In the next step S89, the variable n is incremented and the process returns to step S63. That is, the process proceeds to the construction process of the personal behavior transition DB for the next personal name (different from Ichiro Yamada).

  FIG. 15 is a flowchart showing the construction processing of the age / sex dependent behavior transition DB in step S41 shown in FIG. Since the construction process of the age / gender-dependent behavior transition DB is almost the same as the construction process of the personal behavior transition DB described above, the same process will be briefly described.

As shown in FIG. 15, when the CPU of the central control device 14 starts the construction process of the age / gender-dependent behavior transition DB, the variables age and sex are initialized (age = 1, sex = 1) in step S101. . This variable age is a variable for identifying the chronological _NAg age (age = 1,2) included in the data set Das. In this embodiment, since the age is classified as a child and an adult, the variable age is 1 (child) or 2 (adult). The variable sex is a variable for identifying the gender NSsex (sex = 1, 2) included in the data set Das. In this embodiment, since the sex is classified into male and female, the variable sex is 1 (male) or 2 (female).

  In the next step S103, it is determined whether or not the variable sex is larger than the maximum value 2. That is, it is determined whether or not both men and women included in the data set Das have been searched. If “NO” in the step S103, that is, if the variable “sex” is equal to or less than the maximum value 2, the process proceeds to a step S109. On the other hand, if YES in step S103, that is, if the variable sex is larger than the maximum value 2, in step S105, the variable age is incremented and the variable sex is initialized (sex = 1), and in step S107, the variable It is determined whether or not age is larger than the maximum value 2. That is, it is determined whether or not both the child and the adult included in the data set Das have been searched. If “YES” in the step S107, that is, if the variable “age” is larger than the maximum value 2, the process returns to the database construction process shown in FIG. On the other hand, if NO in step S107, that is, if the variable age is the maximum value 2 or less, the process proceeds to step S109.

  In step S109, variables i, j, k, and p are initialized (i = 1, j = 1, k = 1, p = 1). Since the variables i, j, k, and p are all described in the above-described personal behavior transition DB construction process (see FIG. 14), redundant description is omitted. In the next step S111, the array Transition [1,2, ..., m] [1,2, ..., m] [1,2, ..., m] [1,2, ..., m] is initialized. In the next step S113, it is determined whether or not the variable i is larger than the maximum value L. If “NO” in the step S113, that is, if the variable i is equal to or less than the maximum value L, it is determined whether or not the variable j is larger than the maximum value B in a step S115. If “YES” in the step S115, that is, if the variable j is larger than the maximum value B, the variable i is incremented in the step S125, and each of the variable j, the variable k, and the variable p is initialized, and the process returns to the step 113. . On the other hand, if “NO” in the step S115, that is, if the variable j is equal to or less than the maximum value B, it is determined whether or not the variable k is larger than the maximum value V in a step S117.

If “YES” in the step S117, that is, if the variable k is larger than the maximum value V, the variable j is incremented in the step S127, and each of the variable k and the variable p is initialized, and the process returns to the step S115. On the other hand, if “NO” in the step S117, that is, if the variable k is equal to or less than the maximum value, it is determined whether or not the variable p is larger than the maximum value Af in a step S119. If “YES” in the step S119, that is, if the variable p is larger than the maximum value Af, the variable k is incremented and the variable p is initialized in a step S129, and the process returns to the step S117. On the other hand, if NO in step S119, that is, if the variable p is equal to or less than the maximum value Af, in step S121, of the data specified by the variables i, j, k, and p among the data included in the data set Das. The number is set in the array Transition [NL _i ] [NB _j ] [ _{N k k} ] [NAf _p ]. In step S123, the variable p is incremented, and the process returns to step S119.

If YES in step S113, that is, if the variable i is greater than the maximum value L, in step S131, the array Transition [1, 2,..., M] [1, 2,. , ..., m] [1,2, ..., writes the value of m] in table _NAg age _{NS sex.} Here, table _NAg age _{NS sex} refers to the age and sex of the table is specified by the variable age and variable sex. For example, if the variable (age, sex) = (1, 1), the table NAg ₁ NS ₁ means the age / gender-dependent behavior transition DB for the male child. In the next step S133, the variable sex is incremented, and the process returns to step S103. That is, the process proceeds to the construction process of the age / gender-dependent behavior transition DB for the next gender (female).

  FIG. 16 is a flowchart showing the construction processing of the location-dependent behavior transition DB in step S45 shown in FIG. The location-dependent behavior transition DB construction process shown in FIG. 16 is substantially the same as the above-described personal behavior transition DB construction process, and therefore the same process will be briefly described.

  As shown in FIG. 16, when the CPU of the central control device 14 starts the location-dependent behavior transition DB construction process, in step S201, the CPU initializes a variable i (i = 1). Since the variable i has been described above, a duplicate description is omitted. In the next step S203, it is determined whether or not the variable i is larger than the maximum value L.

  If “YES” in the step S203, that is, if the variable i is larger than the maximum value L, it is determined that the place-dependent behavior transition DBs for all the places are constructed, and the process returns to the database construction process shown in FIG. On the other hand, if NO in step S203, that is, if the variable i is equal to or less than the maximum value L, in step S205, other variables j, k, and p are initialized (j = 1, k = 1, p = 1). ). Since the variables j, k, and p are also described above, a duplicate description is omitted. In the next step S207, the array TransitionL [1,2, ..., m] [1,2, ..., m] [1,2, ..., m] is initialized. That is, 0 is set to each array of the array TransitionL [1,2, ..., m] [1,2, ..., m] [1,2, ..., m].

  Subsequently, in step S209, it is determined whether or not the variable j is larger than the maximum value B. If “NO” in the step S209, that is, if the variable j is equal to or less than the maximum value B, it is determined whether or not the variable k is larger than the maximum value V in a step S211. If “YES” in the step S211, that is, if the variable k is larger than the maximum value V, the variable j is incremented and the variables k and p are initialized in a step S219, and the process returns to the step S209. On the other hand, if “NO” in the step S211, that is, if the variable k is not larger than the variable V, it is determined whether or not the variable p is larger than the maximum value Af in a step S213.

If “YES” in the step S213, that is, if the variable p is larger than the maximum value Af, the variable k is incremented and the variable p is initialized in a step S221, and the process returns to the step S211. On the other hand, if NO in step S213, that is, if the variable p is equal to or less than the maximum value Af, in step S215, the number of data specified by the variables j, k, and p among the data included in the data set Dn ( Number) is set in the array TransitionL [NB _j ] [NV _k ] [NAf _p ]. In the next step S217, the variable p is incremented and the process returns to step S213.

If YES in step S209, that is, if the variable j is larger than the maximum value B, in step S223, the array TransitionL [1,2,..., M] [1,2,. ,..., M] are written to the table NL _i , the variable i is incremented in step S225, and the process returns to step S203. However, the table NL _i in step S223 means a table for the location specified by the variable i. For example, when the place designated by i = 1 is “outside”, the table NL ₁ means a table for the case where the place is “outside”. That is, the place-dependent behavior transition DB stores as many tables (for each place) as the maximum value L of the variable i.

  FIG. 17 is a flowchart showing the overall processing of the CPU 80 of the robot 12 shown in FIG. As shown in FIG. 17, when executing the entire process, the CPU 80 of the robot 12 determines whether or not there is a stop command in step S301. Here, it is determined whether or not a stop command is input from the operator. If “YES” in the step S301, that is, if there is a stop command, the entire processing of the robot 12 is ended. On the other hand, if “NO” in the step S301, that is, if there is no stop command, it is determined whether or not an individual can be specified in a step S303.

  Here, for example, the robot 12 detects the tag ID of the wireless tag 18 possessed by the conversation partner, and transmits the detected tag ID to the central control device 14. When the central control unit 14 receives the tag ID, the central control unit 14 refers to a database (not shown) relating to the personal name, age (age), and gender stored in the memory 14a, and identifies the personal name, age, gender corresponding to the tag ID. Detect information. Then, the central controller 14 transmits the search result to the robot 12. At this time, the robot 12 determines that the individual has been identified when the personal name is included in the information transmitted from the central control device 14. However, if any information of personal name, age, and gender is not registered in the memory 14a corresponding to the tag ID, the central control device 14 transmits a message to the robot 12 that there is no information.

  If “YES” in the step S303, that is, if an individual can be specified, the DB to be used is set in the personal behavior transition DB in a step S305, and the process proceeds to a step S313 shown in FIG. However, the personal behavior transition DB used here is a DB for the identified individual. On the other hand, if “NO” in the step S303, that is, if an individual cannot be specified, it is determined whether or not age and gender information can be acquired in a step S307. That is, it is determined whether the information transmitted from the central control device 14 does not include an individual name, but includes age and gender.

  If “YES” in the step S307, that is, if age and gender information can be acquired, the DB to be used is set as the age / gender dependent behavior DB in a step S309, and the process proceeds to the step S313. However, the age / gender-dependent behavior DB used here is a DB for the acquired age and sex. On the other hand, if NO in step S307, that is, if age and gender information cannot be acquired, the DB to be used is set as the location-dependent behavior transition DB in step S311, and the process proceeds to step S313. However, the location-dependent behavior transition DB used here is a DB for a location where the conversation partner (robot 12) currently exists. Although a detailed description is omitted, the location where the robot 12 currently exists is preset by a user of the robot control system 10 and stored in a memory (not shown) inside the robot 12. Then, the location information stored in the memory inside the robot 12 is transmitted to the middle control device 14 together with the history data.

  In step S313 shown in FIG. 18, it is determined whether or not data corresponding to the current behavior and VALUE exists in the DB. That is, the command name for the communication action performed by the robot 12 for the conversation partner is described in the BEFORE field, and the return value indicated by the conversation partner action for the communication action is set in the data described in the VALUE field. It is determined whether or not it exists in the DB. If “NO” in the step S313, that is, if the data corresponding to the current behavior and VALUE does not exist in the DB, the operator is called in a step S315, and the remote operation process is executed in a step S317. That is, it can be switched to the remote operation mode. For example, the robot 12 is remotely operated by transmitting an operator call signal to the central control device 14 and operating the operation terminal 16 by the operator selected by the central control device 14. When the remote operation process is finished, the history data is transmitted to the central controller 14 in step S329, and the process returns to step S301.

  If YES in step S313, that is, if data corresponding to the current behavior and VALUE exists in the DB, is COUNT corresponding to the data larger than a certain number X (for example, 30) in step S319? Judge whether or not. If “YES” in the step S319, that is, if the value of the COUNT is larger than the predetermined number X, the process proceeds to a step S323 as it is. On the other hand, if NO in step S319, that is, if the value of COUNT is equal to or smaller than a certain number X, it is determined in step S321 whether the ratio of the value of COUNT is greater than Y (for example, 30)%. However, the ratio of the value of COUNT is the ratio of the number indicated by COUNT described in the data to the total number of COUNT described in the set DB.

  If “NO” in the step S321, that is, if the ratio of the value of the COUNT is equal to or less than Y%, the process proceeds to a step S315. On the other hand, if “YES” in the step S321, that is, if the ratio of the value of the COUNT is larger than Y%, the mode is switched to the autonomous control mode, and corresponding transition information is acquired from the DB in a step S323. Specifically, the command name described in the AFTER of the data determined as YES in step S319 or S321 is acquired. In step S325, the operation is determined in accordance with the transition information (here, the command name of AFTER) acquired in step S323. Although illustration is omitted, here, a communication action (behavior) according to the determined command name is executed.

  In the next step S327, it is determined whether or not the operation is finished. That is, it is determined whether or not the robot 12 has finished the operation (communication behavior) determined in step S325. If “NO” in the step S327, that is, if the operation is not finished, the process returns to the step S327 and waits for the operation to be finished. On the other hand, if “YES” in the step S327, that is, if the operation is finished, the process proceeds to a step S329.

  According to this embodiment, a database corresponding to an environment such as an individual name, age and gender, and location is created based on operation history information by remote operation, and communication behavior is determined by referring to any database. Therefore, the opportunity to autonomously operate without the operator's operation can be increased. For this reason, it is possible to reduce the number and frequency of remote operations by the operator as much as possible.

  In this embodiment, the personal behavior transition DB, the age / gender-dependent behavior transition DB, and the location-dependent behavior transition DB are created and used selectively. For example, the robot control system (robot) ), The robot can provide a service specific to an individual or a specific age / individual, and even if the person / age / gender cannot be known, An appropriate service can be provided for each place.

  In this embodiment, the robot inquires the central control unit about information such as the personal name of the conversation partner, but a database relating to the personal name, age (age) and gender stored in the memory of the central control unit. A database similar to the above may be stored in the memory of the robot so that the robot itself can acquire information on the personal name, age, and sex.

FIG. 1 is an illustrative view showing an outline of a robot control system according to an embodiment of the present invention. FIG. 2 is an illustrative view showing the appearance of the robot shown in FIG. 1 from the front. FIG. 3 is a block diagram showing an electrical configuration of the robot shown in FIG. FIG. 4 is an illustrative view showing one example of a behavior history record table stored in the memory of the central controller shown in FIG. FIG. 5 is an illustrative view showing one example of a remote operation history record table stored in the memory of the central control unit shown in FIG. FIG. 6 is an illustrative view showing one example of a data set obtained by extracting operation history information in which an individual's name is recorded from a remote operation history recording table stored in a memory of the central controller shown in FIG. FIG. 7 is an illustrative view showing one example of a data set obtained by extracting operation history information in which age and sex are recorded from the remote operation history recording table stored in the memory of the central control unit shown in FIG. FIG. 8 is an illustrative view showing one example of a data set obtained by extracting operation history information in which a place is recorded from a remote operation history recording table stored in the memory of the central control unit shown in FIG. FIG. 9 is an illustrative view showing one example of a personal behavior transition DB stored in the memory of the central controller shown in FIG. FIG. 10 is an illustrative view showing one example of an age / gender dependent behavior transition DB stored in the memory of the central controller shown in FIG. FIG. 11 is an illustrative view showing one example of a location-dependent behavior transition DB stored in the memory of the central control measure shown in FIG. FIG. 12 is a flowchart showing the history storage processing of the CPU of the central control measure shown in FIG. FIG. 13 is a flowchart showing database construction processing of the CPU of the central control measure shown in FIG. FIG. 14 is a flowchart showing the construction process of the personal behavior transition DB of the CPU of the central control measure shown in FIG. FIG. 15 is a flowchart showing the construction process of the age / gender-dependent behavior transition DB of the CPU of the central control measure shown in FIG. FIG. 16 is a flowchart showing the construction process of the location-dependent behavior transition DB of the CPU of the central control measure shown in FIG. FIG. 17 is a flowchart showing the autonomous control processing of the CPU of the robot shown in FIG. 18 is another part of the autonomous control processing of the CPU of the robot shown in FIG. 1, and is a flowchart subsequent to FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Robot control system 12 ... Robot 14 ... Central controller 14a ... Memory 16 ... Operation terminal 18 ... Wireless tag 64 ... Speaker 66 ... Microphone 80 ... CPU
82 ... Bus 84 ... Memory 88 ... Sensor input / output board 90 ... Voice input / output board 102 ... Communication LAN board 104 ... Wireless communication device 106 ... Wireless tag reader 200 ... Network

Claims (7)

A robot that performs communication with humans through at least one of body movement and voice by remote control or autonomous control, an operation terminal that performs remote control of the robot via a network, and the robot via the network In a robot control system comprising a central controller that mediates the operation terminal,
The robot is
Switching means for switching between a remote operation mode for executing a communication action in accordance with a remote operation from the operation terminal and an autonomous control mode for executing a communication action by autonomous control with reference to a database of communication actions according to the communication situation; And transmission means for transmitting operation history information about communication behavior in the remote operation mode or the autonomous control mode switched by the switching means to a central control device,
The central controller is
Receiving means for receiving the operation history information transmitted by the transmitting means;
A judging means for judging whether or not a communication action about the operation history information received by the receiving means has been executed by remote operation;
Storage means for storing the operation history information determined to be the remote operation by the determination means in a storage device, and constructing the database based on the operation history information by the remote operation stored by the storage means A robot control system comprising a construction means. The central control device further includes attribute information acquisition means for acquiring attribute information of a human who is a target on which the robot performs a communication action,
The robot control system according to claim 1, wherein the construction unit constructs the database according to the attribute information. The attribute information includes information on the human name,
The robot control system according to claim 2, wherein the construction unit constructs the database for each name indicated by the human name information. The attribute information includes information on the age and sex of the human,
The robot control system according to claim 2 or 3, wherein the construction unit constructs the database for each age and sex indicated by the age and sex information of the human. The central control device further includes a location information acquisition unit that acquires information on a location where the person exists when the robot performs a communication action,
The robot control system according to claim 1, wherein the construction unit constructs the database for each location indicated by the location information.   The robot control according to claim 5, further comprising: a detecting unit that detects a situation of performing a communication action with the human, and a selecting unit that selects a database corresponding to the situation detected by the detecting unit. system.   The robot control system according to claim 6, wherein the situation in which the communication action is performed includes at least one of the name of the person, the age and sex of the person, and the location of the person.

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