WO2018012645A1 - Robot mobile et son procédé de commande - Google Patents

Robot mobile et son procédé de commande Download PDF

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Publication number
WO2018012645A1
WO2018012645A1 PCT/KR2016/007552 KR2016007552W WO2018012645A1 WO 2018012645 A1 WO2018012645 A1 WO 2018012645A1 KR 2016007552 W KR2016007552 W KR 2016007552W WO 2018012645 A1 WO2018012645 A1 WO 2018012645A1
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WO
WIPO (PCT)
Prior art keywords
keyword
user
interest
controller
voice
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/007552
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English (en)
Korean (ko)
Inventor
한혜민
김민정
이인희
차영서
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
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Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Priority to PCT/KR2016/007552 priority Critical patent/WO2018012645A1/fr
Publication of WO2018012645A1 publication Critical patent/WO2018012645A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators

Definitions

  • the present invention relates to a mobile robot that can communicate with a user and a control method thereof.
  • a robot refers to a machine that has a shape and function similar to a person, and automatically processes a given motion based on a capability possessed by oneself.
  • robots were mainly developed for industrial use. That is, robots have been developed for industrial use and used as part of factory automation, or have been used to collect or collect information on behalf of humans in extreme environments that humans cannot tolerate.
  • the home robot not only performs in place of human actions, but also communicates with humans and is developing as a human friend.
  • the demand for robots to play a more human-friendly role is increasing.
  • An object of the present invention is to provide an active mobile robot.
  • Another object of the present invention is to provide a mobile robot that can grasp the user's behavior in advance.
  • Another object of the present invention to provide a mobile robot that can grasp the user's interests.
  • the mobile robot includes a voice input unit for receiving voice information including a specific keyword uttered by a user, and a controller for mapping a specific keyword and a utterance position at which the user utters a specific keyword to generate a keyword map.
  • the controller detects a specific keyword corresponding to the current location of the user from the keyword map to predict a user's behavior, and outputs information related to the detected specific keyword before inputting voice information from the user. It is done.
  • the controller may display the speech location and the user's speech location on the keyword map.
  • a specific area including a location of a utterance within a predetermined distance is mapped to the specific keyword.
  • the controller determines priority of the at least two keywords based on the frequency of speech of the keywords. It features.
  • the control unit may detect the utterance time of the user, map the specific utterance extracted from the detected utterance time and the voice information, and generate the keyword map.
  • the controller may output different information related to the specific keyword to the user according to a current time.
  • the control unit may output different information related to the specific keyword based on the current location of the user.
  • the mobile robot extracts an interest keyword from a voice input unit for receiving a voice spoken by a user and voice information corresponding to the voice, and after the time at which the interest keyword is extracted, the interest keyword and the like. And a controller for tracking related information, wherein the controller outputs information related to the tracked keyword of interest when an event related to the keyword of interest occurs.
  • the information related to the keyword of interest includes inventory information of a thing corresponding to the keyword of interest, and the controller outputs inventory information of the thing when an event related to the keyword of interest occurs. Characterized in that.
  • the control unit may stop tracking information related to the keyword of interest or update information related to the keyword of interest based on voice information input from a user.
  • the controller may analyze the voice of the user based on keyword information corresponding to the location of the user's speech.
  • the mobile robot according to the present invention as described above, it is possible to extract a keyword from the voice information corresponding to the voice spoken by the user, and to generate a keyword map by mapping the keyword to the spoken location where the keyword is spoken.
  • the present invention may predict the user's behavior in advance based on the keyword map, thereby providing a function related to the keyword. Therefore, the user can acquire the necessary information at an appropriate time without inputting a separate control command to the mobile robot.
  • the mobile robot according to the present invention it is possible to track the information related to the keyword of interest, and provide it at an appropriate time. Therefore, the user can check the state of frequently used or interested objects or objects naturally.
  • FIG. 1 is a block diagram illustrating a mobile robot according to the present invention.
  • FIG. 2 is a block diagram related to an example of a mobile robot according to the present invention.
  • FIG. 3 is a flowchart illustrating a method of generating a keyword map in the mobile robot according to the present invention.
  • 4 to 6 are conceptual views illustrating a keyword map in the mobile robot according to the present invention.
  • FIG. 7 is a flowchart illustrating a method of predicting a user's behavior by using a keyword map and providing a function associated with the mobile robot according to the present invention.
  • 8 to 10b are conceptual views illustrating embodiments of providing a function related to a user's behavior in the present invention and a mobile robot.
  • FIG. 11 is a flowchart illustrating a method of providing information related to a keyword of interest in a mobile robot according to the present invention.
  • 12 to 13C are conceptual views illustrating the control method of FIG. 11.
  • 14A and 14C are conceptual views illustrating a method of editing a keyword of interest in a mobile robot according to the present invention.
  • 15 is a conceptual diagram illustrating a limited database for analyzing voice information in a mobile robot according to the present invention.
  • the mobile robot described herein may be an electronic device capable of autonomous running or batting running.
  • the mobile robot may be a walking robot, a drone, an autonomous vehicle, a medical robot, or the like.
  • FIG. 1 is a block diagram illustrating a mobile robot according to the present invention.
  • the mobile robot 100 includes a wireless communication unit 110, an input unit 120, a sensing unit 140, an output unit 150, an interface unit 160, a memory 170, a controller 180, and a power supply unit 190. ) May be included.
  • the components shown in FIG. 1 are not essential to implementing a mobile robot, such that the mobile robot described herein may have more or fewer components than those listed above.
  • the wireless communication unit 110 of the components, between the mobile robot 100 and the wireless communication system, between the mobile robot 100 and another mobile robot 100, or the mobile robot 100 and the external server It may include one or more modules that enable wireless communication therebetween.
  • the wireless communication unit 110 may include one or more modules for connecting the mobile robot 100 to one or more networks.
  • the wireless communication unit 110 may include at least one of the broadcast receiving module 111, the mobile communication module 112, the wireless internet module 113, the short range communication module 114, and the location information module 115. .
  • the input unit 120 may include a camera 121 or an image input unit for inputting an image signal, a microphone 122 for inputting an audio signal, an audio input unit, or a user input unit 123 for receiving information from a user. , Touch keys, mechanical keys, and the like.
  • the voice data or the image data collected by the input unit 120 may be analyzed and processed as a control command of the user.
  • the sensing unit 140 may include one or more sensors for sensing at least one of information in the mobile robot, surrounding environment information surrounding the mobile robot, and user information.
  • the sensing unit 140 may include a proximity sensor 141, an illumination sensor 142, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, and gravity.
  • Optical sensors e.g. cameras 121), microphones (see 122), battery gauges, environmental sensors (e.g.
  • the mobile robot disclosed herein may use a combination of information sensed by at least two or more of these sensors.
  • the output unit 150 is used to generate an output related to sight, hearing, or tactile sense, and includes at least one of a display unit 151, an audio output unit 152, a hap tip module 153, and an optical output unit 154. can do.
  • the display unit 151 forms a layer structure with or is integrally formed with the touch sensor, thereby implementing a touch screen.
  • the touch screen may function as a user input unit 123 providing an input interface between the mobile robot 100 and the user, and at the same time, provide an output interface between the mobile robot 100 and the user.
  • the interface unit 160 serves as a path to various types of external devices connected to the mobile robot 100.
  • the interface unit 160 connects a device equipped with a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, and an identification module. It may include at least one of a port, an audio input / output (I / O) port, a video input / output (I / O) port, and an earphone port.
  • I / O audio input / output
  • I / O video input / output
  • earphone port an earphone port
  • the memory 170 stores data supporting various functions of the mobile robot 100.
  • the memory 170 may store a plurality of application programs or applications driven by the mobile robot 100, data for operating the mobile robot 100, and instructions. At least some of these applications may be downloaded from an external server via wireless communication. In addition, at least some of these application programs may be present on the mobile robot 100 from the time of shipment for basic functions (for example, incoming / outgoing / outgoing function / message reception / outgoing function) of the mobile robot 100.
  • the application program may be stored in the memory 170 and installed on the mobile robot 100 to be driven by the controller 180 to perform an operation (or function) of the mobile robot.
  • the controller 180 In addition to the operation related to the application program, the controller 180 typically controls the overall operation of the mobile robot 100.
  • the controller 180 may provide or process information or a function appropriate to a user by processing signals, data, information, and the like, which are input or output through the above-described components, or by driving an application program stored in the memory 170.
  • controller 180 may control at least some of the components described with reference to FIG. 1A in order to drive an application program stored in the memory 170. In addition, the controller 180 may operate by combining at least two or more of the components included in the mobile robot 100 to drive the application program.
  • the power supply unit 190 receives power from an external power source and an internal power source under the control of the controller 180 to supply power to each component included in the mobile robot 100.
  • the power supply unit 190 includes a battery, which may be a built-in battery or a replaceable battery.
  • At least some of the components may operate in cooperation with each other to implement an operation, control, or control method of the mobile robot according to various embodiments described below.
  • the operation, control, or control method of the mobile robot may be implemented on the mobile robot by driving at least one application program stored in the memory 170.
  • various embodiments of the present disclosure may be implemented in a recording medium readable by a computer or a similar device using, for example, software, hardware, or a combination thereof.
  • FIG. 2 is a block diagram illustrating some components of a mobile robot according to the present invention.
  • the mobile robot according to the present invention may further include a driver 130, a voice input unit 122, and a voice output unit 152.
  • the driving unit 130 may be formed to enable the mobile robot to travel autonomously or to run on a batting basis.
  • the drive unit 130 may include a wheel and a motor to drive the mobile robot.
  • the driving unit 130 includes a predetermined wheel motor that rotates the wheels of the mobile robot, and moves the mobile terminal by driving the wheel motor.
  • the wheel motors are connected to the main wheels so that the main wheels rotate, operate independently of each other, and can rotate in both directions.
  • the mobile robot according to the present invention may be formed to be able to travel in two groups or may be formed to fly.
  • the driving unit 130 of the mobile robot to be described may be formed in various structures in addition to the above description.
  • the voice input unit 122 may be configured to receive voice, and the voice output unit 152 may be configured to output audio.
  • the voice input unit 122 may be understood as a microphone, and the voice output unit 152 may be understood as a speaker.
  • 3 is a flowchart illustrating a method of generating a keyword map in the mobile robot according to the present invention.
  • 4 to 6 are conceptual views illustrating a keyword map in the mobile robot according to the present invention.
  • the mobile robot according to the present invention may generate map information by using a Simulaneous Localization and Mapping (SLAM) algorithm.
  • SLAM Simulaneous Localization and Mapping
  • the SLAM algorithm is an algorithm that generates map information in real time by using distance information detected through a distance sensor (for example, laser, ultrasonic wave, infrared light, etc.) and image information obtained through a camera.
  • a distance sensor for example, laser, ultrasonic wave, infrared light, etc.
  • the controller 180 of the mobile robot may generate a grid map, a feature map, and the like through the SLAM algorithm.
  • the controller 180 may establish a current location and route plan by using the generated map information. In addition, the controller 180 may store the generated map information in the memory 170.
  • the mobile terminal according to the present invention may generate a keyword map by mapping a keyword to map information obtained through the SLAM algorithm.
  • the said keyword map is map information which mapped the specific keyword to the specific position of map information.
  • the controller 180 may receive a voice including a specific keyword spoken by a user through the voice input unit (S310).
  • the controller 180 can receive the voice spoken by the user through the voice input unit.
  • the controller 180 may analyze the voice of the user. In this case, the controller 180 may analyze the speech based on a natural language algorithm or other speech recognition algorithm.
  • the controller 180 may detect a specific keyword from voice information corresponding to the voice (S320).
  • the controller 180 may detect a specific keyword from voice information corresponding to the voice spoken by the user based on the analysis result of the voice.
  • the specific keyword may be one or more.
  • the controller 180 may detect a keyword of a word or sentence determined to have the highest importance in the speech information based on the natural language processing algorithm. That is, the controller 180 may extract a key keyword in the natural language processing process.
  • the controller 180 may detect the word “what to eat?” As a keyword in the sentence “what to eat today?”.
  • the controller 180 may detect “drama” as a keyword in the sentence “I must watch a drama”. That is, the keyword may be a word or a sentence.
  • the controller 180 may detect a word repeatedly included in a voice spoken by a user as a specific keyword. For example, the controller 180 may detect "what to eat?" As a keyword when the sentence "what to eat today" is repeated a certain number of times.
  • the controller 180 may generate a keyword map in which the specific keyword is mapped to a specific location on a previously stored map (S330).
  • the controller 180 may further detect a speech location at which voice information including the specific keyword is uttered from previously stored map information.
  • the spoken location may mean a location of the user who spoke the voice.
  • the controller 180 may map the specific keyword to the detected speech position. That is, the controller 180 may map the specific keyword to the location where the specific keyword is spoken.
  • mapping a specific keyword to a specific location may mean connecting the specific keyword to a specific location on the map information.
  • the connection information indicating that the specific location information and the specific keyword are connected to each other may be further stored in the memory 170.
  • the controller 180 may receive a voice including a specific keyword 410 (eg, weather) at a specific location on the previously stored map information 400.
  • the controller 180 may map the specific keyword 410 to a specific position. In this way, the controller 180 can generate the keyword map 420 as shown in FIG. 4.
  • the controller 180 may store the utterance time of a specific keyword at the specific location.
  • the utterance time may mean a time point at which the mobile robot receives voice information.
  • the controller 180 may map a specific location, a specific keyword, and an utterance time together and store the same in the memory 170.
  • controller 180 may map the specific keyword to different positions. That is, when the voice including the specific keyword is received at the first position and the second position, the controller 180 may map the specific keyword to the first position and the second position, respectively.
  • the controller 180 may set a predetermined area including the first location and the second location as one keyword group. That is, the controller 180 may map a specific keyword to a predetermined area including the first location and the second location on the map.
  • the predetermined region to which a specific keyword is mapped may be understood as a keyword group.
  • the controller 180 may determine that the distance between the first position and the second position is less than or equal to a preset distance, or when the second position is located within a preset radius with respect to the first position. .
  • the controller 180 may set a predetermined region 430 including the first position and the second position, and map a specific keyword to the predetermined region 430.
  • the predetermined area is an area including both first and second positions, and may be an area within a preset radius based on the first position or an area within a preset radius based on the second position.
  • the controller 180 may delete the specific keyword on the keyword map. That is, the controller 180 may determine that the keyword that does not generate the keyword group does not correspond to a consistent user behavior pattern, and delete the keyword on the keyword map.
  • the controller 180 may set at least two keyword groups on the keyword map. For example, as illustrated in FIG. 5B, different groups 430 and 440 for different keywords may be mapped on the keyword map.
  • controller 180 may map different keyword groups to the same location. For example, in FIG. 6, the first keyword group 430 and the second keyword group 440 may be mapped to a specific location.
  • the controller 180 may set a priority between the first keyword group 430 and the second keyword group 440 based on the frequency of speech for the first keyword and the second keyword.
  • controller 180 may store the specific keyword and the utterance time together in the specific keyword group. Accordingly, different keywords may be mapped to the keyword map for each time zone with respect to the same location.
  • the controller 180 may set priorities among keyword groups for each utterance time zone. For example, the controller 180 may set the first keyword group to have a higher priority than the second keyword group in the first time zone, and the second keyword group to have a higher priority than the first keyword group in the second time zone. Can be set higher.
  • the present invention can predict the user's behavior in advance by analyzing the user's speech and extracting the keyword from the keyword to generate a keyword map.
  • FIG. 7 is a flowchart illustrating a method of predicting a user's behavior by using a keyword map and providing a function associated with the mobile robot according to the present invention.
  • 8 to 10b are conceptual views illustrating embodiments of providing a function related to a user's behavior in the present invention and a mobile robot.
  • the mobile robot according to the present invention may predict a user's behavior in advance based on the keyword map described above. And, the mobile robot can provide functions related to the user's behavior predicted in advance without the user's request.
  • the controller 180 may detect at least one of a current time and a current location of a user (S710). Thereafter, the controller 180 may detect a keyword from the keyword map based on at least one of the current location and the current time of the user (S720).
  • the controller 180 may determine whether there is a keyword group corresponding to the current location of the user on the keyword map. If there is one keyword group, the controller 180 can detect a keyword of the keyword group.
  • the controller 180 may detect one keyword group having a higher priority based on the priority of the keyword groups.
  • the controller 180 may detect different keyword groups for each time at the same location. More specifically, the controller 180 may detect the keyword of the first keyword group having the highest priority in the first time zone even if the same position is present, and detect the keyword of the second keyword group having the highest priority in the second time zone. have. For example, the controller 180 may detect “what are you eating” as a keyword at 5 pm in the living room position and “drama” as the keyword at 10 pm.
  • the controller 180 may output information related to the detected keyword (S730).
  • the information related to the keyword may be action information of the user related to the keyword. That is, the controller 180 may predict the user's behavior based on the detected keyword.
  • the controller 180 may predict the repetitive behavior of the user in advance, and provide the user with information related thereto before the user performs the repetitive behavior.
  • the controller 180 may predict an action that the user will prepare food when the keyword “what to eat?” Is detected at 5 pm. As another example, the controller 180 may predict an action that the user will change the channel to a drama channel when the keyword “drama” is detected at 10 pm.
  • the controller 180 may output information related to the keyword before the user's speech is made. That is, the controller 180 may provide information required by the user in advance before the user applies a separate input to the mobile robot.
  • the information related to the keyword may be recommended operation information related to the predicted behavior of the user.
  • the controller 180 based on the keyword map 700 has the highest priority at 5 pm among the keyword groups corresponding to the user's location. Can be detected as a keyword.
  • the controller 180 may predict that the user will prepare food, and may output a voice of “How about dinner“ Bulgogi ”?”.
  • controller 180 may output different information related to different keywords when detecting different keywords at different time zones at the same location.
  • keyword priorities of the keyword map may vary for each time zone with respect to the same location 900. That is, at 5 pm, the priority of the keyword "what to eat?" May be the highest, and at 10 pm, the keyword "drama" may be the highest.
  • the controller 180 may output different information related to different keywords for each time zone.
  • the controller 180 outputs information, "How is Kimchi stew today?" As shown in FIG. 9B (a) at 5 pm, and as shown in FIG. 9b (b) at 10 pm. , “Will you watch the drama? Do you want to turn the channel? ”
  • the controller 180 may output different information according to different positions with respect to the same keyword. That is, the controller 180 may predict different behaviors even if the same keyword is detected according to the location of the user.
  • a keyword “weather” may be mapped to the first location 1000 and the second location 1010 on the keyword map, respectively.
  • the controller 180 predicts “going out” by the user's action with respect to the keyword “weather” at the first location 1000, and with respect to the keyword “weather” at the second location 1010. By the user's behavior, one can predict to “choose clothes”.
  • the controller 180 when the user is located in the first position 1000, the controller 180 outputs information, “Get the umbrella because it rains!” As shown in FIG. 10B, and the user outputs the information to the second position 1010. If it is located, it can output information such as "Rainy windshield is good!”
  • 11 is a flowchart illustrating a method of providing information related to a keyword of interest in a mobile robot according to the present invention.
  • 12 to 13C are conceptual views illustrating the control method of FIG. 11.
  • 14A and 14C are conceptual views illustrating a method of editing a keyword of interest in a mobile robot according to the present invention.
  • the mobile robot according to the present invention can detect a specific keyword from the voice information spoken by the user. Also, the mobile robot may estimate an object of interest of the user based on the specific keyword.
  • the controller 180 of the mobile robot may receive a voice spoken by a user through the voice input unit (S1110).
  • the controller 180 may analyze voice information corresponding to the voice.
  • the controller 180 can extract a keyword of interest from voice information corresponding to the voice (S1120).
  • the keyword of interest may be a keyword repeatedly spoken more than a specific number of times in voice information corresponding to the voice spoken by the user.
  • the controller 180 may extract the “mobile phone” as a keyword of interest.
  • the keyword of interest may be a keyword related to a specific behavior of the user. For example, when the user utters the voice of “should be showered” three or more times, the controller 180 may extract “towels” related to the shower behavior of the user as a keyword of interest.
  • the controller 180 can add the interest keyword to the interest list.
  • the watchlist is information stored in memory that contains keywords that the mobile robot continuously tracks.
  • the interest list may be added with or removed from the keyword based on the voice spoken by the user. That is, the watchlist may be updated based on the new voice information.
  • the controller 180 may automatically add the interested keyword to the interest list, but may add the interested keyword based on a user request. For example, when “cell phone” is detected as the keyword of interest, the controller 180 can output information “do you want to add the cell phone to the interest list?” So that the user can select whether to add the cellular phone. As another example, the controller 180 may add “cell phone” as the keyword of interest based on a control command for adding “cell phone” as the keyword of interest from the user.
  • the controller 180 can track information related to the keyword of interest (S1130).
  • the controller 180 can track information related to the keyword of interest.
  • the information related to the keyword of interest may be inventory information of the thing corresponding to the keyword of interest, location information of the thing corresponding to the keyword of interest, event information related to the keyword of interest, and the like.
  • the event related to the keyword of interest may be an event in which a user's action related to the keyword of interest is detected, an event in which a user voice related to the keyword of interest is input, a frequency and occurrence time of occurrence of a user event related to the keyword of interest .
  • the keyword of interest is “towel”
  • it may be an event in which a user enters a toilet where “towel” exists.
  • the controller 180 may track information related to the interest keyword in real time or periodically. For example, when the keyword of interest is “towels,” the controller 180 may track the inventory quantity of “towels” at a specific time period. As another example, when the keyword of interest is “cell phones”, the controller 180 may periodically You can track the location of the "cell phone”.
  • the controller 180 may update information related to the keyword of interest in real time or periodically through tracking, and store the information in the memory 170.
  • the controller 180 can detect the occurrence of an event related to the keyword of interest (S1140).
  • the controller 180 may detect the occurrence of an event related to the keyword of interest while the keyword of interest is being tracked. For example, when the keyword of interest is “towel”, the controller 180 may detect that an event for the user to enter the bathroom occurs.
  • the sensing of the user's behavior may be sensed through various methods such as a camera and an object detection sensor included in the mobile robot.
  • the controller 180 may output information related to the keyword of interest (S1150).
  • the controller 180 may output information related to the keyword of interest stored in the memory 170. For example, as illustrated in FIG. 13A, the controller 180 may detect that an event in which a user attempts to enter a bathroom occurs. In this case, the controller 180 may determine the stock quantity of the "towel" which is the keyword of interest related to the event.
  • the controller 180 If there is no stock quantity of towels, the controller 180, as shown in Figure 13a, "There are no towels in the bathroom now. Get your towels before you go in the shower. ” Through this, the user can know the crazy things through the mobile robot. If there is a stock quantity of towels, the controller 180 may not output separate notification information.
  • the controller 180 may detect that an event in which the user searches for a specific clothes in the closet occurs.
  • the controller 180 may extract information related to the specific clothes when the specific clothes are set as the keyword of interest.
  • the control unit 180 may output information, “How long ago I took to the laundry” as shown in FIG. 13B. In other words, the mobile robot can remind the user of actions that the user did not remember.
  • the controller 180 may generate and track information related to the keyword of interest or may receive information related to the keyword of interest through a user or communication. For example, the controller 180 may search for information related to a keyword of interest in an external server.
  • the controller 180 may detect that the user has uttered a voice of “when gave the fish rice”.
  • the controller 180 can search for information related to fish rice.
  • the controller 180 “It was 'two days ago' to give fish. The proper feeding cycle for 10 goofy is once a day. ” That is, the controller 180 may track information related to the keyword of interest, not only provide event information related to the keyword of interest, but also provide general information related to the keyword of interest rather than tracking information.
  • the controller 180 may output a warning notification when the number of occurrences of the event related to the keyword of interest is different from the number of occurrences of the event related to the tracked keyword of interest. Therefore, the user may be warned not to generate related events.
  • controller 180 may update information related to the keyword of interest in real time or periodically. In addition, the controller 180 may update the information related to the keyword of interest based on the user request. Update refers to an operation of replacing or adding existing stored information with newly inputted new information.
  • the controller 180 may analyze the voice.
  • the controller 180 uses the stock quantity of the towels stored in the memory 170.
  • the update can be made based on the contents of the utterance. That is, as shown in FIG. 14A, the controller 180 may update the stock quantity of towels from zero to one.
  • the controller 180 may receive information related to a keyword of interest directly from a user.
  • the controller 180 may update the information related to the quantity of interest stored in the existing memory 170 based on the information input from the user. That is, as shown in FIG. 14B, when the voice of “I put it in the living room bathroom” is received from the user, the controller 180 detects the number of towels to be brought by the user, and the existing towels are as many as the number of the towels detected. Can be added to your inventory quantity.
  • the controller 180 may delete or add an interest keyword from the interest list based on a user request.
  • the controller 180 may analyze the received voice. Thereafter, when determining that the object pointed to by the user is a “dog”, the controller 180 may delete the “dog” from the interest list. In this case, the controller 180 may stop tracking information related to the keyword of interest.
  • the keyword of interest may be observed and information related to the keyword of interest may be provided before the user recognizes it. Therefore, the user can more easily grasp the stock quantity or the location of the object of interest.
  • 15 is a conceptual diagram illustrating a limited database for analyzing voice information in a mobile robot according to the present invention.
  • the mobile robot according to the present invention may generate keyword information by mapping keywords to prestored map information.
  • the mobile robot may communicate with the user through the voice input unit 122 and the voice output unit 152.
  • the controller 180 of the mobile robot may analyze the natural language of the user based on the database.
  • the controller 180 may determine a database for analyzing the natural language based on the location of the user's speech.
  • the database may be separated for each of a plurality of positions.
  • the database represented by the plurality of locations may include keywords frequently used at each location. That is, the controller 180 may perform natural language analysis based on a database including keywords frequently spoken at each location.
  • the present invention can shorten the data processing time of the natural language and improve the data processing efficiency of the natural language.
  • the present invention can improve the accuracy of natural language processing.
  • the mobile robot according to the present invention as described above, it is possible to extract a keyword from the voice information corresponding to the voice spoken by the user, and to generate a keyword map by mapping the keyword to the spoken location where the keyword is spoken.
  • the present invention may predict the user's behavior in advance based on the keyword map, thereby providing a function related to the keyword. Therefore, the user can acquire the necessary information at an appropriate time without inputting a separate control command to the mobile robot.
  • the mobile robot according to the present invention it is possible to track the information related to the keyword of interest, and provide it at an appropriate time. Therefore, the user can check the state of frequently used or interested objects or objects naturally.
  • the present invention described above can be embodied as computer readable codes on a medium in which a program is recorded.
  • the computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes implementations in the form of carrier waves (eg, transmission over the Internet).
  • the computer may include the controller 180 of the terminal. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot mobile capable de communiquer avec un utilisateur et un procédé de commande associé. Le robot mobile comprend : une unité d'entrée vocale destinée à recevoir des informations vocales comprenant un mot-clé spécifique énoncé par un utilisateur ; et une unité de commande destinée à générer une carte de mots-clés par mise en correspondance du mot-clé spécifique avec un emplacement d'énoncé auquel l'utilisateur énonce le mot-clé spécifique. L'unité de commande détecte le mot-clé spécifique correspondant à une position actuelle de l'utilisateur à partir de la carte de mots-clés de manière à prédire un comportement de l'utilisateur et délivre des informations relatives au mot-clé spécifique détecté avant l'entrée des informations vocales de l'utilisateur.
PCT/KR2016/007552 2016-07-12 2016-07-12 Robot mobile et son procédé de commande Ceased WO2018012645A1 (fr)

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PCT/KR2016/007552 WO2018012645A1 (fr) 2016-07-12 2016-07-12 Robot mobile et son procédé de commande

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