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DESCRIPTION JP2017092725

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DESCRIPTION JP2017092725
Abstract: The present invention enables a user to give an instruction accurately and simply and
naturally without operating a special device during speech. SOLUTION: The received electric field
strength of a weak wireless signal transmitted from a second wireless transmitter 3 provided in a
microphone KMC for karaoke is monitored, and when the received electric field strength exceeds
a threshold, the microphone KMC Is determined to have approached, and the singing voice sent
from the karaoke apparatus KS is loudly outputted from the robot speaker 14, and the output of
the singing voice is muted when the received electric field strength is less than the threshold
value. It is. [Selected figure] Figure 2
ROBOT DEVICE HAVING VOICE FUNCTION, VOICE CONTROL METHOD AND PROGRAM
[0001]
The present invention relates to a robot apparatus provided with an utterance function, and an
utterance control method and program by the robot apparatus.
[0002]
In recent years, for example, a method of using a humanoid robot to make various assistances
desired by the user has been considered.
For example, it is considered that the robot is brought to a karaoke box or the like, and the robot
sings a partial section or part of a song that the user sings, or the user duets with the robot.
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[0003]
In order to make the robot sing a song section, it is necessary to properly give the robot an
instruction of the user. However, generally speaking, in karaoke boxes and the like, loud sounds
in the audible range are generated, the lighting environment is dark, and there are many cases
where the room is narrow and people are concentrated in one place. It is difficult to tell the robot
faithfully.
[0004]
Therefore, there has been proposed a user interface which instructs a robot on the position and
action using a laser pointer (see, for example, Non-Patent Document 1). In addition, a user
interface for instructing a robot to walk by multi-touch operation using a tablet terminal has also
been proposed (see, for example, Non-Patent Document 2).
[0005]
Kentaro Ishii, Shengdong Zhao, Masahiko Inami, Takeo Igarashi, and Michita Imai. “Designing
Laser Gesture Interface for Robot Control. Proceedings of the 12th IFIP Conference on HumanComputer Interaction, INTERACT 2009, pp. 479-492. Yuta Sugiura, Charith L. Fernando, Anusha
I. Withana, Gota Kakehi, Daisuke Sakamoto, Maki Sugimoto, Masahiko Inami, Takeo Igarashi and
Masa Inagage, "An Operating Method for a Bipedal Walking Robot for Entertainment", ACM
SIGGRAPH Asia 2009 Emerging Technologies , pp. 79-79, Yokohama, December 2009.
[0006]
However, the operation of specifying a singing section using a laser pointer or a tablet terminal is
unnatural because it does not exist in the practice of the user when singing. Moreover, in order
to designate a singing section using a laser pointer or a tablet type terminal, the user needs to
learn the operation in advance, which is bothersome and burdensome for the user. Furthermore,
in order to give an instruction to the robot while singing, it is necessary for the user to hold the
microphone to the user interface device and operate while singing, which results in poor
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2
operability and a hindrance to performing a smooth singing operation.
[0007]
The present invention has been made in view of the above circumstances, and the purpose of the
present invention is to allow a user to give an instruction accurately and simply and naturally
without operating a special device during speech. It is an object of the present invention to
provide a robot apparatus having a voice generation function, a voice control method and a
program.
[0008]
In order to achieve the above object, according to a first aspect of the present invention, there is
provided a robot apparatus having a voice generation means for performing a voice movement
operation based on sound data received from an external apparatus or sound data stored in
advance. On the other hand, the utterance means is activated during a period in which the
approach of the microphone is detected based on an approach detection means for detecting that
the microphone has approached within a predetermined range, and a detection result by the
approach detection means. And an utterance control means for performing an utterance
operation based on the sound data.
[0009]
According to a second aspect of the present invention, in the case where the microphone
includes a wireless transmitter for transmitting a wireless signal of weak power, the proximity
detection means determines the weak wireless signal transmitted from the weak power wireless
transmitter. A wireless receiver to receive, and a determination unit that determines whether the
reception level of a weak power wireless signal received by the wireless receiver exceeds a preset
threshold value.
Then, the voice generation control means activates the voice generation means during a period in
which the reception level of the weak power wireless signal exceeds the threshold value based on
the determination result by the determination means, and is based on the sound data. It is made
to perform a vocal operation.
[0010]
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According to a third aspect of the present invention, in the case of being used with an external
device that amplifies the sound detected by the microphone from a speaker, the proximity
detection means generates an out-of-audible sound wave generator that generates a non-audible
sound wave. An out-of-audible-area sound wave receiver that receives out-of-audible-area sound
waves that are detected by the microphone and then amplified and output from the speaker
among out-of-audible-area sound waves generated from the in-audible area sound wave
generator And a determination unit that determines whether the condition that the received
outside sound wave is being output from the speaker is satisfied.
Then, the utterance control means activates the utterance means during a period determined to
satisfy the condition that the received ultrasonic wave is outputted from the speaker based on
the determination result of the determination means. It is possible to perform an utterance
operation based on the sound data.
[0011]
According to the first aspect of the present invention, the robot device speaks only while the
microphone is approaching within the predetermined range. Therefore, the user can give a voice
instruction to the robot apparatus only by performing a natural operation of bringing the
microphone close to the robot apparatus. Therefore, it is possible for the user to give a voice
instruction with a simple and natural operation and properly, without operating a special device
such as a laser pointer or a tablet terminal during voice production.
[0012]
According to the second aspect of the present invention, the microphone is provided simply by
providing the microphone with a wireless transmitter for transmitting a wireless signal of weak
power and providing the robot apparatus with a wireless receiver for receiving the wireless
signal of weak power. Can be detected.
[0013]
According to the third aspect of the present invention, it is possible to detect the approach of the
microphone without providing any special additional function to the microphone and the
external device only by providing the robot device with the generator and the receiver of the
audible external sound wave. Is possible.
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[0014]
That is, according to the present invention, a robot apparatus having an utterance function, an
utterance control method, and an utterance control method, which enable a user to give an
instruction accurately and easily with natural operation without operating a special device during
utterance. The program can be provided.
[0015]
BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the structure of the karaoke
system used with the robot apparatus based on 1st Embodiment of this invention.
FIG. 2 is a block diagram showing a functional configuration of the robot apparatus shown in FIG.
1;
FIG. 3 is a flowchart showing the processing procedure and processing contents of a microphone
approach detection unit provided in the robot apparatus shown in FIG. 2.
3 is a flowchart showing the processing procedure and processing contents of a robot voice
output control unit provided in the robot apparatus shown in FIG. 2; The flowchart which shows
the process sequence and process content of the song output unit with which the robot
apparatus shown in FIG. 2 is provided. The figure for demonstrating the change operation of the
non-singing state of the robot apparatus shown in FIG. 2, and a singing state. 1 is a block
diagram showing a functional configuration of a robot device according to a first embodiment of
the present invention. FIG. 8 is a flowchart showing the processing procedure and processing
contents of a microphone approach detection unit provided in the robot apparatus shown in FIG.
7;
[0016]
Hereinafter, embodiments according to the present invention will be described with reference to
the drawings. [First Embodiment] (Configuration) FIG. 1 is a view showing the configuration of a
karaoke system used together with a robot apparatus according to a first embodiment of the
present invention, and 1A is a robot apparatus (hereinafter referred to as a robot And US show
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users respectively.
[0017]
The karaoke system includes a karaoke apparatus KS, a wireless microphone KMC connected to
the karaoke apparatus KS, a display KDS, and a karaoke speaker KSP. The karaoke apparatus KS
displays the lyrics of the song selected and specified by the user and the background image on
the display unit KDS in time series, and receives the user's US singing voice signal from the
microphone KMC and combines it with the karaoke music signal The synthesized sound is
amplified and output from the karaoke speaker KPS.
[0018]
The karaoke apparatus KS also has a function of transmitting the singing voice data of the
singing song selected and specified by the user US toward the robot 1A with a timing signal
attached in a predetermined unit, for example, every measure.
[0019]
The microphone KMC is added to the first wireless transmitter for transmitting the singing voice
signal of the user US to the karaoke apparatus KS, and is provided with a second wireless
transmitter 3 for transmitting a wireless signal of weak power. .
The second radio transmitter 3 transmits a radio signal of weak power used in, for example,
RFID, and always transmits a radio signal of constant power while the power is on.
[0020]
The robot 1A comprises a humanoid robot and is configured as follows. FIG. 2 is a block diagram
showing the functional configuration. That is, the robot 1A includes a first wireless receiving unit
11, a singing output unit 12, an audio output unit 13, and a robot speaker 14. The first wireless
receiving unit 11 receives singing voice data transmitted from the karaoke apparatus KS. The
song output unit 12 outputs the singing voice data received by the first wireless receiving unit
11 to the voice output unit 13. The voice output unit 13 converts the singing voice data output
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from the singing output unit 12 from a digital signal into an analog signal, amplifies the data to a
predetermined signal level, and causes the robot speaker 14 to output an amplified voice.
[0021]
The robot 1A further includes a second wireless reception unit 15, a microphone approach
detection unit 16, and a robot voice output control unit 17. The second wireless reception unit
15 receives the wireless signal of weak power transmitted from the second wireless transmitter 3
of the microphone KMC, and the signal representing the wireless reception intensity, specifically,
the reception electric field intensity. Output to the microphone approach detection unit 16. The
microphone approach detection unit 16 compares the signal representing the wireless reception
intensity output from the second wireless reception unit 15 with a preset threshold value, and
sends information representing the determination result to the robot voice output control unit
17. Output. The robot voice output control unit 17 supplies information representing the
determination result output from the microphone approach detection unit 16 to the song output
unit 12, and controls the output of singing voice data by the song output unit 12.
[0022]
(Operation) Next, the operation of the robot 1A configured as described above will be described.
When the user US selects and designates a desired song to the karaoke apparatus KS,
reproduction of the designated song data is started, and the karaoke song is loudly output from
the karaoke speaker KSP and the lyrics and The background image is displayed on the display
unit KDS.
[0023]
Then, when the user US starts singing in this state, the singing voice is detected by the
microphone KMC, and the singing voice signal is transmitted from the microphone KMC to the
karaoke apparatus KS and synthesized with the music for karaoke, A loud speaker is output from
the karaoke speaker KSP. At the same time, singing voice data included in the song data is sent to
the robot 1A in a state where a timing signal is given to each bar.
[0024]
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On the other hand, in the robot 1A, the singing voice data transmitted from the karaoke
apparatus KS is received by the first wireless receiving unit 11, and is input to the singing output
unit 12. However, at this time, the user US uses the microphone KMC for singing, and the
microphone approach detection unit 16 does not detect the approach of the microphone KMC.
For this reason, “false” is output from the robot voice output control unit 17 to the song
output unit 12 to instruct that the voice output not be performed, whereby the song output unit
12 is put into the mute state. As a result, the singing voice according to the singing voice data is
not output from the speaker 14 of the robot 1A.
[0025]
On the other hand, in this state, it is assumed that the user US moves the microphone KMC away
from his / her mouth and approaches the robot 1A when finishing singing an arbitrary bar. Then,
in the robot 1A, the weak wireless signal transmitted from the second wireless transmitter 3 of
the microphone KMC is received by the second wireless receiver 15, and the information
indicating the received electric field strength is the microphone proximity detector 16 Is input to
[0026]
When the microphone approach detection unit 16 receives the information indicating the
received electric field strength, the received electric field strength is first compared with the
threshold value in step S11 as shown in FIG. Determine if As a result of the determination, if the
received electric field strength is equal to or higher than the threshold value, an approach
determination result “true” indicating that the approach of the microphone KMC is detected is
given to the robot voice output control unit 17 in step S13.
[0027]
When the robot voice output control unit 17 receives the approach determination result from the
microphone approach detection unit 16, first, as shown in FIG. 4, the robot voice output control
unit 17 first determines in step S21 whether the approach determination result is "true". Then, if
"true", in step S23, the determination result "true" indicating that the voice output is permitted is
output to the song output unit 12.
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8
[0028]
As shown in FIG. 5, the song output unit 12 first determines in step S31 whether the
determination result of the voice output output from the robot voice output control unit 17 is
"true". As a result of this determination, if "true", in step S32, the start timing of the most recently
received measure is detected based on the timing signal attached to the singing voice data
received from the karaoke apparatus KS. . Then, the output sound volume value of the singing
voice data is increased to a fixed value from the start timing of the bar, and is output to the
sound output unit 13. At this time, the song output unit 12 converts the parameters relating to
the sound quality of the singing voice data into the sound quality according to the voice uttered
by the robot 1A.
[0029]
The voice output unit 13 converts the singing voice data output from the singing output unit 12
into an analog signal, amplifies it to the designated output volume value, and outputs the
amplified signal from the robot speaker 14. As a result, from the bar following the bar where the
user US has finished singing, the singing voice is amplified and output from the robot speaker 14
as if the robot 1A is taking over and singing. Note that the conversion of the sound quality of the
singing voice may be performed using a filter or the like in the voice output unit 13.
[0030]
Further, in this state, it is assumed that the user US moves the microphone KMC away from the
robot 1A and returns it to the user's own mouth when an arbitrary measure is finished. Then, in
the robot 1A, the weak wireless signal transmitted from the second wireless transmitter 3 of the
microphone KMC can not be received by the second wireless receiver 15. Therefore, the
microphone approach detection unit 16 indicates that the microphone KMC has moved away in
step S12 because the received electric field strength of the weak wireless signal is less than the
threshold value by the determination in step S11 shown in FIG. The approach determination
result “false” is output to the robot voice output control unit 17.
[0031]
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When the robot voice output control unit 17 receives the approach determination result from the
microphone approach detection unit 16, the robot voice output control unit 17 determines
whether the approach determination result is "true" in step S21 shown in FIG. As a result, since it
is "false" at this time, in step S22, the determination result "false" indicating prohibition of voice
output is output to the song output unit 12.
[0032]
The song output unit 12 proceeds from step S31 to step S32 because the voice output
determination result output from the robot voice output control unit 17 is "false". And based on
the timing signal provided to the singing voice data received from the karaoke apparatus KS, the
start timing of the measure received most immediately is detected. Then, the output volume value
of the singing voice data is reduced to the mute level from the start timing of the bar. As a result,
the output of the singing voice from the robot speaker 14 is stopped.
[0033]
Thereafter, similarly as shown in FIG. 6, it is possible to arbitrarily switch the operation state of
the robot 1A between the singing state and the non-singing state every time the microphone
KMC approaches or moves away from the robot 1A. Become.
[0034]
(Effects) As described in detail above, the robot apparatus according to the first embodiment
monitors the received electric field strength of a weak wireless signal transmitted from the
second wireless transmitter 3 provided in the microphone KMC for karaoke. When the received
electric field strength becomes equal to or higher than the threshold value, it is determined that
the microphone KMC has approached, and the singing voice sent from the karaoke apparatus KS
is amplified and output from the robot speaker 14, and the received electric field strength is
thresholded. When it is less than the value, the output of the singing voice is muted.
[0035]
Therefore, the user can give a singing instruction to the robot 1A only by performing a very
natural operation of bringing the microphone KMC close to the robot 1A.
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For this reason, the user can give a singing instruction with a simple and natural operation and
precisely, without operating a special device such as a laser pointer or a tablet terminal while
singing.
[0036]
Further, only by providing the microphone KMC with the second wireless transmitter 3 for
transmitting a weak wireless signal used for an RFID or the like, and providing the robot 1A with
a second receiver 15 for receiving the weak wireless signal. It is possible to detect the approach
of the microphone KMC.
[0037]
Second Embodiment In a second embodiment of the present invention, the robot is provided with
an ultrasonic transmitter and receiver, and the sound pressure detected by the microphone of the
ultrasonic wave transmitted from the robot is used for karaoke. The approach of the microphone
is detected by determining by receiving the ultrasonic wave output from the speaker by the
robot.
[0038]
FIG. 7 is a block diagram showing a functional configuration of a robot apparatus according to a
second embodiment of the present invention.
The same reference numerals as in FIG. 2 denote the same parts in FIG.
[0039]
The robot apparatus (hereinafter referred to as a robot) 1 B includes an ultrasonic wave
generator 21 and an ultrasonic wave in addition to the first wireless receiving unit 11, the
singing output unit 12, the audio output unit 13, the speaker 14 and the robot audio output
control unit 17. A microphone 22 for sound wave reception, an ultrasonic wave receiver 23, and
a microphone approach detection unit 24 which detects the approach of the microphone
according to the received sound pressure of the ultrasonic wave.
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[0040]
The ultrasonic wave generator 21 always generates an ultrasonic wave of constant sound
pressure.
Among the ultrasonic waves generated from the ultrasonic wave generator 21, the ultrasonic
wave receiver 23 is detected by the microphone microphone KMC for karaoke, and then is
outputted from the speaker KSP for karaoke through the karaoke machine KS. A sound wave is
received via the microphone 22 for ultrasonic wave reception.
[0041]
The microphone approach detection unit 24 extracts the ultrasonic wave received by the
ultrasonic wave receiver 23 by, for example, Fourier analysis, and determines whether or not the
sound pressure is equal to or more than a preset threshold value, and indicates the determination
result. The information is output to the robot voice output control unit 17.
The robot voice output control unit 17 supplies information representing the determination
result output from the microphone approach detection unit 24 to the song output unit 12, and
controls the output of singing voice data by the song output unit 12.
[0042]
(Operation) Next, the operation of the robot 1B configured as described above will be described.
While the user US is singing, the microphone KMC is separated from the robot 1B. For this
reason, the ultrasonic wave generated from the ultrasonic wave generator 21 of the robot 1B
does not reach the microphone KMC, or even if it reaches it, the sound pressure becomes a small
level. For this reason, the sound pressure level of the ultrasonic wave which is transmitted from
the microphone KMC to the karaoke machine KS and then loudly outputted from the speaker KSP
for karaoke and received by the ultrasonic wave receiver 23 of the robot 1B is zero or extremely
small. Become.
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[0043]
As shown in FIG. 8, the microphone approach detection unit 24 of the robot 1B first performs
Fourier analysis on the received sound output from the ultrasonic wave receiver 23 in step S41
to detect the received sound pressure of the ultrasonic wave band. Next, in step S42, the received
sound pressure of the detected ultrasonic band is compared with a threshold value to determine
whether the received sound pressure is equal to or greater than the threshold value. As a result
of this determination, the received sound pressure is now less than the threshold, so the
microphone approach detection unit 24 proceeds to step S43, and the robot voice is an approach
determination result "false" indicating that the microphone KMC is far. Output to the output
control unit 17.
[0044]
When the robot voice output control unit 17 receives the approach determination result from the
microphone approach detection unit 24, it determines whether or not the approach
determination result is "true" in step S21 as shown in FIG. And since it is "false" now, in step S22,
the judgment result "false" indicating prohibition of voice output is outputted to the song output
unit 12.
[0045]
The song output unit 12 proceeds from step S31 to step S32 because the voice output
determination result output from the robot voice output control unit 17 is "false". Then, the
output volume value of the singing voice data is maintained at the mute level. As a result, the
singing voice of the robot 1 B is not output from the robot speaker 14.
[0046]
On the other hand, it is assumed that, in this state, the user US moves the microphone KMC away
from his / her mouth and approaches the robot 1B when finishing singing an arbitrary bar. Then,
the ultrasonic waves generated from the ultrasonic wave generator 212 of the robot 1B are
detected by the microphone KMC. Then, the ultrasonic wave is outputted from the microphone
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KMC via the karaoke device KS from the speaker KSP for karaoke together with the sound of the
music, and the sound including the ultrasonic wave is received by the ultrasonic receiver 23 via
the microphone 22 Be done.
[0047]
When the microphone approach detection unit 24 receives the received sound from the
ultrasonic wave receiver 23, as shown in FIG. 8, in step S41, the received sound output from the
ultrasonic wave receiver 23 is subjected to Fourier analysis to obtain an ultrasonic wave. Detect
the band's received sound pressure. Then, in step S42, the received sound pressure of the
detected ultrasonic band is compared with a threshold to determine whether the received sound
pressure is equal to or higher than the threshold. As a result of this determination, since the
received sound pressure now exceeds the threshold value, an approach determination result
"true" indicating that the approach of the microphone KMC has been detected is given to the
robot voice output control unit 17 in step S44.
[0048]
When the robot voice output control unit 17 receives the approach determination result from the
microphone approach detection unit 24, it determines whether or not the approach
determination result is "true" in step S21 as shown in FIG. Then, if "true", in step S23, the
determination result "true" indicating that the voice output is permitted is output to the song
output unit 12.
[0049]
As shown in FIG. 5, the song output unit 12 first determines in step S31 whether the
determination result of the voice output output from the robot voice output control unit 17 is
"true". As a result, if "true", in step S32, the start timing of the measure received most recently is
detected based on the timing signal attached to the singing voice data received from the karaoke
apparatus KS. Then, the output sound volume value of the singing voice data is increased to a
fixed value from the start timing of the bar, and is output to the sound output unit 13. At this
time, the song output unit 12 converts the parameter related to the sound quality of the singing
voice data into the sound quality according to the voice uttered by the robot 1B.
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[0050]
The voice output unit 13 converts the singing voice data output from the singing output unit 12
into an analog signal, amplifies it to the designated output volume value, and outputs the
amplified signal from the robot speaker 14. As a result, from the next bar of the bar where the
user US has finished singing, the singing voice is amplified and output from the robot speaker 14
as if the robot 1 B is taking over and singing.
[0051]
Further, in this state, it is assumed that the user US moves the microphone KMC away from the
robot 1B at the end of an arbitrary measure and returns it again to the user's own mouth. Then,
in the robot 1B, the sound pressure level of the ultrasonic wave band received by the ultrasonic
wave receiver 23 is zero or extremely small. Therefore, the microphone approach detection unit
24 indicates that the microphone KMC has moved away in step S43 because the reception sound
pressure level of the ultrasonic band is less than the threshold value as determined in step S41
shown in FIG. The approach determination result “false” is output to the robot voice output
control unit 17.
[0052]
When the robot voice output control unit 17 receives the approach determination result "false"
from the microphone approach detection unit 24, as shown in FIG. 4, the robot voice output
control unit 17 outputs a determination result "false" indicating prohibition of voice output in
step S22. Output to unit 12
[0053]
The song output unit 12 shifts from step S31 to step S32 as shown in FIG. 5 because the
determination result of the voice output outputted from the robot voice output control unit 17 is
"false".
And based on the timing signal provided to the singing voice data received from the karaoke
apparatus KS, the start timing of the measure received most immediately is detected. Then, the
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15
output volume value of the singing voice data is reduced to the mute level from the start timing
of the bar. As a result, the output of the singing voice from the robot speaker 14 is stopped.
[0054]
Likewise, every time the microphone KMC is moved closer to or further away from the robot 1B,
the operation state of the robot 1B is arbitrarily set between the singing state and the nonsinging state as shown in FIG. 6 also in this embodiment. It is possible to switch to
[0055]
(Effects) As described in detail above, in the robot apparatus according to the second
embodiment, the robot 1B is provided with the ultrasonic wave generator 21 and the microphone
22 for ultrasonic wave reception and the ultrasonic wave receiver 23, and transmitted from the
robot 1B The approach of the microphone KMC is detected by determining the reception sound
pressure level of the ultrasonic wave by the microphone KMC based on the sound pressure of the
ultrasonic wave output from the speaker KSP for karaoke by the microphone approach detection
unit 24.
Then, based on the detection result, the output of the singing sound from the robot 1B is turned
on / off.
[0056]
Therefore, as in the first embodiment, also in this embodiment, the user can give a singing
instruction to the robot 1B only by performing an extremely natural operation of bringing the
microphone KMC closer to the robot 1B. Become. For this reason, the user can give a singing
instruction with a simple and natural operation and precisely, without operating a special device
such as a laser pointer or a tablet terminal while singing.
[0057]
Moreover, according to the present embodiment, only by providing the ultrasonic wave
generator 21 and the microphone 22 for ultrasonic wave reception and the ultrasonic wave
receiver 23 in the robot 1B, the microphone KMC can be provided with no special additional
function. It is possible to detect the approach of the KMC.
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[0058]
[Other Embodiments] In the second embodiment, ultrasonic waves of constant sound pressure
are sent from the ultrasonic wave generator 21 of the robot 1B, but in place of ultrasonic waves,
ultra low frequency sound waves are generated. May be
In short, as long as the microphone KMC and the speaker KSP for karaoke and the microphone
22 provided in the robot 1B can detect or generate, sound waves of any frequency may be used.
[0059]
Furthermore, in the second embodiment, an ultrasonic wave with a constant sound pressure is
generated from the ultrasonic wave generator 21 and whether the sound pressure received by
the ultrasonic wave receiver 23 exceeds a preset threshold value. Was determined. However, the
present invention is not limited to this. For example, while the frequency is changed at a constant
cycle, the deviation of the cycle between the sound generated from the robot 1B and the sound
output from the speaker KSP for karaoke and amplified is detected and detected. The approach
of the microphone KMC may be detected by determining whether or not the deviation of the
cycle exceeds a preset time.
[0060]
In the first and second embodiments, while the user US is singing, the singing voice data to which
the timing signal is added for each measure is transmitted from the karaoke apparatus KS to the
robot 1A or 1B in real time. However, the present invention is not limited thereto. For example,
during a period from when the user US selects and designates a desired song to the karaoke
apparatus KS to the beginning of the prelude of the song, the singing voice data of the song is
sent to the robot 1A or 1B. You may make it download collectively.
[0061]
In this case, the robot 1A or 1B stores the downloaded singing voice data in the memory in the
singing output unit 12, and when the approach of the microphone KMC is detected, the karaoke
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device KS is started during the playing of the singing song. Based on the measure identification
information transmitted for each measure, the stored singing voice data is read out and amplified
and output.
[0062]
In this way, the robot 1A or 1B can perform a stable singing voice output operation regardless of
changes in the wireless environment between the karaoke apparatus KS and the robot 1A or 1B.
[0063]
In the first and second embodiments, although the case where the robot is made to sing has been
described as an example, the present invention is also applicable to the case where the robot
makes a speech at events such as lectures and performances, for example. Applicable
[0064]
In addition, the configuration of the robot apparatus, the method for detecting the approach of
the microphone, and the processing procedure and processing contents of the output control of
singing voice can be variously modified without departing from the scope of the present
invention.
[0065]
In short, the present invention is not limited to the above embodiments as it is, and at the
implementation stage, the components can be modified and embodied without departing from
the scope of the invention.
In addition, various inventions can be formed by appropriate combinations of a plurality of
components disclosed in the above embodiments.
For example, some components may be deleted from all the components shown in each
embodiment.
Furthermore, components in different embodiments may be combined as appropriate.
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18
[0066]
US: user, KS: karaoke device, KDS: display unit, KSP: speaker for karaoke, KMC: microphone, 1A,
1B: robot, 3: wireless transmitter, 11, 15: wireless receiver, 12: singing output unit, 13: voice
output unit, 14: speaker for robot, 16, 24: microphone approach detection unit, 17: robot voice
output control unit, 21: ultrasonic generator, 22: microphone for robot, 23: ultrasonic receiver .
11-04-2019
19
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