JP2005111637A - Network robot service system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a network robot service system which allows automatic acquisition of environmental information of a user, and dynamic response by linking user's attribute information with environmental information. <P>SOLUTION: In the network robot service system, one or two or more robots disposed in space, a robot router for controlling the robot, and a space manager that performs state management of the robot in the space and collects and manages the environmental information in the space are interconnected to through a communication network. The service system comprises a means for holding the user attribute in the robot router, and a means for providing service based on the user attribute held in the robot router and the environmental information in any space having the robot router. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a network robot service system that provides a user with an optimal service by controlling a robot that exists in a space and connected to a network.

  With recent computerization, various mechanisms for operating various devices (robots) via a network have been proposed. And it has become a challenge to reduce the user's labor by developing technologies to control various devices, and it can be used according to the user's attribute information and the environment information where the user is located. It has been desired to provide a robot control system that can instruct a device (robot) an operation suitable for a user and that can perform various services to the user.

  In order to deal with such problems, an invention relating to a robot system, a robot apparatus and its control method, and an information processing apparatus and method is disclosed. According to the method disclosed in the present invention, for an entertainment robot or the like, the robot catches information (sound, special video) distributed from a television image or the like, searches the control information in the memory of the robot, and matches the control. Engage informed actions. If there is no matching control information in the robot memory, it is downloaded from the center via the personal computer and executed. It is also possible to input user attribute information and environment information from a PC or the like, transmit them to the center, and download optimal control information corresponding to the information. It is also possible to transmit a robot action history (number of steps taken, steps taken, etc.) and download control information corresponding to the history (see, for example, Patent Document 1).

  Also disclosed are inventions relating to a user interface device in a digital information home appliance network, a control method thereof, and a recording medium thereof. In the method disclosed in this invention, digital information home appliances are connected by a network, and “single function” of home appliances existing in the network or “composite function” realized by combining them are grasped by the function acquisition means in the network. Present on the screen. The user can easily understand and use functions (single or complex) that can be realized using home appliances in the network without knowing the detailed functions of each device in the network (for example, patent documents). 2).

However, in the above two inventions, there is no disclosure regarding automatic acquisition of user environment information, dynamic response based on attribute information and environment information, and selection of environment information. Also, there is no disclosure of a method for carrying the person attribute information and realizing the provision of the optimum service in the destination network.
JP 2001-310283 A JP 2001-356976 A

  The present invention has been made to solve such problems, and its purpose is to enable automatic acquisition of user environment information and dynamic response based on user attribute information and environment information. It is to provide a network robot service system.

The network robot service system according to the present invention includes one or more robots arranged in a space, a robot router for controlling the robot, status management of the robots in the space, and in and out of the space. A network robot service system connected to a space manager that collects and manages environmental information of the robot in a communication network, and means for holding user attributes in the robot router and the robot in any space where the robot router exists And a means for providing a service by controlling the robot based on user attributes and environment information held in the router.
As a result, the user can receive an appropriate service simply by registering personal attribute information in the robot router. In addition, the user can receive the optimum service in the latest environment without having to be aware or set by himself / herself.

The network robot service system according to the present invention is characterized in that the space manager is provided with means for periodically acquiring environment information and means for notifying the robot router of the acquired environment information.
As a result, the robot router can dynamically grasp environmental information and provide an optimal service after linking the information with user attribute information.

In the network robot service system of the present invention, the robot router receives scenario change means for generating and holding a control scenario for controlling the robot and a change request during execution of the control scenario. Comprises a scenario learning means for generating a control scenario based on the change request when a similar new control scenario is generated.
Thereby, it is possible to give a learning effect to the generation of the control scenario by the robot router, and it is possible to generate a control scenario that more closely matches the user's request.

In the network robot service system of the present invention, the network robot service system is further connected to a robot management center via a communication network, and the space manager includes an abnormality of a robot in the space managed by the space manager itself. And a means for notifying the robot management center of the abnormality information when a state is detected, and a means for issuing a control instruction to the robot based on the return information from the robot management center. .
As a result, when an abnormality occurs in the robot, it is possible to obtain a comprehensive and appropriate response while avoiding danger to the user by obtaining instructions and cooperation from the robot management center.

In the network robot service system of the present invention, when a space manager and a robot exist in each of a plurality of spaces, the robot router includes a robot in a space other than the space where the robot router is located. And a means for operating based on the control scenario.
Accordingly, it is possible to control a robot in another space where the robot router does not exist (for example, a home where the user carrying the robot router is at the office).

In the network robot service system of the present invention, user attribute information existing in space is registered in a robot router (router device capable of storing and carrying personal information), and the robot router receives environmental information from the space manager. It acquires dynamically, links the information, and controls the robot to provide services to users.
As a result, the user can receive an appropriate service simply by registering personal attribute information in the robot router. In addition, the user can receive the optimum service in the latest environment without having to be aware or set by himself / herself.

In the network robot service system of the present invention, the space manager acquires the status information of the robot in the space and the environment information of the user, and notifies the robot router.
As a result, the robot router can dynamically grasp environmental information and provide an optimal service after linking the information with user attribute information.

Also, in the network robot service system of the present invention, the robot router controls the robot by generating a control scenario for the optimum service after linking user attribute information and environment information. Also, the execution result of the control scenario (for example, a change request from the user) is reflected in the generation of the control scenario (service usage scenario) from the next time.
Thereby, it is possible to give a learning effect to the generation of the control scenario by the robot router, and it is possible to generate a control scenario that more closely matches the user's request.

In the network robot service system of the present invention, when the space manager detects an abnormal state of the network robot, it makes an inquiry to the robot management center and issues an instruction to the network robot based on the reply information.
As a result, when an abnormality occurs in the robot, it is possible to obtain a comprehensive and appropriate response while avoiding danger to the user by obtaining instructions and cooperation from the robot management center.

In the network robot service system of the present invention, when a space manager and a robot exist in each of a plurality of spaces, a robot in a space other than the space where the robot router is located is operated based on a control scenario. To be able to.
Accordingly, it is possible to control a robot in another space where the robot router does not exist (for example, a home where the user carrying the robot router is at the office).

  Next, the best mode for carrying out the present invention will be described with reference to the drawings.

(Overview)
FIG. 1 is a diagram for explaining an outline of a network robot service system according to the present invention. The network robot service system includes robots 1a, 1b, 1c and 1d, robot routers 2a, 2b and 2c, and space managers 3a and 3b. 3c, a communication hub (HUB) 4, a robot verification center (RCC) 5, and a robot management center (RMC) 6 are constituent elements. FIG. 1 shows functional blocks. The communication hub (HUB), robot router, and space manager are integrated into one function depending on the usage scene (control scenario) of the robots 1a, 1b, 1c, and 1d. (For example, private use at home). The robots 1a, 1b, and 1c are collectively referred to as “robot 1”, and the robot routers 2a, 2b, and 2c are collectively referred to as “robot router 2”. When collectively referring to 3a, 3b, and 3c, they are called the space manager 3. Further, the robot 1 is not limited to hardware devices, and includes software such as agent software, and may be called a resource in a broad sense.

  In the conventional network robot service system, necessary services are specified in advance based on static conditions such as user attribute information, and service linkage is realized. A resource (robot) cooperation function that recognizes the dynamic state of the activity space of the network robot and dynamically responds to the request is essential in addition to the physical attribute information. However, the amount of information and resources to be linked, the degree of distribution, and the cost to specify the necessary information and services are exclusion events, and mixing of garbage information into the provided service also becomes a problem. An object of the present invention is to provide an environment-adaptive safe and secure service at a realistic cost by a mechanism for carrying and moving personal attributes and recognizing environmental conditions in an arbitrary real space.

  Therefore, in the network robot service system as shown in FIG. 1, the following functions are required.

First, as a “functional requirement” of the network robot service system, when a person who uses the robot 1 (sensor, actuator, software, etc.) as a resource connected to the network dynamically is linked. However, the following functions are required so that you can receive network robot services that suit you.
(1) A user's attributes (static conditions such as qualification and personal information) can be carried in the robot router 2 carried by the user. Or make it available for download.
(2) The robot router 2 can be connected to a network when necessary in any real space. Furthermore, it has ID for a user to be automatically recognized from real space. Furthermore, it has a biometric authentication function for specifying a user.
(3) The robot router 2 has a function of learning a space use scenario (robot control scenario) and the like for providing a nifty service to the user.
(4) The space manager 3 notices environmental changes (location, climate, time), traffic conditions, social circumstances, etc.) in the real space related to the user attributes.
(5) The space manager 3 or the robot router 2 searches for resources suitable for the user among resources connected to the network from the attributes of the user and the environmental conditions of the real space.
(6) A communication HUB 4 function for providing a cooperative service by linking the found resources is provided.
(7) The function operation state of the linked robot (resource) 1 is monitored and reported to the robot management center 6. The user is notified of instructions and provision information from the robot management center 6.
(8) The form of the robot router 2 does not matter. (It may be a mobile terminal or a computer facility permanently installed in the real space.)

Second, the following method is used as the “functional capability realization method”.
(1) Supports existing data transfer technologies (HTTP, FTP, SMTP, etc.).
(2) When the space to be used can be specified (company, public facility, etc.), existing network communication technologies such as LAN (local area network), dial-up, ADSL (registered trademark), mopera (registered trademark), PHS (Registered trademark) or the like is connected, and information of the robot router 2 is uploaded in advance to the extent possible. Basically, the robot router 2 is protected by a private information non-disclosure and high tamper resistance (concealment). When the use space cannot be specified or when it is not desired to leak the personal information to the network, the user carries the robot router information, transmits the ID, and is automatically recognized by the environment by regular scanning of the real space.
(3) The robot router 2 has a learning function, and can learn and store control scenarios (service usage scenarios) while using the environment of the user's home position (such as home). According to the accumulated scenario, even if the use space moves, the robot router 2 can provide a service equivalent to the home position environment.

(4) The robot router 2 approves the user's qualification authentication. In this case, the user's ID is authenticated from the actual environment so as not to cause social problems due to misuse or mischief.
The space manager 3 permanently installed in the real space recognizes the latest dynamic state of the real space. When the attribute information of the robot router 2 or the user who has moved from the outside is uploaded, necessary environment information (context) is received from the real space.
For this reason, the space manager 3 sets a resource selection condition by matching a static attribute such as age, gender, and disabled information with a dynamic context.
In the robot router 2, if a scene can be assumed, a scenario is registered in advance, and a service according to the scenario is selected. If a scene cannot be assumed, matching is performed using default logic and the service is selected (fastest, (Nearby, with wheelchair, etc.) In addition, resource information (actual information site, location of auxiliary equipment as social infrastructure, etc.) in the real space once activated is recorded and used as a default context when used again.

(5) The space manager 3 has a function of searching for a resource corresponding to a demand (service request) from the robot router 2.
Among the resources that meet the demand, the resources that can be used are specified by their operating status (presence information). Availability (Availability) management is performed so that the presence (operation state) information can be referred to only from a user ID approved for authentication. Also, a resource that can be referred to by presence information and in an idle state is identified and reserved. The presence information is shared by the communication HUB 4 and is referred to by a plurality of users. In addition, since the information on the availability state can always be grasped, the resource can be specified and notified together with the user's demand. In addition, the condition of cooperative operation for each resource (connection protocol, abnormal operation pattern, etc.) is also shared as presence.

  (6) A communication function for cooperatively operating the robot (resource) 1 in cooperation. A communication function is provided for securing a communication session between robots (resources) 1, implementing a communication protocol, assigning robots (resources) 1, and cooperative operations between the robots (resources) 1.

  (7) The operating state of the linked robot (resource) 1 is monitored, and if an abnormality occurs, the robot management center 6 is notified and an instruction is received. Since the pattern information of the abnormal state of the robot (resource) 1 is different for each robot (resource) 1, the robot management center 6 when an ID is given by the robot verification center (RCC) 5 as a management item of the robot (resource) 1 The pattern information of the abnormal state is registered in the space manager, and when the robot (resource) 1 is plugged into the space and recognized by the space manager, the pattern information of the abnormal state is also shared by the space manager.

(8) It has a message notification function and a message transmission function from the robot management center 6.
The message includes an alarm, an alert, and a release request when a conflict with another user occurs. In addition, there are a plurality of means for notifying the user of a message (the notification means can be selected according to the user attributes). Also, there is means for transmitting a message from the user to the center. (Id.)

(9) Portability of the robot router In order to use personal information anytime and anywhere, personal information that is not desired to be disclosed is incorporated into the personal robot router and carried. In addition, personal information that can be disclosed to the public can be uploaded via the network whenever necessary.

  (Description of configuration example)

  In order to achieve the “functional requirements” and “functional implementation method” described above, in the network robot service system shown in FIG. 1, the robot 1 is closed in a closed space (actual space) A such as a home, or closed space such as a company. In a closed space C such as a business trip destination. As described above, the robot 1 is a resource arranged in the real space, and is a resource such as a service, a device, or data plugged in the real space. For example, in addition to information appliances, wheelchairs, display devices, sensors, and other devices, software such as software agents is also included.

  The robot router 2 is a portable device that is always portable for a user incorporated in a portable terminal or the like, accumulates user attributes (static state such as qualifications, personal information), and the robot router 2. By downloading user attributes through communication between them, a function for providing a service that matches the user's request in an arbitrary space is provided. The robot router 2 learns usage guidance and usage history, and generates and stores a control scenario (service usage scenario) for efficiently setting a service that matches the user's request in the same service scene. Provide functionality.

  In addition, the space manager 3 monitors the state of the robot 1 in the space and grasps the environmental changes (resource state, location, climate, traffic conditions, etc.) of the usage space, and links the user's request with the environmental conditions. Provide a function to grasp and manage the environmental condition of the space so that the optimal service can be provided. The space manager 3 can also replace the function of the robot router 2 in addition to assisting the communication of the robot router 2.

  Further, the communication HUB 4 searches for resources in a standby state necessary for services provided to the user by the communication function of the robot router 2 and the space manager 3, and resources (information appliances, wheelchairs, display devices, sensors, and other devices, Alternatively, a function is provided for instructing a software agent or the like to be brought online to provide a service. In addition, the communication HUB 4 provides a function of monitoring an operation state bear of a resource operating in an online state and notifying the robot management center 6.

  In addition, the robot management center (RMC) 6 provides a user license acquisition and ID registration service in advance in order to confirm the correctness of the user. It also provides a function to monitor resource operation status and handle resource troubles. For example, an emergency stop instruction for monitoring a failure state of a resource and suppressing a runaway in advance is directly transmitted to the resource. At the same time, it notifies the user of the emergency state and provides alternative means.

  In addition, in the Robot Certification Center (RCC) 5, in order to prevent resources such as robots operating in social infrastructure from causing social problems due to runaway, only resources that have been verified in advance with quality standards are passed. An ID is assigned so that it can be plugged into the space. Further, a function is provided in which the resource ID is authenticated and the plug-in permission is given via the space manager 3 when the robot router 2 is plugged into a different space.

  FIG. 2 is a diagram showing a configuration example of the network robot service system, and more specifically shows the configuration shown in FIG.

  In FIG. 2, the network robot service system includes an unconscious robot 11a such as a sensor, ID, and display device embedded in an environment, real type robots (substance robots) 11b and 11c, robot routers 2a, 2b, and 2c, space. Managers 3a and 3b, a communication hub (HUB) 4, a robot verification center (RCC) 5, and a robot management center (RMC) 6 are included as constituent elements. The robots 11a, 11b, and 11c are referred to as the robot 11, the robot routers 2a, 2b, and 2c are referred to as the robot router 2, and the space managers 3a, 3b, and 3c are referred to as the space manager 3. There is a case.

  In FIG. 2, the robots 11a, 11b, and 11c in the closed space A (home) are coupled and linked by wire and wireless. Further, the robot router 2 has a communication function with the robot management center (RMC) 6, a communication function with the space manager 3, an aggregation function of robot information belonging to a closed space, a learning function, a use scene reuse function, and the like. .

  In addition, the space manager 3 performs state management of the robot 11 in its own space and permission for space use. The robot verification center (RCC) 5 performs robot service verification based on standardization standards, and the robot management center (RMC) 6 performs robot service (provider) authentication, service user authentication, usage license management, and robot status. Perform monitoring. The communication HUB 4 relays mutual communication between the robot 11 and the robot router 2 and the robot management center 6. Note that the function of the communication HUB 4 may be provided by the space manager, or may exist independently as a role of connecting a plurality of spaces (school, workplace, home, public facility, etc.). The robot workspace platform (RSPF) 10 is workspace authentication / cooperation middleware (real-time authentication, context management, ASP function, etc.).

  Also, space information (for example, status information of the robot in the closed space A) is transmitted from the robot router 2 or the space manager 3 to the communication HUB 4. This spatial information is also transmitted to the robot management center (RMC) 6. Also, robot control information is transmitted from the robot management center (RMC) 6 to the robot router 2 or the space manager 3.

  Further, in the communication HUB 4, the spatial information received from each closed space received from the robot router 2 or the space manager 3 is held, the spatial information is linked, and the linked spatial information is transferred to the space manager 3 or the robot router 2. Has the ability to download.

  With this download function, for example, when the robot router 2a moves from the closed space B to the closed space C having the same space characteristics, a service equivalent to the service level received by the user in the environment of the closed space B is provided. Also provided in the closed space C.

  FIG. 3 is a diagram illustrating a specific configuration example of the robot router. The robot router 100 includes a CPU 101 that controls the entire robot router, and a memory (MEM that records programs and data necessary for the processing operation of the robot router). ) 102, a data storage unit (compact flash (registered trademark), etc.) 103 for recording learning data of the robot router 103, a power source (BAT) 104, a keyboard input unit (KB) 105, a speaker (SP) 106, a display unit 107, The communication control unit 108, the sensors 109, and the ID recording unit 109 that holds an identification code assigned to the robot router itself and certified.

  FIG. 4 is a diagram illustrating a specific configuration example of the space manager. The space manager 200 includes a CPU 201 that controls the entire space manager, and a memory (MEM that holds programs and data necessary for the processing operation of the space manager. ) 202, a hard disk (HDK) 203, a console (CSL) 204, a communication control unit 205, and the space manager itself for storing various processing programs used by the space manager and environment data recognized by the space manager An ID recording unit 206 is provided for holding the identification code.

  FIG. 5 is a diagram showing a specific configuration example of the communication hub (HUB), which is a communication HUB 300, a CPU 301 that controls the entire communication HUB, and a memory that holds programs and data necessary for processing operations of the communication HUB. (MEM) 302, hard disk (HDK) 303, console (CSL) 304, communication control unit 305, and communication HUB itself for storing various processing programs and data used by the communication HUB. An ID recording unit 306 is provided.

  FIG. 6 is a diagram illustrating an example of a data table held in the robot router 2 and the space manager 3. The data table 121 of the robot router 2 includes “name, gender, age, “Address, failure information”, etc. are recorded as dynamic attribute information, “hobby preferences, special skills, behavior history”, etc., and information such as “mood, location”, etc. as temporary attributes. In addition, information such as “morning change of clothes, use of employee cafeteria, commuting” is recorded as a control scenario (service use scenario).

  In the data table 221 of the space manager 3, “resource registry”, “weather information, location information, traffic conditions”, and the like are recorded.

  The data recorded in the data table 121 of the robot router 2 and the data recorded in the data table 221 of the space manager 3 are referred to by the matching agent 122, the knowledge processing agent 123, etc., which are internal processes of the robot router 2. Is done.

  Next, specific means used in the configuration of the network robot service system shown in FIGS.

  First, specific means for grasping external environment information (real space information) will be described. The space manager 3 collects and manages the external environment of the real space. The real space information can be roughly divided into “resource registry information” and “environment information” as shown in the data table 221 of the space manager in FIG. “Resource registry information” manages the status of resources such as services, devices, and data plugged into the real space by the registry service, and uses de factts such as UPnP (registered trademark) and Jxta (registered trademark). Realized.

  “Environmental information” specifies the information source of information that is closely related to the execution of the service, and periodically grasps the latest information (obtained by periodically polling the access destination by HTTP, socket communication, etc.) Or pushed from an information source). Environmental information is broadly divided into general environmental information that does not depend on services (location, climate, time, etc.) and information that depends on services (traffic jam information, accident information, exchange rates, interest rate information, facility availability information, etc.). it can.

  Next, specific means for resource cooperation will be described. Cooperation with the robot (resource) is executed by the space manager 3. That is, resources such as the robot 1 in the real space are assigned addresses on the network and cooperate according to their function descriptions. Specifically, an IP address is assigned as addressing means. In addition, the resource detection means confirms an appropriate service search and availability confirmation of the service. Also, the service function and the communication means are confirmed by the description function. As control functions, resource coordination and control information exchange are performed. The address assignment uses an IPv6 address system, an AutoID tag address system, etc. as an ID system unique to the Internet. Also, by referencing the resource registry information, you can identify the services and robots that need to be linked, and by referring to their presence information, you can identify the standby state, busy state, failure state, etc., and identify the resources that can be linked To do. Then, the common communication protocol between the linked resources is confirmed, and the meaning of the instruction and the response is shared by the protocol. Therefore, the cooperative operation and the service are realized by the mutual instruction and the response.

  Further, specific communication and connection means between the robot router 2 and the communication HUB 4 are basically based on TCP / IP protocol communication. The meaning of the message itself is described based on XML.

  As for the role sharing between the permanent space manager and the portable robot router 2, the portable robot router 2 includes an input / output function and is designed to be portable. The space manager uses high-spec DK (disk) capacity, MEM (memory) capacity, and CPU power at the NW server level for real-time information control at high speed. For example, a home server is used at home, and an application server for an intranet is used at a company.

  As for the specific means of the mechanism that prevents the personal information recorded in the robot router 2 from being lost, an appropriate service is set instead of the method of batch uploading the personal information of the robot router 2 of the personal mobile phone to the space manager. Until the resource is identified, it is executed while referring to both tables in accordance with the communication protocol in addition to encryption. Therefore, the fragmented information exchange is stopped and the personal information linked with the personal ID is leaked to the outside. Can be avoided.

(Service image and processing procedure)
Next, a service image and a processing procedure in the network robot service system according to the present invention will be described.

  FIG. 7 is a diagram for explaining the processing procedure of plug-in to the real space of the robot router, and “processing of plug-in to the real space of the robot router 2” is performed according to the following procedure.

  First, when the user enters a specific real space, the space manager 3 recognizes the ID signal of the robot router 2 being carried (step S1).

  When the ID of the robot router 2 is recognized, the space manager 3 performs ID authentication to confirm whether the robot router 2 can be connected to the space manager 3 in the real space (step S2). When the ID is authenticated, a “confirmation message” is transmitted to confirm the compatibility between the robot router 2 and the owner (step S3). At this time, a means for conveying a message is automatically selected based on the attribute of the owner (voice, text, video, etc.).

  Next, in response to the confirmation message, after receiving the password (or biometric information such as fingerprint authentication) and confirming the user, in order to confirm the user's certification type and access authority to the resource, An inquiry is made by connecting to the robot management center 6 (step S5). Thereafter, the router is plugged in, and an access right to a specific spatial resource is given according to an authority rule according to the user authentication result (step S6).

  The “ID list” held by the space manager 3 in FIG. 7 is presence (operation) information for each resource (robot), and the space manager 3 manages the changing environmental state by updating the ID list. In this ID list, plug-in information such as sensors, final information (event, promotion information), status change (normal, abnormal, busy) of the appliance (special purpose dedicated device), and the like are recorded. The recognition agent monitors changes in real space according to specific environmental scenarios such as accidents and swarms. When the abnormal state is recognized, an alarm is transmitted to the user or the abnormal state is notified to the space manager 3. The space manager 3 notified of the abnormal state can provide a service synchronized with the environment, for example, by changing the navigation from the normal route to the detour route.

  FIG. 8 is a diagram for explaining the procedure of “providing process of user personal information to the use space”. The process of providing user personal information to the use space is performed according to the following procedure. Is called.

  First, by communication between the user's robot router 2 and the space manager 3, a user ID, personal information, a control scenario (service use scenario), etc. are transmitted to the space manager 3 (step S1-1). In this case, the personal information itself is not leaked together and can be concealed in the communication sequence of the user's robot router 2 and the space manager 3 of the space for permanent use.

  Next, the space manager 3 specifies the environment information related to the real space in consideration of the service available range and location of the user corresponding to the attribute of the user. For example, if it is a handicapped person, event information within 5 minutes on foot, news information, etc. are specified by selecting an information site according to the user's taste and interest rather than distance (step S2- 1).

  Further, when requesting a service such as network robot support or appliance allocation, the service is selected and requested based on the optimum information provided by the space manager (such as selecting an appliance in a standby state) (step S3-2).

  Further, when the service is requested from the robot router 2, the space manager 3 constructs a combination of distributed resources and provides the result (reservation, robot support, etc.) (step S4-2).

  Next, the “environment use scene learning function” and the “environment information acquisition processing function” will be described with reference to FIG. The communication procedure between the robot router 2 and the space manager 3 is the same as that in FIG.

The “environmental use scene learning function” is processed as follows.
Regarding the “environmental use scene learning function”, even if the space manager 3 provides a service by using all the resources provided by the environment, it is not always possible to provide a service that is appreciated by the user. That is, matching with attribute information alone is not sufficient. For example, information such as “weather forecast for rain”, “the road is under construction”, “sale at a nearby supermarket” is frequently provided, and navigation systems such as electric wheelchairs If you are reacting one by one, you will not be able to move, so the "Environmental scene learning function" has the following functions.
First, the robot router 2 can learn a use scene according to the characteristics of the user, such as optimization of the provision feeling and priority control with other information, depending on the information type.
Secondly, in the robot router 2, a routine scenario for daily routine activities such as shopping and commuting is accumulated once learned, and can be used as a default scenario.
Thirdly, in the robot router 2, the control scenario can be easily changed and used depending on the situation.
Fourth, the scenario program is configured, edited, and executed by an agent program acting on behalf of the user's intention.

  Regarding the “environment information acquisition processing function”, the space manager 3 collects and provides the latest environment information at the time when the user attribute information is provided. At this time, if information is exchanged with all the local networks and devices / appliances connected to the network, the communication cost increases and practical services cannot be provided. Moreover, if priority is given to the thickness (satisfaction level) of information, a large amount of unnecessary information is mixed and necessary information is lost. For this reason, a mechanism for narrowing down necessary information sources based on user attribute information and a mechanism for determining access to actual information based on meta information are implemented.

  Next, with reference to FIG. 10, “synchronization processing of environment information with real space” will be described. The communication procedure between the robot router 2 and the space manager 3 is the same as that in FIG.

  The environmental conditions related to the real space are a mixture of static, dynamic, and things that change from moment to moment. In order to provide them to the user service in the latest state, it has a plug-and-play function for environmental information. For example, when a new information providing site is launched, a registry service is provided for easily connecting the server to the network. Alternatively, it automatically plugs into the environment information network when connected to the Internet. The same applies to the case where a home network or office network resource (such as a CPU) is registered and used as a network robot resource.

  Sensors, appliances, and life support devices (robots, etc.) are registered in the registry service of the space manager 3 when they are installed as social infrastructure in real space (at this time, registered as a set with an ID with a quality test) )

  In addition, as a configuration function of the network robot, plug-in to the real environment is performed as follows.

  First, sensors, appliances, and software are brought to the robot service certification center for certification. Since functional performance, test results, interconnectivity, and cooperative operation with other resources are premised, the compatibility of the connection partner, etc., basically affects the name due to runaway etc., and has a fatal effect on the social system. Not test for fail-safety.

  Next, if the test is passed, an ID is given (this ID is linked to another ID that can be linked and a user ID that can be used). Then, it is registered in the database of the robot ID center (registry service).

  Thereafter, it is plugged into the real space robot router 2. In addition, the environmental condition of the real space that changes every moment is also grasped via the robot router 2. Further, the resource operation status is managed as presence, such as idle, busy, failure, and offline.

  In addition, weather conditions, fire, accident information, etc. in the actual environment are provided via the information providing site, so the information is distributed according to user requirement settings. In some cases, it is provided in the form of a robot service (navigation, etc.) in consideration of the information.

Next, processing of the “resource cooperation cooperative communication function” will be described.
(1) Recognize a connection protocol and acquire a communication path by “resource binding processing” that combines resources. In this case, after determining the resource requirement based on the service requirement, the user attribute information, and the environment information, an available (standby) resource is identified from necessary resources by communication between the robot router and the space manager. Thereafter, when a cooperative operation with the target resource is required, a session is established by opening both communication ports.

  For example, as an example of the service requirement example, “I want to move to my home but my electric wheelchair is broken”. Examples of user attributes include “severe walking obstacles and difficult to walk independently”. Examples of the environment information include “location information, time is 22:00, no traffic is in the vicinity, rain forecast soon”, and the like.

  Further, as resource requirements (determined by the robot router), there are “permanent electric wheelchair in the vicinity, contact information of volunteers who are in the vicinity, report to 119” and the like.

  In addition, as an example of resource binding, “registration information of the electric wheelchair in the standby state is acquired from the router, the communication path is established, the main power is turned on, and it is guided to the current location. If there are volunteer registered members in the vicinity, call for assistance (message notification). If there are no support resources nearby, call 119 (report by phone voice, etc.) " There is.

(2) A control message for activating a resource in a standby state is transmitted.
When the resource is in the standby state, the main power on and the command command for transition to the online state are sent directly from the space manager or robot router. By specifying and implementing a command response protocol, data can be sent and received using the existing communication infrastructure such as mail and instant messenger, etc., and the functions of resources that are robot components by interpreting messages in higher application layers Can be controlled.

  (3) Perform mediation and selection consultation when competing with other users (detour route, mediation of alternative means, reservation, etc.).

  (4) When a reservation is made, the resource is pushed to that effect when it becomes available. For resources for which the push function is not implemented, the transition to the available state is recognized by periodic polling.

(Usage scene example 1)
Next, in the network robot service system of the present invention, an example of the usage scene of the optimum scenario generation process by communication between the robot router and the space manager will be described with respect to an example of scenario optimization in the employee cafeteria usage scene of the disabled person A.

  The robot router has a preset control (service usage scenario) so that the cafeteria can be used smoothly while avoiding congestion.

  For example, the meal time is 12:30, the preference is fish dishes, the acquired calories are within 200 Kcal, and after the meal, take a rest after eating while drinking coffee in the break room and return to the room at 13:00. Usually, a lunch alarm is displayed from the robot router at 12:30. (Today, because the seminar is being held, there are many visitors from outside, so the cafeteria is crowded. Since the seminar ends at 12:00, the crowd will be predicted and the time to go to the cafeteria will be 11:50. (12:50 will provide information on whether to make 50 minutes.)

  Mr. A set it to 12:50. (At this time, the robot router checks the event information by accessing the in-house bulletin board system through the space manager.)

  At 12:50, a lunch alarm is displayed from the robot router. When Mr. A presses the OK button, he starts moving to the cafeteria (exiting the room and going to the elevator).

  When you arrive at the cafeteria floor, here are some combination menus that match the calories of lunch. (At this time, the robot router accesses the menu information of the cafeteria via the space manager, and chooses garnish with a fish dish based on Mr. A's food preferences and instantly introduces the appropriate menu. .)

  With reference to the menu information presented, select a dish and head to the cash register. Since the balance of the card is insufficient, we will postpay for 3000 yen. (At this time, the robot router detects the shortage by comparing today's meal price with the balance of the card, and accesses the employee cafeteria system via the space manager to request postpaid.)

  I was eating and it was my first fish dish but it wasn't very good. The seasoning of the boiled fish did not match. Mr. A inputs the evaluation of today's dish to the robot router. (From the next time, if there is a similar menu, a new scenario is generated and stored in the robot router so as to present a combination of other menus.)

  When the meal is over, it is usually going to the break room, but today it is predicted that the seminar will be crowded, so the scenario will be changed so that if you buy coffee at the vending machine, you will return to the room.

  In this usage scene, the robot router notices environmental information (seminar holding, cafeteria menu, etc.) provided by the space manager and optimizes the normal control scenario (service usage scenario). In addition, it can be stored so that it can be used by adding a new scenario to the service usage scenario based on new information based on the user's experience, such as whether the meal menu is good or bad.

(Usage scene example 2)
Mr. A is a single man, a programmer who works at an information system development company while walking in a wheelchair due to an accident in walking. I have a work environment and software development environment at home and sometimes work from home. Mr. A has a license to receive support from a network robot as a disabled person and always carries a robot router. The robot router has an information input / output function, a message communication function, and a telephone function.

Looking back on Mr. A's day.
Wake up at 7:00 in the morning by a robot router alarm. The curtains in the room open automatically and bring in the morning sun. A fog with high negative ion effect falls on the leaves of the houseplant. Your favorite BGM plays and you wake up in a relaxed mood. The intelligent wheelchair moves to a position where it can ride smoothly from the pet. Up to this point, a series of actions from the alarm of the robot router is performed according to the scenario registered in advance.

  I am going to work for the company today. BGM is getting tired soon, so switch to Morning Headline. This is executed by a switching instruction to the robot router. The robot router learns this phenomenon, and rewrites the scenario to the morning headline from BGM (the morning headline flows when waking up tomorrow).

  A toast, boiled egg and coffee are made when you get on the wheelchair and move to the bathroom and table. After having breakfast, clear the dishes and instruct the robot router to move to the changing room. Slacks that are decided to move up to the relative position with the support robot to change the slacks are set. The sock can be changed together.

Slacks are registered in daily scenarios, but today they are likely to be hot and hot, so they have been changed to thin and breathable (the robot router recognizes the environment and changes it on its own). Since the jacket is also selected, change into it and go to work. Upon exiting the entrance, the robot router recognizes going out and stops lighting, music, water, gas, etc. in the house.
At the same time, switch to Japanese security mode

  It is a commuter road, and it is less than 2km to the company, so it takes about 20 minutes with an intelligent wheelchair. About 10 minutes after leaving Australia, an accident occurred and traffic was stopped. Intelligent wheelchairs arrived at the company after searching for a detour route according to instructions from the robot router. The robot router changes the state of Mr. A to the company mode when it passes through the company gate. When the mode is changed to the company mode, the support scenario is switched to the company scenario. In the company environment, new devices have been introduced and charges have been revised by expanding functions such as the OA environment and canteen system.

  These changes in the environment are always grasped by the latest state by a space manager (such as an NW server) in the company. Mr. A can receive the optimum service in the latest environment without any consciousness or setting by himself / herself by cooperation between the robot router and the space manager of the company.・ ・ ・ ・ ・ ・ Omitted

After leaving the company gate, Mr. A's status changes to commuting mode. ... Omitted Arriving at home, Mr. A's state changes to the private mode, the home security mode is released, the entrance key is released, and the indoor lighting is turned on. When you enter the room, your favorite BGM flows. .... Omitted

  Although the embodiment of the present invention has been described above, the network robot service system of the present invention is not limited to the above illustrated example, and various modifications can be made without departing from the scope of the present invention. Of course.

  In the present invention, since the robot router dynamically grasps external environment information and provides the optimum service after linking the information with the user attribute information, a network robot service system, etc. Useful for.

Diagram for explaining the outline of the network robot service system The figure which shows the structural example of a network robot service system A diagram showing a specific configuration example of a robot router A diagram showing a specific configuration example of the space manager The figure which shows the concrete structural example of the communication hub (HUB) Diagram showing an example of a data table Diagram for explaining the plug-in processing procedure Illustration for explaining the process of providing user personal information to the usage space Diagram for explaining environment use scene learning function and environment information acquisition function Diagram for explaining the synchronization processing of environmental information with real space

Explanation of symbols

1a, 1b, 1c Robot 2a, 2b, 2c Robot router 3a, 3b, 3c Space manager 4 Communication hub 5 Robot verification center 6 Robot management center

Claims (5)

One or more robots arranged in the space, a robot router for controlling the robot, a space manager for managing the state of the robot in the space and collecting and managing environmental information in and outside the space Is a network robot service system connected by a communication network,
Means for retaining user attributes in the robot router;
A network robot service system comprising means for controlling the robot and providing a service based on user attributes and environment information held in the robot router in an arbitrary space where the robot router exists . The space manager includes
A means of periodically acquiring environmental information;
The network robot service system according to claim 1, further comprising means for notifying the robot router of the acquired environmental information. In the robot router,
Scenario holding means for generating and holding a control scenario for controlling the robot;
When a change request is received during execution of the control scenario, scenario learning means is provided for generating a control scenario based on the change request when a similar new control scenario is generated. The network robot service system according to claim 1 or 2. The network robot service system is further connected to a robot management center via a communication network,
The space manager includes
Means for notifying the robot management center of the abnormality information when detecting an abnormal state of the robot in the space managed by the space manager itself;
The network robot service system according to any one of claims 1 to 3, further comprising: a unit that issues a control instruction to the robot based on return information from the robot management center. If there are space managers and robots in each of multiple spaces,
5. The robot router according to claim 1, further comprising means for operating a robot in a space other than the space where the robot router is located based on a control scenario. Network robot service system.

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