Robot, identifying environment determining method, and program thereof

Claim 2

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; an identification result reliability calculating means for determining, using information from the imaging means, whether or not a present lighting environment is suitable for identification; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 3

The robot as claimed in claim 1 , wherein the identification result reliability calculating means determines a lighting environment using a variance value of pixel values in a face area detected at the face detecting and identifying means.

Claim 4

The robot as claimed in claim 1 , wherein the identification result reliability calculating means determines a lighting environment using a ratio of an average pixel value in a face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area.

Claim 5

The robot as claimed in claim 1 , wherein the identification result reliability calculating means determines a lighting environment using an average pixel value of whole image.

Claim 6

The robot as claimed in claim 1 , comprising a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein the identification result reliability calculating means determines a lighting environment using information whether or not the lighting device is turned on.

Claim 7

The robot as claimed in claim 1 , comprising a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein the identification result reliability calculating means determines a lighting environment using information whether or not the curtains are drawn.

Claim 8

The robot as claimed in claim 1 , comprising a robot state observing means retaining information about time, wherein the identification result reliability calculating means determines a lighting environment using information about time before executing identification.

Claim 9

The robot as claimed in claim 1 , comprising a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein the identification result reliability calculating means determines a lighting environment using the positional information.

Claim 10

The robot as claimed in claim 1 , wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person.

Claim 11

The robot as claimed in claim 1 , wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result is reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means to that in the vincinity of an outside of the face area, and an average pixel value of whole image.

Claim 12

The robot as claimed in claim 1 , including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the persent lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using information whether or not the lighting device is turned on.

Claim 13

The robot as claimed in claim 1 , including a robot state observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using information whether or not the curtains are drawn.

Claim 14

The robot as claimed in claim 1 , including a robot state observing means retaining information about time, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using information about time before executing identification.

Claim 15

The robot as claimed in claim 1 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the dientification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using the positional information.

Claim 16

The robot at claimed in claim 1 , wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliabilty calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot.

Claim 17

The robot as claimed in claim 1 , wherein when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the identification result reliability calculating means determines the present lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area, and an average pixel value of whole image.

Claim 18

The robot as claimed in claim 1 , including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the identification result reliability calculating means determines the present lighting environment using information whether or not the lighting device is turned on.

Claim 19

The robot as claimed in claim 1 , including a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the identification result reliability calculating means determines the present lighting environment using information whether or not the curtains are drawn.

Claim 20

The robot as claimed in claim 1 , including a robot state observing means retaining information about time, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the identification result reliability calculating means determines the present lighting environment using information about time before executing identification.

Claim 21

The robot as claimed in claim 1 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the identification result reliability calculating means determines the present lighting environment using the positional information.

Claim 22

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a lighting environment on the basis of image information acquired from the imaging means, and determining which predetermined lighting category corresponds to the lighting environment; an identifying performance recording means for recording, as identifying performance information, a classification of a lighting category at face identification, the category being determined at the lighting environment determining means, number of times where face identification has succeeded per lighting category, and number of times where face identification has been executed per lighting category; a lighting environment comparing means for determining, on the basis of the identifying performance information recorded in the identifying performance recording means, whether or not a present lighting environment is suitable for identification; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 23

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a lighting environment on the basis of image information acquired from the imaging means, and determining which predetermined lighting category corresponds to the lighting environment; an identifying performance recording means for recording, as identifying performance information, a classification of a lighting category at face identification, the category being determined at the lighting environment determining means, number of times where face identification has succeeded per lighting category, and number of times where face identification has been executed per lighting category; a lighting environment comparing means for determining, on the basis of the identifying performance information recorded in the identifying performance recording means, whether or not a present lighting environment is suitable for identification; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 24

The robot as claimed in claim 21 , wherein the lighting environment determining means categorizes a lighting environment using a variance value of pixel values in a face area detected at the face detecting and identifying means.

Claim 25

The robot as claimed in claim 21 , wherein the lighting environment determining means categorizes a lighting environment using a ratio of an average pixel value in a face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area.

Claim 26

The robot as claimed in claim 21 , wherein the lighting environment determining means categorizes a lighting environment using an average pixel value of whole image.

Claim 27

The robot as claimed in claim 21 , comprising a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the lighting device is turned on.

Claim 28

The robot as claimed in claim 21 , comprising a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the curtains are drawn.

Claim 29

The robot as claimed in claim 21 , comprising a robot state observing means retaining information about time, wherein the lighting environment determining means categorizes a lighting environment using information about time before executing identification.

Claim 30

The robot as claimed in claim 21 , comprising a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein the lighting environment determining means categorizes a lighting environment using the positional information.

Claim 31

The robot as claimed in claim 21 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person.

Claim 32

The robot as claimed in claim 21 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result or indication is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identificartion, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means that in the vicinity of an outside of the face area, and an average pixel value of whole image.

Claim 33

The robot as claimed in claim 21 , including a robot state observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means caregorizes the lighting environment using information whether or not the lighting device is turned on.

Claim 34

The robot as claimed in claim 21 , including a robot state observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using information whether or not the curtains are drawn.

Claim 35

The robot as claimed in claim 21 , including a robot state observing means retaining information about time, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using information abouty time before executing identification.

Claim 36

The robot as claimed in claim 21 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using the positional information.

Claim 37

The robot as claimed in claim 21 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot.

Claim 38

The robot as claimed in claim 21 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area, and an average pixel value of whole image.

Claim 39

The robot as claimed in claim 21 , including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using information whether or not the lighting device is turned on.

Claim 40

The robot as claimed in claim 21 , including a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using information whether or not the curtains are drawn.

Claim 41

The robot as claimed in claim 21 , including a robot state observing means retaining information about time, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using information about time before executing identification.

Claim 42

The robot as claimed in claim 21 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using the positional information.

Claim 43

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a lighting environment on the basis of image information acquired from the imaging means, and determining which predetermined lighting category corresponds to the lighting environment; an identifying performance recording means for recording, as identifying performance information, a classification of a lighting category at face identification, the category being determined at the lighting environment determining means, number of times where face identification has succeeded per lighting category, and number of times where face identification has been executed per lighting category; a lighting environment comparing means for determining, on the basis of the identifying performance information recorded in the identifying performance recording means, whether or not a present lighting environment is suitable for identification; a controlling means for controlling a robot; a moving means for moving a robot; and a moving plan making means for making a moving plan, on the basis of information recorded in the identifying performance recording means, to move a robot to a position where identifying performance is higher.

Claim 44

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a lighting environment on the basis of image information acquired from the imaging means, and determining which predetermined lighting category corresponds to the lighting environment; an identifying performance recording means for recording, as identifying performance information, a classification of a lighting category at face identification, the category being determined at the lighting environment determining means, number of times where face identification has succeeded per lighting category, and number of times where face identification has been executed per lighting category; a lighting environment comparing means for determining, on the basis of the identifying performance information recorded in the identifying performance recording means, whether or not a present lighting environment is suitable for identification; a controlling means for controlling a robot; a moving means for moving a robot; and a moving plan making means for making a moving plan, on the basis of information recorded in the identifying performance recording means, to move a robot to a position where identifying performance is higher.

Claim 45

The robot as claimed in claim 41 , wherein the lighting environment determining means categorizes a lighting environment using a variance value of pixel values in a face area detected at the face detecting and identifying means.

Claim 46

The robot as claimed in claim 41 , wherein the lighting environment determining means categorizes a lighting environment using a ratio of an average pixel value in a face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area.

Claim 47

The robot as claimed in claim 41 , wherein the lighting environment determining means categorizes a lighting environment using an average pixel value of whole image.

Claim 48

The robot as claimed in claim 41 , comprising a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the lighting device is turned on.

Claim 49

The robot as claimed in claim 41 , comprising a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the curtains are drawn.

Claim 50

The robot as claimed in claim 41 , comprising a robot state observing means retaining information about time, wherein the lighting environment determining means categorizes a lighting environment using information about time before executing identification.

Claim 51

The robot as claimed in claim 41 , comprising a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein the lighting environment determining means categorizes a lighting environment using the positional information.

Claim 52

The robot as claimed in claim 41 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person.

Claim 53

The robot as claimed in claim 41 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using at least one selected from a varience value of pixel values in the face area detected at the face detecting and identifying means, a ratio of an average pixel value in the face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area, and an average pixel value of whole image.

Claim 54

The robot as claimed in claim 41 , including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using information whether or not the lighting deivce is turned on.

Claim 55

The robot as claimed in claim 41 , including a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using information whether or not the curtains are drawn.

Claim 56

The robot as claimed in claim 41 , including a robot state observing means retaining information about time, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using information about time before executing identification.

Claim 57

The robot as claimed in claim 41 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the lighting environment determining means categorizes the lighting environment using the positional information.

Claim 58

The robot as claimed in claim 41 wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot.

Claim 59

The robot as claimed in claim 41 , wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting enviroment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means, a ratio of an average pixel value in the face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area, and an average pixel value of whole image.

Claim 60

The robot as claimed in claim 41 , including a robot state observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environement using information whether or not the lighting device is turned on.

Claim 61

The robot as claimed in claim 41 , including a robot state observing means observing a curtain state in a room using a curtain state observing means woring with curtains to detect whether or not the curtains are drawn, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using information whether or not the curtains are drawn.

Claim 62

The robot as claimed in claim 41 , including a robot state observing means retaining information about time, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrect is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using information about time before executing identification.

Claim 63

The robot as claimed in claim 41 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: the identifying performance recording means records the identifying performance information each time the information whether result of identification is correct or incorrest is acquired from the user; when the controlling means determines to shift to a state for identification, the lighting environment comparing means determines whether or not the present lighting environment is suitable for identification; and when the lighting environment comparing means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the lighting environment comparing means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the moving means moves the robot; and the lighting environment determining means categorizes the lighting environment using the positional information.

Claim 64

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a present lighting environment on the basis of image information acquired from the imaging means, determining which predetermined lighting category corresponds to the lighting environment, and classifying the lighting environment of a face image stored in the face detecting and identifying means into a lighting category; a lighting environment at registration recording means for recording, per user, the lighting category of the stored face image; a lighting environment at registration comparing means for determining, on the basis of information recorded in the lighting environment at registration recording means, whether or not a face image of a user communicating with a robot has been registered in a same lighting environment as a present lighting environment; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 65

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a present lighting environment on the basis of image information acquired from the imaging means, determining which predetermined lighting category corresponds to the lighting environment, and classifying the lighting environment of a face image stored in the face detecting and identifying means into a lighting category; a lighting environment at registration recording means for recording, per user, the lighting category of the stored face image; a lighting environment at registration comparing means for determining, on the basis of information recorded in the lighting environment at registration recording means, whether or not a face image of a user communicating with a robot has been registered in a same lighting environment as a present lighting environment; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 66

The robot as claimed in claim 61 , wherein the lighting environment determining means categorizes a lighting environment using a variance value of pixel values in a face area detected at the face detecting and identifying means.

Claim 67

The robot as claimed in claim 61 , wherein the lighting environment determining means categorizes a lighting environment using a ratio of an average pixel value in a face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area.

Claim 68

The robot as claimed in claim 61 , wherein the lighting environment determining means categorizes a lighting environment using an average pixel value of whole image.

Claim 69

The robot as claimed in claim 61 , comprising a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the lighting device is turned on.

Claim 70

The robot as claimed in claim 61 , comprising a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the curtains are drawn.

Claim 71

The robot as claimed in claim 61 , comprising a robot state observing means retaining information about time, wherein the lighting environment determining means categorizes a lighting environment using information about time before executing identification.

Claim 72

The robot as claimed in claim 61 , comprising a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein the lighting environment determining means categorizes a lighting environment using the positional information.

Claim 73

The robot as claimed in claim 61 , wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; and when the lighting environment at registration comparing means determines that the face image of the user communicating with the robot has not been registered in the lighting environment, the controlling means directs the face detecting and identifying means to register the face image of the user.

Claim 74

The robot as claimed in claim 61 , wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; the lighting environment determining means categorizes the lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means, a ratio of an average pixel value in the face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area, and an average pixel value of whole image; and when the lighting environment at registration comparing means determines that the face image of the user communicating with the robot has not been registered in the lighting environment, the controlling means directs the face detecting and identifying means to register the face image of the user.

Claim 75

The robot as claimed in claim 61 , including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a ligting devuce in a room to detect whether or not the lighting device is turned on, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identification means identifies the person; the lighting envionment determining means categorizes the lighting environment using information whether or not the lighting device is turned on; and when the lighting environment at registration comparing means determines that the face image of the user communicating with the robot has not been registered in the lighting environment, the controlling means directs the face detecting and identifying means to register the face image of the user.

Claim 76

The robot as claimed in claim 61 , including a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; the lighting environment determining means categorizes the lighting environment using information whether or not the curtains are drawn; and when the lighting environment at registration comparing means determines that the face image of the user communicating with the robot has not been registered in the lighting environment, the controlling means directs the face detecting and identifying means to register the face image of the user.

Claim 77

The robot as claimed in claim 61 , including a robot state observing means retaining information about time, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; the lighting environment determining means categorizes the lighting environment using information about time before executing identification; and when the lighting environment at registration comparing means determines that the face image of the user communicating with the robot has not been registered in the lighting environment, the controlling means directs the face detecting and identifying means to register the face image of the user.

Claim 78

The robot as claimed in claim 61 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; the lighting environment determining means categorizes the lighting environment using the positional information; and when the lighting environment at registration comparing means determines that the face image of the user communicating with the robot has not been registered in the lighting environment, the controlling means directs the face detecting and identifying means to register the face image of the user.

Claim 79

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a lighting environment on the basis of image information acquired from the imaging means, and determining which predetermined lighting category corresponds to the lighting environment; a face detecting means for detecting, from an image acquired at the imaging means, a face area to extract the face area, and converting the face area into data to execute identification; a data controlling means for storing a characteristic data group of a face per person at acquisition thereof in each lighting category acquired at the lighting environment determining means; a dictionary compiling means for compiling a recognition dictionary using characteristic data per lighting category; a dictionary storing means for storing, per lighting category, a recognition dictionary compiled at the dictionary compiling means; a dictionary selecting means for selecting, from the dictionary storing means, a recognition dictionary of a same lighting category as that determined at the lighting environment determining means, and supplying the dictionary to a face identifying means; a face identification means for executing identification of characteristic data supplied from the face detecting means to determine a user's name on the basis of a recognition dictionary supplied from the dictionary selecting means; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 80

A robot comprising: an imaging means for picking up an image and digitizing the image; a face detecting and identifying means for detecting, from an image acquired at the imaging means, a face area of a person and storing the face area, and identifying a person using a stored image and face image information that is referred for identification; an information informing means for informing a user about result of identification acquired at the face detecting and identifying means; an information inputting means disposed so that a user can input information whether result of identification informed to the user by the information informing means is correct or incorrect; a lighting environment determining means for determining a lighting environment on the basis of image information acquired from the imaging means, and determining which predetermined lighting category corresponds to the lighting environment; a face detecting means for detecting, from an image acquired at the imaging means, a face area to extract the face area, and converting the face area into data to execute identification; a data controlling means for storing a characteristic data group of a face per person at acquisition thereof in each lighting category acquired at the lighting environment determining means; a dictionary compiling means for compiling a recognition dictionary using characteristic data per lighting category; a dictionary storing means for storing, per lighting category, a recognition dictionary compiled at the dictionary compiling means; a dictionary selecting means for selecting, from the dictionary storing means, a recognition dictionary of a same lighting category as that determined at the lighting environment determining means, and supplying the dictionary to a face identifying means; a face identification means for executing identification of characteristic data supplied from the face detecting means to determine a user's name on the basis of a recognition dictionary supplied from the dictionary selecting means; a controlling means for controlling a robot; and a moving means for moving a robot.

Claim 81

The robot as claimed in claim 75 , wherein the lighting environment determining means categorizes a lighting environment using a variance value of pixel values in a face area detected at the face detecting and identifying means.

Claim 82

The robot as claimed in claim 75 , wherein the lighting environment determining means categorizes a lighting environment using a ratio of an average pixel value in a face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area.

Claim 83

The robot as claimed in claim 75 , wherein the lighting environment determining means categorizes a lighting environment using an average pixel value of whole image.

Claim 84

The robot as claimed in claim 75 , comprising a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the lighting device is turned on.

Claim 85

The robot as claimed in claim 75 , comprising a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein the lighting environment determining means categorizes a lighting environment using information whether or not the curtains are drawn.

Claim 86

The robot as claimed in claim 75 , comprising a robot state observing means retaining information about time, wherein the lighting environment determining means categorizes a lighting environment using information about time before executing identification.

Claim 87

The robot as claimed in claim 75 , comprising a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein the lighting environment determining means categorizes a lighting environment using the positional information.

Claim 88

The robot as claimed in claim 75 , wherein when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person.

Claim 89

The robot as claimed in claim 75 , wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; and the lighting environment determining means categorizes the lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means, a ratio of an average pixel value in the face area detected at the face detecting and identifying means to that in the vicinity of an outside of the face area, and an average pixel value of whole image.

Claim 90

The robot as claimed in claim 75 , including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; and the lighting environment determining means categorizes the lighting environment using information whether or not the lighting device is turned on.

Claim 91

The robot as claimed in claim 75 , including a robot state observing means observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; and the lighting environment determining means categorizes the lighting environment using information whether or not the curtains are drawn.

Claim 92

The robot as claimed in claim 75 , including a robot state observing means retaining information about time, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; and the lighting environment determining means categorizes the lighting environment using information about time before executing identification.

Claim 93

The robot as claimed in claim 25 , including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: when the controlling means determines to shift to a state for identification, the face detecting and identifying means identifies the person; and the lighting environment determining means categorizes the lighting environment using the positional inforamation.