Information processing device and information processing method

Abstract

To achieve feedback on implementation of recognition processing by a natural movement.SOLUTION: An information processing device is provided that comprises a movement control unit that performs movement control of a movement body on the basis of recognition processing, in which the movement control unit: implements a first response on the basis of what an input start of recognition object information is detected; implements a second response on the basis of what an input completion of the recognition object information is detected; determines a movement classification dynamically on the first response and second response on the basis of a situation to be estimated from sensor information; and when the movement body prefers other desire or surrounding environment information, does not implement the first response and second response.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] In recent years, various devices that perform actions based on recognition processing have been developed. These devices include moving bodies such as robots that perform autonomous actions based on recognized situations. For example, Patent Document 1 discloses a legged mobile robot that performs autonomous actions and expresses emotions according to the situation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-71763 Summary of the Invention [Problem to be solved by the invention]

[0004] In a device that performs an action based on a recognition process, it is important to inform the user that the recognition process is being performed. However, when providing feedback using a lamp, as in the legged mobile robot described in Patent Document 1, it is possible that the feedback may be unnatural and contradict the intent of the moving object.

[0005] Therefore, the present disclosure proposes a new and improved information processing device and information processing method that can provide feedback related to the execution of recognition processing through more natural actions. [Means for solving the problem]

[0006] According to the present disclosure, a motion control unit that controls the motion of a moving object based on recognition processing is provided, The moving body has a body, a head part connected to the body and having a display for displaying eyeball movements provided thereon, and a tail part connected to the body on the opposite side to the head,The action control unit silently executes a first response based on detection of start of input of recognition target information, executes a second response based on detection of completion of input of the recognition target information, dynamically determines action types related to the first response and the second response based on a situation estimated from sensor information, and executes the first response and the second response when the moving body prioritizes other desires or surrounding environmental information. and executing the first response by one of the eye movement and the tail movement according to the user position estimated from the sensor information. An information processing device is provided.

[0007] According to the present disclosure, the computer includes a motion control unit that controls the motion of the moving object based on the recognition processing, The moving body has a body, a head part connected to the body and having a display for displaying eyeball movements provided thereon, and a tail part connected to the body on the opposite side to the head, The action control unit silently executes a first response based on detection of start of input of recognition target information, executes a second response based on detection of completion of input of the recognition target information, dynamically determines action types related to the first response and the second response based on a situation estimated from sensor information, and executes the first response and the second response when the moving body prioritizes other desires or surrounding environmental information. and executing the first response by one of the eye movement and the tail movement according to the user position estimated from the sensor information. A method for processing information is provided. [Effects of the Invention]

[0008] As described above, according to the present disclosure, feedback related to the execution of recognition processing can be realized with more natural actions.

[0009] The above effects are not necessarily limiting, and any of the effects described in this specification or other effects that can be understood from this specification may be achieved in addition to or instead of the above effects. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of a hardware configuration of an autonomous moving body according to an embodiment of the present disclosure. [Figure 2] 1 illustrates a configuration example of an actuator included in an autonomous moving body according to an embodiment of the present disclosure. [Figure 3]10A and 10B are diagrams for explaining the operation of an actuator included in an autonomous moving body according to an embodiment of the [Figure 4] 10A and 10B are diagrams for explaining the operation of an actuator included in an autonomous moving body according to an embodiment of the [Figure 5] FIG. 2 is a diagram for explaining functions of a display provided in an autonomous moving body according to an embodiment of the present disclosure. [Figure 6] FIG. 10 is a diagram illustrating an example of the operation of an autonomous moving body according to an embodiment of the present disclosure. [Figure 7] 1 is a functional block diagram showing an example of the functional configuration of an autonomous moving body 10 according to a first embodiment of the present disclosure. [Figure 8] FIG. 10 is a diagram illustrating an example of operation control using a comparison method according to the embodiment. [Figure 9] FIG. 10 is a diagram illustrating an overview of operation control according to the embodiment. [Figure 10] FIG. 10 is a diagram for explaining the difference between the information processing method according to the embodiment and a comparative method. [Figure 11] FIG. 10 is a diagram showing an example of a first response according to the embodiment. [Figure 12] FIG. 10 is a diagram showing an example of a second response according to the embodiment. [Figure 13] FIG. 10 is a diagram showing an example of a third response according to the embodiment. [Figure 14] 10A and 10B are diagrams illustrating dynamic control of an action type based on a situation according to the embodiment. [Figure 15] 10A and 10B are diagrams illustrating operation control based on recognition of an utterance target according to the embodiment. [Figure 16] 10A and 10B are diagrams for explaining transition control to a response operation according to the embodiment. [Figure 17] 10A and 10B are diagrams illustrating control of a moving object in a virtual space according to the embodiment. [Figure 18] 10 is a flowchart showing a flow of operation control according to the embodiment. [Figure 19]FIG. 2 is a diagram illustrating an example of a hardware configuration of an operation control device according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0012] The explanation will be given in the following order. 1. Overview of Autonomous Mobile Body 10 2. Hardware configuration example of autonomous mobile unit 10 3. First embodiment Overview 3.2. Functional configuration example 3.3.Specific examples of motion control Flow of Control 4. Example of hardware configuration of motion control device 5. Summary

[0013] <1. Overview of the Autonomous Mobile Body 10> First, an overview of an autonomous mobile body 10 according to an embodiment of the present disclosure will be described. The autonomous mobile body 10 according to an embodiment of the present disclosure is an information processing device that performs situation estimation based on collected sensor information and autonomously selects and executes various actions according to the situation. Unlike a robot that simply performs actions according to user instructions and commands, one of the features of the autonomous mobile body 10 is that it autonomously executes actions that it estimates to be optimal for each situation.

[0014] For this reason, the autonomous moving body 10 according to an embodiment of the present disclosure may, depending on the situation, deliberately not perform an action corresponding to a user instruction or may perform a different behavior from the action. The above-mentioned situations include, for example, a case where performing an action corresponding to a user instruction would compromise the safety of the user, the autonomous moving body 10, or the surrounding environment, or a case where the autonomous moving body 10 prioritizes other desires (instincts), such as charging.

[0015] Furthermore, the autonomous moving body 10 may also attempt to arouse the interest of the user or convey its own emotions or the state of its hardware to the user by deliberately refusing to follow the user's instructions.

[0016] On the other hand, the autonomous mobile body 10 has a strong desire (instinct) to be loved by the user. For this reason, the autonomous mobile body 10 repeatedly executes actions corresponding to instructions from the user to please the user, learns actions that the user likes, and spontaneously executes those actions even without instructions.

[0017] In this way, the autonomous moving body 10 according to an embodiment of the present disclosure, like animals including humans, determines and executes autonomous actions by comprehensively assessing desires, emotions, the surrounding environment, etc. In this respect, the autonomous moving body 10 is clearly different from passive devices that execute corresponding actions or processes based on instructions.

[0018] The autonomous mobile body 10 according to an embodiment of the present disclosure may be an autonomous mobile robot that autonomously moves within a space and performs various operations. The autonomous mobile body 10 may be, for example, an autonomous mobile robot that has a shape or movement capability that resembles a human or an animal such as a dog. The autonomous mobile body 10 may also be, for example, a vehicle or other device that has the ability to communicate with a user. The shape, capabilities, and level of desires of the autonomous mobile body 10 according to an embodiment of the present disclosure may be designed appropriately depending on the purpose and role.

[0019] 2. Example of Hardware Configuration of Autonomous Mobile Body 10 Next, a hardware configuration example of the autonomous moving body 10 according to an embodiment of the present disclosure will be described. Note that the following description will be given taking as an example a case where the autonomous moving body 10 is a dog-type quadruped walking robot.

[0020] 1 is a diagram illustrating an example of the hardware configuration of an autonomous moving body 10 according to an embodiment of the present disclosure. As shown in Fig. 1, the autonomous moving body 10 is a dog-like quadruped walking robot having a head, a body, four legs, and a tail. The autonomous moving body 10 also has two displays 510 on its head.

[0021] The autonomous moving body 10 also includes various sensors, such as a microphone 515, a camera 520, a ToF (Time of Flight) sensor 525, a human presence sensor 530, a distance measurement sensor 535, a touch sensor 540, an illuminance sensor 545, a sole button 550, and an inertial sensor 555.

[0022] (Microphone 515) The microphone 515 has a function of collecting surrounding sounds. The sounds include, for example, the user's speech and surrounding environmental sounds. The autonomous moving body 10 may be provided with, for example, four microphones on its head. By providing multiple microphones 515, it becomes possible to collect surrounding sounds with high sensitivity and to localize the sound source.

[0023] (Camera 520) The camera 520 has a function of capturing images of the user and the surrounding environment. The autonomous moving body 10 may be equipped with two wide-angle cameras, for example, at the nose and the waist. In this case, the wide-angle camera located at the nose captures an image corresponding to the forward field of view of the autonomous moving body (i.e., the field of view of a dog), and the wide-angle camera located at the waist captures an image of the surrounding area centered above. The autonomous moving body 10 can extract feature points of the ceiling, for example, based on the image captured by the wide-angle camera located at the waist, thereby achieving SLAM (Simultaneous Localization and Mapping).

[0024] (ToF sensor 525) The ToF sensor 525 has a function of detecting the distance to an object present in front of the head. The ToF sensor 525 is provided at the tip of the nose of the head. The ToF sensor 525 can detect the distance to various objects with high accuracy, and can realize operations according to the relative position of objects including the user, obstacles, etc.

[0025] (Human Sensor 530) The human presence sensor 530 has a function of detecting the location of the user, a pet kept by the user, etc. The human presence sensor 530 is placed, for example, on the chest. By detecting an animal present in front, the human presence sensor 530 can realize various actions toward the animal, such as actions according to emotions such as interest, fear, surprise, etc.

[0026] (Range sensor 535) The distance measurement sensor 535 has a function of acquiring the status of the floor surface in front of the autonomous mobile body 10. The distance measurement sensor 535 is placed, for example, on the chest. The distance measurement sensor 535 can accurately detect the distance to an object present on the floor surface in front of the autonomous mobile body 10, and can realize operation according to the relative position of the object.

[0027] (Touch sensor 540) The touch sensor 540 has a function of detecting contact by the user. The touch sensor 540 is arranged in a part where the user is likely to touch the autonomous moving body 10, such as the top of the head, under the chin, or on the back. The touch sensor 540 may be, for example, a capacitance-type or pressure-sensitive touch sensor. The touch sensor 540 can detect contact actions by the user, such as touching, stroking, hitting, or pushing, and can perform an action according to the contact action.

[0028] (Illuminance sensor 545) The illuminance sensor 545 detects the illuminance of the space in which the autonomous moving body 10 is located. The illuminance sensor 545 may be disposed, for example, at the base of the tail on the back of the head. The illuminance sensor 545 makes it possible to detect the ambient brightness and perform an operation according to the brightness.

[0029] (Foot button 550) The sole buttons 550 have the function of detecting whether the bottom surfaces of the legs of the autonomous moving body 10 are in contact with the floor. For this purpose, the sole buttons 550 are arranged on the parts of each of the four legs that correspond to the pads of the legs. The sole buttons 550 can detect whether the autonomous moving body 10 is in contact with the floor surface, and can therefore determine, for example, whether the autonomous moving body 10 has been picked up by the user.

[0030] (Inertial Sensor 555) The inertial sensor 555 is a six-axis sensor that detects physical quantities such as the speed, acceleration, and rotation of the head and torso. That is, the inertial sensor 555 detects acceleration and angular velocity along the X-axis, Y-axis, and Z-axis. The inertial sensors 555 are respectively disposed in the head and torso. The inertial sensors 555 can accurately detect the movement of the head and torso of the autonomous mobile body 10, enabling operation control according to the situation.

[0031] An example of sensors included in the autonomous moving body 10 according to an embodiment of the present disclosure has been described above. Note that the above configuration described using FIG. 1 is merely an example, and the configuration of sensors that may be included in the autonomous moving body 10 is not limited to this example. In addition to the above configuration, the autonomous moving body 10 may further include, for example, a temperature sensor, a geomagnetic sensor, and various communication devices including a GNSS (Global Navigation Satellite System) signal receiver. The configuration of sensors included in the autonomous moving body 10 can be flexibly modified depending on specifications and operation.

[0032] Next, a configuration example of a joint of the autonomous moving body 10 according to an embodiment of the present disclosure will be described. Fig. 2 shows a configuration example of an actuator 570 provided in the autonomous moving body 10 according to an embodiment of the present disclosure. In addition to the rotation points shown in Fig. 2, the autonomous moving body 10 according to an embodiment of the present disclosure has two degrees of freedom of rotation each in the ears and tail, and one in the mouth, for a total of 22 degrees of freedom of rotation.

[0033] For example, the autonomous moving body 10 has three degrees of freedom in its head, allowing it to nod and tilt its head. In addition, the autonomous moving body 10 can reproduce the swinging motion of its waist using the actuator 570 provided in its waist, allowing it to achieve natural and flexible movements that are closer to those of a real dog.

[0034] The autonomous moving body 10 according to an embodiment of the present disclosure may achieve the above 22 degrees of rotational freedom by, for example, combining a single-axis actuator and a two-axis actuator. For example, single-axis actuators may be used in the elbows and knees of the legs, and two-axis actuators may be used in the shoulders and thighs.

[0035] 3 and 4 are diagrams for explaining the operation of the actuator 570 included in the autonomous moving body 10 according to an embodiment of the present disclosure. Referring to Fig. 3, the actuator 570 can drive the movable arm 590 at any rotational position and rotational speed by rotating the output gear using the motor 575.

[0036] Referring to FIG. 4, an actuator 570 according to one embodiment of the present disclosure includes a rear cover 571, a gearbox cover 572, a control board 573, a gearbox base 574, a motor 575, a first gear 576, a second gear 577, an output gear 578, a detection magnet 579, and two bearings 580.

[0037] The actuator 570 according to an embodiment of the present disclosure may be, for example, a magnetic spin-valve giant magnetoresistive (svGMR). A control board 573 rotates a motor 575 under the control of a main processor, whereby power is transmitted to an output gear 578 via a first gear 576 and a second gear 577, thereby driving a movable arm 590.

[0038] In addition, a position sensor provided on the control board 573 detects the rotation angle of the detection magnet 579, which rotates in synchronization with the output gear 578, thereby enabling the rotation angle of the movable arm 590, i.e., the rotation position, to be detected with high accuracy.

[0039] In addition, the magnetic svGMR is a non-contact type and therefore has excellent durability, and by using it in the GMR saturation region, it has the advantage of being less affected by signal fluctuations due to distance fluctuations in the detection magnet 579 and position sensor.

[0040] The above describes a configuration example of the actuator 570 included in the autonomous moving body 10 according to an embodiment of the present disclosure. With the above configuration, it is possible to control the bending and stretching motions of the joints included in the autonomous moving body 10 with high precision, and also to accurately detect the rotational positions of the joints.

[0041] Next, functions of the display 510 included in the autonomous moving body 10 according to an embodiment of the present disclosure will be described with reference to Fig. 5. Fig. 5 is a diagram for describing functions of the display 510 included in the autonomous moving body 10 according to an embodiment of the present disclosure.

[0042] (Display 510) The display 510 has a function of visually expressing the eye movements and emotions of the autonomous mobile body 10. As shown in Fig. 5, the display 510 can express the movements of the eyeballs, pupils, and eyelids according to emotions and actions. The display 510 intentionally does not display characters, symbols, or images unrelated to eye movement, thereby presenting natural movements that are closer to those of real animals such as dogs.

[0043] 5, the autonomous moving body 10 is also equipped with two displays 510r and 510l corresponding to the right and left eyes, respectively. The displays 510r and 510l are realized, for example, by two independent OLEDs (Organic Light Emitting Diodes). OLEDs make it possible to reproduce the curved surface of an eyeball, and can realize a more natural appearance compared to when a pair of eyeballs are represented by a single flat display or when two eyeballs are represented by two independent flat displays.

[0044] As described above, displays 510r and 510l make it possible to accurately and flexibly express the gaze and emotions of the autonomous moving body 10 as shown in Fig. 5. Furthermore, the user can intuitively grasp the state of the autonomous moving body 10 from the eye movement displayed on display 510.

[0045] The above describes an example of the hardware configuration of the autonomous moving body 10 according to an embodiment of the present disclosure. According to the above configuration, as shown in FIG. 6 , by precisely and flexibly controlling the movements of the joints and eyeballs of the autonomous moving body 10, it is possible to realize movements and emotional expressions that are closer to those of real living creatures. Note that FIG. 6 is a diagram illustrating an example of the movement of the autonomous moving body 10 according to an embodiment of the present disclosure. However, in FIG. 6 , the external structure of the autonomous moving body 10 is shown in a simplified form in order to focus the description on the movements of the joints and eyeballs of the autonomous moving body 10. The hardware configuration and exterior of the autonomous moving body 10 according to an embodiment of the present disclosure are not limited to the example shown in the drawings and can be designed as appropriate.

[0046] 3. First Embodiment <<3.1. Overview>> Next, a first embodiment of the present disclosure will be described. As described above, the autonomous moving body 10 (also referred to as a moving body) according to an embodiment of the present disclosure may be a dog-type information processing device. One of the features of the autonomous moving body 10 according to an embodiment of the present disclosure is that it does not have a means for outputting visual information other than emotional expression through eye movement, or a means for communicating language through voice. This feature makes it possible to realize more natural movements closer to those of an actual dog, and to reduce the sense of discomfort felt by the user due to the functions and exterior of the autonomous moving body 10.

[0047] However, in the case of a device such as the autonomous mobile body 10 that does not have an explicit means of transmitting information to a user, it may be difficult for the user to clearly understand the state of the device. For example, the autonomous mobile body 10 has a function of recognizing a user's speech and executing an action based on the result of the recognition. However, unlike a voice recognition function installed in a smartphone or the like, in the voice recognition by the autonomous mobile body 10, the user does not explicitly instruct the start of recognition by using a button or the like. For this reason, it is difficult for the user to determine whether the recognition process is being executed until an action based on the recognition result is displayed.

[0048] Furthermore, as described above, the autonomous moving body 10 according to an embodiment of the present disclosure may, depending on the situation, intentionally not perform an action corresponding to a user instruction or may perform a behavior different from the action. For this reason, if the recognition process is performed normally and the autonomous moving body 10 performs an action that is not in line with the user's intention, it is conceivable that the user may mistakenly believe that the recognition process has failed or that the recognition process itself has not been performed.

[0049] On the other hand, in order to eliminate the above-mentioned possibility, it is also possible to explicitly provide feedback regarding the execution of the recognition process, for example, by outputting a message such as "Recognition in progress" as audio or visual information, or by lighting up a lamp.

[0050] However, as described above, such explicit feedback may make the behavior of the autonomous moving body 10 unnatural, and may reduce the user's interest and enthusiasm for the autonomous moving body 10.

[0051] The technical concept of this embodiment was conceived with the above points in mind, and makes it possible to realize more natural feedback related to the execution of recognition processing. To this end, one of the features of the autonomous moving body 10 that realizes the information processing method of this embodiment is that it executes a response action that is implicit feedback related to the execution of recognition processing based on input of recognition target information.

[0052] The above-described features of the autonomous moving body 10 according to this embodiment and the effects achieved by these features will be described in detail below.

[0053] <<3.2. Functional Configuration Example>> First, an example of the functional configuration of the autonomous moving body 10 according to this embodiment will be described. Fig. 7 is a functional block diagram showing an example of the functional configuration of the autonomous moving body 10 according to this embodiment. Referring to Fig. 7, the autonomous moving body 10 according to this embodiment includes an input unit 110, a recognition unit 120, a learning unit 130, a behavior planning unit 140, a motion control unit 150, a drive unit 160, and an output unit 170. (input unit 110) The input unit 110 has a function of collecting various information related to the user and the surrounding environment. The input unit 110 collects, for example, the user's speech, environmental sounds generated in the surroundings, image information related to the user and the surrounding environment, and various sensor information. For this purpose, the input unit 110 is provided with various sensors shown in FIG. 1.

[0054] (Recognition unit 120) The recognition unit 120 has a function of performing various recognition operations related to the user, the surrounding environment, and the state of the autonomous mobile body 10, based on various pieces of information collected by the input unit 110. As an example, the recognition unit 120 may perform person identification, facial expression and gaze recognition, object recognition, color recognition, shape recognition, marker recognition, obstacle recognition, step recognition, brightness recognition, and the like.

[0055] The recognition unit 120 also performs voice recognition based on the user's speech, word understanding, emotion recognition, sound source localization, etc. The recognition unit 120 can also recognize contact by the user, the ambient temperature, the presence of a moving object, the posture of the autonomous moving body 10, etc.

[0056] Furthermore, the recognition unit 120 has a function of estimating and understanding the surrounding environment and situation in which the autonomous moving body 10 is placed, based on the above-mentioned recognized information. In this case, the recognition unit 120 may perform comprehensive situation estimation using environmental knowledge stored in advance.

[0057] (Learning Section 130) The learning unit 130 has a function of learning the environment (situation), behavior, and the effect of the behavior on the environment. The learning unit 130 realizes the above learning using a machine learning algorithm such as deep learning. Note that the learning algorithm employed by the learning unit 130 is not limited to the above example, and can be designed as appropriate.

[0058] (Action Planning Division 140) The behavior planning unit 140 has a function of planning behavior to be performed by the autonomous mobile body 10 based on the situation estimated by the recognition unit 120 and the knowledge learned by the learning unit 130. The behavior planning unit 140 according to this embodiment determines, for example, based on the user's utterance recognized by the recognition unit 120, whether to perform behavior in accordance with the user's utterance intention or behavior that deliberately does not follow the user's utterance intention.

[0059] (Operation control unit 150) The operation control unit 150 has a function of controlling the operations of the drive unit 160 and the output unit 170 based on the recognition processing by the recognition unit 120 and the action plan by the action planning unit 140. The operation control unit 150 performs, for example, rotation control of the actuator 570, display control of the display 510, and audio output control by the speaker based on the above-mentioned action plan.

[0060] Furthermore, one of the features of the operation control unit 150 according to this embodiment is that it controls the execution of a response operation, which is implicit feedback related to the execution of the recognition process, based on the input of recognition target information. The detailed functions of the operation control unit 150 according to this embodiment will be described in detail separately.

[0061] (Driver 160) The driving unit 160 has a function of bending and stretching a plurality of joints of the autonomous moving body 10 based on control by the operation control unit 150. More specifically, the driving unit 160 drives the actuators 570 provided in each joint based on control by the operation control unit 150.

[0062] (output unit 170) The output unit 170 has a function of outputting visual information and sound information based on the control of the operation control unit 150. For this purpose, the output unit 170 includes a display 510 and a speaker. As described above, one of the features of the output unit 170 according to this embodiment is that it does not output explicit linguistic communication information.

[0063] The functional configuration of the autonomous mobile body 10 according to this embodiment has been described above. Note that the configuration shown in Fig. 7 is merely an example, and the functional configuration of the autonomous mobile body 10 according to this embodiment is not limited to this example. The autonomous mobile body 10 according to this embodiment may include, for example, a communication unit that communicates with an information processing server or other autonomous mobile bodies.

[0064] Furthermore, the recognition unit 120, learning unit 130, behavior planning unit 140, and operation control unit 150 according to this embodiment may be realized as functions of the information processing server (motion control device). In this case, the operation control unit 150 can control the drive unit 160 and output unit 170 of the autonomous mobile body 10 based on a behavior plan determined based on sensor information collected by the input unit 110 of the autonomous mobile body 10. The functional configuration of the autonomous mobile body 10 according to this embodiment can be flexibly modified according to specifications and operations.

[0065] <<3.3. Specific examples of motion control>> Next, a specific example of operation control according to this embodiment will be described in detail. As described above, one of the features of the operation control unit 150 according to this embodiment is that it controls the execution of a response operation, which is implicit feedback related to the execution of the recognition process, based on the input of recognition target information. This feature allows the user to intuitively grasp the progress of the recognition process by the autonomous moving body 10.

[0066] Note that, below, the function of the operation control unit 150 will be described using an example in which the autonomous moving body 10 according to this embodiment performs voice recognition. However, the recognition process according to this embodiment is not limited to this example, and the technical concept according to this embodiment can be applied to various recognition processes and estimation processes. The operation control unit 150 according to this embodiment can control implicit feedback related to, for example, object recognition, speaker recognition or voiceprint recognition, marker recognition, emotion estimation, etc.

[0067] Here, first, operation control by a comparison method with the information processing method according to this embodiment will be described. As described above, even if the autonomous moving body 10 correctly recognizes the user's utterance, it may behave in a manner that is not in line with the user's intention. In such cases, it is difficult for the user to determine whether or not voice recognition has been performed, and the user may mistakenly perceive the behavior as a malfunction of the autonomous moving body.

[0068] To eliminate the above possibility, it is also envisioned that feedback indicating the completion of voice recognition may be provided separately from any action based on the recognition.

[0069] Fig. 8 is a diagram showing an example of motion control using the comparative method, in which state changes are shown in chronological order when a moving object 90 according to the comparative method executes a voice recognition process for a user's utterance.

[0070] In this embodiment, the speech recognition process is realized by signal processing, speech detection, pattern recognition, and speech understanding, and the speech understanding process is described by using dictionary matching of acquired patterns. However, the above is merely an example, and the information processing method according to this embodiment can be applied to various speech recognition techniques.

[0071] The left side of Figure 8 shows the state of the moving body 90 when the start of the user's speech is detected, the center of Figure 8 shows the state of the moving body 90 when the end of the user's speech is detected and matching begins, and the right side of Figure 8 shows the state of the moving body 90 when matching is completed.

[0072] As shown in the figure, in the comparison method, when matching is completed, the moving object 90 is made to move its ears, thereby providing feedback to the user that the voice recognition process has been completed. This control allows the user to know that the voice recognition process has been performed, even if the moving object 90 subsequently behaves in an unintended manner.

[0073] However, it is difficult for the user to know that the voice recognition process has started or is currently being executed until the user sees the movement of the ears when matching is completed.

[0074] Therefore, the operation control unit 150 according to this embodiment solves the above problem by causing the autonomous moving body 10 to execute a first response based on detection of the start of input of recognition target information, and causing the autonomous moving body 10 to execute a second response based on detection of the end of input of recognition target information. Note that the above recognition target information, in this example, refers to the user's utterance.

[0075] Fig. 9 is a diagram showing an overview of operation control according to this embodiment. Similar to Fig. 8, Fig. 9 shows the states of the autonomous moving body 10 in chronological order when the start of speech is detected, when the end of speech is detected, and when matching is completed.

[0076] First, the operation control unit 150 according to this embodiment may cause the output unit 170 to execute a first response using eye movement when the recognition unit 120 detects the start of an utterance. The eye movement is realized by the display 510. This first response allows the user to understand with less delay that the autonomous moving body 10 has responded to the user's utterance. Furthermore, this first response allows silent feedback to be provided to the user, making it possible to effectively prevent a decrease in the accuracy of voice recognition due to the driving sound of the actuator 570 or the sound output from the speaker. In this way, implicit feedback by outputting visual information related to eye movement is highly effective for a voice recognition device equipped with a drive unit.

[0077] Next, when the recognition unit 120 detects the end of the speech and matching starts, the operation control unit 150 may cause the driving unit 160 to perform an operation of raising its ears. This second response can produce an operation in which the autonomous mobile body 10 responds to the user's speech and listens intently, allowing the user to intuitively understand that speech recognition processing is being executed.

[0078] Furthermore, based on the completion of matching, i.e., the recognition process, the operation control unit 150 according to this embodiment causes the autonomous moving body 10 to execute a third response, which is feedback indicating the completion of the recognition process. For example, the operation control unit 150 may cause the driving unit 160 to perform an action of lowering its ears and an action of opening its mouth, and cause the output unit 170 to output a sound equivalent to a cry.

[0079] The third response allows the user to clearly understand that the voice recognition process has been executed. After the third response is executed, the operation control unit 150 may cause the autonomous moving body 10 to execute an operation corresponding to the operation planned by the action planning unit 140 based on the voice recognition result. As described above, the operation may not be an operation that is in line with the user's speech intention.

[0080] Fig. 10 is a diagram for explaining the differences in voice recognition processing and response actions between the information processing method according to this embodiment and the comparative method. Fig. 10 shows the correspondence between voice recognition processing and response actions in the information processing method according to this embodiment and the comparative method in chronological order. Note that Method 1 in the diagram corresponds to the comparative method, and Method 2 corresponds to the information processing method according to this embodiment.

[0081] 10, it can be seen that the comparative method requires approximately 800 ms before a response action is made to the user. Therefore, although the user can understand that the speech recognition process has been completed by the response action indicating the completion of the process, the user may feel uncomfortable because the moving object is unresponsive for approximately 800 ms.

[0082] On the other hand, in the information processing method according to this embodiment, the first response is made shortly after the user starts speaking "Good morning," and the second response is made without delay when matching begins as the end of the speech is detected. In this way, according to the information processing method according to this embodiment, multiple feedbacks can be made in stages immediately after the user starts speaking. This method allows the user to understand that the autonomous moving body 10 is trying to understand the user's speech even before matching is completed.

[0083] Next, a specific example of the first response according to this embodiment will be described in detail. As described above, the first response according to this embodiment may be an eye movement.

[0084] Fig. 11 is a diagram showing an example of the first response according to this embodiment. Fig. 1 shows changes in time series on the display 510 controlled by the operation control unit 150. Specifically, the operation control unit 150 according to this embodiment may cause the display 510 to display an image corresponding to a blink when the recognition unit 120 detects that the user has started speaking.

[0085] In addition to the blinking shown in the figure, the operation control unit 150 may also cause the display 510 to output expressions such as making eye contact with the user or winking.

[0086] In this way, the operation control unit 150 of this embodiment can realize feedback to the user's speech with less delay without interfering with the speech recognition process by causing the output unit 170 to display eyeball movement as a first response.

[0087] The operation control unit 150 according to this embodiment may cause the autonomous mobile body 10 to perform, as a first response, not only eye movements but also body movements involving the driving of the actuator 570 or emotion expression movements using sound. The emotion expression movements using sound broadly include non-verbal movements such as chirping, beating of wings, and clapping of hands.

[0088] In this case, it is expected that the driving sound of actuator 570 and the sound output from the speaker may reduce the accuracy of voice recognition, but for example, if the positional relationship between the speaker and microphone is constant, it is possible to suppress the reduction in recognition accuracy by performing echo cancellation using a reference signal. Also, as will be described later, there are situations in which not using eye movement in the first response increases user convenience.

[0089] Next, a specific example of the second response according to this embodiment will be described in detail. The second response according to this embodiment may be any one of eye movement, body movement, and emotional expression movement using sound, or a combination thereof. Fig. 12 is a diagram showing an example of the second response according to this embodiment.

[0090] The movement control unit 150 according to this embodiment may control a body movement such as lifting up the ears, for example, as shown on the left side of Fig. 12. Note that the movement control unit 150 may also control the movement of the tail, legs, etc. in addition to the ears.

[0091] On the other hand, the operation control unit 150 may control eye movements such as directing the gaze diagonally upward as shown on the right side of Fig. 12. The operation control unit 150 may also control emotional expression movements such as lightly growling. The second response according to this embodiment may employ, for example, a more natural movement that is appropriate for the species of organism that serves as a model for the autonomous mobile body 10.

[0092] Next, a specific example of the third response according to this embodiment will be described in detail. The third response according to this embodiment may be any one of eye movement, body movement, and emotion expression movement using sound, or a combination thereof. Furthermore, the movement control unit 150 according to this embodiment can dynamically determine the movement of the third response based on the reliability of the recognition processing. FIG. 13 is a diagram showing an example of the third response according to this embodiment.

[0093] When the reliability of the recognition process is high, the operation control unit 150 according to this embodiment may cause the autonomous mobile body 10 to execute a third affirmative response indicating that the autonomous mobile body 10 has understood the user's utterance, as shown on the left side of Fig. 13. The above-mentioned affirmative behavior includes, for example, an action expressing an emotion corresponding to joy, excitement, interest, or the like.

[0094] On the other hand, when the reliability of the recognition processing is low, the operation control unit 150 according to this embodiment may cause the autonomous mobile body 10 to execute a third response to encourage the user to resume speaking, as shown on the right side of Fig. 13. The third response to encourage the user to resume speaking includes, for example, an action to express an emotion corresponding to doubt, anxiety, or the like. The operation control unit 150 may cause the drive unit 160 to execute, for example, an action of tilting the head and raising the ears.

[0095] The above-described function of the operation control unit 150 allows the user to intuitively understand that the results of the voice recognition process are not satisfactory, and to speak again.

[0096] The first, second, and third responses according to the present embodiment have been described above using specific examples. As described above, the first, second, and third responses according to the present embodiment may be realized by any one or a combination of eye movements, body movements, and emotional expression movements using sounds.

[0097] Furthermore, the operation control unit 150 according to this embodiment can dynamically determine the operation types related to the first response, the second response, and the third response based on the situation estimated from the sensor information. Note that the situation estimated from the sensor information includes various states and situations related to the user, the autonomous moving body 10, and the surrounding environment.

[0098] Fig. 14 is a diagram for explaining dynamic control of action types based on situations according to this embodiment. Fig. 14 shows a situation in which a user U1 is speaking from behind the autonomous moving body 10. In this case, it is highly likely that the display 510 of the autonomous moving body 10 is not visible from the position of the user U1.

[0099] For this reason, when speech is detected from behind the autonomous mobile body 10, the operation control unit 150 according to this embodiment may cause the autonomous mobile body 10 to perform a response action that does not involve eye movement, such as a body action of wagging its tail.

[0100] Also, for example, the movement control unit 150 may prioritize eye movements or body movements when the surrounding environmental sounds are loud, or may prioritize emotional expression movements using eye movements or sounds in dark surroundings because body movements are difficult to see.

[0101] Furthermore, the operation control unit 150 may dynamically determine the operation types for the first response, the second response, and the third response, particularly based on the user state. For example, if it is detected that a user who normally wears a vision correction device is not wearing the vision correction device, the operation control unit 150 may prioritize an emotional expression operation using sound rather than adopting a response operation using eye movement.

[0102] The same applies when it is estimated that the user has a visual impairment. The recognition unit 120 can make the above estimation based on, for example, a white cane carried by the user. The recognition unit 120 may also make the above estimation based on the user's reaction to the behavior of the autonomous mobile body 10. The same applies to hearing correction devices and hearing impairments.

[0103] In this way, the operation control unit 150 according to this embodiment can provide more convenient feedback that is adaptable to various situations.

[0104] Furthermore, the operation control unit 150 according to this embodiment may perform operation control based on the target of the user's speech. Fig. 15 is a diagram for explaining operation control based on recognition of the target of the speech according to this embodiment.

[0105] 15 shows a user U1 having a conversation on the phone and an autonomous moving body 10 performing an autonomous action. In this case, the operation control unit 150 according to this embodiment may perform control so that any or all of the first response, second response, and third response are not executed, based on the determination that the target of user U1's speech is not the autonomous moving body 10.

[0106] The above-described functions of the operation control unit 150 according to this embodiment make it possible to perform a response operation only when it is in line with the user's intention, which is expected to have the effect of improving the user's evaluation of the autonomous moving body 10. Furthermore, the above-described functions also make it possible to reduce power consumption due to unnecessary operation control.

[0107] In addition, the recognition unit 120 can determine that the user is not speaking to the autonomous moving body 10 because the user is holding a telephone or the user's line of sight is not directed toward the autonomous moving body 10.

[0108] Furthermore, the operation control unit 150 may cause the autonomous moving body 10 to execute the response operation until the accuracy of the above determination reaches a predetermined level or higher. For example, if it is determined that the target of the speech is not the autonomous moving body 10 after the second response is executed, the operation control unit 150 may return to control of the autonomous behavior without executing the third response.

[0109] Next, an example of operation control when a user's speech is detected while the autonomous moving body is performing some action will be described. Fig. 16 is a diagram for explaining the control of transition to a response action according to this embodiment. Fig. 16 shows an example of a case where the start of a user's speech is detected while the autonomous moving body 10 is playing with a ball.

[0110] At this time, the operation control unit 150 according to this embodiment may gradually stop the behavior of the autonomous mobile body 10, that is, the behavior of chasing the ball. Furthermore, after the behavior has stopped, the operation control unit 150 performs control so that the autonomous mobile body 10 does not generate any sound.

[0111] According to the above control by the operation control unit 150, the user is not made to feel uncomfortable by suddenly stopping the action, and by not operating the actuator 570 after the action has stopped, it is possible to prevent a decrease in voice recognition accuracy due to the driving sound.

[0112] In addition, if the behavior cannot be stopped in time and the confidence level of the voice recognition result becomes low due to the influence of the driving sound of the actuator 570, the operation control unit 150 may cause the autonomous mobile body 10 to execute a third response to encourage the autonomous mobile body 10 to speak again, as shown on the right side of Figure 16, and after the third response is completed, control the autonomous mobile body 10 so that it does not emit any sound.

[0113] The above control by the operation control unit 150 allows the autonomous moving body 10 to perform more natural movements while improving the accuracy of the re-speech recognition process.

[0114] The above describes the operation control according to the present embodiment, using specific examples. The above-described functions of the operation control unit 150 allow the user to intuitively grasp the progress of the recognition process by the autonomous moving body 10 while performing more natural operations that are closer to those of a real living creature.

[0115] In the above description, the autonomous mobile body 10 controls one or a combination of eye movement, body movement, and emotional expression movement using sound, but the movement control according to this embodiment can be modified as appropriate depending on the recognition process and the characteristics of the autonomous mobile body 10. For example, when the recognition unit 120 recognizes a user's touch pattern based on sensor information collected by the touch sensor 540, the movement control unit 150 may cause the autonomous mobile body 10 to perform a response movement using vibrations from a piezoelectric element or the like.

[0116] Furthermore, the autonomous moving body 10 according to this embodiment may be an operating body in a virtual space (also referred to as a virtual operating body). Fig. 17 is a diagram for explaining the control of the virtual operating body according to this embodiment.

[0117] 17 shows a visual field FV of a user U2 wearing an information processing terminal 30 and a virtual operating body VO displayed in the visual field FV. The information processing terminal 30 may be, for example, a head-mounted display or a glasses-type wearable device. In this case, the operation control unit 150 is realized as a function of the information processing terminal 30 or an information processing server that communicates with the information processing terminal 30. The information processing terminal 30 and the information processing server correspond to an operation control device, which will be described later.

[0118] In this case, the action control unit 150 controls the display of the virtual action body VO using technology such as AR (Augmented Reality), VR (Virtual Reality), or MR (Mixed Reality).

[0119] Here, the virtual action object VO may be visual information corresponding to a living thing that does not have a means of verbal communication, such as a dog. Even when the control target is a virtual object such as the above, the above-described control by the action control unit 150 makes it possible to provide the user with feedback regarding the progress of the recognition process while realizing more natural behavior closer to that of a real living thing.

[0120] Furthermore, even if the virtual action body VO is visual information equivalent to a character with a means of linguistic communication, it is possible to realize more realistic actions and enhance the sense of immersion by having the virtual action body nod when it detects that the user has started speaking, or perform a thinking action when matching begins.

[0121] <<3.4. Control Flow>> Next, the flow of operation control according to this embodiment will be described in detail with reference to the flowchart of FIG.

[0122] 18, first, the input unit 110 collects sensor information (S1101). The collection of sensor information in step S1101 is realized by the various sensors described in FIG.

[0123] Next, the recognition unit 120 performs situation estimation based on the sensor information collected in step S1102 (S1102). Note that the collection of sensor information in step S1101 and the situation estimation in step S1102 may be performed continuously at all times.

[0124] Next, the recognition unit 120 detects the start of the user's speech (S1103), and the operation control unit 150 controls the execution of the first response (S1104).

[0125] Next, the recognition unit 120 detects the end of the user's speech (S1105), and the operation control unit 150 controls the execution of a second response (S1106).

[0126] Next, the recognition unit 120 executes a matching process (S1107).

[0127] Here, if the confidence level related to the matching process is high (S1108: High), the operation control unit 150 controls the execution of a third response indicating understanding of the utterance (S1109), and also controls the execution of an operation based on the matching result (S1110).

[0128] On the other hand, if the degree of certainty regarding the matching process is low (S1108: low), the recognition unit 120 may determine whether the target of the utterance is the autonomous moving body 10 (S1111).

[0129] Here, if the recognition unit 120 determines that the target of the utterance is not the autonomous moving body 10 (S1111: NO), the operation control unit 150 ends the control related to the response operation.

[0130] On the other hand, if the recognition unit 120 determines that the target of the speech is the autonomous mobile body 10 (S1111: YES), the operation control unit 150 controls the execution of a third response that prompts the user to speak again (S1112), and causes the autonomous mobile body 10 to wait without making any sound in preparation for the resumption of speech (S1113).

[0131] <4. Example of hardware configuration of motion control device> Next, a hardware configuration example will be described in which the functions of the operation control unit 150 according to an embodiment of the present disclosure are realized as an operation control device separate from the autonomous mobile body 10. FIG. 19 is a block diagram showing a hardware configuration example of an operation control device 20 according to an embodiment of the present disclosure. Referring to FIG. 19, the operation control device 20 includes, for example, a CPU 871, a ROM 872, a RAM 873, a host bus 874, a bridge 875, an external bus 876, an interface 877, an input device 878, an output device 879, a storage 880, a drive 881, a connection port 882, and a communication device 883. Note that the hardware configuration shown here is an example, and some of the components may be omitted. Furthermore, the operation control device 20 may further include components other than those shown here.

[0132] (CPU871) The CPU 871 functions as, for example, an arithmetic processing device or a control device, and controls the overall operation of each component or part of it based on various programs recorded in the ROM 872, the RAM 873, the storage 880, or the removable recording medium 901.

[0133] (ROM872, RAM873) The ROM 872 is a means for storing programs to be read into the CPU 871, data to be used for calculations, etc. The RAM 873 temporarily or permanently stores, for example, programs to be read into the CPU 871, and various parameters that change as appropriate when the programs are executed.

[0134] (Host bus 874, bridge 875, external bus 876, interface 877) The CPU 871, ROM 872, and RAM 873 are connected to one another via, for example, a host bus 874 that is capable of high-speed data transmission. On the other hand, the host bus 874 is connected to an external bus 876 that has a relatively low data transmission speed via, for example, a bridge 875. Furthermore, the external bus 876 is connected to various components via an interface 877.

[0135] (Input Device 878) The input device 878 may be, for example, a mouse, keyboard, touch panel, button, switch, lever, etc. Furthermore, a remote controller (hereinafter referred to as a remote control) capable of transmitting control signals using infrared rays or other radio waves may also be used as the input device 878. The input device 878 may also include an audio input device such as a microphone.

[0136] (Output Device 879) The output device 879 is a device capable of visually or audibly notifying the user of acquired information, such as a display device such as a CRT (Cathode Ray Tube), LCD, or organic EL, an audio output device such as a speaker or headphones, a printer, a mobile phone, a facsimile, etc. The output device 879 according to the present disclosure also includes various vibration devices capable of outputting tactile stimuli.

[0137] (Storage 880) The storage 880 is a device for storing various types of data. For example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, or a magneto-optical storage device may be used as the storage 880.

[0138] (Drive 881) The drive 881 is a device that reads information recorded on a removable recording medium 901 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, or writes information to the removable recording medium 901 .

[0139] (Removable recording medium 901) The removable recording medium 901 is, for example, a DVD medium, a Blu-ray (registered trademark) medium, an HD DVD medium, various semiconductor storage media, etc. Of course, the removable recording medium 901 may also be, for example, an IC card equipped with a contactless IC chip, an electronic device, etc.

[0140] (Connection port 882) The connection port 882 is a port for connecting an external device 902, such as a USB (Universal Serial Bus) port, an IEEE1394 port, a SCSI (Small Computer System Interface), an RS-232C port, or an optical audio terminal.

[0141] (External connection device 902) The externally connected device 902 is, for example, a printer, a portable music player, a digital camera, a digital video camera, or an IC recorder.

[0142] (Communication Device 883) The communication device 883 is a communication device for connecting to a network, such as a communication card for wired or wireless LAN, Bluetooth (registered trademark), or WUSB (Wireless USB), a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various types of communication.

[0143] <5. Summary> As described above, one of the features of the autonomous moving body 10 that realizes the information processing method according to an embodiment of the present disclosure is that it executes a response action that is implicit feedback related to the execution of the recognition process based on input of recognition target information. This configuration makes it possible to realize feedback related to the execution of the recognition process through a more natural action.

[0144] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0145] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0146] Furthermore, the steps involved in the processing of the autonomous moving body 10 in this specification do not necessarily have to be processed in chronological order according to the order described in the flowcharts. For example, the steps involved in the processing of the autonomous moving body 10 may be processed in an order different from the order described in the flowcharts, or may be processed in parallel.

[0147] The following configurations also fall within the technical scope of the present disclosure. (1) a motion control unit that controls the motion of a moving object that performs an action based on the recognition processing; Equipped with the action control unit causes the action object to perform a response action based on input of recognition target information; the response action is implicit feedback related to the execution of the recognition process. Information processing device. (2) the operation control unit causes the operating body to execute a first response based on detection of start of input of recognition target information, and causes the operating body to execute a second response based on detection of completion of input of recognition target information; the first response and the second response are implicit feedback regarding the execution of the recognition process. The information processing device according to (1) above. (3) the operation control unit, based on the completion of the recognition process, causes the operating object to execute a third response which is feedback related to the execution of the recognition process; The information processing device according to (2) above. (4) the action control unit causes the action object to perform an action based on the recognition processing after executing the third response. The information processing device according to (3) above. (5) The moving object has a form and ability that imitates a living organism, The first response, the second response, and the third response include any one of a body movement, an eye movement, or an emotional expression movement using a sound. The information processing device according to (3) or (4). (6) the operation control unit dynamically determines operation types related to the first response, the second response, and the third response based on a situation estimated from sensor information; The information processing device according to any one of (3) to (5). (7) the operation control unit dynamically determines the operation types related to the first response, the second response, and the third response based on a user state; The information processing device according to any one of (3) to (6). (8) The operation control unit dynamically determines the operation of the third response based on the reliability of the recognition processing. The information processing device according to any one of (3) to (7). (9) The recognition processing is a voice recognition processing. The information processing device according to any one of (3) to (8). (10) The first response is an eye movement. The information processing device according to (9) above. (11) The operating body is a device having a drive unit. The information processing device according to (9) or (10). (12) the operation control unit does not cause the operating object to execute at least one of the first response, the second response, and the third response, based on the determination that the target of the user's speech is not the operating object. The information processing device according to any one of (9) to (11) above. (13) When the start of a user's speech is detected during the action of the moving object, the action control unit gradually stops the action. The information processing device according to any one of (9) to (12) above. (14) The action control unit controls the moving object not to generate a sound after the action has stopped. The information processing device according to (13) above. (15) the operation control unit causes the operating object to execute the third response that prompts the user to speak again when the reliability of the speech recognition processing is low. The information processing device according to any one of (9) to (14). (16) The operation control unit controls the operating object not to generate a sound after the third response prompting the user to speak again is completed. The information processing device according to (15) above. (17) The moving body is an autonomous moving body that does not have a language communication means. The information processing device according to any one of (1) to (6). (18) The operating body, The information processing device according to any one of (1) to (17). (19) a processor controlling the movement of an operating object that performs an action based on the recognition processing; Including, The performing of the motion control includes making the moving body perform a response motion based on input of recognition target information; further comprising the response action is implicit feedback related to the execution of the recognition process. Information processing methods. (20) Computer, a motion control unit that controls the motion of a moving object that performs an action based on the recognition processing; Equipped with the action control unit causes the action object to perform a response action based on input of recognition target information; the response action is implicit feedback related to the execution of the recognition process. information processing device, A program to function as a [Explanation of symbols]

[0148] 10 Autonomous Mobile Vehicles 110 Input section 120 Recognition part 130 Learning Department 140 Action Planning Department 150 Motion control section 160 Drive Unit 170 Output section 510 Display 570 Actuator

Claims

1. a motion control unit that controls the motion of the moving object based on the recognition processing; Equipped with The moving body has a body, a head part connected to the body and provided with a display for displaying eyeball movements, and a tail part connected to the body on the opposite side to the head, The operation control unit a first response is executed silently based on the detection of the start of input of the recognition target information, and a second response is executed based on the detection of the completion of input of the recognition target information; dynamically determining an action type related to the first response and the second response based on a situation estimated from sensor information; When the operating body prioritizes other desires or surrounding environmental information, the first response and the second response are not executed, the first response is executed by one of the eye movement and the tail movement according to the user position estimated from sensor information; Information processing device.

2. Cases where the surrounding environment information is prioritized include cases where the safety of the surrounding environment is compromised. The information processing device according to claim 1 .

3. When the other desire is given priority, the charging process of the moving object is included. The information processing device according to claim 1 .

4. The case where the other desires are prioritized includes the desire of the moving object to be loved by the user. The information processing device according to claim 1 .

5. Whether the operating body prioritizes other desires or surrounding environmental information is determined by comprehensively judging the other desires and the surrounding environmental information. The information processing device according to claim 1 .

6. the action control unit causes the action object to perform a response action based on the input of the recognition target information; the response action related to the first response is implicit feedback related to the execution of the recognition process. The information processing device according to claim 1 .

7. the operation control unit causes the operating body to execute the first response based on detection of start of input of recognition target information, and causes the operating body to execute the second response based on detection of completion of input of recognition target information; the first response action and the second response action are implicit feedback related to the execution of the recognition process. The information processing device according to claim 1 .

8. the operation control unit causes the operating object to execute a third response, which is feedback related to the execution of the recognition process, based on the completion of the recognition process. The information processing device according to claim 1 .

9. the action control unit causes the action object to perform an action based on the recognition processing after the third response is executed. The information processing device according to claim 8 .

10. The moving object has a form and ability that imitates a living organism, The action related to the second response and the action related to the third response include any one of a body action, an eye movement, and an emotional expression action using a sound. The information processing device according to claim 8 .

11. the operation control unit dynamically determines operation types related to the first response, the second response, and the third response based on a situation estimated from sensor information; The information processing device according to claim 8 .

12. the operation control unit dynamically determines the operation types related to the first response, the second response, and the third response based on a user state; The information processing device according to claim 8 .

13. the operation control unit dynamically determines the operation related to the third response based on a reliability related to the recognition processing. The information processing device according to claim 8 .

14. The recognition processing is a voice recognition processing. The information processing device according to claim 8 .

15. The movement associated with the first response is an eye movement. The information processing device according to claim 1 .

16. The operating body is a device having a drive unit. The information processing device according to claim 1 .

17. the operation control unit, based on the determination that the target of the user's speech is not the operating body, does not cause the operating body to perform at least one of the operations related to the first response, the second response, or the third response. The information processing device according to claim 8 .

18. When the start of a user's speech is detected during the action of the moving object, the action control unit gradually stops the action. The information processing device according to claim 1 .

19. The action control unit controls the moving object not to generate a sound after the action has stopped. The information processing device according to claim 9 .

20. The computer A motion control unit that controls the motion of a moving object based on recognition processing Including, The moving body has a body, a head part connected to the body and provided with a display for displaying eyeball movements, and a tail part connected to the body on the opposite side to the head, The operation control unit a first response is executed silently based on the detection of the start of input of the recognition target information, and a second response is executed based on the detection of the completion of input of the recognition target information; dynamically determining an action type related to the first response and the second response based on a situation estimated from sensor information; When the operating body prioritizes other desires or surrounding environmental information, the first response and the second response are not executed, the first response is executed by one of the eye movement and the tail movement according to the user position estimated from sensor information; Information processing methods.

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