JP5690113B2 - Autonomous mobile service provision system - Google Patents

Description

  The present invention relates to an autonomous mobile service providing system, and more particularly, to an autonomous mobile service providing system that can reliably respond to a service user's calling action and cope with a service request of the service user.

As a conventional system for bringing an autonomously movable robot to a user's location, there is a robot guidance system described in Patent Document 1. According to this robot guidance system, it is required that the robot itself recognizes its own position, specifies the position of the user who cannot be seen from the robot, and moves to the user's location by the robot itself. The Therefore, in this robot guidance system, a means for detecting a signal related to a voice uttered by the user, a means for storing map information regarding the arrangement of obstacles in the moving environment of the robot, and whether the user's voice is a calling voice A means for determining whether or not, a means for detecting a user's whereabouts from a signal related to the user, and a means for obtaining a movement route from the user position and the robot's own position.
The technical characteristic part of the robot guidance system described in the above-mentioned patent document 1 is based on the user's voice and determines whether or not it is a calling voice. The position of the person is specified, the movement route is calculated based on the map information, and the robot is autonomously moved to the place where the user exists.

JP 2008-46956 A

In terminal machines such as ticket vending machines and payment machines installed in railway facilities such as railways, which are public transport systems, to call station staff when there are operational problems or other problems by public transport users A call button is provided. This call button is usually provided on the front part of the terminal machine, but the position of the call button is difficult to understand and difficult for the user to use. Further, according to the call button, when the call button is pressed, a necessary waiting time is generated until the station clerk comes to the place, and then the service by the station clerk is received. Since there is a certain amount of time between the pressing operation of the call button and the response of the station staff, it creates an environment that allows mischief, and on the other hand, there is a problem that the work efficiency is poor for the station staff. The
Moreover, according to the system in which an autonomously movable robot is installed in place of the station attendant call button and the station attendant to be called in a conventional ticket vending machine and the like, the robot is called as necessary. Can be reduced and work efficiency can be improved. On the other hand, however, as a practical problem, in terms of the system, there is mutual approval for service provision between a user who calls for provision of guidance services and the like and a robot that moves to the user's location. It is important to be structured to be done properly.
From this point of view, the conventional robot guidance system described above has a system configuration that allows the robot to move autonomously to the user's location, but provides services to each other between the user and the robot they meet. It did not have a mutually approved system configuration for receiving and providing services.

  In view of the above problems, an object of the present invention is to provide an autonomous mobile service robot in place of a station clerk in response to a call request of a service request by a user in a terminal machine such as a ticket vending machine provided at a public transport station or the like. It is to provide an autonomous mobile service providing system that can quickly respond through a mutual approval procedure (person verification) with a user, improve work efficiency, and improve service quality.

  The autonomous mobile service providing system according to the present invention is configured as follows in order to achieve the above object.

The first autonomous mobile service providing system (corresponding to claim 1)
Data and the position of the user's voice conversations or means for communicating through the display information, means for acquiring data of the user's voice or image, audio or image with the user upon request of a Subscriber A service request terminal (dedicated terminal, etc.) having means for transmitting data;
A means for automatically generating a travel route to the user's location based on location data, based on voice conversation when the user is visually impaired, and based on display information when the user is hearing impaired, An autonomous mobile robot comprising means for checking, means for providing a guidance service requested by the user,
It is composed of

In the above-mentioned autonomous mobile service providing system, a dedicated service request terminal transmits voice or image data of a user who needs a guidance service to the autonomous mobile robot side together with its position data. The autonomous mobile robot calculates the movement route based on the position data, moves itself to the place where the user is, and , based on voice conversation with the user, when the user is visually impaired, When the user is a hearing-impaired person, based on the display information, the user is verified whether or not the user really needs the guidance service by the mutual approval procedure . After verifying the identity, the guidance service is executed.

  In the second autonomous mobile service providing system (corresponding to claim 2), the communication between the service requesting terminal and the autonomous mobile robot is preferably performed via a monitoring center in the above configuration.

  In the third autonomous mobile service providing system (corresponding to claim 3), in the above configuration, the service request terminal is preferably attached to an existing processing execution automatic device (ticket vending machine, checkout machine, etc.) or a guide device. It is characterized by that.

According to the present invention, voice or image data relating to a user who needs a guidance service is acquired on the service request terminal side, and the voice data or image data is transmitted to the autonomous mobile robot side together with the user position data. However , an autonomous mobile robot automatically generates a movement route based on position data and moves to the user's location, where it is based on voice conversation when the user is visually impaired, and display information when the user is hearing impaired. Based on this, the user's identity is verified by the mutual approval procedure, so the guidance service can be executed reliably and promptly, improving the quality of the service and reducing the burden on the staff of the station. Can do.

It is a block diagram which shows the whole structure of the autonomous mobile service provision system which concerns on typical embodiment of this invention. It is a block diagram which shows roughly the internal structure of a ticket vending machine. It is a block diagram which shows the internal structure of a dedicated terminal. It is a block diagram which shows the internal structure of an autonomous mobile robot. It is a flowchart which shows the operation | movement process of the guidance service in case a user is a visually impaired person. It is a flowchart which shows the operation | movement process of the guidance service in case a user is a hearing impaired person.

  DESCRIPTION OF EMBODIMENTS Preferred embodiments (examples) of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows the overall configuration of an autonomous mobile service providing system according to a representative embodiment of the present invention. The service providing place to which the autonomous mobile service providing system is applied is, for example, a ticket sales place or a place around a ticket gate where a ticket machine or a checkout machine is installed in a station. As an example, the autonomous mobile service providing system according to the present embodiment is configured such that a dedicated terminal 200 is attached to a ticket vending machine 100 installed at a ticket office. Note that the service providing place to which the autonomous mobile service providing system of the present invention is applied is not limited to a ticket office, and an arbitrary place where a similar service is required in a general public facility or private facility is assumed. Can do. Another example of the service providing place is an installation place of an existing guide device (guide plate or the like). The dedicated terminal 200 is configured to be attached to the existing guide device.

  For example, a plurality of automatic ticket machines 100 are installed in the ticket office. FIG. 1 shows only one ticket vending machine 100. As shown in FIGS. 1 and 2, the ticket vending machine 100 is provided with a display unit 11, a selection operation unit 12, a settlement input unit 13, a call button 14, and the like on the front side of the device as a normal configuration. Inside, there are an operation control unit 15 that controls the operation of each part of the device, an information processing unit 16 that processes signals and data related to input operation processing and output processing, an external upper management server, station staff stationed internally, etc. Are provided with a communication unit 17, a change processing mechanism unit 18 and the like.

  The display unit 11 displays a route for the user 300 to purchase a ticket for the destination, a destination station (alighting station), and the like. The selection operation unit 12 is an operation unit that is operated when the user 300 selects a route, a destination station (alighting station), or the like. The settlement input unit 13 is a card reader / writer of a bill or coin insertion unit and a change discharge unit, a magnetic card insertion / reading unit, or a touch-type wireless IC card. The call button 14 is an operation means for calling a station staff when a problem or the like occurs when the user 300 is using the ticket vending machine 100. The above elements of the ticket vending machine 100 are components for normal healthy persons. When ticket sales are performed in the ticket vending machine 100, processing information related to ticket sales is transmitted to the management center 20 including the management upper server via the communication unit 17 and the communication line 19.

  Said display part 11 and selection operation part 12 can also be comprised as one element by the liquid crystal panel display part with a touch function.

  As shown in FIG. 1, the dedicated terminal 200 is attached to the ticket vending machine 100 having a calling function. In this embodiment, the dedicated terminal 200 is provided as a retrofit to the ticket vending machine 200. However, an element having the same configuration and function as the dedicated terminal 200 may be provided as a built-in component inside the ticket vending machine 100 from the beginning. In FIG. 1, the dedicated terminal 200 is exaggerated for convenience of description, and the shape and size are arbitrary.

  The dedicated terminal 200 is a terminal device for a user 300 who intends to use the ticket vending machine 100 to receive a service based on the autonomous mobile service providing system. It becomes possible to receive the service of the autonomous mobile robot 400 via the dedicated terminal 200. The content of the service provided by the autonomous mobile robot 400 is mainly to guide the user 300 to a destination for movement such as a landing in the station premises, or to guide how to operate the ticket vending machine 100.

  As shown in FIG. 3, the dedicated terminal 200 includes an input operation unit 21, a human detection sensor 22, a display unit 23, a voice conversation unit (such as a speaker and a microphone) 24, an imaging unit 25, and an information processing control unit 26. And a storage unit 27 and a communication unit 28. Furthermore, the information processing unit 26 includes, as functional elements, a guidance service necessity determination unit 31, a voice guidance service / call execution unit 32, a voice recognition unit 33, an image registration unit 34, and a display content control unit 35. Yes.

  The display unit 23 is a display screen for providing guidance service information to a hearing impaired person, for example, when the user 300 is a hearing impaired person. The imaging unit 25 includes a camera that photographs the user 300 standing at the front position of the ticket vending machine 100. The imaging unit 25 preferably performs an imaging operation based on the detection information when the human detection sensor 22 detects the user 300 when the user 300 comes to a predetermined position in front of the ticket vending machine 100. Image data 36 obtained by photographing by the imaging unit 25 is stored in the storage unit 27. The human detection sensor 22 is, for example, a reflective optical sensor.

  The guidance service necessity determination unit 31 determines whether the guidance service by voice or image is necessary for the user 300 based on the image data 36 stored in the storage unit 27. It is. In this case, in principle, the necessity of the guidance service is determined based on the determination function by the guidance service necessity determination unit 31 prepared on the dedicated terminal 200 side. For example, when the guidance service necessity determination unit 31 determines that the user 300 is a visually impaired person based on the image data 36, the information processing control unit 26 performs the voice generation unit 24, voice guidance service / call execution The unit 32 and the voice recognition unit 33 are operated to provide a voice service to the user 300. On the other hand, when the guidance service necessity determination unit 31 determines that the user 300 is a hearing impaired person based on the image data 36, the information processing control unit 26 displays the display unit 23, the image registration unit 34, and the display content. The control unit 35 and the imaging unit 25 are operated to provide an image service to the user 300.

  As described above, the voice guidance service / call execution unit 32 and the voice recognition unit 33 in the dedicated terminal 200 are mainly functional elements for operating when the user 300 is a visually impaired person. In addition, the image registration unit 34, the display content control unit 35, and the like in the dedicated terminal 200 are functional elements that are mainly operated when the user 300 is a hearing impaired person.

  When the user 300 is a visually impaired person, the voice data acquired by the voice guidance service / call execution unit 32 and the voice recognition unit 33 through a call with the user 300 is registered and stored in the storage unit 27. Further, the image data of the user 300 acquired by the shooting operation of the imaging unit 25 is also registered in the storage unit 27.

  On the other hand, the user 300 can receive the voice service or the image service by operating the input operation unit 21 according to his / her own intention. The input operation unit 21 is provided with a selection button for receiving a voice service or an image service. Therefore, even a normal person (healthy person) can receive a voice service or an image service by operating the selection button of the input operation unit 21.

  As described above, the dedicated terminal 200 is a terminal for the user 300 who intends to use the ticket vending machine 100 to call the autonomous mobile robot 400 for the purpose of receiving the service of the autonomous mobile robot 400. By using the dedicated terminal 200, the user 300 can call the autonomous mobile robot 400 to the place (location) where he / she is and receive the service.

  In FIG. 1, reference numeral 500 indicates a monitoring center. The monitoring center 500 is communicably connected to the communication unit 28 of the dedicated terminal 200 via a wired or wireless communication line 41, and wirelessly connected to the communication unit built in the autonomous mobile robot 400. 42 is communicably connected so that information can be transmitted and received. The monitoring center 500 receives image data and / or voice data and position data related to the user 300 sent from the dedicated terminal 200, records and manages them, and the user 300 provides services by the autonomous mobile robot 400. These data, control commands, and the like are transmitted to the autonomous mobile robot 400 on condition that they are necessary. The autonomous mobile robot 400 starts a service operation based on management and control commands and various data (position data, voice data, image data, etc.) given from the monitoring center 500. When the autonomous mobile robot 400 does not receive an operation start command from the monitoring center 500, it normally stands by at a predetermined location.

  The autonomous mobile robot 400 is a humanoid robot, for example. Therefore, as shown in FIG. 4, the appearance of the autonomous mobile robot 400 is made to resemble the shape of a human being, and has a leg portion, a torso portion, and a head portion having a moving function. The autonomous mobile robot 400 includes at least a moving mechanism 51 including a plurality of driving wheels and a driving unit, a computer 52 having an operation control function and an intelligent function, a map guide, a moving route according to a target location, and a monitoring center 500. A storage unit 53 for storing information such as various data provided from the external environment recognition function unit 54 having a visual function of a camera or the like and a function for visually recognizing the user 300 based on the image data, The voice conversation function part 55 which can perform voice conversation with the person 300, the communication part 56 which performs radio | wireless communication, and the display part 57 are provided. The display unit 57 can be provided at any part of the part that forms the appearance of the autonomous mobile robot 400.

  Next, a guidance service when the user 300 is a visually impaired person will be described with reference to the flowchart of FIG.

  In the first determination step S <b> 11, it is determined whether the user 300 using the ticket vending machine 100 needs a guidance service for the autonomous mobile robot 400. In this determination step S11, the premise is that the human detection sensor 22 described above detects the presence of the user 300 in the front position of the ticket vending machine 100, and the user is detected by the imaging unit 25 based on the detection of the presence of the user 300. 300 is photographed, and the status of the user 300 is checked based on the image data 36 obtained by the photographing. Based on the status check of the user 300, it is determined whether or not the user 300 is visually impaired. When it is determined that the person is visually impaired, in determination step S11, it is determined that the guidance service is necessary. The determination including the above detection, operation control, data processing, and determination step S <b> 11 is performed based on the guidance service necessity determination unit 31 provided in the dedicated terminal 200. If YES is determined in the determination step S11, the process proceeds to the next step S12.

  In step S12, voice guidance is started. The voice guidance is executed by the voice guidance service / call execution unit 32 and the voice recognition unit 33 in the dedicated terminal 200. In the voice guidance in step S12, first, voice guidance flows from the voice conversation unit 24 provided in the dedicated terminal 200. According to this voice guidance, the user 300 with visual impairment is spoken and a conversation response is obtained. The user 300 makes a voice response to the voice conversation unit 24 of the dedicated terminal 200 according to the voice guidance. When the dedicated terminal 200 acquires the voice of the user 300 by the voice conversation unit 24, the voice recognition unit 33 performs voice analysis and registers the voice data of the user 300 obtained by the voice analysis in the storage unit 27 (step S13). ). The registered voice data is used as data for specifying the user 300.

  For the dedicated terminal 200, position data related to the installation position of the ticket vending machine 100 attached in advance is registered in the storage unit 27. This registered position data is used as position data of a place where the user 300 is present.

  In the next step S14, the dedicated terminal 200 transmits the voice data and position data related to the user 300 to the monitoring center 500 side via the communication unit 28 and the communication line 41 together with the guidance service request command signal. To do. In the monitoring center 500, the guidance service request command signal, voice data, and position data sent from the dedicated terminal 200 are stored in the storage device and transferred to the autonomous mobile robot 400 via the radio 42.

  When the autonomous mobile robot 400 receives the guidance service request command signal, the voice data, and the position data sent from the monitoring center 500 by the communication unit 56, the computer 52 calculates a movement path based on the position data and moves the moving mechanism 51. Based on the external environment recognition function unit 54, the mobile device autonomously moves to the place where the user 300 is located according to the travel route (step S15). The state of this autonomous movement is shown in FIG.

  The autonomous mobile robot 400 that has reached the place where the user 300 is present performs voice guidance to the user 300 by the voice conversation function unit 55 (step S16). Through the conversation with the user 300 based on the voice guidance, the autonomous mobile robot 400 acquires the voice of the user 300, analyzes the voice, and whether the voice data matches the voice data transferred from the monitoring center 500. It is determined whether or not the person is verified (determination step S17). When it is determined in the determination step S17 that the user 300 is the person himself (in the case of “person”), the guidance service is started (step S18), and when it is determined that the user 300 is not the person (in the case of “other person”). In this case, the guidance service is stopped (step S19), the process is terminated, and the autonomous mobile robot 400 returns to the original location.

  When the guidance service is started, the user 300 is guided to the moving destination of the user 300 according to the request of the user 300 through a voice conversation with the user 300. As the moving destination, for example, the ticket gate / depot 61 shown in FIG. The travel route 62 to the ticket gate / depot 61 is stored in the storage unit 53 of the autonomous mobile robot 400 in advance. As other moving destinations, there are a toilet 63 or another destination 64 as shown in FIG.

  As described above, the visually impaired user 300 can receive the guidance service by the autonomous mobile robot 400 through the dedicated terminal 200 attached to the ticket vending machine 100. Since the guidance service by the autonomous mobile robot 400 can be provided, the user 300 can receive the service promptly and can reduce the work load of the station staff.

  Next, with reference to the flowchart of FIG. 6, a guidance service when the user 300 is a hearing impaired person will be described.

  Also in this case, in the first determination step S21, the user 300 using the ticket vending machine 100 determines whether or not a guidance service for the autonomous mobile robot 400 is required. Also in this determination step S 21, as in the determination step 11, the presence of the user 300 who is in the front position of the ticket vending machine 100 by the human detection sensor 22 based on the guidance service necessity determination unit 31 provided in the dedicated terminal 200. The user 300 is photographed by the imaging unit 25 based on the detection of the presence of the user 300, the situation of the user 300 is checked based on the image data 36 obtained by this photography, and based on this situation check Then, it is determined whether or not the user 300 is a hearing impaired person. When it is determined that the person is hearing impaired, in determination step S21, it is determined that the guidance service is necessary. If YES is determined in the determination step S21, the process proceeds to the next step S22.

  In step S22, guidance by display is started. The guidance by display is executed by the display content control unit 35 in the dedicated terminal 200. In the guidance by display in step S22, guidance by display is given on the display unit 23. According to this display guidance, an input response of “shooting start” is requested to the user 300 with hearing impairment. The user 300 performs the “shooting start” input operation using the input operation unit 21 of the dedicated terminal 200 in accordance with the display guidance. As a result, YES is determined in the next determination step S23, and the next step S24 is executed. In step S <b> 24, the imaging unit 25 is operated to acquire the image data of the user 300 and register the image data of the user 300 in the image registration unit 34. The registered image data is used as data for specifying the user 300.

  Further, as described above, the dedicated terminal 200 has registered in the storage unit 27 position data related to the installation position of the ticket vending machine 100 attached in advance, and this position data is the position data of the place where the user 300 is located. Used.

  In the next step S25, the dedicated terminal 200 transmits the image data and position data related to the user 300 to the monitoring center 500 side via the communication unit 28 and the communication line 41 together with the guidance service request command signal. To do. In the monitoring center 500, the guidance service request command signal, the image data, and the position data sent from the dedicated terminal 200 are stored in the storage device and transferred to the autonomous mobile robot 400 via the radio 42.

  When the autonomous mobile robot 400 receives the guidance service request command signal, the image data, and the position data sent from the monitoring center 500 by the communication unit 56, the computer 52 calculates the movement route based on the position data, and moves the moving mechanism 51. And autonomously moves to the place where the user 300 is located according to the movement route based on the external environment recognition function unit 54 (step S26).

  The autonomous mobile robot 400 that has reached the place where the user 300 is present provides display guidance to the user 300 via the display unit 57 by the display content control function of the computer 52 (step S27). It is determined whether or not the operation unit related to “authentication” displayed on the display unit 57 is operated through communication with the user 300 based on the display guidance (step S27). If YES is determined in the determination step S27, the personal verification is performed (step S29). When it is verified that the user 300 is the user, the guidance service is started (step S30). If NO in the determination step S28, the personal verification is not performed, the guidance service is stopped (step S31), the process is terminated, and the autonomous mobile robot 400 returns to the original location. The contents of the started guidance service are as described above.

  As described above, the user 300 having a hearing impairment can receive a guidance service by the autonomous mobile robot 400 through the dedicated terminal 200 attached to the ticket vending machine 100. Since the guidance service by the autonomous mobile robot 400 can be provided, the user 300 can receive the service promptly and can reduce the work load of the station staff.

The configurations and the arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments, and can be variously modified without departing from the scope of the technical idea shown in the claims.
For example, although the monitoring center 500 is provided in the system configuration of the above embodiment, the monitoring center 500 may be omitted and the dedicated terminal 200 may be configured to communicate directly with the autonomous mobile robot 400.
In addition, the user's mobile phone or the like can be used for calling the autonomous mobile robot 400, and the position data obtained by the GPS function of the mobile phone can be used as the user's position data, for example.

  The autonomous mobile service providing system according to the present invention has a function of autonomous movement and a voice recognition function and an identity verification function when a user using a ticket vending machine or the like in a railway station premises requires a guidance service. Alternatively, a robot having an image response authentication function can quickly and surely respond to the user's calling action and respond to the service user's service request, reducing the work load of station staff, etc. .

DESCRIPTION OF SYMBOLS 11 Display part 12 Selection operation part 13 Settlement input part 14 Call button 21 Input operation part 22 Human detection sensor 23 Display part 24 Voice conversation part 25 Imaging part 26 Information processing control part 31 Guidance service necessity determination part 32 Voice guidance service and telephone call Execution unit 33 Voice recognition unit 34 Image registration unit 35 Display guidance control unit 51 Movement mechanism 52 Computer 53 Storage unit 54 External environment recognition function unit 55 Voice conversation function unit 100 Ticket vending machine 200 Dedicated terminal 300 User 400 Autonomous mobile robot 500 Monitoring center

Claims (3)

And means for communicating via voice conversation or display information on request of a Subscriber, means for acquiring data of the user's voice or image, data and the position of the user of the voice or image A service requesting terminal comprising means for transmitting data;
Means for automatically generating a travel route to the user's whereabouts based on the position data; based on voice conversation when the user is visually impaired; based on display information when the user is visually impaired; An autonomous mobile robot comprising means for performing identity verification by a mutual approval procedure, and means for providing a guidance service requested by the user;
An autonomous mobile service providing system characterized by comprising:   The autonomous mobile service providing system according to claim 1, wherein communication between the service request terminal and the autonomous mobile robot is performed via a monitoring center.   3. The autonomous mobile service providing system according to claim 1, wherein the service request terminal is attached to an existing process execution automatic apparatus or guide apparatus.

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