US 12,440,996 B2
Communication robot, communication robot control method, and program
Randy Gomez, Wako (JP); Yu Fang, Wako (JP); and Keisuke Nakamura, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Appl. No. 18/294,568
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
PCT Filed Jul. 29, 2022, PCT No. PCT/JP2022/029225
§ 371(c)(1), (2) Date Feb. 2, 2024,
PCT Pub. No. WO2023/017745, PCT Pub. Date Feb. 16, 2023.
Claims priority of application No. 2021-130726 (JP), filed on Aug. 10, 2021.
Prior Publication US 2024/0335952 A1, Oct. 10, 2024
Int. Cl. B25J 11/00 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G06T 7/20 (2017.01); G06V 40/16 (2022.01); G10L 15/22 (2006.01); G10L 21/10 (2013.01)
CPC B25J 11/0015 (2013.01) [B25J 9/1664 (2013.01); G06T 7/20 (2013.01); G06V 40/161 (2022.01); G10L 15/22 (2013.01); G10L 21/10 (2013.01); B25J 19/021 (2013.01); B25J 19/026 (2013.01); G06T 2207/30201 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A communication robot comprising:
an auditory information processing portion configured to recognize a volume of voice collected by a sound collection portion and generate an auditory attention map by projecting a sound position in a three-dimensional space onto a two-dimensional attention map in which the robot is located at a center;
a visual information processing portion configured to generate a visual attention map using a face detection result obtained by detecting a face of a person from an image captured by an imaging portion and a motion detection result obtained by detecting a motion of the person;
an attention map generation portion configured to generate an attention map by integrating the auditory attention map and the visual attention map; and
a motion processing portion configured to control eyeball movements and motions of the communication robot using the attention map.
 
6. A communication robot control method comprising:
recognizing, by an auditory information processing portion, a volume of voice collected by a sound collection portion and generating an auditory attention map by projecting a sound position in a three-dimensional space onto a two-dimensional attention map in which a robot is located at a center;
generating, by a visual information processing portion, a visual attention map using a face detection result obtained by detecting a face of a person from an image captured by an imaging portion and a motion detection result obtained by detecting a motion of the person;
generating, by an attention map generation portion, an attention map by integrating the auditory attention map and the visual attention map; and
controlling, by a motion processing portion, eyeball movements and motions of a communication robot using the attention map.
 
7. A non-transitory computer-readable storage medium storing a program for causing a computer to:
recognize a volume of voice collected by a sound collection portion and generate an auditory attention map by projecting a sound position in a three-dimensional space onto a two-dimensional attention map in which a robot is located at a center;
generate a visual attention map using a face detection result obtained by detecting a face of a person from an image captured by an imaging portion and a motion detection result obtained by detecting a motion of the person;
generate an attention map by integrating the auditory attention map and the visual attention map; and
control eyeball movements and motions of a communication robot using the attention map.