Communication system and method for controlling communication system
A communication system according to the present disclosure includes a camera configured to be able to photograph a user who is a communication partner and a microphone configured to be able to form a beam-forming in a specific direction. The control unit identifies a position of the mouth of a user using an image of the user taken by the camera and controls a position of a head part so that the identified position of the mouth of the user is included in a region of the beam-forming.
1. A communication system, comprising:
a main body part;
a head part attached to the main body part so that the head part can be displaced with respect to the main body part;
an eye part provided in the head part;
a control unit configured to be able to control a position of the head part with respect to the main body part and to be able to control a direction of a line of sight of the eye part;
a camera provided in the head part and configured to be able to photograph a user who is a communication partner; and
a microphone provided in the head part and configured to be able to form a beam-forming in a specific direction, wherein
the control unit controls the direction of the line of sight of the eye part so as to face in a direction of a face of the user in advance, and identifies a position of a mouth of the user using an image of the user taken by the camera and controls the position of the head part so that the identified position of the mouth of the user is included in a region of the beam-forming; and
when the head part is moved and the direction of the line of sight deviates from the face of the user, the control unit adjusts the direction of the line of sight to face in the direction of the face of the user by using an amount of movement of the head part when the control unit controlled the position of the head part.
2. The communication system according to claim 1 , wherein the control unit:
calculates coordinates of the position of the mouth of the user using the image of the user taken by the camera; and
calculates the amount of movement of the head part using the calculated coordinates of the position of the mouth and a relative positional relation between the microphone and the camera.
3. A method for controlling a communication system, the communication system comprising:
a main body part;
a head part attached to the main body part so that the head part can be displaced with respect to the main body part;
an eye part provided in the head part;
a camera provided in the head part; and
a microphone provided in the head part and configured to be able to form a beam-forming in a specific direction, the method comprising:
photographing a user who is a communication partner by using the camera;
controlling a direction of a line of sight of the eye part so as to face in a direction of a face of the user in advance;
identifying a position of a mouth of the user using the photographed image of the user;
controlling a position of the head part so that the identified position of the mouth of the user is included in a region of the beam-forming; and
when the head part is moved and the direction of the line of sight deviates from the face of the user, adjusting the direction of the line of sight to face in the direction of the face of the user by using an amount of movement of the head part when the position of the head part is controlled.
4. The communication system according to claim 1 , further comprising arm parts attached to the main body part, and
the control unit is further configured to move the arm parts while controlling the position of the head part so as to indicate that the communication system is listening to the user.
5. The method for controlling the communication system according to claim 3 , further comprising moving arm parts attached to the main body part while controlling the position of the head part so as to indicate that the communication system is listening to the user.