WO2021028994A1

WO2021028994A1 - Device controller, device control method, and device control program

Info

Publication number: WO2021028994A1
Application number: PCT/JP2019/031750
Authority: WO
Inventors: 要林; 平野　康博
Original assignee: ＧｒｏｏｖｅＸ株式会社
Priority date: 2019-08-09
Filing date: 2019-08-09
Publication date: 2021-02-18
Also published as: JPWO2021028994A1

Abstract

A device type recognition unit in this device controller uses a received control signal as a basis to recognize a device type represented by the control signal. A registration unit registers the recognized device type in a first storage unit. An instruction signal acquisition unit acquires an instruction signal that is a different type of signal from the control signal and that represents control content for a device. A controlled device type recognition unit uses the instruction signal and the device type stored in the first storage unit as a basis to recognize the type of device to be controlled represented by the instruction signal. A control signal recognition unit references a second storage unit in which control signals corresponding to device types and control content are stored and recognizes a control signal for an object corresponding to the type of the recognized device to be controlled and the control content for the device to be controlled included in the instruction signal. A signal transmission control unit causes a control signal transmission unit to transmit the control signal for an object to the device to be controlled.

Description

Device control device, device control method, and device control program

The disclosed technology relates to a device control device, a device control method, and a device control program.

A technique for setting an electronic device is known (for example, Japanese Patent Application Laid-Open No. 2015-76775). In this technology, when a smartphone, which is an example of an electronic device, enters an area where it can communicate with a television receiver, which is a device to be controlled, the smartphone performs short-range wireless communication with the television receiver. Then, the smartphone receives the setting information transmitted from the television receiving device. This setting information is information for remotely controlling the television receiving device. By acquiring this setting information, the smartphone can control the operation of the television receiving device.

However, in this technology, the TV receiver, which is the device to be controlled, needs to have a function of transmitting information for remote control of itself to the smartphone.

However, if the device to be controlled does not have such a function, it is necessary to set a function for sending and receiving information regarding remote control to the device to be controlled. Therefore, if the device to be controlled does not have a function of transmitting and receiving information related to its own remote control, there is a problem that the device to be controlled cannot be easily controlled by another device.

On one side, the disclosed technology allows device control to easily control the device to be controlled, even if the device to be controlled does not have the ability to send and receive information about its own remote control. It is intended to provide equipment, methods, and programs.

In order to achieve the above object, the device control device of the disclosed technology includes a control signal receiving unit that receives a control signal indicating the control content to the device and a control signal transmission that transmits a control signal representing the control content to the device. A device type recognition unit that recognizes the type of device represented by the control signal based on the unit and the control signal received by the control signal receiving unit, and a device type recognized by the device type recognition unit. , A registration unit registered in the first storage unit, an instruction signal acquisition unit that acquires an instruction signal that is a signal of a type different from the control signal and is a signal representing the control content to the device, and the instruction signal acquisition unit. A control target device type recognition unit that recognizes the type of the control target device represented by the instruction signal based on the instruction signal acquired by the unit and the type of the device stored in the first storage unit. , The control target device type recognized by the control target device type recognition unit and the instruction signal are included in the second storage unit in which the control signal corresponding to the device type and the control content is stored. The control signal recognition unit that recognizes the target control signal corresponding to the control content to the control target device and the control signal transmission unit are made to transmit the target control signal to the control target device. It is equipped with a signal transmission control unit.

On one side, according to the disclosed technology, it is possible to easily control the device to be controlled even when the device to be controlled does not have the function of transmitting and receiving information regarding its own remote control. , The effect can be obtained.

It is explanatory drawing for demonstrating the outline of this Embodiment. It is explanatory drawing for demonstrating the outline of this Embodiment. It is an external view of the robot 100 of this embodiment. It is an external view of the robot 100 of this embodiment. It is a schematic block diagram of the robot system 300 of this embodiment. It is explanatory drawing for demonstrating the installation position of the external sensor in a house. It is a hardware block diagram of the robot 100. It is a functional block diagram of the robot 100 of 1st Embodiment. It is a figure which shows an example of the table stored in the communication type storage unit 170. It is a figure which shows an example of the table stored in the device type storage part 172. It is a figure which shows an example of the table stored in the device type storage part 172. It is a figure which shows an example of the table stored in the control content storage unit 174. It is a figure which shows an example of the table stored in the control content storage unit 174. It is a figure which shows an example of the table stored in the map information storage part 176. It is a figure which shows an example of the learning processing routine executed by the processor 120 of the robot 100 of 1st Embodiment. It is a figure which shows an example of the device control processing routine executed by the processor 120 of the robot 100 of 1st Embodiment. It is a functional block diagram of the robot 100 of the 2nd embodiment. It is a functional block diagram of the robot 100 of the third embodiment. It is a figure which shows the configuration example of the direction estimation apparatus 30. It is explanatory drawing for demonstrating the process of memorizing the position of the target device. It is a figure which shows an example of the position learning processing routine executed by the processor 120 of the robot 100 of 5th Embodiment. It is a figure which shows an example of the device control processing routine executed by the processor 120 of the robot 100 of 5th Embodiment. It is explanatory drawing for demonstrating the preference of a robot 100.

Hereinafter, each embodiment will be described in detail with reference to the drawings.

FIG. 1 shows an explanatory diagram for explaining the outline of the present embodiment. As shown in FIG. 1, in the present embodiment, for example, the remote controller 142 controls the device to be controlled by the operation of the remote controller 142 (generally also referred to as a remote controller) by the user 140. It is assumed that a signal is output. As shown in FIG. 1, the devices to be controlled are, for example, a television 144, an air conditioner 146, and the like. The control signal is infrared data output from the remote controller 142, and represents the content of control to the device.

In the present embodiment, when a control signal is output from the remote controller 142 to the device to be controlled, the robot 100 receives the control signal. Then, the robot 100 recognizes the type of the device to be controlled from the received control signal, and stores the type of the device in a predetermined storage unit. As a result, the robot 100 learns the types of devices that the user operates on a daily basis.

When the robot 100 learns the type of device, as shown in FIG. 2, the user 140 operates the device to be controlled by, for example, utterance 148A, instead of operating the device via the remote controller 142. Do. Specifically, as shown in FIG. 2, when the utterance 148A is uttered by the user, the robot 100 acquires the utterance 148A. Then, the robot 100 identifies the type of the device according to the utterance 148A, and outputs a control signal for the type of the device to the device to be controlled.

Alternatively, as shown in FIG. 2, the user 140 does not operate the device via the remote controller 142, but operates the device to be controlled by, for example, the smartphone terminal 148B. When a signal is output from the user by the smartphone terminal 148B, the robot 100 acquires the signal output from the smartphone terminal 148B via an external server. Then, the robot 100 specifies the type of the device according to the signal output from the smartphone terminal 148B, and outputs the control signal for the type of the device to the device to be controlled.

As described above, by using the robot 100 of the present embodiment, the user can easily operate the device to be controlled without operating the remote controller 142.

The details will be explained below.

[First Embodiment]

FIG. 3A is a front view of the robot 100, which is an example of the device control device. FIG. 3B is a side view of the robot 100. The robot 100 in this embodiment is an autonomous action type robot that determines an action based on an external environment and an internal state. The external environment is detected by various sensors such as a camera, a thermo sensor, and a microphone. The internal state is quantified as various parameters expressing the emotions of the robot 100. These will be described later.

The robot 100 includes two wheels 102, which is an example of a moving mechanism. The rotation speed or direction of rotation of the two wheels 102 can be controlled individually. Also, the robot 100 has two hands 106. The hand 106 can perform simple operations such as raising, shaking, and vibrating. The two hands 106 can also be individually controlled. Further, a camera is built in the eyes 110 of the robot 100. The eye 110 can also display an image by a liquid crystal element or an organic EL element. In addition to the camera built into the eyes 110, the robot 100 is equipped with various sensors such as a sound collecting microphone and an ultrasonic sensor. In addition, the robot 100 has a built-in speaker and can emit a simple voice.

FIG. 4 is a configuration diagram of the robot system 300. The robot system 300 includes a robot 100, a server 200, and a plurality of external sensors 114.

In the present embodiment, as shown in FIG. 5, a plurality of external sensors 114 (

external sensors

114a, 114b, 114c, ..., 114n) are installed in advance in the house. The position coordinates of the external sensor 114 are registered in the server 200. The position coordinates are defined as x, y coordinates in the house, which is assumed to be the action range of the robot 100. For example, when the robot 100 moves to P3, the position information of the robot 100 is acquired by communicating with the external sensor 114b.

FIG. 6 is a hardware configuration diagram of the robot 100. The robot 100 includes a battery 116, a drive mechanism 118, a processor 120, a storage device 122, a communication device 124, a display device 125, a speaker 126, and an internal sensor 128. Each unit is connected to each other by a power line 130 and a signal line 132. The battery 116 supplies electric power to each unit via the power line 130. Each unit sends and receives control signals via signal lines 132. The battery 116 is a secondary battery such as a lithium ion secondary battery, and is a power source for the robot 100. The communication device 124 is an example of a control signal receiving unit and a control signal transmitting unit.

The internal sensor 128 is an assembly of various sensors built in the robot 100. Specifically, it includes a camera, a sound collecting microphone, an infrared sensor, a thermo sensor, a touch sensor, an acceleration sensor, an odor sensor, and the like.

The communication device 124 is a communication module that performs wireless communication for various external devices such as a server 200, an external sensor 114, and a mobile device owned by a user.

The storage device 122 is composed of a non-volatile memory and a volatile memory, and stores computer programs and various setting information.

The processor 120 is a means for executing a computer program. The drive mechanism 118 is an actuator that controls each mechanism such as the wheel 102 and the hand 106. In addition, a display and speakers will be installed.

The processor 120 selects the action of the robot 100 while communicating with the server 200 and the external sensor 114 via the communication device 124. Various external information obtained by the internal sensor 128 also influences the action selection.

The drive mechanism 118 mainly controls the wheels 102 and the hands 106. The drive mechanism 118 changes the movement direction and the movement speed of the robot 100 by changing the rotation speed and the rotation direction of each of the two wheels 102. The drive mechanism 118 can also raise and lower the wheels 102. When the wheel 102 rises, the wheel 102 is completely retracted in the body 104, and the robot 100 comes into contact with the floor surface at the seating surface 108 to be in a seated state.

The hand 106 can be lifted by the drive mechanism 118 pulling the hand 106 via the wire 134. It is also possible to make a gesture like waving by vibrating the hand 106. Even more complicated gestures can be expressed by using a large number of wires 134.

FIG. 7 is a functional block diagram of the robot system 300. As described above, the robot system 300 includes a robot 100, a server 200, and a plurality of external sensors 114. Each component of the robot 100 and the server 200 includes a CPU (Central Processing Unit), a computing unit such as various coprocessors, a storage device such as a memory and a storage device, hardware including a wired or wireless communication line connecting them, and storage. It is realized by software that is stored in the device and supplies processing instructions to the arithmetic unit.

The computer program may be composed of a device driver, an operating system, various application programs located in the upper layers thereof, and a library that provides common functions to these programs. Each block described below shows a block for each function, not a configuration for each hardware. A part of the functions of the robot 100 may be realized by the server 200, and a part or all of the functions of the server 200 may be realized by the robot 100.

As shown in FIG. 7, the processor 120 is functionally an example of a position acquisition unit. The position information acquisition unit 150, the time information acquisition unit 152 which is an example of the time acquisition unit, the device type recognition unit 154, the registration unit 156, the instruction signal acquisition unit 158, the voice analysis unit 160, and the control target device type. It includes a recognition unit 162, a control signal recognition unit 164, and a signal transmission control unit 166. Further, as shown in FIG. 7, the storage device 122 is functionally an example of the communication type storage unit 170, the device type storage unit 172 which is an example of the first storage unit, and the second storage unit. It includes a control content storage unit 174 and a map information storage unit 176.

The communication format storage unit 170 stores information regarding the communication format of the control signal transmitted from the remote controller 142 operated by the user. Information about the communication format is stored in the form of a table, for example, as shown in FIG. For example, in the table shown in FIG. 8, the identification information of the communication format, the communication format, the format of the control signal of the communication format, and the information for identifying the data unit in the control signal are stored in association with each other. To.

Information on the type of device to be controlled is stored in the device type storage unit 172. Information about the type of device is stored in the form of a table, for example, as shown in FIG. 9A. For example, in the table shown in FIG. 9A, the communication format No. indicating the identification information of the communication format, the type of the device, the information about the manufacturer that manufactured the device, and the time information indicating the time when the control signal is received are displayed. The position information indicating the position when the control signal is received is stored in association with the position information. The device type is a device type number representing device identification information, a first device type representing a home appliance type, and a second device representing a device type more detailed than the first device type. Includes type.

Further, as shown in FIG. 9B, the device type storage unit 172 stores information regarding the wording indicating the device type. As shown in FIG. 9B, for example, the information regarding the wording indicating the type of the device is stored in association with the wording indicating the type of the device and the type of the first device corresponding to the wording.

The control content storage unit 174 stores information on the control content for the device. Information about the control content for the device is stored in the form of a table, for example, as shown in FIG. 10A. For example, in the table shown in FIG. 10A, the type of the device, the information representing the control content, and the control signal that realizes the control content are stored in association with each other.

In addition, the control content storage unit 174 stores information regarding the wording indicating the control content of the device. Information about the wording indicating the control content of the device is stored in the form of a table, for example, as shown in FIG. 10B. For example, in the table shown in FIG. 10B, the wording indicating the control content of the device and the control content represented by the wording are stored in association with each other.

When the device type is registered in the device type storage unit 172, the processor 120 acquires, for example, information on the control contents of each of the registered device types. For example, the processor 120 acquires information representing the control content and a control signal that realizes the control content for each of the registered device types from the external server via the communication device 124, and is a control content storage unit. Store in 174. The list of control signals related to the type of device and the control content stored in the control content storage unit 174 may be configured based on a database provided in advance by the manufacturer of the device or the like.

The control content storage unit 174 stores various control contents for the type of device. For example, as shown in FIG. 10A, the control content "ON" control signal "10101 *" and the control content "OFF" control signal "01010 *" are stored in the device type No. "100". To. Therefore, once the type of device is known, the control signal representing the control content is known. Therefore, various control signals for controlling the device can be obtained from the type of the device.

The map information storage unit 176 stores map information representing an indoor map. The map information is stored in the form of a table, for example, as shown in FIG. For example, in the table shown in FIG. 11, a range on indoor position coordinates, a name of a room located in the range, and another name of the room are stored in association with each other.

Next, the operation of the robot system 300 will be described. First, when the user operates the remote controller 142, a control signal for the device to be controlled is output from the remote controller 142. The control signal is a signal indicating the content of control to the device. At this time, the communication device 124 of the robot 100 receives the control signal output from the remote controller 142. When the control signal is received by the communication device 124, the processor 120 of the robot 100 reads the program from the storage device 122 and executes the learning processing routine shown in FIG.

First, in step S100, the device type recognition unit 154 of the processor 120 acquires the control signal received by the communication device 124.

Next, in step S102, the time information acquisition unit 152 of the processor 120 acquires the time information when the control signal is received by the communication device 124.

Next, in step S104, the position information acquisition unit 150 of the processor 120 acquires the position information when the control signal is received by the communication device 124.

In step S106, the device type recognition unit 154 of the processor 120 recognizes the type of device represented by the control signal based on the control signal acquired in step S100.

When recognizing the type of device from the control signal, for example, the device type recognition unit 154 decodes the control signal. Next, the device type recognition unit 154 refers to the table stored in the communication format storage unit 170 to specify the communication format of the control signal. For example, when the control signal format is "111100", the device type recognition unit 154 refers to the table stored in the communication format storage unit 170, and the communication format of the control signal is "X method". To identify.

Then, the device type recognition unit 154 of the processor 120 refers to the table stored in the communication format storage unit 170, and extracts the data unit after 6 bits of the control signal. Then, the device type recognition unit 154 includes a first device type representing the home appliance type and a second device type representing a device type more detailed than the first device type, which is included in the control signal data unit. , And recognize information representing the manufacturer.

Note that the second device type is a device type that is more detailed than the first device type, and is information for identifying a plurality of devices of the same type when there are a plurality of devices of the same type. For example, when there are two TVs indoors, the two TVs can be identified by the type of the second device.

In step S108, the registration unit 156 of the processor 120 registers the type of the first device, the type of the second device, and the manufacturer recognized in step S102 in the device type storage unit 172. Further, the registration unit 156 of the processor 120 registers the combination of the time information acquired in the step S102 and the position information acquired in the step S104 in the device type storage unit 172.

For example, as shown in the table shown in FIG. 9A, the communication format No., the device type (for example, the device type No., the first device type, and the second device type), the manufacturer, and the time information. And the position information are stored in association with each other.

Then, the processor 120 of the robot 100 ends the learning processing routine.

The above processing routine is executed every time the communication device 124 receives the control signal from the remote controller 142. Therefore, the device type storage unit 172 of the robot 100 stores information regarding the type of device operated by the user by the remote controller 142. As a result, the robot 100 learns the types of devices that the user operates on a daily basis.

When the device type is stored in the device type storage unit 172, the robot 100 responds to the instruction signal when it receives an instruction signal which is a signal of a type different from the control signal output from the remote controller 142. The control signal is output to the device to be controlled.

Note that the instruction signal is a signal of a type different from the control signal, and is a signal representing the control content to the device. An example of the instruction signal is voice information emitted by the user. Further, as an example of the instruction signal, there is a signal output by a terminal different from the remote controller 142 and received by the robot 100 via an external server. As such an instruction signal, for example, a signal output from a smartphone terminal may be output to the robot 100 via an external server. In this case, a signal is transmitted from the smartphone terminal to the robot 100 by a dedicated application.

In this embodiment, the case where the instruction signal is the voice information of the user will be described as an example.

First, when the user emits voice information, the microphone included in the internal sensor 128 of the robot 100 detects the voice information emitted from the user. When the microphone of the robot 100 detects the voice information, the processor 120 of the robot 100 reads the program from the storage device 122 and executes the device control processing routine shown in FIG.

In step S200, the instruction signal acquisition unit 158 of the processor 120 acquires the instruction signal which is the voice information acquired by the sound collecting microphone in the internal sensor 128.

In step S202, the voice analysis unit 160 of the processor 120 performs voice analysis of the voice information acquired by the instruction signal acquisition unit 158. For example, the voice analysis unit 160 converts voice information into character information by using a known voice analysis technique. By voice analysis by the voice analysis unit 160, the voice information is converted into the character information, and for example, the character information "Terebitsuke" is obtained. Further, the voice analysis unit 160 converts the character information "Telebitsuke" into the character information "Television" by the existing natural language processing technology.

In step S204, the voice analysis unit 160 of the processor 120 uses the wording indicating the control content included in the instruction signal and the wording indicating the type of the device included in the instruction signal based on the result obtained in step S204. get. For example, the voice analysis unit 160 acquires the wording "television" indicating the type of device and the wording "turning on" indicating the control content from the character information "television on".

In step S206, the control target device type recognition unit 162 of the processor 120 is based on the wording indicating the device type obtained in step S204 and the device type stored in the device type storage unit 172. The type of the device to be controlled represented by the instruction signal acquired in step S200 is recognized. For example, when the wording indicating the type of device is "television", the first word matching the wording "television" indicating the type of device with reference to the table of FIG. 9B stored in the device type storage unit 172. The device type "Television" is recognized as the device to be controlled. Then, the control target device type recognition unit 162 recognizes "TV-01" whose first device type is "Television" as an actual control target device.

In step S208, the control signal recognition unit 164 refers to the control content storage unit 174 in which the control signal corresponding to the type of device and the control content is stored, and refers to the control target device recognized in step S206. Recognize the target control signal corresponding to the type and the control content for the controlled target device included in the voice information.

Specifically, the control signal recognition unit 164 recognizes the target control signal based on the information stored in the control content storage unit 174 and the wording indicating the control content obtained in step S204. For example, when the wording indicating the control content is "attach", the control corresponding to the control content corresponding to the word "attach" indicating the control content is referred to by referring to the table stored in the control signal recognition unit 164. The content "ON" is recognized as the target control content.

Then, the control signal recognition unit 164 recognizes the target control signal based on the type of the device recognized in step S206 and the target control content. For example, the control signal recognition unit 164 uses a control signal "10101 *" whose device type "TV-01" recognized in step S206 and the target control content "ON" match as the target control signal. recognize.

In step S210, the signal transmission control unit 166 controls the communication device 124 so that the device to be controlled recognized in step S206 transmits the control signal of the target recognized in step S208. For example, the signal transmission control unit 166 controls the communication device 124 so as to transmit the control signal “10101 *” meaning ON to the device “TV-01” to be controlled. Then, the processor 120 of the robot 100 ends the device control processing routine.

The above device control processing routine is executed every time the microphone of the robot 100 detects an instruction signal.

As described above, the robot 100 of the first embodiment receives the control signal transmitted from the remote controller 142. Then, the robot 100 recognizes the type of the device represented by the control signal based on the received control signal. Then, the robot 100 registers the recognized device type in the device type storage unit 172. The robot 100 acquires user voice information as an instruction signal, which is a signal of a type different from the control signal from the remote controller 142 and is a signal indicating the control content to the device. Then, the robot 100 recognizes the type of the device to be controlled represented by the voice information based on the voice information and the type of the device stored in the device type storage unit 172. Next, the robot 100 refers to the control content storage unit 174 in which the control signal corresponding to the device type and the control content is stored, and refers to the recognized control target device type and the voice information included in the robot 100. Recognize the control signal of the target corresponding to the control content to the device to be controlled. Then, the robot 100 transmits the target control signal to the device to be controlled. As a result, even when the device to be controlled does not have the function of transmitting / receiving information regarding its own remote control, the device to be controlled can be easily controlled.

In addition, the user can operate the target device without operating the remote control device 142 unique to the device. In particular, the user can easily operate the device by voice.

[Second Embodiment]

Next, the second embodiment will be described. Since the robot system according to the second embodiment has the same configuration as that of the first embodiment, the same reference numerals are given and the description thereof will be omitted.

In the second embodiment, the device to be controlled is determined according to the time information when the control signal from the remote controller 142 is received or the position information when the control signal from the remote controller 142 is received. , Different from the first embodiment.

When the robot 100 determines a device to be controlled, there may be a plurality of candidates for the device to be controlled. For example, when there are two televisions. In this case, two televisions are registered in the device type storage unit 172. For example, in the table of FIG. 9A of the device type storage unit 172, two televisions, "TV-01" and "TV-02", are registered as devices whose first device type is "Television". There is. At this time, when the robot 100 determines the device to be controlled, for example, it is conceivable that the device having the smaller device type number is determined as the device to be controlled. However, the device thus determined may not be the device that the user intends to operate.

Therefore, the robot 100 of the second embodiment determines the device to be controlled according to the time information when the control signal is received and the position information when the control signal is received.

Specifically, the control target device type recognition unit 162 is based on the device type included in the instruction signal and the time when the instruction signal is received, and the device type and time information stored in the device type storage unit 172. Then, the type of the device to be controlled represented by the instruction signal is recognized.

Further, the control target device type recognition unit 162 gives an instruction based on the type of the device included in the instruction signal and the position where the instruction signal is received, and the type and position information of the device stored in the device type storage unit 172. Recognize the type of device to be controlled represented by the signal.

As shown in FIG. 9A, the device type storage unit 172 stores time information when the control signal is received and position information when the control signal is received. Each time a control signal is received, time information and position information are stored. Therefore, for each type of device, the number of times the control signal is received can be calculated for each time zone.

For example, regarding the number of times the control signal is received in each time zone, 5 times from 8:00 to 12:00, 1 time from 12:00 to 16:00, 0 times from 16:00 to 19:00, From 19:00 to 24:00, the number of times such as once is calculated.

Further, for example, the number of times the control signal is received at each position is calculated as 5 times for (X1, Y1) to (X2, Y2) and 0 times for (X3, Y3) to (X4, Y4). ..

For example, consider the case where the time when the control signal is received is 10:00. In this case, it is assumed that the control target device type recognition unit 162 determines that the control target device is "Television", but there are two devices corresponding to "Television", "TV-01" and "TV-02". .. At this time, for example, the control target device type recognition unit 162 obtains the control signal of "TV-01" from the time information received in the past, the time zone in which the number of times the control signal is received is the highest, and "TV-02". Obtains the time zone in which the number of times the control signal is received is the highest, which is obtained from the time information received in the past. Then, for example, the time zone in which the control signal of "TV-01" is received most frequently is "8:00 to 12:00", and the time zone in which the control signal of "TV-02" is received is the highest time. It is assumed that the band is "12:00 to 16:00". In this case, the control target device type recognition unit 162 recognizes that the control target device is "TV-01" because the time when the control signal is received is 10:00.

Also, consider, for example, the case where the time when the control signal is received is (X2, Y2). In this case, it is assumed that the control target device type recognition unit 162 determines that the control target device is "Television", but there are two devices corresponding to "Television", "TV-01" and "TV-02". .. At this time, for example, the control target device type recognition unit 162 obtains the control signal of "TV-01" from the position information received in the past, the position range in which the number of times the control signal is received is the highest, and "TV-02". Obtains the position range in which the number of times the control signal has been received is the highest, which is obtained from the time information received in the past. Then, for example, the position range in which the number of times the control signal of "TV-01" is received is the highest is (X1, Y1) to (X3, Y3), and the number of times the control signal of "TV-02" is received is the highest. Assume that the high position range is (X4, Y4) to (X5, Y5). In this case, the control target device type recognition unit 162 receives the control signal at the position (X2, Y2) and is within the range of (X1, Y1) to (X3, Y3). Recognizes as "TV-01".

Since other configurations and operations of the robot system according to the second embodiment are the same as those of the first embodiment, the description thereof will be omitted.

As described above, the robot 100 of the second embodiment has the type of device included in the instruction signal and the time when the instruction signal is received, and the type and time information of the device stored in the device type storage unit 172. Based on this, the type of the device to be controlled represented by the instruction signal is recognized. As a result, even if there are a plurality of candidates for the device to be controlled, the device intended by the user is appropriately controlled according to the time zone in which the control signal from the remote controller 142 operated by the user is received. be able to.

Further, the robot 100 of the second embodiment gives an instruction based on the type of the device included in the instruction signal and the position where the instruction signal is received, and the type and position information of the device stored in the device type storage unit 172. Recognize the type of device to be controlled represented by the signal. As a result, even if there are a plurality of candidates for the device to be controlled, the device intended by the user can be appropriately controlled according to the position where the control signal from the remote controller 142 operated by the user is received. Can be done.

[Third Embodiment]

Next, the third embodiment will be described. The third embodiment is different from the first embodiment and the second embodiment in that an evaluation value is given to the device.

As shown in FIG. 14, the processor 220 of the third embodiment functionally has a position information acquisition unit 150, a time information acquisition unit 152, a device type recognition unit 154, a registration unit 156, and an evaluation unit. It includes 257, an instruction signal acquisition unit 158, a voice analysis unit 160, a control target device type recognition unit 162, a control signal recognition unit 164, and a signal transmission control unit 166.

The evaluation unit 257 determines the evaluation value for each device stored in the device type storage unit 172, and assigns the evaluation value to each device. Then, when there are a plurality of candidates for the type of the device to be controlled, the control target device type recognition unit 162 of the third embodiment determines the type of the device to be controlled according to the evaluation value determined by the evaluation unit 257. Recognize.

The evaluation unit 257 determines the evaluation value for each device according to the user's behavior. In the following, a case where the transmission of the control signal by the remote controller 142 and the output of the voice information as the instruction signal are regarded as the user's behavior will be described as an example.

For example, the evaluation unit 257 is stored in the device type storage unit 172 according to the time-series relationship between the transmission of the control signal to the target device by the communication device 124 and the reception of the control signal by the communication device 124. Update the evaluation value for each device.

For example, if the target device to which the control signal is transmitted from the robot 100 is incorrect, the user may operate the remote controller 142 and retransmit the control signal to the intended device. For example, if the robot 100 transmits a control signal to turn on the TV B, but the user's intention is to turn on the TV A, the user operates the remote controller 142 to turn on the TV A. Is likely to transmit a control signal. In this case, the television B may not actually exist.

Therefore, the evaluation unit 257 transmits the control signal to the first device (television B) by the communication device 124 of the robot 100, and then within a predetermined time, the communication device 124 sends the control signal to the second device (television A). When the control signal is received, the evaluation value for the first device (television B) is updated to be lowered.

Further, in this case, the evaluation unit 257 updates so as to raise the evaluation value of the second device (television A).

For example, when the ON control signal is transmitted to the first device (TV B) and then the OFF control signal is received to the second device (TV A), the control signal by the robot 100 is erroneous. There is a possibility that the user simply wants to turn off the second device (television A) instead of transmitting.

Therefore, the evaluation unit 257 determines that the control content represented by the control signal to the first device (television B) and the control content represented by the control signal to the second device (television A) are the same. It may be updated so as to raise the evaluation value of the second device (television A).

Similarly, while the user intended to turn on the television A, when the robot 100 transmits a control signal to turn on the television B, the user operates the remote controller 142 and the television. There is a high possibility that a control signal for turning off B will be transmitted.

Therefore, the evaluation unit 257 receives the control signal to the first device (television B) within a predetermined time after transmitting the control signal to the first device (television B), and If the control content (ON) represented by the transmitted control signal and the control content (OFF) represented by the received control signal are different, the evaluation value for the first device (television B) is updated to be lowered. ..

Further, the evaluation unit 257 may update the evaluation value according to the content of the voice information which is the instruction signal acquired after the control signal is transmitted by the robot 100.

For example, after the robot 100 transmits a control signal indicating ON to the TV B, the robot 100 recognizes the instruction signal (“Turn on the TV (TV A) in the kitchen”) of the same control content (ON) again within a predetermined time. If this is the case, it is highly possible that the robot 100 has mistakenly transmitted the control signal to the television B.

Therefore, when the evaluation unit 257 acquires the instruction signal to the second device (television A) within a predetermined time after transmitting the control signal to the first device (television B), the first Update to lower the evaluation value for the device (TV B).

Further, when the robot 100 recognizes the instruction signal (turning off the TV B) of the opposite control content (OFF) within a predetermined time after transmitting the control signal indicating ON to the TV B, the control signal to the TV B It is highly possible that the transmission was incorrect.

Therefore, the evaluation unit 257 acquires the instruction signal to the first device (television B) within a predetermined time after transmitting the control signal to the first device (television B), and When the control content (ON) represented by the control signal and the control content (OFF) represented by the instruction signal are different, the evaluation value for the first device (television B) is updated to be lowered.

Further, the evaluation unit 257 determines the evaluation value for each device according to the area corresponding to the position information acquired by the position information acquisition unit 150. Further, the evaluation unit 257 determines the evaluation value for each device according to the time zone corresponding to the time information acquired by the time information acquisition unit 152. Thereby, as in the second embodiment, the control signal for each device can be transmitted based on the evaluation value according to the time and the position.

Further, the evaluation unit 257 lowers the evaluation value of each device stored in the device type storage unit 172 for which a predetermined time has passed from the time when the control signal is received by the time information acquisition unit 152. To control. As a result, the evaluation value becomes lower as the device is not used for a long time, and it is possible to make it difficult to control the device that is not used.

When there are a plurality of candidates for the type of the device to be controlled, the control target device type recognition unit 162 of the third embodiment determines the type of the device to be controlled according to the evaluation value determined by the evaluation unit 257. Recognize. Specifically, when there are a plurality of candidates for the type of the device to be controlled, the control target device type recognition unit 162 recognizes the device having the highest evaluation value as the device to be controlled.

Then, the signal transmission control unit 166 of the third embodiment controls the communication device 124 so that the control target device recognized by the control target device type recognition unit 162 transmits the target control signal.

As described above, the robot 100 of the third embodiment determines the type of the device to be controlled according to the evaluation value determined by the evaluation unit 257 when there are a plurality of candidates for the type of the device to be controlled. recognize. As a result, when there are a plurality of candidates for the type of the device to be controlled, the device to be controlled can be appropriately selected according to the evaluation value, and the selected device to be controlled can be controlled. ..

[Fourth Embodiment]

Next, the fourth embodiment will be described. The fourth embodiment is different from the first to third embodiments in that a control signal is transmitted to the device to be controlled according to the information detected by the internal sensor 128 and the external sensor 114.

As shown in FIG. 15, the processor 420 of the fourth embodiment functionally includes a position information acquisition unit 150, a time information acquisition unit 152, a device type recognition unit 154, a registration unit 156, and a state acquisition unit. It includes a unit 357, an instruction signal acquisition unit 158, a voice analysis unit 160, a control target device type recognition unit 162, a control signal recognition unit 164, and a signal transmission control unit 166.

The state acquisition unit 357 acquires the state of the device to be controlled based on the information detected by the internal sensor 128 or the external sensor 114.

For example, the state acquisition unit 357 acquires a state regarding whether or not the device to be controlled is operating based on the image captured by the camera which is the internal sensor 128.

Then, the signal transmission control unit 166 of the fourth embodiment selects the device to be controlled according to the state of the device acquired by the state acquisition unit 357 and the control content represented by the target control signal. Then, the signal transmission control unit 166 of the fourth embodiment causes the device corresponding to the selection result of the device to transmit the target control signal.

For example, when TV A in the ON state and TV B in the OFF state exist, it is assumed that the instruction signal "Television off" is received. In this case, when the control target device type recognition unit 162 recognizes that the control target device is "TV B", the OFF control signal is transmitted to the TV B that is already in the OFF state. become.

Therefore, the signal transmission control unit 166 of the fourth embodiment has an ON state or OFF state as the state of the device acquired by the state acquisition unit 357 and an ON state or OFF state as the control content represented by the target control signal. The TV A, which is the device to be controlled, is selected according to the above. Then, the signal transmission control unit 166 of the fourth embodiment transmits the control signal of the OFF signal to the television A.

As a result, for example, when the device to be controlled is an alternate type device, it can be appropriately controlled. For example, in an alternate type device, if an OFF control signal is sent in the OFF state, the device will be in the ON state, which may deviate from the user's intention. According to the fourth embodiment, it is possible to avoid control that deviates from the intention of the user.

The state acquisition unit 357 recognizes the presence or absence of a person based on the information obtained by the camera or the thermo sensor which is the internal sensor 128. Then, the signal transmission control unit 166 causes the state acquisition unit 357 to transmit the target control signal according to the recognition result of the existence of the person.

For example, when the state acquisition unit 357 recognizes that there is no person, the signal transmission control unit 166 sets the communication device 124 so as to transmit an OFF control signal for a predetermined device such as a TV, a lighting, and an air conditioner. Control. Regarding this control, for example, the presence or absence of automatic control by the robot 100 may be determined by setting the application from the smartphone terminal.

Further, the state acquisition unit 357 may further recognize the state of a person based on the information obtained by the camera or the thermo sensor which is the internal sensor 128. In this case, the signal transmission control unit 166 causes the communication device 124 to transmit the target control signal according to the recognition result of the human state by the state acquisition unit 357. For example, when a person's body temperature is obtained by a thermo sensor which is an internal sensor 128, a control signal for turning on the air conditioner is transmitted to the air conditioner when the person's body temperature exceeds a predetermined temperature.

Alternatively, the signal transmission control unit 166 transmits an OFF control signal to the device in the ON state based on whether or not each device is in the ON state, which is recognized by the state acquisition unit 357. You may. In this case, the TV may be determined by an image or sound, the lighting may be determined by an image, and the air conditioner may be determined by an image or a thermal sensor.

Further, the signal transmission control unit 166 may notify the user's smartphone terminal whether or not to turn off each device via the application. Further, the user may be able to remotely control the robot 100 from the smartphone terminal.

Further, the state acquisition unit 357 may determine whether or not the user is out based on the information detected by the internal sensor 128 or the external sensor 114. For example, if no one is detected in a room designated in advance based on the detection results of the camera and the microphone for a certain period of time or longer, the device in the ON state may be turned OFF in the smartphone terminal of the user. Send a signal about the camera.

In addition, the state acquisition unit 357 determines whether or not the user is out via the application of the user's smartphone terminal. For example, the state acquisition unit 357 determines that the user is out when the GPS signal of the smartphone terminal is separated from the house by a predetermined distance or more. Then, the state acquisition unit 357 controls OFF for predetermined devices such as TV, lighting, and air conditioner if all the target users (for example, family members) are out. Send a signal.

Further, the state acquisition unit 357 acquires the state of the infant or pet existing in the house based on the information detected by the internal sensor 128 or the external sensor 114, and the signal transmission control unit 166 acquires the state of the infant or pet. Depending on the situation, control signals of various devices may be transmitted.

For example, when the state acquisition unit 357 detects the crying of an infant, a control signal may be transmitted to the target device so as to reproduce the voice. Further, for example, when the temperature inside the house is equal to or lower than the predetermined temperature, the state acquisition unit 357 may transmit a predetermined control signal to the air conditioner. Further, for example, when the sleep state of the infant is detected by the state acquisition unit 357, a control signal such as lowering the volume of the audio device or lowering the volume of the television may be transmitted.

Further, when the state acquisition unit 357 receives a stop signal from the smartphone terminal via the application, the signal transmission control unit 166 may output a control signal for stopping the operation of each device.

Further, when the ambient temperature becomes equal to or higher than a predetermined value or lower than a predetermined value based on the information detected by the internal sensor 128 or the external sensor 114, the state acquisition unit 357 causes the signal transmission control unit 166 to perform the robot. A predetermined control signal may be transmitted to the air conditioner in order to avoid the failure of 100.

Further, for example, when the state acquisition unit 357 receives GPS information from the user's smartphone terminal via an external server and detects the user's return home, the state acquisition unit 357 is a position corresponding to a predetermined position in the house or a place where the user is heading. A control signal such as turning on the lighting of the device may be output to each device.

As described above, the robot 100 of the fourth embodiment causes the target device to transmit the target control signal according to the information detected by the sensor. As a result, the device to be controlled can be appropriately controlled.

[Fifth Embodiment]

Next, the fifth embodiment will be described. The fifth embodiment is different from the first to fourth embodiments in that the position of the target device is estimated by estimating the direction of the source of the control signal.

The internal sensor 128 of the robot 100 of the fifth embodiment includes a direction estimation device 30 as shown in FIG. The direction estimation device 30 corresponds to the "direction estimation unit" of the disclosed technology. The direction estimation device 30 is provided, for example, at a corner portion of the robot 100. As shown in FIG. 16, the direction estimation device 30 includes a plurality of infrared light emitting elements 11a to 11d and a plurality of light receiving elements 21a to 21d (corresponding to “plurality of receiving elements” of the disclosed technology). ing. When a plurality of infrared light emitting elements 11a to 11d are collectively referred to, or when a specific infrared light emitting element is not specified, it is simply referred to as "infrared light emitting element 11". The infrared light emitting element 11 also corresponds to the "control signal transmission unit" of the disclosed technology. Further, when a plurality of light receiving elements 21a to 21d are collectively referred to, or when a specific light receiving element is not specified, it is simply referred to as "light receiving element 21". The light receiving element 12 also corresponds to the "control signal receiving unit" of the disclosed technology.

For example, as shown in FIG. 17, when the user U operates the remote controller 142 and outputs a control signal to the television 144 which is the target device, the processor 120 of the robot 100 outputs a program from the storage device 122. Read and execute the position learning processing routine shown in FIG. Note that FIG. 17 is an aerial view of the positional relationship between the user U, the robot 100, and the television 144, which is the target device.

First, the light receiving element 21 of the direction estimation device 30 receives infrared data which is a control signal output from the remote controller 142.

In step S302, the processor 120 of the robot 100 acquires information on the amount of light received by the light receiving element 21 of the direction estimation device 30. Specifically, the processor 120 of the robot 100 acquires information on the amount of light received by each of the plurality of light receiving elements 21a to 21d.

In step S304, the processor 120 of the robot 100 estimates the direction of the source of the infrared data based on the light receiving amount information acquired in step S302. For example, the processor 120 of the robot 100 estimates the direction of the remote controller 142 shown in FIG. 17 as the direction of the source of infrared data based on the amount of light received by each light receiving element 21.

In step S306, the processor 120 of the robot 100 has the target device in the region R in the direction opposite to the direction of the source, based on the estimation result of the direction of the source of the infrared data in step S304. Estimate that you are. For example, as shown in FIG. 17, the processor 120 of the robot 100 estimates that the television 144 is present in the region of R, which is in the direction opposite to the direction of the remote controller 142. The processor 120 of the robot 100 corresponds to the "existence position estimation unit" of the disclosed technology.

In step S308, the processor 120 of the robot 100 drives the drive mechanism 118 and controls the camera of the internal sensors 128 to image the range of R.

In step S310, the processor 120 of the robot 100 applies known image processing to the image captured in step S308 to recognize the target device. When recognizing the target device, the processor 120 determines the target device by comparing the preset feature amount of the target device with the feature amount extracted from the image captured by the camera. Identify. Alternatively, the processor 120 may identify the target device to be captured in the image by using a learned model in which the identification information of the target device to be captured in the image is output when the image is input.

In step S311, the processor 120 of the robot 100 estimates the position of the target device by using a known position estimation algorithm or the like based on the image recognition result obtained in step S310. For example, the processor 120 of the robot 100 estimates the three-dimensional position of the target device based on the image recognition result.

Then, in step S312, the processor 120 of the robot 100 stores the position information of the target device obtained in step S311 in the device type storage unit 172.

In the steps S308 and S310, the case where the position of the target device is recognized based on the image captured by the camera among the internal sensors 128 has been described as an example, but the present invention is limited to this. is not it. For example, the robot 100 is based on at least one type of information, which is map information representing an indoor map, information detected by a thermosensor among internal sensors 128, and information detected by a microphone among internal sensors 128. The position of the device to which the control signal is transmitted may be recognized.

When the position information of the device is accumulated in the device type storage unit 172, the robot 100 outputs the control signal corresponding to the voice information to the direction of the device to be controlled when the voice information which is the instruction signal is received. .. First, when the user emits voice information, the microphone included in the internal sensor 128 of the robot 100 detects the voice information emitted from the user. When the microphone of the robot 100 detects the voice information, the processor 120 of the robot 100 reads the program from the storage device 122 and executes the device control processing routine shown in FIG.

Each process of steps S200 to S208 is executed in the same manner as in the first embodiment.

In step S410, the processor 120 of the robot 100 reads the position information associated with the device based on the recognition result of the device in step S206, and recognizes the position of the target device.

In step S412, the processor 120 of the robot 100 controls the infrared light emitting element 11 of the direction estimation device 30 so as to output an infrared signal which is a control signal in the direction of the position of the target device recognized in step S410. .. In this case, the robot 100 recognizes its own position and controls the infrared light emitting element 11 of the direction estimation device 30 according to the relationship between its own position and the position of the target device.

As described above, the robot 100 of the fifth embodiment recognizes the position of the target device and outputs a control signal in that direction. As a result, the device intended by the user can be appropriately controlled.

It should be noted that the present invention is not limited to the above-described embodiment, and various modifications and applications are possible within a range that does not deviate from the gist of each embodiment.

For example, when the instruction signal contains information indicating the location, the processor 120 of the robot 100 outputs a control signal to the drive mechanism 118 to move to the position representing the location. Then, the processor 120 of the robot 100 may transmit the control signal to the device to be controlled existing at the position.

For example, when the voice information "turn on the bedroom light" as an instruction signal is acquired, the controlled device type recognition unit 162 refers to the table stored in the map information storage unit 176 to determine the position of the bedroom. Identify. Then, the processor 120 of the robot 100 outputs a signal to the wheels 102 to move to the position of the bedroom, and moves itself to the bedroom. Then, the control target device type recognition unit 162 transmits a control signal indicating ON to the control target lighting existing in the bedroom.

Further, the robot 100 may perform control based on the information regarding the preference representing the preference for each device. For example, as shown in FIG. 20, when the preference score given to the television 144 is higher than the preference score given to the air conditioner 146, the robot 100 is the television 144, which is a highly preferred device. The above may be set so that it becomes easier to approach the vicinity of the television 144, the television 144 is directed toward the television 144, and the control signal for the television 144 is easily learned at an early stage.

Further, the robot 100 may perform predetermined sound information or motion when transmitting a control signal to the target device. Further, the robot 100 may transmit a control signal to the target device according to the surrounding situation. For example, when the robot 100 detects the voice of a surrounding human being through a microphone at a frequency equal to or higher than a predetermined frequency, or when it is detected from imaging that the surrounding human faces are facing each other, the communication of the surrounding human beings When it becomes active, a control signal such as lowering the sound of the television may be transmitted.

Further, when the robot 100 has a telephone function, the robot 100 may perform controls such as lowering the volume of the television and controlling the light when the user uses the telephone function of the robot 100.

Further, the robot 100 may output a control signal to the target device according to the schedule when the target device is activated. For example, the robot 100 may automatically transmit the control signal to the target device according to the time information of the control signal transmitted from the remote control.

Further, the robot 100 may update the evaluation value according to the reaction of the user after transmitting the control signal. For example, when the acceleration in the vertical direction is detected by being held by the user after transmitting the control signal, it is considered that the transmission of the control signal to the device is appropriate, and the evaluation value of the device is evaluated. You may try to raise it. Further, when the predetermined voice information (for example, "Thank you") is detected after the control signal is transmitted, it is considered that the control signal is properly transmitted to the device, and the evaluation value of the device is evaluated. You may try to raise it.
Further, the processor 120 of the robot 100 has the target device in the region R in the direction opposite to the direction of the source, based on the estimation result of the direction of the source of the infrared data in step S304. Was estimated. Alternatively or additionally, in view of the high directivity of infrared rays, the processor 120 of the robot 100 may presume that the target device exists in the direction of the source of the infrared data.

Further, a part of the functions of the robot 100 may be realized by the server 200, and a part or all of the functions of the server 200 may be realized by the robot 100.

Further, the device control device of the present disclosure has been described by taking the case of one robot 100 as an example, but the present invention is not limited to this, and may be composed of a plurality of robots. In this case, a plurality of robots may send and receive information to each other, and the plurality of robots may perform learning of the type of device and control of the device.

Further, the robot 100 of the fifth embodiment has been described as an example of the case where infrared rays which are control signals are output in the direction of the target device, but the present invention is not limited to this, and for example, the direction estimation device 30 Infrared rays, which are control signals, may be output from all of the plurality of infrared light emitting elements 11a to 11d provided.

Further, in each of the above embodiments, the case where the control signal is infrared rays has been described as an example, but the present invention is not limited to this, and for example, the control signal may be a high frequency (Rf: Radio frequency) electromagnetic wave signal. Good.

Note that computer-readable recording media refer to portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems.

As described above, each embodiment has been described in detail with reference to the drawings, but the specific configuration is not limited to each of these embodiments, and includes a design within a range that does not deviate from the gist.

Further, the program of the embodiment may be stored in a storage medium and provided.

All documents, patent applications, and technical standards described herein are to the same extent as if the individual documents, patent applications, and technical standards were specifically and individually stated to be incorporated by reference. Incorporated herein by reference.

Claims

A control signal receiver that receives control signals that represent the control content of the device,
A control signal transmitter that transmits a control signal that represents the control content to the device,
A device type recognition unit that recognizes the type of device represented by the control signal based on the control signal received by the control signal reception unit.
A registration unit that registers the type of the device recognized by the device type recognition unit in the first storage unit, and a registration unit.
An instruction signal acquisition unit that acquires an instruction signal that is a signal of a type different from the control signal and is a signal indicating the control content to the device.
A control target device that recognizes the type of the control target device represented by the instruction signal based on the instruction signal acquired by the instruction signal acquisition unit and the type of the device stored in the first storage unit. Type recognition unit and
The type of the device to be controlled recognized by the device type recognition unit to be controlled and the instruction signal are included in the instruction signal with reference to the second storage unit in which the control signal corresponding to the type of device and the control content is stored. A control signal recognition unit that recognizes the control signal of the target corresponding to the control content of the device to be controlled,
A signal transmission control unit that causes the control signal transmission unit to transmit the control signal of the target to the device to be controlled.
A device control device equipped with.
Movement mechanism and
Further, a position acquisition unit for acquiring position information when the control signal is received by the control signal reception unit is provided.
The registration unit registers the combination of the type of the device recognized by the device type recognition unit and the position information acquired by the position acquisition unit in the first storage unit.
The control target device type recognition unit is based on the type of the device included in the instruction signal, the position where the instruction signal is received, and the type and position information of the device stored in the first storage unit. Recognize the type of device to be controlled represented by the instruction signal.
The device control device according to claim 1.
Further, a time acquisition unit for acquiring time information when the control signal is received by the control signal reception unit is provided.
The registration unit registers the combination of the type of the device recognized by the device type recognition unit and the time information acquired by the time acquisition unit in the first storage unit.
The control target device type recognition unit is based on the type of device included in the instruction signal, the time when the instruction signal is received, and the type and time information of the device stored in the first storage unit. Recognize the type of device to be controlled represented by the instruction signal.
The device control device according to claim 1 or 2.
Equipped with a voice analysis unit
The instruction signal acquisition unit acquires voice information as the instruction signal, and obtains the voice information.
The voice analysis unit voice-analyzes the instruction signal acquired by the instruction signal acquisition unit, and acquires a wording indicating a control content included in the instruction signal.
The control signal recognition unit recognizes the target control signal based on the information stored in the second storage unit and the wording indicating the control content.
The device control device according to any one of claims 1 to 3.
The voice analysis unit voice-analyzes the instruction signal acquired by the instruction signal acquisition unit, and acquires a word indicating the control content and a word indicating the type of the device included in the instruction signal.
The control target device type recognition unit recognizes the type of the control target device represented by the instruction signal based on the wording indicating the type of the device and the type of the device stored in the first storage unit. To do
The device control device according to claim 4.
An evaluation unit for determining an evaluation value for each device stored in the first storage unit is further provided.
When there are a plurality of candidates for the type of the device to be controlled, the control target device type recognition unit recognizes the type of the device to be controlled according to the evaluation value determined by the evaluation unit.
The device control device according to any one of claims 1 to 5.
Further, a position acquisition unit for acquiring position information when the control signal is received by the control signal reception unit is provided.
The evaluation unit determines an evaluation value for each device according to a region corresponding to the position information acquired by the position acquisition unit.
The device control device according to claim 6.
Further, a time acquisition unit for acquiring time information when the control signal is received by the control signal reception unit is provided.
The evaluation unit determines an evaluation value for each device according to a time zone corresponding to the time information acquired by the time acquisition unit.
The device control device according to claim 6.
Further, a time acquisition unit for acquiring time information when the control signal is received by the control signal reception unit is provided.
The evaluation unit controls to lower the evaluation value of each device stored in the first storage unit in which a predetermined time has elapsed from the time when the control signal is received by the time acquisition unit. To do,
The device control device according to claim 6.
The evaluation unit is stored in the first storage unit according to the time-series relationship between the transmission of the control signal by the control signal transmission unit and the reception of the control signal by the control signal reception unit. Update the evaluation value for each device,
The device control device according to claim 6.
When the evaluation unit receives the control signal to the second device by the control signal receiving unit within a predetermined time after the control signal transmitting unit transmits the control signal to the first device, the evaluation unit receives the control signal to the second device. , Update to lower the evaluation value for the first device,
The device control device according to claim 10.
The evaluation unit receives the control signal to the second device within a predetermined time after transmitting the control signal to the first device, and the control signal to the first device. If the control content of the control signal and the control content of the control signal to the second device are the same, the evaluation value for the second device is updated to be increased.
The device control device according to claim 10 or 11.
The evaluation unit receives the control signal to the first device within a predetermined time after transmitting the control signal to the first device, and the control content represented by the transmitted control signal. When the control content represented by the received control signal is different, the evaluation value for the first device is updated to be lowered.
The device control device according to any one of claims 10 to 12.
When the evaluation unit acquires the instruction signal to the second device within a predetermined time after transmitting the control signal to the first device, the evaluation unit lowers the evaluation value to the first device. Update,
The device control device according to any one of claims 10 to 13.
The evaluation unit acquires an instruction signal to the first device within a predetermined time after transmitting the control signal to the first device, and the device represented by the instruction signal is the first device. If the device is a device and the control content represented by the control signal is different from the control content represented by the instruction signal, the evaluation value for the first device is updated to be lowered.
The device control device according to any one of claims 10 to 14.
With the sensor
A state acquisition unit that acquires the state of the device to be controlled based on the information detected by the sensor is further provided.
The signal transmission control unit selects a device to be controlled according to the state of the device acquired by the state acquisition unit and the control content represented by the target control signal, and with respect to the selected device. To transmit the control signal of the target,
The device control device according to any one of claims 1 to 15.
With the sensor
A state acquisition unit that recognizes the presence or absence of a person based on the information detected by the sensor, and
The signal transmission control unit transmits the control signal of the target according to the recognition result of the existence of a person by the state acquisition unit.
The device control device according to any one of claims 1 to 15.
The state acquisition unit further recognizes the state of the person and
The signal transmission control unit transmits the target control signal according to the recognition result of the human state by the state acquisition unit.
The device control device according to claim 17.
With the sensor
The signal transmission control unit transmits a control signal of the target according to the information detected by the sensor.
The device control device according to any one of claims 1 to 15.
The control signal receiving unit includes a plurality of receiving elements and has a plurality of receiving elements.
The device control device has a direction estimation unit that estimates a signal transmission direction based on the light receiving amount of each of the plurality of receiving elements, and a control target based on a signal transmission direction estimated by the direction estimation unit. Equipped with an existence position estimation unit that estimates the existence position of the equipment
The signal transmission control unit transmits the signal toward the existence position of the device to be controlled estimated by the existence position estimation unit.
The device control device according to any one of claims 1 to 19.
The first storage unit further stores information on the preference for each device.
The signal transmission control unit causes the device to transmit the control signal of the target according to the information regarding the preference for the device to be controlled.
The device control device according to any one of claims 1 to 20.
The control signal receiver receives a control signal indicating the control content to the device,
The control signal transmitter transmits a control signal indicating the control content to the device,
The device type recognition unit recognizes the type of device represented by the control signal based on the control signal received by the control signal receiving unit.
The registration unit registers the type of the device recognized by the device type recognition unit in the first storage unit.
The instruction signal acquisition unit acquires an instruction signal which is a signal of a type different from the control signal and represents a control content to the device.
The control target device type recognition unit is a control target device represented by the instruction signal based on the instruction signal acquired by the instruction signal acquisition unit and the type of the device stored in the first storage unit. Recognize the type of
The control signal recognition unit refers to the second storage unit in which the control signal corresponding to the type of the device and the control content is stored, and determines the type of the device to be controlled recognized by the control target device type recognition unit. Recognize the target control signal that corresponds to the control content for the control target device included in the instruction signal.
The signal transmission control unit causes the control signal transmission unit to transmit the control signal of the target to the device to be controlled.
Device control method.
Computer,
A device type recognition unit that recognizes the type of device represented by the control signal based on the control signal received by the control signal receiving unit that receives the control signal representing the control content to the device.
A registration unit that registers the type of the device recognized by the device type recognition unit in the first storage unit,
An instruction signal acquisition unit that acquires an instruction signal that is a signal of a type different from the control signal and is a signal representing the control content to the device.
A control target device that recognizes the type of the control target device represented by the instruction signal based on the instruction signal acquired by the instruction signal acquisition unit and the type of the device stored in the first storage unit. Type recognition unit,
The type of the device to be controlled recognized by the device type recognition unit to be controlled and the instruction signal are included in the instruction signal with reference to the second storage unit in which the control signal corresponding to the type of device and the control content is stored. To the device to be controlled, the control signal recognition unit that recognizes the control signal of the target corresponding to the control content to the device to be controlled, and the control signal transmission unit that transmits the control signal indicating the control content to the device. A device control program for functioning as a signal transmission control unit that transmits the control signal of the target.