Patent ID: 7873448
Filing Date: 2011-01-18
Classification: G06T,G10L

Abstract:
1. A robot control device for controlling a robot having a microphone, an imaging device and a self-position detection device, comprising: a voice recognition part for recognizing the designation content of a designator based on sounds collected by the microphone; an image recognition part for recognizing the designation content of the designator based on an image captured by the imaging device; a self-position estimation part for estimating the current position of the robot based on an output from the self-position detection device; a map data base for retaining map data registering at least the position of an obstacle, wherein the position of the obstacle is recognized by a group of intersections between a plurality of lines from the current position of the robot and the surface of the obstacle; a decision part for deciding whether the movement to a specific position is required based on the recognition result of the voice recognition part and image recognition part; a movement ease decision part for deciding movement ease to the specific position based on the current position of the robot estimated by the self-position estimation part and the position of the obstacle from the map data base responsive to the movement to the specific position being required, wherein the current position of the robot indicates at least one of a warning area, a margin area and a safety area in which the robot exists, and the warning area is set based on the position of a circle where a distance between representative points of the surface of the obstacle is set as a diameter of the circle; a behavior decision part for deciding the behavior according to the movement ease decided by the movement ease decision part; and a behavior control part for executing the behavior according to the decision of the behavior decision part.