JP2003241833A - Information distribution service by mobile robot and information gathering system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a mobile robot to recognize the location where the robot itself is located, to provide an information service according to the situation and to do monitoring, and also to obtain the latest information in the situation by gathering information while moving. <P>SOLUTION: A network 10 connects: a robot control center 200 for creating, managing and providing a position coordinate DB 202, facility information DB 204, monitor log DB 206 and utilization log DB 208; a facility 100 having the robot; a manager 300 for monitoring the robot and system; and a user 400 for utilizing services from a remote location. The robot 101 comprises a mechanism for moving, a function for specifying the user by face authentication and IC card reading, a function that the robot recognizes its own position by reading ID of an RF tag 102, a function for gathering information by using an input device such as a camera or microphone, and a function for displaying and reproducing the information which is referred from the facility information DB 204 by using an output device such as a display or loudspeaker. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information KIOSK and a mobile robot, and more particularly to an electronic data input / output interface mechanism and a position coordinate acquisition mechanism,
The present invention relates to a service system that provides various information.

[0002]

2. Description of the Related Art For example, information KIOSK is installed on a street corner and distributes various information. The installation location of such a system is fixed, and the user has installed KIO.
Use by standing in front of SK. In addition, although mobile robots are currently being used on a trial basis for monitoring in facilities, they do not have a function of providing information to people and do not directly provide services to people.

[0003]

As described in the above-mentioned prior art, since the information KIOSK is fixedly installed, when the user uses the information KIOSK, he / she goes to the installation place and receives a service. You have to do the necessary operations.

For example, when it is desired to know the information of a certain product, the category of the service desired by the user is selected from the common top page, the types of the product are narrowed down, and hierarchical operations are performed until the desired information is obtained. There is a need.

The problem with this is that if you want to know the town guide, it is necessary to obtain the destination information in advance with the fixed information KISOK. Can not.

It is an object of the present invention to provide a mobile robot with a function of providing information so as to provide a service according to the location of the user when the user requests it. According to the present invention, exhibition guides for museums, art galleries, zoos, etc.,
Product information in shopping malls, station / airport directions,
Effective in guiding, managing, and monitoring in condominiums, office buildings, factories, and parking lots.

[0007]

In order to solve the above-mentioned problems, a function of detecting the current position coordinates in a robot equipped with an output interface such as a display and a speaker and a moving mechanism and capable of autonomously moving. The location information management server that manages the information provided to the user and the wireless communication means are provided in the robot. By communicating with the location information management server via the network, it becomes possible to collectively manage the data displayed to the user at a remote location. Also,
By providing the robot with an input interface such as a camera and microphone, it is possible to collect information while moving by associating the situation around the robot with position coordinates, and collecting the information collected by the robot through a network server. It is possible to use it on a terminal in a remote place, and a charging function is installed in the server to charge the user a usage fee when the service is used from a remote place through the network. In addition, the robot is provided with a function of identifying a user by face matching, and it is possible to provide a service only to a user who charges or pays a fee from a user who has used the service.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

First, the overall configuration of the system will be described with reference to FIG. 100 is a facility where the robot operates on the premises, 200 is a robot management center that manages the robot and provides service contents, 300 is a supervisor who monitors the robot, and adds / changes facility information, 4
Reference numeral 00 denotes a user who is provided with a service from a remote place through a network to watch a camera image taken by the robot or move the robot to a desired location. Further, 10 is a network.

In the present invention, the manager of the facility 100 installs a robot in the facility and connects it to the management center 200 via a network to provide information service regarding the facility 100 and to charge a usage fee from the user. It is to build a business model. Thereby, the user can obtain the information service according to the place in the facility.
Further, it is possible to use the information collected by the robot through the network even in a place away from the facility.

According to the present invention, an RF tag is laid on the floor of the facility to obtain the position information.
A method of deriving the robot's existence position by reading D and associating it with the position coordinates in the facility will be explained.
This can be replaced by other technologies such as GPS that can detect a position.

In the facility 100, 101 is a mobile robot equipped with a camera, a speaker, a microphone, and a display, and the ID read from the RF tag 102 is used as the relay terminal 1
It transmits to the network 10 through 03, and outputs the data received from the network 10 using a display and a microphone.

In the management center 200, 201 is a position coordinate management server which manages the position coordinate DB 202 and which transmits the position coordinate in the facility from the received ID of the RF tag 102, and 203 stores information related to the position in the facility. A facility information management server 205 that manages the stored facility information DB 204 and manages the facility information provided to the user, and 205 is a monitoring log DB 205 that monitors the abnormality in the facility and the robot itself and records the history thereof. A robot management server 207 manages the usage log DB 207 that manages and records the usage status of the user, and charges a usage fee to the user.

In the monitoring facility 300, 301 is an information terminal for using the information collected by the robot through the network 10, and 401 in the remote facility 400 is an information terminal for using the information collected by the robot through the network 10. .

FIG. 2 shows an example of use for showing an outline of the service of the present invention. A user visits an exhibition facility such as a museum, parks a car in the parking lot, and asks the user to use the service when the robot enters the facility. If the user agrees, the robot starts guidance. The robot has a mechanism for reading the radio waves transmitted from the RF tag 102, grasps its own position by reading the RF tag 102 laid in the passage, and provides guidance along an appropriate route. When you get near the exhibit, information related to the exhibit is displayed and explained. When you look around the exhibits and exit the facility, you will be guided to the car stopped by the user. Hereinafter, explanation will be given by taking an example of explaining an exhibit at an exhibition hall such as a museum.

FIG. 3 is a management table of the position information management server 201. A table 502 shows position coordinate data showing a spatial position in the facility, and a table 501 shows a unique number of the RF tag laid at the position shown by the table 502. The position coordinate management server 201 manages the unique number of the RF tag existing in the facility and receives the received tag I.
The position coordinates in the facility corresponding to D are provided.

FIG. 4 is a management table of the facility information management server 203. A table 601 shows position coordinate data showing a spatial position in the facility, and a table 602 shows names of exhibits in the exhibition hall. Reference numeral 603 indicates data on the terrain around the exhibit, which is used to guide the exhibit. Reference numeral 604 indicates the date and time when the exhibit information was updated. 60
Reference numeral 5 indicates that information related to the exhibit is stored, for example, images, moving images, explanatory text, audio files, and the like.

FIG. 5 is a management table of the robot management server 205. The table 701 is a unique number for managing the operating status of the robot. The table 702 shows the date and time when the robot is being used. Table 703
Indicates information in the facility collected from cameras and microphones when the robot is being used. The table 704 shows which of the plurality of robots in the facility was used. The table 705 shows whether or not there is an abnormality in the robot itself or an exhibit in the facility, and what kind of abnormality has occurred.

FIG. 6 shows a management table of the user management server 207. The table 801 is information on the user who is using the robot, and information for identifying the individual such as the user's name, unique number, and face data is stored. The table 802 is for identifying when the service was used during the operation of the robot and is related to the table 701. The table 803 shows in what form the service was used, such as a guide in the facility or remote control via a network. The table 804 shows the usage fee amount for the use of the robot service. Table 8
Reference numeral 05 indicates the payment method used by the user, or the payment method used by the user. The table 806 shows whether or not the settlement procedure of the user is completed.

FIG. 7 is a flow chart of the position coordinate server 106. First, in step 801, it is determined whether to newly register position coordinates when a new RF tag is laid in the facility. If new registration is to be performed, the position coordinates are calculated in step 802 in the table 501 of the position coordinate DB 202. , And the ID of the RF tag is added to the table 502. This allows the new RF tag to be used in association with the position coordinates.

The position coordinate corresponding to the RF tag ID received in step 803 is read from the position coordinate DB 202. It is determined whether or not the data read in step 804 is to be corrected, and if the data is to be corrected, the corrected portion is read and stored in the position coordinate DB 202 in step 805.

FIG. 8 is a flow chart of the facility information management server 203. First, in step 811, it is determined whether to newly register facility information such as exhibits in the facility,
If new registration is to be performed, the facility information data to be newly registered in step 812 is stored in the facility information DB 204, and the process ends. It is determined whether or not the data read in step 813 is to be corrected, and if the data is to be corrected, the corrected portion is read and stored in the facility information DB 204 in step 815. In step 814, necessary facility information data is read from the facility information DB 204, and the data used to provide the service to the user is read.

FIG. 9 is a flow chart of the robot management server 205. First, when the robot starts its operation, in step 821, the state of the robot, the identification number assigned to the robot, the time, and the new log ID are recorded in the monitoring log DB 206.
Add to. For the robot which has started the operation, the identification number of the operating robot is read in step 822, the image obtained from the camera of the robot is read in step 823, and the information indicating whether the robot and the system are abnormal is read in step 824. Then, in step 825, the information obtained for the log ID assigned in advance is stored in the monitoring log DB 206, and in step 826 it is determined whether or not to repeat these. With these steps,
The state of each robot can be managed and saved for a plurality of operating robots.

FIG. 10 is a flow chart of the user management server 207. First, in step 831, information regarding a user who has applied for use via the network 10 is read and written in the use log DB 208. The information read here is, for example, the user's face image, personalized information read from an IC card or the like, the name and address of the user described when applying for use. by this,
Providing robot services and billing for specific people. In step 832, the monitoring log ID of the robot that can provide the service is read from the monitoring log DB 206 via the network. Thereby, the robot in the available state is selected and the service can be provided. In step 833, the usage charge after starting the service is calculated, and the process is repeated until the robot service ends in step 834. When the robot finishes the service, the user is notified of the usage fee via the network in step 835. In step 836, the settlement method designated by the user and the agreement for the payment of the usage fee are obtained, the settlement procedure is performed in step 837, and the result is stored in the usage log DB 208.

In the above, the procedure for the robot to provide the service, calculate the charge and make the payment in response to the user's request has been described. However, although the description has been given on the usage-based charging method for the service usage fee, it is also possible to pay a fixed service fee in advance when the service application is accepted.
Although not shown in the figure, when credit is selected as a payment means, it is possible to connect and communicate with a credit center to make payment.

Although not shown in the figure, when the user's history, characteristics, preferences, etc. can be known by an authentication method such as an IC card or face, the service is provided by a method convenient for each user. It is possible. For example, the display speed of the characters is adjusted, the kindness of the guide, the tone, and the moving speed are changed.

FIG. 11 is a flow chart of the mobile robot 101 operating in the facility 100. In step 841, the ID is read from the RF tag 102 installed in the facility and transmitted to the position coordinate management server 201 via the network. In step 842, the position coordinates of the robot are received via the network. In step 843, the state of the robot or system and the vicinity of the current position of the robot are also monitored for the purpose of initializing the robot and the system, and the result is transmitted to the monitoring log DB 206 via the network. In step 844, it is determined whether there is a user who wants to use the robot, and if there is a user, step 84.
User information directly obtained by the robot in 5 and the remote use terminal 4
The user information obtained from 01 is read and transmitted to the usage log 208 via the network. In step 846, the user determines whether or not the user is remotely using the user log, and whether the user is using the facility or not. For example, in step 847, the facility information is read from the facility information DB 204 and services such as navigation are provided to the user. In the case of remote use, services such as images obtained by the camera in step 848, facility information, and robot operation are provided. I will provide a. In step 849, the robot / system and the facility are monitored simultaneously with the provision of the service, and the result is stored in the monitoring log DB 206. If there is no user, the robot / system, facility, etc. are monitored in step 851.

FIG. 12 is a flow chart of the monitoring terminal 301. The procedure for adding / updating facility information provided to users is shown below. First, in step 861, it is determined whether to newly register facility information. If new registration is to be performed, the facility information data to be newly registered in step 862 is stored in the facility information DB 204 via the network. In step 863, it is determined whether or not to change the facility information data, and if it is corrected, the corrected portion is stored in the facility information DB 204 via the network in step 864. Although not shown in the figure, the monitoring terminal 301 can also be used to browse information regarding abnormalities that have occurred in the robot / system, and to monitor changes in the facility and the crowdedness of visitors.

FIG. 13 is a flow chart of the remote utilization terminal 108. First, in step 871, the user information for applying for the service via the network is specified in the usage log DB 208, the operation log ID of the robot providing the service, and the remote use of the robot by the network. Store information. When applying here, enter personal information such as the name and address that identify the user. In step 872, services such as robot operations, collected images, and explanatory texts are provided via the network, and in step 873, confirmation, consent, and settlement procedures for the usage fee charged are performed.

In the above, it has been explained that the robot explains the exhibit while guiding the user at the exhibition hall such as a museum or delivers the video in real time through the network. In this paper, the method of using the RF tag as the means for finding the position coordinates of the robot is described, but the same service can be provided by using other position coordinate finding techniques.

[0031]

[Effects of the Invention] According to the present invention as described above, in particular, guides for exhibitions at museums, art galleries, zoos, etc., guides for products at shopping malls, station / airport directions, condominiums, office buildings, factories, parking lots, etc. -It is effective in applications such as management and monitoring.

[Brief description of drawings]

[Fig. 1] Configuration diagram of a mobile robot system

[Figure 2] Conceptual diagram of the application system

FIG. 3 is a management table of the position coordinate management server.

[Fig. 4] Management table of facility information management server

FIG. 5: Management table of robot management server

[Fig. 6] Management table of user management server

FIG. 7 is a flow chart of the position coordinate management server.

[Figure 8] Flow chart of the facility information management server

FIG. 9 is a flow chart of the robot management server

FIG. 10 is a flow chart of the user management server

FIG. 11: Flow chart of mobile robot

FIG. 12 is a flow chart of the monitoring terminal

FIG. 13 is a flowchart of a remote use terminal

[Explanation of symbols]

101 ... Mobile robot, 102 ... RF tag, 103 ... Relay terminal, 201 ... Position coordinate management server, 202 ... Position coordinate DB, 203 ... Facility information management server, 204 ... Facility information DB, 205 ... Robot management server, 206 ... Monitoring Log DB, 207 ... User management server, 208 ... Usage log DB, 10 ... Network, 100 ... Usage facility, 200
... Robot management center, 300 ... Observer, 400 ... Remote user, 301 ... Monitoring information terminal, 401 ... Remote usage information terminal

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G06T 7/00 300 G06T 7/00 300F F term (reference) 3C007 CS08 JS03 KS16 KS39 KT01 KX02 KX19 LT06 MT15 WA16 WB17 WB19 WC07 WC16 5B057 AA05 BA02 CA12 CA16 DB02 DC05 DC33 DC36 5H223 AA06 CC08 DD03 DD07 FF03 5H301 AA01 AA09 BB14 DD01 DD15 EE02 EE12 FF11 GG11 GG16 KK05 KK05 BA11 BA18180 FA11 BA180

Claims (8)

[Claims] 1. A robot equipped with a moving mechanism and capable of moving autonomously is provided with an output interface such as a display and a speaker and a function for picking up current position coordinates, and displays information suitable for the situation. A mobile robot characterized by being displayed on and displaying guidance. 2. A position information management server for managing information provided to a user, and a robot provided with wireless communication means,
The mobile robot system according to claim 1, wherein data displayed to the user is collectively managed at a remote location by communicating with the location information management server via a network. 3. The mobile type according to claim 1, wherein the robot is provided with an input interface such as a camera and a microphone to collect information while moving while associating the situation around the robot with position coordinates. robot. 4. The mobile robot system according to claim 2, wherein the information collected by the robot is managed by a server through a network and can be used by a remote terminal. 5. The mobile robot system according to claim 4, wherein the server is provided with a charging function, and charges a usage fee to the user when the service is used from a remote place through a network. 6. The robot is provided with a function of recognizing a user by face matching so as to charge a fee from a user who has used the service or to provide the service only to a user who paid the fee. The mobile robot according to 1. 7. The mobile robot according to claim 1, wherein the robot is provided with a function of reading an IC card to identify a user, provide a service only to the user, and charge a fee. 8. The mobile robot according to claim 6, wherein it is possible to provide a service tailored to an individual user by discriminating the personal characteristics of the identified user.