JP2016090655A - Voice recognition robot system, voice recognition robot, controller for voice recognition robot, communication terminal for controlling voice recognition robot, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase safety of a voice recognition robot.SOLUTION: A process that a voice recognition robot executes includes: a step (S1210) in which an operation control part receives input of an operation instruction (for example, "Clean.") in voice given to a voice input part; a step (S1220) in which the operation control part starts an operation (for example, cleaning) in response to the operation instruction; a step (S1230) in which the operation control part detects a stop switch of a robot body being depressed or detects a remote control signal for stopping the robot being received from a remote controller; a step (S1240) in which the operation control part makes a display part 6 display stopping in response to the depression of the stop switch once confirming that the signal detected in the step S1230 is prior to other instructions; and a step (S1250) in which the operation control part stops outputting the operation signal being output to the operation part.SELECTED DRAWING: Figure 12

Description

  The present disclosure relates to control of a robot that operates according to a result of speech recognition, and more particularly, to a technique for improving the safety of the speech recognition robot.

  A technique for controlling a robot via a network is known. For example, Japanese Patent Laying-Open No. 2005-186234 (Patent Document 1) discloses “a network robot that can smoothly execute an operation when controlled by a plurality of control devices connected to a network” (see [Summary]). ).

  The network robot disclosed in Japanese Patent Application Laid-Open No. 2005-186234 includes “a storage unit that stores in advance user information for identifying a licensed user for whom control is permitted and priority information for the licensed user to control the network robot; User determination means for determining whether the user who sent the command is a licensed user based on user information, priority determination means for determining the order of control based on the command based on priority information, and determination of priority determination means And control means for controlling itself based on (see [Solution means] in [Summary]).

JP 2005-186234 A

  It is necessary to ensure the safety of the robot operation. For example, the international standard ISO (International Standard Organization) 13482 defines safety of a wearable robot (Physical assistant robot), a mobile servant robot, a boarding robot (person carrier robot), and the like.

  In addition, for example, in the case of a self-supporting robot controlled by voice, since it is voice control, it may be necessary to solve it. For example, various operation methods such as an operation based on voice recognition and a remote operation from outside the network are conceivable. In the case of a robot controlled by voice, there may be no specific operating device (remote controller). Furthermore, a plurality of controls by a plurality of people may be performed in an overlapping manner. Therefore, there is a need for a technique that improves safety over control using priority.

  The present disclosure has been made to solve the above-described problems, and an object in one aspect is to provide a voice recognition robot system with improved safety. An object in another aspect is to provide a voice recognition robot with improved safety. An object in another aspect is to provide a control device for controlling the robot so that the safety of the robot is improved. An object in another aspect is to provide a communication terminal for controlling the voice recognition robot so that the safety of the voice recognition robot is improved. An object in another aspect is to provide a program for controlling the voice recognition robot system so that the safety of the voice recognition robot system is improved. Still another object of the present invention is to provide a program for controlling the voice recognition robot so that the safety of the voice recognition robot is improved.

  A voice recognition robot system according to an embodiment receives a voice input unit configured to receive a voice input, a voice recognition unit configured to process the input voice, and a command input The operation unit operates in accordance with an input unit configured, an operation unit configured to perform a predetermined operation, and a voice command input to the voice input unit or a command received by the input unit. A control unit configured to control. The control unit activates the operation unit when the first command is given by voice, and when the second command is given via the input unit after the first command, The operation based on the second command is stopped and the operation based on the second command is performed.

According to an aspect, the safety of a robot that operates according to the result of speech recognition can be improved.
The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the present invention taken in conjunction with the accompanying drawings.

1 is a diagram illustrating an overall configuration of a voice recognition robot system 10. FIG. It is a figure showing operation | movement when the 2nd command is given when the robot 110 is operate | moving based on a 1st command. 3 is a block diagram illustrating a configuration of functions realized by a system 300. FIG. FIG. 3 is a diagram conceptually illustrating one aspect of data storage in a storage unit 304. It is a block diagram showing the structure of the robot 110 which concerns on this Embodiment. 2 is a block diagram illustrating a hardware configuration of a computer 600 that implements servers 120 and 130. FIG. 4 is a block diagram illustrating a hardware configuration of a mobile terminal 140. FIG. 6 is a diagram illustrating an example of a monitor screen displayed on a monitor 35. FIG. It is a timing chart showing the change of operation of robot 110 when two users (mother and child) give a command to robot 110 concerning this embodiment, respectively. 4 is a flowchart showing a part of processing executed by the speech recognition robot system 10. It is a timing chart showing the change of operation of the voice recognition robot system concerning a 2nd embodiment. 4 is a flowchart showing a part of processing executed by system 300. It is a timing chart showing the change of operation of the voice recognition robot system concerning a 3rd embodiment. 6 is a flowchart illustrating a part of processing executed by an operation control unit 308.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

<First Embodiment>
First, elements for determining priority in priority control will be described. For example, (1) voice instructor (eg, mother>daughter>father>customer> unknown), (2) instruction method (eg, main unit switch> infrared remote control>voice> web), (3) Web, (4) Emergency stop. (1) In the case of the priority order based on the voice instructor, the instructor (speaker) is recognized by voice. When the instructor is “unknown”, the operation based on the utterance is not performed. (2) When the priority order is based on the operation method, the on-site instruction has the highest priority. The instruction at the site includes, for example, an operation of a switch provided in the device, an instruction by a remote control operation, and the like. In this case, the control is executed based on the operation of the switch or the remote controller without recognizing the instructor. (3) In the case of the web, for example, a command is input on a screen for controlling a voice recognition robot (eg, a self-propelled cleaner). In this case, the name of the user of the terminal displaying the screen can be displayed as the instructor who has input the command. Therefore, when another user is referring to the screen, the other user can easily recognize who the command is input by. (4) In the case of an emergency stop, the emergency stop instruction (specific instruction) is processed with the highest priority in any case. In this case, it is not considered who gave the emergency instruction. When the voice recognition robot detects the input of the emergency instruction, the voice recognition robot immediately stops the operation being executed.

  In the present embodiment, the stop may include cancellation and interruption. That is, the voice recognition robot may stop its operation in a certain situation. When the operation is stopped, the operation is not performed thereafter. In another aspect, the voice recognition robot may interrupt its operation. Even if the operation is interrupted, the voice recognition robot performs the operation when a condition for the voice recognition robot to resume the operation is satisfied. The operation at this time is not necessarily the same as the operation before the interruption.

  In yet another aspect, the voice recognition robot may move to a predetermined location (eg, a charging station). In addition, the method of giving an emergency instruction is not particularly limited.

  A speech recognition robot system 10 (hereinafter also simply referred to as “system 10”) according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating the overall configuration of the system 10. In one aspect, the system 10 includes a robot 110, a server 120, and a mobile terminal 140. The robot 110 is, for example, a cleaning robot or other equipment that is operable in response to a command. The robot 110, the server 120, and the server 130 are installed, for example, in a certain range such as a house, office, or the like where one or more users are specified. The robot 110, the server 120, and the server 130 can be connected to the Internet 150.

  In one aspect, the robot 110 operates based on a command given by voice, a remote control signal, a remote control signal, a touch operation, or the like.

  The server 120 and the server 130 are realized by a computer having a known configuration. The server 120 functions as a server that manages devices connected to a home network, for example. The equipment may include a cleaning robot, a television, an air conditioner, a refrigerator, lighting, a hot water supply equipment, a cooking equipment, an electric vehicle, and the like.

  The server 130 functions as a server that can be managed by a business operator that provides services (healing service, talking partner, play partner, etc.) using a robot, for example. For example, the server 130 may provide the above services to each home according to each contract.

  The mobile terminal 140 is realized by a smartphone, a tablet terminal, or the like. The mobile terminal 140 can directly transmit an operation signal to the robot 110. For example, the portable terminal 140 can transmit an infrared signal, a signal for Bluetooth (registered trademark) communication, an NFC (Near Field Communication) signal, and the like. In another aspect, the mobile terminal 140 may transmit the operation signal indirectly. More specifically, the mobile terminal 140 can transmit a signal to the robot 110 via the Internet 150 or by WiFi (Wireless Fidelity).

  The speech recognition robot system 10 can notify the state of the robot 110 in a certain situation. The contents to be notified are, for example, (1) who (or what) instruction is working (eg, by mother's instruction), (2) what is being done (eg, cleaning is in progress) , (3) Responses to instructions given to the robot 110 (e.g. “I can't do it”, “I ’ll wait until it ’s over”), “Yes, start with”, “Yes,” May be suspended and begin "," "restarts".), Etc.

  The notification method includes, for example, (1) a mode using the main body of the robot 110 (eg, speaker, display unit, LED, operation (spinning motion, limb movement, sign language, etc.)), (2) web (a bulletin board on a network, A mode displayed on a specific screen or the like, (3) a mode where content is displayed on a remote control (when the portable terminal 140 is used as a remote control), and (4) other display area (for example, a television having a display unit) Other household appliances).

  The notification timing is, for example, (1) when the robot 110 receives a notification instruction (eg, “What are you doing now?”), (2) the operation instruction is a voice recognition robot (for example, the robot 110). (3) When the reserved motion is started, (4) The robot 110 is uploaded to the web at a predetermined timing (eg, “I am cleaning at the instruction of my mother”). Etc.

<Overview of operation>
An outline of the operation of the robot 110 will be described with reference to FIG. FIG. 2 is a diagram illustrating an operation when the second command is given when the robot 110 is operating based on the first command.

  As shown in the scene (A), in one aspect, the robot 110 is cleaning based on a first command given by a first user (mother). Then, the second user (child 200) utters “Let's dig up”. The robot 110 recognizes the content of the utterance and compares the priority of the user (second user) who gave the utterance with the priority of the user (second user) who gave the cleaning instruction. The priority order of each user of the robot 110 is stored in, for example, any one of the robot 110, the servers 120 and 130, and the mobile terminal 140. When the priority is stored in a device other than the robot 110, the robot 110 communicates with the other device, receives a determination result based on the priority from the other device, and determines Respond based on the results.

  In the case of the scene (A), the priority order of the mother (first user) is higher than the priority order of the child 200 (second user). Therefore, the robot 110 replies to the instruction recognized from the voice given from the child 200 (that is, the utterance “Let's talk”) that the operation based on the instruction cannot be executed. For example, the robot 110 responds “Can't do this because it is being cleaned by the mother's instructions”.

  Next, as shown in the scene (B), in another aspect, when the robot 110 is cleaning based on the instruction of the mother (first user), the child 200 uses the remote controller 210, There is a case where the operation of the robot 110 is to be stopped. As an example, when a jigsaw puzzle is developed in the traveling direction of the robot 110, the robot 200 may travel on the jigsaw puzzle. In such a case, the child 200 makes an emergency stop of the robot 110 using the remote controller 210 of the robot 110. When the child 200 presses a stop switch (not shown) of the remote controller 210, the robot 110 receives a stop instruction (second instruction) from the remote controller 210 after a cleaning instruction (first instruction) is given. Is detected. Even if the priority level of the user (mother) who gave the first command is higher than the priority level of the user (child 200) who gave the second command, the robot 110 may receive commands other than voice (for example, A command based on a control signal from the remote controller 210 is prioritized and stopped. In order to clarify that the robot 110 responds to a command from the remote controller 210 before stopping, the robot 110 can output “Sound is being cleaned by the instruction of the mother but stopped.” By voice. Alternatively, the robot 110 may sound a sound (for example, a buzzer) for notifying an emergency stop. In yet another aspect, the robot 110 may turn on the light to indicate an emergency stop.

  With reference to FIG. 3, the configuration of a voice recognition robot system (hereinafter also simply referred to as “system 300”) will be described. FIG. 3 is a block diagram illustrating a configuration of functions realized by the system 300. System 300 may accept input of one or more instructions, eg, first instruction 321 and second instruction 331, and operate based on the priority of the user who provided each instruction.

  The system 300 includes an instruction input unit 301, a voice input unit 302, a voice output unit 303, a storage unit 304, a voice processing unit 305, a display unit 306, a priority order determination unit 307, and an operation control unit 308. The communication unit 309 and the operation unit 310 are provided.

  In one aspect, the system 300 can be realized as the robot 110 alone. In another aspect, system 300 can be realized by robot 110 and another information processing communication device having a voice recognition processing function (for example, at least one of server 120, server 130, and portable terminal 140). Therefore, the instruction input unit 301, the voice input unit 302, the voice output unit 303, the storage unit 304, the voice processing unit 305, the display unit 306, the priority order determination unit 307, the operation control unit 308, the communication The unit 309 and the operation unit 310 do not always have to be realized in one device, and a part thereof may be realized in another device connectable by a communication network.

  The instruction input unit 301 receives a signal input to the system 300. For example, the instruction input unit 301 receives an instruction based on a remote control signal, a packet signal, an infrared signal, or another wireless signal, or an instruction based on an operation of a hardware switch. The hardware switch can be realized by a toggle switch or other buttons.

  The voice input unit 302 accepts voice input. The voice input unit 302 can also be realized as a sound collector that collects sound. The voice input unit 302 is realized by, for example, a built-in microphone or a detachable microphone.

  The audio output unit 303 outputs audio based on the signal output from the audio processing unit 305. For example, the voice output unit 303 outputs a message representing the state of the system 300 by voice. The message can be, for example, “Cleaning”, “Emergency stop”, “Shit out”, “Reservation setting accepted by timer”, “Reservation canceled”, “Reservation not accepted” However, the message is not limited to these, and a message that informs at least the function of the robot 110 may be used. The audio output unit 303 is realized by at least one speaker.

  The storage unit 304 holds the priority assigned to each of one or more registered users of the system 300. The storage unit 304 can be realized by, for example, a flash memory, a hard disk, or other non-volatile data recording medium. In certain aspects, priorities are set by an administrator or user of system 300. In another aspect, priorities may be assigned according to each user's attributes. For example, the priority level may correspond to the age of each user. In yet another aspect, priorities may be assigned randomly.

  The voice processing unit 305 executes a predetermined process on the voice input to the system 300. The processed signal is input to the operation control unit 308. In another aspect, the voice processing unit 305 generates a message output as a response to the user based on the signal sent from the operation control unit 308 and outputs the message to the voice output unit 303. The voice processing unit 305 can be realized, for example, by a processor executing a voice processing program in one aspect, and can be realized as a dedicated voice processing circuit in another aspect.

  The display unit 306 displays the state of the system 300 to the user based on the data sent from the operation control unit 308. For example, the display unit 306 displays a message indicating the state of the system 300 or the state of the robot 110. For example, the display unit 306 is realized by a monitor or a light.

  The priority order determination unit 307 reads the priority order stored in the storage unit 304 based on the user specified by the processing of the sound processing unit 305, and determines the priority order of each command. The priority order determination unit 307 is realized, for example, when the processor executes a program for determining the priority order.

  The operation control unit 308 controls the operation of the operation unit 310 based on the result of the priority order determination unit 307. In another aspect, the operation control unit 308 outputs the control content based on the result of the priority order determination unit 307 to the voice processing unit 305. The control content includes, for example, that the second instruction given after the first instruction is not executed, that the operation based on the second instruction is executed with the first instruction invalidated, and the like. The voice processing unit 305 generates a signal for outputting the control content by voice, and sends the signal to the voice output unit 303. The voice output unit 303 outputs a response to the second command by voice based on the signal.

  In another aspect, when a speaker to the speech recognition robot system 300 is not recognized, the motion control unit 308 does not execute processing based on the utterance.

  The communication unit 309 communicates with other information communication devices. The communication unit 309 is realized, for example, as an interface for Internet communication, LAN (Local Area Network) communication, infrared communication, Bluetooth (registered trademark) communication, or other communication. In an aspect, the communication unit 309 receives a signal transmitted from another information communication device as a command for the operation unit 310. In this case, the operation control unit 308 extracts a command from the signal and sends the command to the priority order determination unit 307. When the system 300 has already received an instruction, the priority determination unit 307 compares the priority of the instruction with the priority of the other instruction and determines which instruction should be executed.

[data structure]
The data structure of the system 300 will be described with reference to FIG. FIG. 4 is a diagram conceptually illustrating one mode of data storage in the storage unit 304. In one aspect, the storage unit 304 holds a registered user 410 and a priority order 420. The registered user 410 and the priority order 420 are associated with each other.

  In the example shown in FIG. 4, four users are registered as users of the system 300. The number of users that can be registered may be more or less than four. Since the priority order of the user A is “1”, it exceeds the priority order of the users B, C, and D. Therefore, when other conditions are the same, when the first instruction (first instruction) given to the system 300 is an instruction from the user A, any one of the users B to D is then set as the second instruction. Is given, the instruction is ignored and the operation based on the first instruction continues. Alternatively, when the second command is given by the user A after the first command is given from any of the users B to D, the operation based on the first command is stopped (stopped or interrupted), and the second command The operation based on the instruction is started.

  The priority order may be set together with user registration of the system 300 at the time of setup of the system 300, for example.

[Robot configuration]
The configuration of the robot 110 will be described with reference to FIG. FIG. 5 is a block diagram showing a configuration of robot 110 according to the present embodiment. In one aspect, the robot 110 includes a plurality of modules. Each module can be implemented as hardware, software, and combinations thereof. For example, the robot 110 includes a control unit 510, a storage unit 520, an operation unit 530, a remote control signal reception unit 540, a monitor 541, a light 542, a switch 543, a sound collection unit 544, a speaker 545, A communication unit 546 and a battery 547 are provided. Control unit 510 includes an input receiving unit 511, a voice recognition unit 512, a response processing unit 513, and an operation mode switching unit 514. Storage unit 520 includes utterance content database 521. The operation unit 530 includes a cleaning unit 531.

  Control unit 510 controls the operation of robot 110. Control unit 510 is realized by, for example, a processor, a control circuit, and the like.

  The input receiving unit 511 receives an input of a command given to the robot 110. The command is given to the robot 110 by, for example, a control signal received by the remote control signal receiving unit 540, an operation on the switch 543, an utterance of an operation command to the sound collecting unit 544, or the like.

  The voice recognition unit 512 processes the voice signal sent from the sound collection unit 544 and recognizes the utterance that brought about the voice signal. The voice recognition process is realized using a known technique. Therefore, detailed description will not be repeated. Further, the voice recognition unit 512 specifies the user who gave the utterance based on the user data stored in the storage unit 520. The user data can be input by each user speaking in a user registration performed at the time of setting up the system 300, for example. Alternatively, another information communication apparatus may transmit user data to the robot 110 and store the user data in an area secured in the storage unit 520.

  The response processing unit 513 executes a command corresponding to the voice signal based on the recognition result by the voice recognition unit 512. In one aspect, the response processing unit 513 sends an operation command to the operation unit 530. In another aspect, the response processing unit 513 generates a signal for outputting a response to the audio signal by voice via the speaker 545, and sends the generated signal to the speaker 545.

  The operation mode switching unit 514 switches the operation mode of the robot 110 based on the output from the response processing unit 513. For example, the operation mode of the robot 110 may include, for example, a cleaning mode, a shiritori mode, a healing mode, and the like. In the cleaning mode, the robot 110 performs cleaning by driving a motor (not shown) and rotating a brush (not shown). In the shiritori mode, in response to the user's utterance, the robot 110 uses the dictionary stored in advance in the storage unit 520 for shiritori to perform the chatting with the user. In the healing mode, the robot 110 outputs a response for the healing dialogue stored in the utterance content database 521 by voice according to the utterance from the user.

  The storage unit 520 holds a program and data for causing the robot 110 to execute a predetermined operation. The program includes a control program for operating the cleaning unit 531 in the cleaning mode, a program for communicating with other information communication devices, a program for executing voice recognition processing, and a status of the robot 110. It can include programs. The data includes, for example, the utterance content database 521, setting data used for each of the above programs. The utterance content database 521 is given together with the program by the provider of the program corresponding to each operation mode. Alternatively, when the robot 110 has a learning function, the robot 110 may accumulate dialogues with the user in the utterance content database 521.

  The operation unit 530 realizes an operation function included in the robot 110. In operation unit 530, for example, cleaning unit 531 includes a motor, a brush, and the like. In another aspect, operation unit 530 may have a configuration for realizing another household electrical appliance (for example, an air conditioner, a water heater, a television, a refrigerator, a microwave oven, an electromagnetic cooker, or the like).

  The monitor 541 displays the state of the robot 110. The monitor 541 is realized by a liquid crystal monitor, an organic EL (Electro-Luminescence) monitor, or the like.

  The light 542 outputs light in a color or lighting manner defined to indicate the state of the robot 110. The light 542 is realized by, for example, an LED (Light Emitting Diode) or a rotating lamp.

  The switch 543 receives a command input to the robot 110. The switch 543 is realized as, for example, a toggle switch or other hardware key.

  The sound collection unit 544 acquires sound around the robot 110. In a certain aspect, the sound collection unit 544 can be realized as a microphone having directivity. In another aspect, the sound collection unit 544 may be realized as a microphone having no directivity. A plurality of sound collection units 544 may be provided in the robot 110.

  The speaker 545 outputs sound based on a signal sent from the control unit 510. The output voice may include a voice defined in advance to represent the operation of the robot 110, a response to the user's utterance of the robot 110, and the like.

  The communication unit 546 communicates with other information communication devices (for example, the servers 120 and 130, the portable terminal 140, etc.). The mode of communication is not particularly limited. Although communication is performed by wireless communication, wired communication may be used.

  The battery 547 supplies power to the robot 110. The battery 547 may include, for example, a rechargeable secondary battery, a dry battery, or the like.

[Server configuration]
The configuration of the servers 120 and 130 will be described with reference to FIG. FIG. 6 is a block diagram illustrating a hardware configuration of a computer 600 that implements the servers 120 and 130.

  The computer 600 includes, as main components, a CPU (Central Processing Unit) 1 that executes a program, a mouse 2 and a keyboard 3 that receive input of instructions from a user of the computer 600, data generated by execution of the program by the CPU 1, Alternatively, a RAM (Random Access Memory) 4 that stores data input via the mouse 2 or the keyboard 3 in a volatile manner, a hard disk 5 that stores data in a nonvolatile manner, an optical disk drive device 6, and a communication I / F ( Interface) 7 and a monitor 8. Each component is connected to each other by a bus. A CD-ROM 9 and other optical disks are mounted on the optical disk drive 6. The communication interface 7 includes, but is not limited to, a USB (Universal Serial Bus) interface, a wired LAN (Local Area Network), a wireless LAN, and a Bluetooth (registered trademark) interface.

  Processing in the computer 600 is realized by hardware constituting the computer 600 and software executed by the CPU 1. Such software may be stored in the hard disk 5 in advance. The software may be stored in a CD-ROM 9 or other non-volatile computer-readable data recording medium and distributed as a program product. Alternatively, the software may be provided as a program product that can be downloaded by an information provider connected to the Internet or other networks. Such software is read from the data recording medium by the optical disk driving device 6 or other data reading device, or downloaded via the communication I / F 7 and then temporarily stored in the hard disk 5. The software is read from the hard disk 5 by the CPU 1 and stored in the RAM 4 in the form of an executable program. The CPU 1 executes the program.

  Each component constituting the computer 600 shown in FIG. 6 is a general component. Accordingly, it can be said that an essential part of realizing the technical idea in the servers 120 and 130 according to the present embodiment is a program stored in the computer 600. Since the operation of the hardware of computer 600 is well known, detailed description will not be repeated.

  The data recording medium is not limited to a CD-ROM, FD (Flexible Disk), and hard disk, but is a magnetic tape, cassette tape, optical disk (MO (Magnetic Optical Disc) / MD (Mini Disc) / DVD (Digital Versatile Disc)). ), IC (Integrated Circuit) card (including memory card), optical card, mask ROM, EPROM (Electronically Programmable Read-Only Memory), EEPROM (Electronically Erasable Programmable Read-Only Memory), flash ROM, etc. It may be a non-volatile data recording medium that carries a fixed program. The program here may include not only a program directly executable by the CPU but also a program in a source program format, a compressed program, an encrypted program, and the like.

[Terminal configuration]
With reference to FIG. 7, a configuration of portable terminal 140 according to the present embodiment will be described. FIG. 7 is a block diagram illustrating a hardware configuration of the mobile terminal 140.

  The portable terminal 140 includes a CPU 20, an antenna 23, a communication device 24, an operation button 25, a camera 26, a flash memory 27, a RAM 28, a ROM 29, a memory card driving device 30, a microphone 32, and a speaker 33. An audio signal processing circuit 34, a monitor 35, an LED 36, a data communication interface 37, a vibrator 38, and an acceleration sensor 39. A memory card 31 can be attached to the memory card drive device 30.

  The antenna 23 receives signals transmitted by the servers 120 and 130 via a base station (not shown), or transmits signals for communicating with other communication devices via the servers 120 and 130. The signal received by the antenna 23 is subjected to front-end processing by the communication device 24, and the processed signal is sent to the CPU 20.

  The operation button 25 receives an operation on the mobile terminal 140. The operation button 25 is realized as a hardware key or a software key, for example. When the operation button 25 accepts an operation by the user, the operation button 25 sends a signal corresponding to the operation mode of the mobile terminal 140 at that time to the CPU 20.

  The CPU 20 executes processing for controlling the operation of the mobile terminal 140 based on a command given to the mobile terminal 140. When the portable terminal 140 receives the signal, the CPU 20 executes a predetermined process based on the signal sent from the communication device 24 and sends the processed signal to the audio signal processing circuit 34. The audio signal processing circuit 34 performs predetermined signal processing on the signal, and sends the processed signal to the speaker 33. The speaker 33 outputs sound based on the signal.

  The microphone 32 receives an utterance to the mobile terminal 140 and sends a signal corresponding to the uttered voice to the voice signal processing circuit 34. The audio signal processing circuit 34 performs a predetermined process on the signal, and sends the processed signal to the CPU 20. The CPU 20 converts the signal into data for transmission, and sends the converted data to the communication device 24. The communication device 24 generates a signal for transmission using the data, and transmits the signal to the antenna 23. A signal transmitted from the antenna 23 is received by the servers 120 and 130. In another aspect, instead of the antenna 23, the servers 120 and 130 and the mobile terminal 140 may be connected by wire.

  The flash memory 27 stores data sent from the CPU 20. In addition, the CPU 20 reads data stored in the flash memory 27 and executes a predetermined process using the data.

  The RAM 28 temporarily holds data generated by the CPU 20 based on the operation performed on the operation button 25. The ROM 29 stores a program or data for causing the mobile terminal 140 to execute a predetermined operation. The CPU 20 reads the program or data from the ROM 29 and controls the operation of the mobile terminal 140.

  The memory card driving device 30 reads data stored in the memory card 31 and sends it to the CPU 20. The memory card drive device 30 writes the data output by the CPU 20 in the empty area of the memory card 31.

The audio signal processing circuit 34 performs signal processing for a call as described above. In the example shown in FIG. 3, the CPU 20 and the audio signal processing circuit 34 are shown as separate configurations. However, in other aspects, the CPU 20 and the audio signal processing circuit 34 may be configured as an integral unit. Good.

  The monitor 35 displays an image based on data acquired from the CPU 20. The monitor 35 has, for example, still images (for example, conference materials, contracts and other electronic documents), moving images, and music file attributes (name of the file, performer, performance time, etc.) stored in the flash memory 27. Is displayed. The still image may include a drawn image and an image prepared in advance by a manufacturer of the mobile terminal 140 by default.

  The LED 36 realizes a predetermined light emission operation based on a signal from the CPU 20. The data communication interface 37 accepts attachment of a data communication cable.

  The data communication interface 37 sends a signal output from the CPU 20 to the cable. Alternatively, the data communication interface 37 sends data received via the cable to the CPU 20.

  Vibrator 38 performs an oscillating operation at a predetermined frequency based on a signal output from CPU 20.

  The acceleration sensor 39 detects the direction of acceleration acting on the mobile terminal 140. The detection result is input to the CPU 20.

  Note that the mobile terminal 140 according to the present embodiment need not include all the above-described components, and may be any information processing terminal having at least a voice input / output function and a communication function.

[Monitor screen]
With reference to FIG. 8, a screen displayed on portable terminal 140 according to the present embodiment will be described. FIG. 8 is a diagram illustrating an example of a monitor screen displayed on the monitor 35.

  In one aspect, the monitor 35 displays a screen for watching the remote control. More specifically, the monitor 35 displays a list of devices to be monitored. The list includes, for example, the name, identification name, status, operation history, operation date and time, the instructor who gave the command, and whether the command is valid or invalid. And a status representing.

  In the example shown in FIG. 8, the monitor 35 monitors a cleaning robot (for example, the robot 110) and a healing robot (not shown). The cleaning robot is currently “cleaning” and is driving. According to the operation history, a first command (e.g., clean) is given by the first user (mother), and then a second command (e.g., "Let's shave") is sent to the second user (e.g. Children). As a result of considering the priority of the user, the second command is ignored, and the operation based on the first command (ie, “cleaning”) is continuously executed.

  Such a screen is configured, for example, such that the display on a monitor of a tablet terminal or a smartphone is optimal. Further, when a new command is given to the robot 110 while such a screen is displayed, the updated information is determined after determining whether to accept or ignore the new command. Can be displayed on the monitor 35.

  Moreover, such a screen may be configured as a screen for sharing information among a plurality of specific users, for example, in a manner such as SNS (Social Network Service).

[Operation example]
An example of the operation of the robot 110 will be described with reference to FIG. FIG. 9 is a timing chart showing changes in the operation of the robot 110 when two users (mom and child) give commands to the robot 110 according to the present embodiment.

  As shown in scene (A), at time t (1), the first command (eg, “clean up”) is the first user (a user having a higher priority than other users, eg, “mom” ]) Is given to the robot 110 by voice. When the robot 110 receives the voice and recognizes the first command, the robot 110 starts an operation (cleaning) according to the command.

  Thereafter, at time t (2), the next command (second command) is given to the robot 110 by voice by the second user. When a command from a different user is given to the robot 110 by voice, the priority level of each command is determined. If the priority of the second user (eg, “children”) is lower than the priority of the first user (mother), the robot 110 ignores the second command and is based on the first command. Continue operation.

  At this time, as a response to the second command, the robot 110 may output, for example, “Please wait because it is being cleaned by the instruction of the mother” by voice. Then, after the operation based on the first command (cleaning) is completed, the operation based on the second command (the shiritori game) may be started. In this case, the robot 110 puts the second command on hold.

  Alternatively, in another aspect, the robot 110 may output a voice saying “Since it is cleaned by the instruction of the mother, it cannot be removed”. In this case, the second instruction can be ignored or discarded.

  In yet another aspect, the robot 110 stores the command from the second user and recognizes the utterance of the user (child) who gave the command when not cleaning, "?"

  In the scene (B), at time t (3), the first command (= clean) is given to the robot 110 by voice by the first user (child). When the robot 110 recognizes the first command, it drives the cleaning unit 531 to start cleaning.

  Thereafter, at time t (4), the second command (= stop cleaning) is given to the robot 110 by voice by the second user (mother). When the robot 110 receives the second command during the execution of the operation based on the first command, the robot 110 determines the priority level of each command. More specifically, for example, the robot 110 determines the level of priority given to the user who gave each command. In one aspect, if the priority of the user who gave the second command by voice is higher than the priority of the user who gave the first command, the robot 110 may execute the second command. For example, when the robot 110 recognizes the second command, it responds with a voice saying “Stop”. Alternatively, the robot 110 outputs a voice message “I will suspend” and switches the current operation mode to the standby mode.

  Thereafter, when a command (third command) by a user having a priority equal to or higher than the priority of the user who has given the second command is given, the robot 110 starts an operation based on the third command. To do. For example, if “mom” gives a voice command to robot 110 “clean it”, robot 110 may resume cleaning.

[Control structure]
With reference to FIG. 10, a control structure of system 300 according to the present embodiment will be described. FIG. 10 is a flowchart showing a part of processing executed by the system 300. In a certain aspect, the processing is realized by an instruction for realizing each processing being executed by the processor. In another aspect, the processing may be realized by a circuit element or other hardware that realizes each processing.

  In step S1010, voice input unit 302 accepts an input of a voice operation command (first command: for example, “clean”). The voice processing unit 305 processes a signal based on the voice. The processing result is input to the operation control unit 308.

  In step S1020, operation control unit 308 starts an operation based on the operation command. For example, the operation control unit 308 causes the operation unit 310 to start an operation by sending a signal to the operation unit 310. The operation by the operation unit 310 includes, for example, an operation in which the physical position of the housing including the operation unit 310 changes (equivalent to movement or driving), and the physical position of the housing without changing the posture. (For example, when the housing is a stuffed animal, the movement of the stuffed animal's limbs).

  In step S 1030, operation control unit 308 detects an input of a new operation command (second command: “let's try to squeeze”) by voice based on the speech to voice input unit 302.

  In step S1040, the priority order determination unit 307 determines that the priority order of the first instruction is the priority order of the second instruction based on the processing result of the sound processing unit 305 and the priority order stored in the storage unit 304. Judge whether it is higher than the ranking. If priority determination unit 307 determines that the priority of the first instruction is higher than the priority of the second instruction (YES in step S1040), control is switched to step S1050. If not (NO in step S1040), priority determination unit 307 switches control to step S1060.

  In step S1050, the audio output unit 303 outputs, based on the signal from the operation control unit 308, a voice indicating that the operation (shiritori) based on the second command cannot be performed, and the operation based on the first command ( For example, cleaning is continued. Note that the operation control unit 308 may accept the operation based on the second command, hold the operation, execute the operation based on the first command, and then execute the operation based on the second command.

  In step S1060, based on the signal from the operation control unit 308, the audio output unit 303 outputs a voice indicating that the operation based on the first command is to be stopped, stops the operation, and outputs the second command. Start the operation based on. Note that the operation control unit 308 may resume the operation based on the first command after performing the operation based on the second command.

(Control structure of robot 110)
For example, when the system 300 is realized by the robot 110, the control structure is as follows.

  In step S1010, control unit 510 receives input of a voice operation command (first command: for example, “clean”) as input reception unit 511 via sound collection unit 544. The voice recognition unit 512 processes a signal based on the voice. The processing result is input to the response processing unit 513.

  In step S1020, control unit 510 starts operation as response processing unit 513 based on the operation command. For example, the response processing unit 513 causes the cleaning unit 531 to start a cleaning operation by sending a signal to the operation unit 530.

  In step S 1030, control unit 510 detects input of a new operation command (second command: for example, “let's squeeze”) by voice based on utterance to sound collection unit 544 as input reception unit 511.

  In step S1040, control unit 510 uses response processing unit 513 to set the priority order of the first instruction to the second order based on the result of processing by speech recognition unit 512 and the priority order stored in storage unit 520. It is determined whether or not it is higher than the priority of the instruction. When response processing unit 513 determines that the priority order of the first instruction is higher than the priority order of the second instruction (YES in step S1040), control is switched to step S1050. If not (NO in step S1040), response processing unit 513 switches control to step S1060.

  At step S1050, control unit 510 outputs, via speaker, 545 that the operation based on the second command (shitori) cannot be performed, and continues the operation based on the first command (for example, cleaning). To do.

  In step S1060, control unit 510 outputs by voice that the operation based on the first command is to be stopped, stops the operation, and starts the operation based on the second command.

  As described above, since the operation of the robot 110 is defined based on the priority order of the user, the user having the highest priority order can completely control the operation of the robot 110. Therefore, for example, when it is desired to stop the robot 110 urgently, the user can stop the robot 110 by saying “stop” to the robot 110. Thereby, the safety | security of the robot 110 provided with a speech recognition function can be ensured.

<Second Embodiment>
Hereinafter, a second embodiment of the present disclosure will be described. Note that the speech recognition robot system according to the present embodiment is realized using the same configuration as the speech recognition robot system 10 according to the first embodiment. Therefore, the following description will be given using the configuration in the first embodiment as appropriate.

[Overview of operation]
First, a second embodiment will be described with reference to FIG. FIG. 11 is a timing chart showing changes in the operation of the robot 110 according to the second embodiment.

  As shown in FIG. 11, at the time t (1), the first command is given by voice from the user. For example, an operation command “clean it” is given to the robot 110. The robot 110 starts cleaning in response to the operation command.

  After that, at time t (2), a stop command for the robot 110 is given as a second command in a mode different from the voice. Another mode can be said to be a mode in which commands are directly given to the robot 110. For example, in a certain situation, a stop button of the robot 110 is pressed. In another aspect, the user presses a stop button on the remote controller 210 of the robot 110, and a control signal is sent from the remote controller 210 to the robot 110. In such a case, even if the user who gave the first command by voice has the highest priority, the robot 110 stops driving based on the second command. At this time, the robot 110 can output a voice message “Stop” by voice.

[Control structure]
With reference to FIG. 12, a control structure of system 300 according to the present embodiment will be described. FIG. 12 is a flowchart showing a part of processing executed by the system 300.

  In step S <b> 1210, operation control unit 308 accepts an input of an operation command (for example, “clean”) by voice given to voice input unit 302.

  In step S1220, operation control unit 308 starts an operation based on the operation command. For example, the robot 110 starts cleaning.

  In step S1230, operation control unit 308 detects pressing of a stop switch of main body of robot 110. Alternatively, in another aspect, operation control unit 308 detects reception of a remote control signal for stopping robot 110 from remote controller 210.

  In step S1240, when the operation control unit 308 confirms that the signal detected in step S1230 has priority over other commands, the operation control unit 308 causes the display unit 306 to display that the signal is stopped based on the pressing of the stop switch. Alternatively, the operation control unit 308 causes the audio output unit 303 to output a sound to that effect.

  In step S1250, operation control unit 308 stops outputting the operation signal output to operation unit 310. The operation unit 310 stops.

(Control structure of robot 110)
For example, when the system 300 is realized by the robot 110, the control structure is as follows.

  In step S 1210, control unit 510 receives input of an operation command (for example, “clean”) by voice given to sound collection unit 544 as input reception unit 511.

  In step S1220, control unit 510 starts operation based on the operation command. For example, the cleaning unit 531 starts an operation for cleaning (motor rotation, brush rotation, etc.).

  In step S1230, control unit 510 detects depression of switch 543 as input reception unit 511. Alternatively, in another aspect, control unit 510 detects reception of a remote control signal for stopping robot 110 from remote control 210 via remote control signal receiving unit 540.

  In step S1240, when the control unit 510 confirms that the signal detected in step S1230 has priority over other commands as the response processing unit 513, the control unit 510 notifies the monitor 541 that the control unit 510 stops based on pressing of the switch 543. Display. Alternatively, control unit 510 causes speaker 545 to output a sound to that effect.

  In step S1250, control unit 510 stops outputting the operation signal output to cleaning unit 531. The cleaning unit 531 stops its operation.

  As described above, according to the present embodiment, when a user with a priority lower than the priority of a user who has given a voice command directly gives a command to the robot 110, the robot 110 is given directly. Operates or stops according to command. Thereby, for example, when it is desired to stop the robot 110 urgently, safety can be ensured.

<Third Embodiment>
The third embodiment will be described below. This embodiment is different from the above-described embodiments in that an instruction for a future operation (for example, timer reservation) can be applied as an instruction. Note that the speech recognition robot system according to the present embodiment is realized using the hardware configuration included in the speech recognition robot system 10 according to the first embodiment. Therefore, the present embodiment will be described below using the configuration according to the first embodiment as appropriate, and the same description will not be repeated.

[Operation overview]
With reference to FIG. 13, an outline of the operation of the speech recognition robot system according to the present embodiment will be described. FIG. 13 is a timing chart showing changes in the operation of the speech recognition robot system according to the third embodiment.

  As shown in scene (A), a first command is input to system 300 by a first user (eg, mom) at time t (1) of an aspect. The input of the first command is performed, for example, on a reservation screen for the operation of the robot 110 displayed on the portable terminal 140 or other information processing terminal. Alternatively, the first user may directly input the reservation information to the robot 110 by operating the switch 543, for example. The first command is to cause the robot 110 to execute a specified operation (for example, cleaning) at time t (3) as an operation reservation, for example. The operation to be reserved is not limited to “cleaning”.

  Thereafter, at time t (2), the second command is input to the system by the second user (child). This input is performed on the reservation screen displayed on the mobile terminal 140 used by the second user. Alternatively, the second user may directly input reservation information to the robot 110. The second command is to cause an operation (for example, shiritori) designated by the second user to be executed at time t (4) after time t (3).

  When the operation control unit 308 detects that two commands (operation reservation) are input, the operation control unit 308 causes the priority determination unit 307 to determine the priority of the user who has given each command. As a result of the priority order determination, the operation control unit 308 determines to give priority to the instruction (operation reservation) of the first user (mother), and does not accept the operation reservation at time t (4). The system 300 outputs that fact. For example, the voice output unit 303 outputs a message “This is not accepted because there is a reservation for the mother” by voice. In another aspect, the display unit 306 may display that effect. Alternatively, the system 300 may turn on the light or sound the buzzer in a manner that is predefined as a manner that indicates that the command has not been accepted.

  The scene (B) represents an outline of the operation in the case where the priority of the user who gave the command to be input later is higher than the priority of the user who gave the command first. More specifically, at time t (5), the first command is input by the first user (child). The first command is to execute an operation (for example, shiritori) designated by the first user at time t (7). When the operation control unit 308 detects the input of such a command, the operation control unit 308 stores the command in 304. Furthermore, the operation control unit 308 causes the audio output unit 303 to output a message indicating that the operation reservation has been received by audio.

  Thereafter, at time t (6) before time t (7) arrives, the second command is input by the second user (mother). The second command is to execute an action (for example, cleaning) designated by the second user at time t (8). The time t (8) designated by the reservation may be before or after the time t (7).

  When the operation control unit 308 detects that the second command has been input, the priority order of the second user who has given the second command, the priority level of the first user who has given the first command, The priority order determination unit 307 determines whether the level is higher or lower. In this case, since the priority order of the second user is higher than the priority order of the first user, the operation control unit 308 cancels the reservation based on the first command given by the first user, The reservation based on the second command given by the user is set. The operation control unit 308 further causes the voice output unit 303 to output a message such as, for example, “Your mother's reservation has been entered, so your reservation will be canceled.” As a result, even when the time t (7) arrives, the robot 110 does not execute the operation (slippery) based on the first command. When the time t (8) arrives, the robot 110 receives the second command. The operation (cleaning) based on is started.

[Control structure]
With reference to FIG. 14, a control structure of system 300 according to the present embodiment will be described. FIG. 14 is a flowchart illustrating a part of the process executed by the operation control unit 308.

  In step S1410, operation control unit 308 accepts an operation reservation input by the first user.

  In step S1420, operation controller 308 detects an operation reservation input by the second user.

  In step S1430, priority determination unit 307 determines whether the second user's priority is higher than the first user's priority. This determination is made based on the priority order stored in the storage unit 304. If priority determination unit 307 determines that the second user's priority is higher than the first user's priority (YES in step S1430), control is switched to step S1440. If not (NO in step S1430), priority determination unit 307 switches control to step S1450.

  In step S1440, the operation control unit 308 causes the voice output unit 303 to output a voice to cancel the reservation by the first user, cancel the reservation, and set the reservation by the second user. Note that the mode of notification of cancellation is not limited to voice, and message display, light lighting, buzzer sound, and the like may be used. Note that the operation control unit 308 may suspend the operation until the reservation operation by the second user is executed without canceling the reservation by the first user.

  In step S1450, operation control unit 308 causes voice output unit 303 to output a voice message indicating that the reservation by the second user is not accepted, and maintains the reservation by the first user. The mode of notification that the reservation is not accepted is not limited to voice, and other modes may be used as in the case of step S1440. Note that the operation control unit 308 may suspend the operation after receiving the reservation by the second user until the reservation operation by the first user is executed.

(Control structure of robot 110)
For example, when the system 300 is realized by the robot 110, the control structure is as follows.

  In step S1410, control unit 510 receives an operation reservation input by the first user via switch 543, remote control signal reception unit 540, or communication unit 546 as input reception unit 511.

  In step S1420, control unit 510 detects another reservation input by the second user via switch 543, remote control signal reception unit 540, or communication unit 546 as input reception unit 511.

  In step S1430, control unit 510 determines whether or not the priority order of the second user is higher than the priority order of the first user as response processing unit 513. This determination is made based on the priority order stored in the storage unit 520. When control unit 510 determines that the priority order of the second user is higher than the priority order of the first user (YES in step S1430), control unit 510 switches control to step S1440. If not (NO in step S1430), control unit 510 switches control to step S1450.

  In step S1440, control unit 510 causes speaker 545 to output a voice to cancel the reservation by the first user as response processing unit 513, cancel the reservation, and set the reservation by the second user. Note that the mode of notification of cancellation is not limited to voice, and message display, light lighting, buzzer sound, and the like may be used.

  In step S1450, control unit 510 causes speaker 545 to output a voice message indicating that the reservation by the second user is not accepted, and maintains the reservation by the first user. The mode of notification that the reservation is not accepted is not limited to voice, and other modes may be used as in the case of step S1440.

  As described above, according to the present embodiment, the priority assigned to the user who has input the reservation information is considered for the reservation that defines the future operation. As a result, since reservations by users with higher priorities are prioritized, the future operation of the system 300 can be maintained on the safe side.

<Fourth embodiment>
Hereinafter, a fourth embodiment will be described. As another aspect of the first embodiment, the robot 110 and another device may cooperate. In this case, a part of the processing performed in the robot 110 may be executed in another device that can communicate with the robot 110. For example, voice recognition, user identification, determination of priority level, and the like may be executed by other devices (for example, the server 120, the server 130, the mobile terminal 140, etc.). The robot 110 that has received the user's utterance transmits a voice signal based on the utterance to the other device, and the other device performs voice recognition, user identification, determination of priority level, and the like. Data necessary for these processes (for example, priority for each user) and programs (speech recognition, a program for creating a message to be uttered by the robot 110, etc.) are stored in advance in the other device. .

Even in this case, the safety of the robot 110 can be ensured.
<Fifth embodiment>
As another aspect for realizing the processing of the second embodiment, the robot 110 and another device may cooperate. In this case, as the fifth embodiment, as in the fourth embodiment, a part of the processing performed in the robot 110 may be executed in another device that can communicate with the robot 110. Note that this embodiment is realized by using each configuration shown in the first embodiment. Therefore, description of the configuration will not be repeated.

<Sixth Embodiment>
As another aspect for realizing the processing of the third embodiment, the robot 110 and another device may cooperate. In this case, as in the sixth embodiment, as in the fourth embodiment, part of the processing performed in the robot 110 may be executed in another device that can communicate with the robot 110. Note that this embodiment is realized by using each configuration shown in the first embodiment. Therefore, description of the configuration will not be repeated.

<Seventh embodiment>
A seventh embodiment will be described. The speech recognition robot system according to the seventh embodiment is different from the above-described embodiments in that words defined in advance are used instead of priorities in order to ensure safety. Note that this embodiment is realized by using each configuration shown in the first embodiment. Therefore, description of the configuration will not be repeated.

  In one aspect, the speech recognition robot system 300 stores words that are input in advance by the user. For example, when the user registers “stop” as a word for urgently stopping the operation of the voice recognition robot system 300 by voice or text, the voice or text is stored in the storage unit 304. The pre-input words are words shared only by a plurality of users of the speech recognition robot system 300, for example.

  When the registered user speaks during the operation of the speech recognition robot system 300 and the content of the speech is a predefined content (for example, “stop”), the motion control unit 308 displays the content of the speech. The operation of the operation unit 310 is controlled based on the above. As a result, the voice recognition robot system 300 can be stopped even when the voice recognition robot system 300 cannot be operated or the remote control fails. Thereby, the safety | security of the speech recognition robot system 300 can be ensured.

<Configuration>
A configuration based on the present disclosure according to an embodiment may be summarized as follows. In one aspect, each configuration is realized as a combination of a plurality of modules. Each module may be implemented as hardware and software and combinations thereof.

[Configuration 1]
A speech recognition robot system (300),
A voice input unit (302) configured to accept voice input;
A speech recognition unit (305) configured to process input speech;
An input unit (301) configured to accept an input of an instruction;
An operation unit (310) configured to perform a predefined operation;
A control unit (308) configured to control the operation of the operation unit in accordance with a voice command input to the voice input unit or a command received by the input unit;
The control unit
When the first command is given by voice, the operation unit is activated,
When a second command is given via the input unit after the first command, the operation unit stops the operation based on the first command and performs an operation based on the second command. It is configured to be performed.

[Configuration 2]
A speech recognition robot (110),
A sound collection unit (544);
An input unit such as a switch 543 configured to accept an input of a command;
An operation unit (530) configured to perform a predefined operation;
A control unit (510) configured to control the operation of the operation unit in response to a voice command acquired by the sound collection unit or a command received by the input unit;
The control unit
When the first command is given by voice, the operation unit is activated,
When a second command is given via the input unit after the first command, the operation unit stops the operation based on the first command and performs an operation based on the second command. It is configured to be performed.

[Configuration 3]
A storage unit (520) configured to store a priority set for each user who gives a command to operate the operation unit;
The control unit
When the second command is given by voice, the first command is given when the priority of the user who gives the second command is higher than the priority of the user who gives the first command. The voice recognition robot according to Configuration 2, further configured to stop the operation based on the second instruction and perform the operation based on the second command.

[Configuration 4]
A storage unit (520) for storing reservation information of operation of the voice recognition robot;
When the priority of the user who gave the first reservation is lower than the priority of the user who gave the second reservation specified after the time specified in the first reservation, the control unit The speech recognition robot according to configuration 2, configured to cancel the first reservation.

[Configuration 5]
A storage unit (520) for storing reservation information of operation of the voice recognition robot;
When the priority of the user who gave the first reservation is higher than the priority of the user who gave the second reservation specified after the time specified in the first reservation, the control unit The speech recognition robot according to Configuration 2, configured to not accept the second reservation.

[Configuration 6]
A storage unit (520) for storing reservation information of operation of the voice recognition robot;
The configuration according to Configuration 2, wherein the control unit is configured to suspend execution of a second reservation lower than the priority of the first reservation until a first reservation having a higher priority is executed. Voice recognition robot.

[Configuration 7]
A communication unit configured to communicate with the information communication terminal;
The voice recognition robot according to any one of configurations 2 to 6, wherein the input unit is configured to receive an input of an instruction signal transmitted by the information communication terminal.

[Configuration 8]
The control unit is further configured to control the operation of the operation unit based on the content of the utterance when the content of the utterance by the user registered in the voice recognition robot is a predetermined content. The speech recognition robot according to any one of configurations 2 to 7.

[Configuration 9]
The speech recognition robot according to Configuration 8, wherein when a voice speaker including a command is recognized, the control unit is configured to cause the operation unit to perform an operation based on the command.

[Configuration 10]
The speech recognition robot according to any one of configurations 2 to 9, further comprising a notification unit configured to notify that a command has been given to the speech recognition robot.

[Configuration 11]
A communication unit configured to communicate with a server having a voice recognition processing function;
The speech recognition robot according to any one of configurations 2 to 10, wherein the control unit is configured to control an operation of the operation unit based on a result of a speech recognition process performed by the server.

[Configuration 12]
A control device for a voice recognition robot,
A receiver configured to receive a voice signal from the voice recognition robot;
A control unit configured to execute processing for controlling the operation of the voice recognition robot based on the voice signal;
The control unit
Transmitting a command to the voice recognition robot to operate based on a first command acquired from the first voice signal received by the receiving unit;
When the second command acquired from the second voice signal received after the first voice signal is given through the input unit, the operation unit of the voice recognition robot has the second command. The operation based on the first instruction is stopped, and the operation based on the second instruction is performed.

[Configuration 13]
A communication terminal for controlling a voice recognition robot,
The above speech recognition robot
The sound collection section;
A receiver configured to receive a signal from the communication terminal;
An operating unit configured to perform a predefined operation;
A control unit configured to control the operation of the operation unit according to a command,
The communication terminal
An input unit configured to receive an instruction input to the communication terminal;
When the voice recognition robot is operating with the first command by voice and the second command for the voice recognition robot is given to the input unit, the voice recognition robot is based on the second command. A control unit configured to generate a control signal for controlling
A transmission unit configured to transmit the control signal to the voice recognition robot.

[Configuration 14]
A program for controlling a speech recognition robot system, wherein the speech recognition robot system has an operation unit configured to perform a predetermined operation,
The above program is added to the above voice recognition robot system.
Receiving a first command input by voice;
Activating the operating unit in response to an input of the first command;
Receiving the input of the second command in a manner different from the voice after the first command;
In response to the input of the second command, the operation unit is caused to stop the operation based on the first command and perform the operation based on the second command.

[Configuration 15]
A program for controlling a speech recognition robot,
The program is stored in the processor of the voice recognition robot.
Receiving a first command input by voice;
Activating the operation unit of the voice recognition robot based on the first command;
Receiving the input of the second command in a manner different from the voice after the input of the first command;
Based on the second command, the operation unit is caused to stop the operation based on the first command and perform the operation based on the second command.

[Configuration 16]
A program for causing a communication terminal to control a voice recognition robot,
The above speech recognition robot
The sound collection section;
A receiver configured to receive a signal from the communication terminal;
An operating unit configured to perform a predefined operation;
A control unit configured to control the operation of the operation unit according to a command,
The program is stored in the communication terminal.
Receiving a second command for the voice recognition robot when the voice recognition robot is operating with a first command by voice;
Generating a control signal for controlling the voice recognition robot based on the second command;
Transmitting the control signal to the voice recognition robot.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  10,300 Voice recognition robot system, 150 Internet, 200 children.

Claims (16)

A speech recognition robot system,
A voice input unit configured to accept voice input;
A speech recognizer configured to process input speech;
An input unit configured to accept input of instructions;
An operating unit configured to perform a predefined operation;
A control unit configured to control the operation of the operation unit in response to a command by voice input to the voice input unit or a command received by the input unit;
The controller is
Actuating the operating unit when the first command is given by voice;
When a second command is given via the input unit after the first command, the operation unit stops the operation based on the first command, and performs an operation based on the second command. A speech recognition robot system configured to be performed. A speech recognition robot,
The sound collection section;
An input unit configured to accept input of instructions;
An operating unit configured to perform a predefined operation;
A control unit configured to control the operation of the operation unit in response to a voice command acquired by the sound collection unit or a command received by the input unit;
The controller is
Actuating the operating unit when the first command is given by voice;
When a second command is given via the input unit after the first command, the operation unit stops the operation based on the first command, and performs an operation based on the second command. A speech recognition robot that is configured to perform. A storage unit configured to store a priority set for each user who gives a command to operate the operation unit;
The controller is
When the second command is given by voice, if the priority of the user who gave the second command is higher than the priority of the user who gave the first command, the first command The voice recognition robot according to claim 2, further configured to stop an operation based on the second command and to perform an operation based on the second command. A storage unit for storing reservation information of operation of the voice recognition robot;
When the priority of the user who gave the first reservation is lower than the priority of the user who gave the second reservation specified after the time specified in the first reservation, the control unit The speech recognition robot according to claim 2, wherein the speech recognition robot is configured to cancel the first reservation. A storage unit for storing reservation information of operation of the voice recognition robot;
When the priority of the user who gave the first reservation is higher than the priority of the user who gave the second reservation specified after the time specified in the first reservation, the control unit The voice recognition robot according to claim 2, wherein the robot is configured not to accept the second reservation. A storage unit for storing reservation information of operation of the voice recognition robot;
The control unit is configured to suspend execution of a second reservation lower than the priority of the first reservation until a first reservation having a higher priority is executed. The voice recognition robot described. A communication unit configured to communicate with the information communication terminal;
The voice recognition robot according to claim 2, wherein the input unit is configured to receive an input of an instruction signal transmitted by the information communication terminal.   The control unit is further configured to control the operation of the operation unit based on the content of the utterance when the content of the utterance by the user registered in the voice recognition robot is a predetermined content. The voice recognition robot according to claim 2.   The voice recognition robot according to claim 8, wherein when a voice speaker including a command is recognized, the control unit is configured to cause the operation unit to perform an operation based on the command.   The speech recognition robot according to claim 2, further comprising a notification unit configured to notify that a command has been given to the speech recognition robot. A communication unit configured to communicate with a server having a voice recognition processing function;
The voice recognition robot according to claim 2, wherein the control unit is configured to control an operation of the operation unit based on a result of a voice recognition process performed by the server. A control device for a voice recognition robot,
A receiver configured to receive a voice signal from the voice recognition robot;
A control unit configured to execute processing for controlling the operation of the voice recognition robot based on the voice signal;
The controller is
Transmitting a command to the voice recognition robot to operate based on a first command acquired from the first voice signal received by the receiving unit;
When the second command acquired from the second voice signal received after the first voice signal is given through the input unit, the operation unit of the voice recognition robot has the second command. A control device configured to stop an operation based on an instruction of 1 and to perform an operation based on the second instruction. A communication terminal for controlling a voice recognition robot,
The voice recognition robot is
The sound collection section;
A receiver configured to receive a signal from the communication terminal;
An operating unit configured to perform a predefined operation;
A control unit configured to control the operation of the operation unit according to a command, the communication terminal,
An input unit configured to receive an instruction input to the communication terminal;
When the voice recognition robot is operating with a first command by voice and the second command for the voice recognition robot is given to the input unit, the voice recognition robot is based on the second command. A control unit configured to generate a control signal for controlling
A communication terminal comprising: a transmission unit configured to transmit the control signal to the voice recognition robot. A program for controlling a speech recognition robot system, wherein the speech recognition robot system has an operation unit configured to perform a predetermined operation,
The program is stored in the voice recognition robot system.
Receiving a first command input by voice;
Activating the operating unit in response to an input of the first command;
Receiving an input of a second command after the first command in a manner different from voice;
In response to the input of the second command, the program causes the operating unit to stop the operation based on the first command and to perform the operation based on the second command. A program for controlling a speech recognition robot,
The program is stored in the processor of the voice recognition robot.
Receiving a first command input by voice;
Activating an operation unit of the voice recognition robot based on the first command;
Receiving the input of the second command in a manner different from voice after the input of the first command;
A program for causing the operation unit to stop an operation based on the first instruction and to perform an operation based on the second instruction based on the second instruction. A program for causing a communication terminal to control a voice recognition robot,
The voice recognition robot is
The sound collection section;
A receiver configured to receive a signal from the communication terminal;
An operating unit configured to perform a predefined operation;
A control unit configured to control the operation of the operation unit according to a command,
The program is stored in the communication terminal.
Receiving a second command for the voice recognition robot when the voice recognition robot is operating with a first command by voice;
Generating a control signal for controlling the voice recognition robot based on the second command;
Transmitting the control signal to the voice recognition robot.

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