JP2008282073A - Pet guiding robot and pet guiding method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pet guiding robot for guiding a pet without being accompanied by a human being. <P>SOLUTION: This pet guiding robot 10 configured of a movable robot main body part 11 and a pet attaching part 12 and a lead 13 is provided with: an external environment recognition means 22 for estimating surroundings from information acquired by an external information collection means 21 for collecting peripheral information; a lead state collection means 23 for collecting the tension and length of the lead; a pet condition estimation means 24 for estimating the motion state of the pet from the external environment recognition means 22 and the lead state collection means 23; a route information storage means 25 for storing the target route of the pet; a route planning means 26 for determining the route on the basis of the surroundings and the condition of the pet and the route information stored in the route information storage means; a driving means 27 for driving a driving device according to the route determined by the route planning means; and a lead adjusting means 29 for optimally adjusting the tension and length of the lead according to the surroundings and the condition of the pet. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a pet guiding robot and a method for guiding a pet.

  Due to the recent progress in the declining birthrate, aging population, and nuclear family, dogs and other pets are expected not only to play a role in crime prevention and answering machines, but also to provide life, comfort, and enjoyment. On the other hand, it takes a lot of time and effort to keep a pet. These troubles and cares are the fun of keeping a pet, but depending on the owner's living environment and circumstances, it can be a very heavy burden. In particular, for pets such as dogs, it is physically difficult for elderly people and those who are undergoing medical treatment to hold the pet lead in their hands and control the walking speed and moving direction of the pet. . Also, when it is raining, hold an umbrella in one hand and hold a pet lead with the other hand. In addition, single-person households, in particular, need to live a social life while doing various housekeeping alone, and it may be difficult to take time for a walk.

In order to reduce the burden of walking such pets, as a conventional device for guiding pets, it is provided with a pair of left and right receivers that receive a guidance signal transmitted from a transmitter carried by the owner who is the preceding person, By detecting the position and direction of the transmitter based on the strength of the induction signal received by each receiver and the difference between them, the front wheels are steered left and right and the driving speed of the rear wheels is automatically controlled to maintain a certain distance from the preceding person. There is something to track (see, for example, Patent Document 1).
JP-A-10-171533

  However, the conventional configuration includes a pair of left and right receivers that receive the induction signal transmitted from the transmitter carried by the owner who is the preceding person, and the transmission is performed according to the strength of the induction signal received by each receiver and the difference between the two. The position and direction of the machine is detected, the front wheels are steered to the left and right, and the driving speed of the rear wheels is automatically controlled, so the owner or an alternative person holds the pet lead in his hand, Although it is not necessary to control the direction of movement, there is a problem that it is necessary to always accompany a pet walk.

  The present invention solves the above-mentioned conventional problems. Instead of a human being, a plan for a walk is created based on the pet's situation, surrounding circumstances, and past walk history information. An object of the present invention is to provide a pet guiding robot that controls a pet's walking speed and direction of travel, thereby realizing a pet walk without being accompanied by a human.

  In order to solve the above-described conventional problems, a pet guiding robot according to the present invention is a pet guiding robot including a movable robot main body, a pet mounting unit, and a lead connecting the robot main unit and the pet mounting unit. The robot body unit includes external information collection means for collecting surrounding information, external environment recognition means for estimating the surrounding state of the robot body part according to the collected information, and tension and length of the lead. Lead status collecting means for collecting, pet status estimating means for estimating the movement status of the pet from the external environment recognizing means and the lead status collecting means, route information storage means for storing the target route of the pet, ambient status and pet status A route planning unit that determines a route based on the situation and the route information stored in the route information storage unit, and a route that is determined by the route planning unit. Driving means for driving the driving device, and lead adjusting means for optimally adjusting the tension and length of the lead according to the surrounding situation and the pet situation. Based on the historical information of the time, a walk plan is made, and the walking speed and direction of the pet are controlled based on the route of the plan.

  The pet wearing part may be a collar or a trunk ring.

  The route planning means may include a mooring means for fixing the robot main body to the ground when a command to stop the robot main body is determined.

  Further, the route information storage unit may be configured to update information stored by history information of past movements of the pet or the pet guiding robot.

  Further, the route information storage means may include route information input means for receiving route information transmitted from the outside and inputting the route information.

  Further, the communication apparatus may further include a communication unit with a network, and the route information input unit may receive the route information transmitted from a user information terminal via the network.

  Further, the pet wearing unit may be provided with a stimulus generating device, and the pet may be trained by the stimulus generated by the device.

  Further, the stimulus generator may generate a predetermined voltage for applying an electrical stimulus to the pet.

  The lead may further include a manipulator mechanism that controls the tension direction of the lead.

  The robot main body may be provided with manure processing means.

  Further, the robot main body may be provided with a feeding device, and may be configured to automatically feed and water when the pet is hungry or trained.

  Moreover, the structure which has the output part which presents the status information of the said pet and the said pet guidance robot to the said robot main-body part may be sufficient.

  Furthermore, it has means for communicating with the network, and is configured to present status information of the pet and the pet guidance robot to the user information terminal in response to a robot access request from the user information terminal via the network. Also good.

  In addition, a control operation command is transmitted to the pet guidance robot via the network to cause the pet guidance robot to execute a control operation in response to the robot remote control instruction information from the user information terminal, and the user information terminal The guidance robot may receive the operation result information as a result of executing the control operation, and present it to the user.

  The pet guiding method according to the present invention is a pet guiding method using a pet guiding robot comprising a movable robot body and a pet wearing part, and a lead connecting the robot body and the pet wearing part. An external information collecting step for collecting surrounding information, an external environment recognizing step for estimating the surrounding state of the robot body according to the collected information obtained in the information collecting step, and the tension and length of the lead A lead state collecting step for collecting, a pet state estimating step for estimating a movement state of the pet from the information obtained in the external environment recognition step and the lead state collecting step, the collected information, the pet state, and the pet Based on the route information stored in the route information storage means for storing the target route of the robot A path planning step for determining the path of the body part, a driving step for driving the driving device in accordance with the path determined by the path planning means, and the tension and length of the lead in accordance with the surrounding situation and the pet situation And a lead adjusting step for adjusting.

  According to the pet guidance robot of the present invention, instead of a human being, a pet is planned based on the path of the plan based on the plan situation of the pet, its surroundings, and past history information during the walk. By controlling the speed and direction of travel, pet walks can be realized without a human being accompanying the pet.

  Moreover, remote control is possible from a user's information terminal, and the user can confirm the state of a pet from anywhere.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Configuration of pet guidance robot)
FIG. 1 is a schematic diagram showing a configuration of a pet guiding robot 10 according to an embodiment of the present invention.

  A pet guiding robot 10 according to the present invention includes a movable robot main body 11 having a moving mechanism such as a wheel, a collar 12 attached to a pet, and a lead 13 connecting the robot main body 11 and the collar 12. Depending on the type of pet, a collar may be used instead of a collar. A collar and a trunk ring may be used in combination. Hereinafter, a dog is taken as an example of a pet, and a collar is adopted as a pet wearing part.

  The robot body 11 has a simple curved surface with few protrusions on the surface so that the lead 13 does not get entangled or get caught in the wheel even if the pet moves around. It is desirable to be covered with a car body cover.

  FIG. 2 is a block diagram showing the configuration of the pet guidance robot in the embodiment of the present invention.

  In FIG. 2, the robot body 11 includes an external information collection unit 21, an external environment recognition unit 22, a lead state collection unit 23, a pet status estimation unit 24, a route information database 25, a route plan unit 26, a drive unit 27, and a mooring tool. 28 and a lead adjusting unit 29.

  The external information collection unit 21 includes an imaging device 21A, a microphone 21B, a distance sensor 21C, and the like. Furthermore, it is preferable to have a GPS receiving unit having a GPS (Global Positioning System) signal reception function and a communication unit having a communication function as position information acquisition means for acquiring information related to the current position.

  The imaging device 21A is an omnidirectional camera, for example, and can image the surroundings of the robot body.

  The microphone 21B employs, for example, a microphone having directivity, and collects an audio signal with directivity in the direction of the pet.

  The distance sensor 21C is a non-contact type sensor, and is, for example, an infrared sensor, an ultrasonic sensor, a laser distance sensor, or the like.

  Further, by providing the collar 12 or the robot main body 11 with a body temperature sensor, a pulse sensor, a blood pressure sensor, an emotion sensor, etc., guidance according to the situation of the pet becomes possible.

  Image signals, audio signals, distance detection signals, and the like are constantly input to the external environment recognition unit 22 from the imaging device 21A, the microphone 21B, the distance sensor 21C, and the like while the robot is powered on. The external environment recognition unit 22 recognizes a specific external state based on an image signal, an audio signal, a distance detection signal, and the like given from the imaging device 21A, the microphone 21B, the distance sensor 21C, and the like, and displays the recognition result. The external environment information to be expressed is always output to the route planning unit 26.

  The external environment recognition unit 22 includes an image recognition unit, a voice recognition unit, and a distance processing unit.

  The image recognition unit performs image recognition on the camera image data obtained by the imaging device 21A, and outputs the image recognition result.

  The voice recognition unit performs voice recognition on the voice signal obtained by the microphone 21B and outputs the voice recognition result.

  The distance detection unit outputs the distance to each object from the output value of the distance sensor.

  The lead state collection unit 23 includes a tension sensor and collects the tension and length of the lead 13.

  The pet situation estimation unit 24 includes an exercise situation estimation unit and an emotion estimation unit. The tension and length of the lead 13 given from the lead status collection unit 23, the pet cry given from the external information collection unit 21, Estimate the pet's exercise situation and emotion based on the images.

  The exercise state estimation unit discriminates the exercise state of the pet into categories such as “obedient” and “rebellious” in consideration of the tension and length of the lead 13, the pet's cry, and the pet image.

  The emotion estimation unit estimates that the mood is bad when the tension of the lead 13 exceeds a threshold value. Moreover, you may estimate a pet's emotion from a pet's cry, a pet image, or the like.

  The configuration of the route information database 25 will be described with reference to FIG. As shown in FIG. 3, the route information database 25 stores map information of an area where the pet moves. Although it is shown in the form of an image in FIG. 3, it may actually be held in the form of a list. If an obstacle not found in the route information database is found, it is registered in the route information database 25. In addition, the route information database 25 stores dangerous or incompatible objects, for example, habitat areas of dogs. The route information database 25 stores traffic signals, signs, and the like, and can select routes that are not restricted by traffic signals, signs, and the like. When a traffic signal or a sign is included in the route of the pet guidance robot, an external information collecting unit 21 obtains an image including the signal or the sign, and the external environment recognition unit 22 recognizes the contents of the signal or the sign. It is possible to guide in accordance with traffic rules such as stopping at a red light and moving on at a green light. The contents may be notified by sending a signal to the robot from a signal or a sign.

  The route planning unit 26 updates the route based on the surrounding situation and the pet situation based on the route information stored in the route information database 25. The potential method known as the prior art can be applied to the route planning. The potential method sets a potential field in which the current position is high and the target position is low, and only the obstacle occupation area has a predetermined height so that the obstacle occupation area is higher than the movable area of the moving object. Is generated, and in this potential field, an obstacle avoidance path is generated by following the maximum inclination direction from the current position.

  The lead adjusting unit 29 adjusts the length and tension of the lead in order to guide the pet based on the route determined by the route planning unit 26. This is the same principle that a person adjusts by pulling a lead when guiding the path of a pet.

  The mode of the lead adjusting unit 29 can be illustrated as shown in FIG. 4 or FIG. In FIG. 4, the upper surface of the robot body and the rod-shaped body having the lead take-up section are connected by a rotatable spherical body. By rotating the spherical body with respect to the upper surface of the robot body, the pet can be drawn in a desired direction. In FIG. 5, a rod-like body that is rotatable around an axis perpendicular to the upper surface is connected to the upper surface of the robot body. Then, as shown in FIG. 5, the rod-shaped body has a branch having a predetermined length, so that the tension direction of the lead can be adjusted by rotating the rod-shaped body. Further, the length of the lead is adjusted by the lead winding portion in both FIG. 4 and FIG.

  The lead winding unit may be installed at a position above the upper surface of the robot body as shown in FIG. 4, or may be installed at a position below the upper surface of the robot body as shown in FIG. .

  In addition, as shown in FIG. 6, the pet guiding robot of the present invention includes a rod-like anchoring device 28 that is driven into the ground and anchors the pet in the robot body, and the anchoring device 28 is provided on the ground as needed. Type in. Even if the mooring tool 28 is driven into the ground, the movable area of the pet can be changed according to the situation by changing the length of the lead.

  By the way, in order to guide a pet like the robot, a function of training the pet is necessary. By providing the collar with the stimulus generating device 30 as shown in FIG. 7, it is possible to give the pet the stimulus generated by the stimulus generating device 30 as necessary and train the pet. When the tension of the lead exceeds a preset threshold, the stimulation generator 30 trains the pet, for example, by applying an electrical stimulus for a short period of time. Moreover, even when a pet makes an annoying behavior such as barking more than necessary, such annoying behavior can be suppressed by appropriately stimulating the pet.

  The stimulus generator 30 is not limited to an electrical stimulus, and can generate, for example, the voice and smell of a pet owner, a favorite smell of the pet, and the like, and can be used for training a pet.

  Further, the pet guiding robot 10 of the present invention includes manure processing means in the robot body 11. When the emotion estimation unit detects that the pet is defecation, a sheet is issued. When the external environment recognition unit 22 detects urination, water is ejected to the detected urination and processing is performed.

  Further, the pet guiding robot 10 of the present invention is provided with a feeding device in the robot body 11 and automatically feeds and feeds water when the pet is hungry or trained. It is also possible to feed food and water at a time set in advance by the user.

(Communication method with pet guidance robot)
Next, a method of communication between the pet guiding robot 10 and the user 3 will be described. As shown in FIG. 8, the pet guidance robot 10 and the user information terminal 50 can be connected via a network 51. The user information terminal 50 is a computer or a portable information terminal owned by the user. The user 3 can grasp the surrounding situation including the pet guiding robot 10 and the pet 5 through the screen of the information terminal 50. Furthermore, when an abnormal situation occurs in the pet guiding robot 10 or the pet 5, information can be transmitted to the information terminal 50 of the user 3 to be notified. FIG. 9 is an example of a transmission screen to the user 3. The current position of the pet guidance robot 10 and a camera image are displayed.

  The robot body 11 has output means such as an LED, a display, and a speaker for presenting the status information of the pet and the pet guiding robot 10 so as to notify the surroundings of the robot body when an abnormal situation occurs. It is good to make it.

  In addition, a control operation command is transmitted to the pet guiding robot 10 via the network 51 in order to cause the pet guiding robot 10 to execute a control operation on the robot remote control instruction information from the information terminal 50 of the user 3, and the pet As a result of the guidance robot 10 executing the control operation, the operation result information and the robot state information indicating the current state of the result are received and presented to the information terminal 50 of the user 3. FIG. 10 is an example of an operation screen of the information terminal 50. The user 3 can control the pet guiding robot 10 by designating an instruction for the pet guiding robot 10 on this screen.

(Route registration method)
Here, a method for registering a route in the route information database 25 will be described.

[A. Registration led by humans]
As shown in FIG. 11, a human wears the pet wearing unit 12, leads the pet guiding robot 10, receives a GPS signal, acquires the position of the pet guiding robot 10, and stores it in the route information database 25 as route information. sign up.

[B. Registration by receiving external information]
The route information database 25 may receive route information transmitted from the outside and input the route information to the route information database 25. For example, the user 3 inputs a route with a pen on a map as shown in FIG. This input information may be transmitted from the information terminal 50 to the pet guiding robot 10 via the network 51 and received by the pet guiding robot 10. As described above, the route may be traced with a pen, and if several points of the route are designated, the route connecting them may be automatically complemented.

  Moreover, the potential method known as a prior art is applicable to the production | generation of a path | route. In the potential method, a potential function that receives an attractive force from a target position of a robot and a repulsive force from an obstacle is designed. That is, a potential field in which the current position of the robot is high and the target position is low is set, and a predetermined height is set only in the obstacle occupation area so that the obstacle occupation area is higher than the movable area of the robot. An added potential field is generated, and in this potential field, an obstacle avoidance path to the target position is generated by following the maximum inclination direction from the current position.

(Route update / pet guidance method)
Next, a pet guiding method of the pet guiding robot 10 will be described using the flowchart of FIG.

  The pet guiding robot 10 acquires position information from a GPS receiving unit mounted on the pet guiding robot 10 and travels along a route based on the route information stored in the route information database 25.

  The lead length is preset to a predetermined length for each pet. This length also changes depending on the surrounding conditions as described below.

  The external information collection unit 21 senses whether a moving body such as a human is present around or whether a moving body such as a human is approaching from the front (step S1). 14 and 15, when another moving body 7 does not appear from the traveling direction of the pet 5 (FIG. 14, NO in step S <b> 1), another moving body 7 appears from the traveling direction of the pet 5. This is the case (FIG. 15, YES in step S1). As can be seen from a comparison between FIG. 14 and FIG. 15, when another moving body 7 is approaching, the length of the lead is set shorter than that when the other moving body 7 is not (step S <b> 2). To avoid contact with the moving body 7.

  When the potential method is applied, when the external environment recognition unit 22 recognizes that, for example, another owner's pet is approaching from the front, the potential field is set so that the current position of the approaching pet becomes higher. Set. The potential field should be set so that the potential is increased if it is determined to be dangerous, and the potential is decreased if it is determined to be gentle, depending on the behavior of the pets that are approaching. Further, data comparison with the route information database 25 is performed, and if no data regarding the approaching pet is found, the appearance information of the pet may be registered in the route information database 25.

  Next, it is determined whether or not the tension of the lead is below the threshold value (step S3). If the tension is not below the threshold value (NO at step S3), the mooring tool 28 is driven into the ground as shown in FIG. 6 (step S4). . If the lead tension is equal to or less than the threshold value (YES in step S3), it is determined whether the difference from the set value of the lead length is within an allowable range (step S5). If the lead tension is exceeded (NO in step S5). The lead adjusting section 29 adjusts the tension of the lead so that the difference between the lead length and the set value of the lead length is within an allowable range, that is, the lead length is maintained at a predetermined length. (Step S6).

  As shown in FIG. 16, the direction of the lead is adjusted so that the pet 5 is positioned at an angle with respect to the robot body 11. FIG. 16 illustrates the case where the angle α between the orientation of the robot body and the orientation of the lead is 0 [deg] and 80 [deg]. 0 [deg] and 80 [deg] are merely examples, and are not limited to these numerical values. In general, when a person walks a dog, the owner should straddle first when straddling the sill of the house, and the owner should be positioned next to the pet during the walk. By using these findings, if the pet 5 is a dog, the pet 5 is loyal to the pet guidance robot, and smooth guidance is expected.

  According to this configuration, the route planning unit 26 determines a route based on the route information database 25 that stores the target route of the pet 3, the surrounding situation, the situation of the pet 3, and the route information stored in the route information database 25. Then, the lead adjusting unit 29 optimally adjusts the tension and length of the lead according to the route determined by the route planning unit 26, so that the surrounding situation, pet situation, and past walk history can be used instead of a human. A walk plan is made based on the information, and the walking speed and the direction of travel of the pet are controlled based on the route of the plan, so that the pet can be walked without a human being accompanying the pet.

  In the present embodiment, what can be applied as a target of guidance is not limited to pets, and can also be applied to humans and the like. In the case of human beings, it is possible to act in accordance with the robot body to some extent, so that training using a stimulus generator is not necessary, and a pet guidance robot can be applied.

  The pet guiding robot according to the present invention is useful for guiding a pet such as a dog. Moreover, it can be applied not only to pets, but also to moving object guidance.

Schematic of the pet guidance robot in one embodiment of the present invention The block diagram of the pet guidance robot in one embodiment of the present invention The figure explaining the route information database in one embodiment of this invention The figure explaining the lead | read | reed adjustment part in one embodiment of this invention The figure explaining the lead | read | reed adjustment part in one embodiment of this invention The figure explaining the mooring tool in one embodiment of this invention The figure explaining the irritation | stimulation generator in one embodiment of this invention The figure explaining the communication of the pet guidance robot and information terminal in one embodiment of this invention The figure explaining the example of a screen of the information terminal at the time of emergency in one embodiment of this invention The figure explaining the example of a screen of the information terminal at the time of emergency in one embodiment of this invention The figure (top view) explaining the positional relationship of the user and pet guidance robot in one embodiment of this invention The figure which shows the registration screen of the guide path | route of the pet in one embodiment of this invention The flowchart which shows the pet guidance method in one embodiment of this invention The figure (top view) explaining the positional relationship between the pet guiding robot and the pet in one embodiment of the present invention The figure (top view) explaining the positional relationship between the pet guiding robot and the pet in one embodiment of the present invention The figure (top view) explaining the positional relationship between the pet guiding robot and the pet in one embodiment of the present invention

Explanation of symbols

3 users (human)
5 Pets 7 Mobiles 10 Pet Guidance Robots 11 Robot Body 12 Collars (Pet Wearing Parts)
13 Lead 21 External information collection unit (External information collection means)
21A Imaging device 21B Microphone 21C Distance sensor 22 External environment recognition unit (external environment recognition means)
23 Lead status collection unit (lead status collection means)
24 Pet situation estimation part (pet situation estimation means)
25 route information database (route information storage means)
26 route planning department (route planning means)
27 Drive unit (drive means)
28 Mooring tool (Mooring means)
29 Lead adjustment part (Lead adjustment means)
30 Stimulus generator (Stimulus generator)
50 Information terminal 51 Network

Claims (15)

A pet guiding robot comprising a movable robot body part and a pet attachment part, and a lead connecting the robot body part and the pet attachment part,
The robot body is
An external information collecting means for collecting surrounding information;
An external environment recognition means for estimating a surrounding situation of the robot body in accordance with the collected information;
Lead state collecting means for collecting the tension and length of the lead; and
Pet situation estimation means for estimating the movement situation of the pet from the external environment recognition means and the lead state collection means,
Route information storage means for storing the pet's target route;
Path planning means for determining a path of the robot body based on the surrounding situation, the pet status, and path information stored in the path information storage means;
Driving means for driving the driving device according to the path determined by the path planning means;
A pet guiding robot, comprising: a lead adjusting means for adjusting a tension and a length of the lead according to the surrounding situation and the pet situation. The pet guiding robot according to claim 1, wherein the pet wearing unit is a collar or a trunk ring. The said robot main-body part has a mooring means which fixes the said robot main-body part with respect to the ground, when the instruction | command which stops the said robot main-body part is determined by the said route planning means. The pet guiding robot described in 1. The pet guidance robot according to any one of claims 1 to 3, wherein the path information storage means updates information stored by history information of past movements of the pet or the robot. The pet guide according to any one of claims 1 to 4, wherein the route information storage means includes route information input means for receiving route information transmitted from the outside and inputting the route information. robot. The pet guidance robot according to claim 5, further comprising a communication means with a network, wherein the route information input means receives the route information transmitted from a user information terminal via the network. . The pet guide robot according to any one of claims 1 to 6, wherein the pet wearing unit includes a stimulus generation unit, and allows the pet to be trained by a stimulus generated by the apparatus. The pet guiding robot according to claim 7, wherein the stimulus generating unit generates a predetermined voltage for applying an electrical stimulus to the pet. The pet robot according to claim 1, wherein the robot body further includes a direction control unit that controls a tension direction of the lead. The pet guiding robot according to any one of claims 1 to 9, wherein the robot body includes a manure processing unit. The pet according to any one of claims 1 to 10, wherein the robot body is provided with a feeding means, and feeds and water is automatically provided when the pet is hungry or trained. Guide robot. The pet guiding robot according to claim 1, further comprising an output unit that presents state information of the pet and the pet guiding robot on the robot body. It has a communication means with a network, The status information of the pet and the pet guidance robot is presented to the information terminal of the user in response to a robot access request from the information terminal of the user via the network. Item 13. The pet guiding robot according to any one of items 1 to 12. A control operation command is transmitted to the pet guidance robot via the network to cause the pet guidance robot to execute a control operation on the robot remote control instruction information from the user information terminal, and the user information terminal transmits the pet guidance The pet guide robot according to claim 13, wherein operation result information is received as a result of execution of a control operation by the robot and presented to the user. A pet guiding method by a pet guiding robot comprising a movable robot body and a pet wearing part, and a lead connecting the robot body and the pet wearing part,
An external information collecting step for collecting information around the pet;
An external environment recognition step for estimating a surrounding situation of the robot body according to the collected information obtained in the information collecting step;
A lead state collecting step for collecting the tension and length of the lead;
A pet situation estimation step for estimating a movement situation of the pet from the information obtained in the external environment recognition step and the lead state collection step;
A path planning step for determining a path of the robot body based on the collected information, the pet status, and the path information stored in the path information storage means for storing the pet's target path;
A driving step of driving the driving device according to the path determined by the path planning means;
A pet guide method comprising: a lead adjustment step of adjusting a tension and a length of the lead according to the surrounding situation and the pet situation.

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