Autonomously acting robot that recognizes direction of sound source
A robot detects a voice using a microphone array, and identifies a sound source direction. The robot directs a head portion in the sound source direction. When an object including characteristics as a voice emitting body is detected in a filming region of a sound source direction identified using the microphone array, the voice emitting body is identified as a voice emission source. When a voice emitting body is identified as a voice emission source, the robot directs a body toward a sound source (emission source). When a special environmental sound is detected, a predetermined motion is executed.
1. A robot, comprising:
a microphone configured to receive at least one audio signal;
a non-transitory computer readable medium configured to store instructions thereon; and
a processor connected to the non-transitory computer readable medium, wherein the processor is configured to execute the instructions for:
receiving information for each object of a plurality of objects;
recognizing an object of the plurality of objects associated with each audio signal of the received at least one audio signal;
updating information associated with the recognized object based on the received at least one audio signal;
determining a priority of the recognized object among the plurality of objects, in response to the at least one audio signal comprising a plurality of audio signals, based on the updated information;
selecting a response for execution by the robot based on the determined priority and the at least one audio signal;
determining a direction of the received at least one audio signal;
controlling an image displayed in the robot; and
selecting the response of causing the image to move in the determined direction.
2. The robot according to claim 1 , wherein the information comprises a characteristic of the recognized object.
3. The robot according to claim 1 , wherein the information comprises an attribute of the recognized object.
4. The robot according to claim 1 , wherein the information comprises a familiarity of the recognized object.
5. The robot according to claim 4 , wherein the processor is configured to execute the instructions for selecting the response in response to the received at least one audio signal of the recognized object having a highest priority among the plurality of objects.
6. The robot according to claim 1 , wherein the processor is configured to execute the instructions for selecting the response for searching for the recognized object having a higher priority before searching for the recognized object having a lower priority.
7. The robot according to claim 6 , wherein the processor is configured to execute the instructions for determining a direction of the received at least one audio signal, and searching for the recognized object based on the determined direction.
8. The robot according to claim 1 , wherein the processor is configured to execute the instructions for selecting the response toward the recognized object based on the determined direction.
9. The robot according to claim 1 , wherein the processor is configured to execute the instructions for selecting the response by directing a portion of the robot toward the recognized object based on the determined direction.
10. The robot according to claim 1 , wherein the image comprises a pupil image displayed in an eye of the robot.
11. The robot according to claim 1 , wherein the processor is configured to execute the instructions selecting the response of moving in the determined direction.
12. The robot according to claim 1 , wherein the processor is configured to execute the instructions for determining impression information based on a detected event occurring within a predetermined time period after receiving the at least one audio signal.
13. The robot according to claim 12 , wherein the processor is configured to execute the instructions for selecting the response based on the determined impression information.
14. The robot according to claim 1 , wherein the processor is configured to execute the instructions for selecting the response by outputting a sound based on the recognized object.
15. A robot, comprising:
a microphone configured to receive audio signals;
a non-transitory computer readable medium configured to store instructions thereon; and
a processor connected to the non-transitory computer readable medium, wherein the processor is configured to execute the instructions for:
identifying a first object associated with a first audio signal of the received audio signal;
identifying a second object associated with a second audio signal of the received audio signal;
determining whether the first object has a higher priority than the second object;
selecting a first response for execution by the robot in response to the first object having a higher priority than the second object;
selecting a second response for execution by the robot in response to the second object having a higher priority than the first object;
determining a direction of the received first audio signal;
controlling an image displayed in the robot; and
selecting the first response of causing the image to move in the determined direction; and
transmitting instructions for executing only one of the first response or the second response.
16. The robot according to claim 15 , wherein the image comprises a pupil image displayed in an eye of the robot.
17. The robot according to claim 15 , wherein the processor is configured to execute the instructions selecting the response of moving in the determined direction.
18. A robot, comprising:
a microphone configured to receive at least one audio signal;
a non-transitory computer readable medium configured to store instructions thereon; and
a processor connected to the non-transitory computer readable medium, wherein the processor is configured to execute the instructions for:
recognizing an object of a plurality of objects associated with each audio signal of the received at least one audio signal;
updating information associated with the recognized object based on the received at least one audio signal;
determining a priority of the recognized object among the plurality of objects, in response to the at least one audio signal comprising a plurality of audio signals, based on the updated information;
selecting a response for execution by the robot based on the determined priority and the at least one audio signal;
determining a direction of the received at least one audio signal; and
selecting the response of causing an image displayed in the robot to move in the determined direction.
19. The robot according to claim 18 , wherein the image comprises a pupil image displayed in an eye of the robot.
20. The robot according to claim 18 , wherein the processor is configured to execute the instructions selecting the response of moving in the determined direction.