Robot control device, robot control method, and robot control program
First Claim
1. A robot control device for controlling a robot having a microphone, an imaging device and a self-position detection device, comprising:
- a voice recognition part for recognizing the designation content of a designator based on sounds collected by the microphone;
an image recognition part for recognizing the designation content of the designator based on an image imaged by the imaging device;
a self-position estimation part for estimating the current position of the robot based on an output from the self-position detection device;
a map data base for retaining map data registering at least the position of an obstacle;
a decision part for deciding whether the movement to a specific position is required based on the recognition result of the voice recognition part and image recognition part;
a movement ease decision part for deciding movement ease to the specific position based on the current position estimated by the self-position estimation part and the map data when the decision part decides that the movement to the specific position is required;
a behavior decision part for deciding the behavior according to the movement ease decided by the movement ease decision part; and
a behavior control part for executing the behavior according to the decision of the behavior decision part.
1 Assignment
0 Petitions
Accused Products
Abstract
The content of the voice designation of a designator is recognized by a voice recognition part 130 at the time of controlling a robot, and the content of the indication of gesture or the like is recognized by an image recognition part 120. A movement destination and a map around the specific position designated are referred from a map data base 150 registering the position of an obstacle and the current position estimated by a self-position estimation part 140. After movement ease is decided by a movement ease decision part 112, the behavior is decided. When movement designation is given to the robot, correspondence according to a situation can be performed.
-
Citations
16 Claims
-
1. A robot control device for controlling a robot having a microphone, an imaging device and a self-position detection device, comprising:
-
a voice recognition part for recognizing the designation content of a designator based on sounds collected by the microphone;
an image recognition part for recognizing the designation content of the designator based on an image imaged by the imaging device;
a self-position estimation part for estimating the current position of the robot based on an output from the self-position detection device;
a map data base for retaining map data registering at least the position of an obstacle;
a decision part for deciding whether the movement to a specific position is required based on the recognition result of the voice recognition part and image recognition part;
a movement ease decision part for deciding movement ease to the specific position based on the current position estimated by the self-position estimation part and the map data when the decision part decides that the movement to the specific position is required;
a behavior decision part for deciding the behavior according to the movement ease decided by the movement ease decision part; and
a behavior control part for executing the behavior according to the decision of the behavior decision part. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A robot control method for controlling a robot having a microphone, an imaging device and a self-position detection device, comprising the steps of:
-
a designation content discriminating step of recognizing the designation content of a designator based on sounds collected by the microphone, recognizing the designation content of the designator based on an image imaged by the imaging device, estimating the current position of the robot based on an output from the self-position detection device, and deciding whether the designation of the movement to a specific position is required from the designation content recognized by the sounds and the designation content recognized from the image;
a movement ease deciding step of deciding the movement ease to the specific position based on the current position estimated based on the output from the self-position detection device and map data provided as a map data base and registering at least the position of an obstacle when the designation content discriminating step decides that the movement to the specific position is required;
a behavior deciding step of deciding the behavior according to the movement ease decided by the movement ease deciding step; and
a behavior controlling step of executing the behavior according to the decision of the behavior deciding step. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
-
-
16. A robot control program for making a computer mounted on a robot function as a voice recognition means for recognizing the designation content of a designator based on sounds collected by a microphone,
an image recognition means for recognizing the designation content of the designator based on the image imaged by an imaging device, a self-position estimation means for estimating the current position of the robot based on the output from the self-position detection device, a decision means for deciding whether the movement to a specific position is required based on the recognition result of the voice recognition means and image recognition means, and the current position of the robot estimated by the self-position estimation part, a movement ease decision means for deciding the movement ease to the specific position based on the current position estimated by the self-position estimation means and map data provided as a map data base and registering at least the position of an obstacle when the decision means decides that the movement to the specific position is required, and a behavior decision means for deciding the behavior according to the movement ease decided by the movement ease decision means so as to control the robot having the microphone, the imaging device and the self-position detection device.
Specification