WO2012073301A1

WO2012073301A1 - Guidance system using robot

Info

Publication number: WO2012073301A1
Application number: PCT/JP2010/071232
Authority: WO
Inventors: 大島　章; 山本　健次郎; 幸彦小野; 祥尭原
Original assignee: 株式会社日立製作所
Priority date: 2010-11-29
Filing date: 2010-11-29
Publication date: 2012-06-07

Abstract

In order to assist a customer in reliably following a schedule, the present invention provides a guidance system capable of reliably offering the customer with the highest need guidance that has appropriate content and that is at an appropriate timing responsive to the customer. A guidance system for providing a guidance service to a customer within an area preliminarily set in an airport and so forth comprises: a customer information registration unit (100) which registers a scheduled action for a customer, a location information acquisition unit (200) which acquires the location of the customer, a guidance execution unit (400) which guides the customer, and a guidance information processing means (300) which manages the customer information registration means, the location information acquisition means, and the guidance execution means, by way of wireless and wired communications. The guidance execution means is constituted by an autonomous moving body (412, 412'). The customer registration means associates and stores a destination location and a limit on time which are based on the registered scheduled action for the customer, with identification information for identifying the customer; stores in the guidance information processing means the location information related to the stored customer; and then determines the customer to be guided on the basis of the stored destination location, the limit on time, and the location information. The guidance execution means on the basis of the determined instructions, with only the determined customer as the target, moves close to said customer and prompts the customer to move by means of sound or video.

Description

Guidance system using robot

The present invention relates to a guidance system for providing a guidance service according to a customer in a preset area such as in a facility or in a town, and more particularly to a guidance system using a robot for guiding a customer.

Conventionally, as a guidance system for providing a guidance service according to a customer (visitor) in a preset area using a guidance robot, a system described in Patent Document 1 below is already known. . In this system, the camera identifies the current position and moving speed of the customer and guidance robot with a camera, and the predicted arrival point of the customer that can be calculated from the current position and moving speed of the customer A guidance system is disclosed that changes the content of guidance provided by a mobile robot to a customer based on the determination that guidance should not be given because

Further, according to Patent Document 2 below, it is a guidance system using an information processing terminal, and by correlating a customer's face image with a destination, an imaging device and a display device in the vicinity thereof are used. A guidance system is disclosed that outputs a route guidance from a display device to a destination by using a display device while making the operation of the customer unnecessary by identifying the customer's face with respect to the customer approaching the front of the imaging device.

In addition, according to Patent Document 3 below, a customer can use a customer terminal such as a mobile phone to electronically guide the customer by using a ticket medium made of a ticket, a mobile phone, or a noncontact IC card in a facility or the like. The guidance information is displayed according to the customer's schedule information by holding the ticket medium over the board, and the place where the customer used the electronic information board at the end of the time is the current position of the customer. A guidance system is disclosed that warns a customer using a plurality of electronic guide plates around it.

JP 2008-260107 A JP, 2009-205504, A Japanese Patent Application Publication No. 2006-164073

However, the guidance system provides assistance by providing the necessary guidance service so as to ensure that the customer can execute the schedule, and in particular, at appropriate timing according to the customer, It is important to be able to ensure that guidance is available to customers who are in high need.

However, in the system of Patent Document 1 described above, the necessity of the guidance to the customer is determined only by the current position and the moving speed of the customer (visitor), so it is surely determined whether the necessity of the guidance to the customer is high. There are limited implementation conditions that can be determined. Therefore, it may not be possible to provide guidance on the appropriate content according to the customer.

On the other hand, in the system of the above-mentioned patent documents 2, since route guidance according to a customer's destination is carried out, a suitable contents can be shown to a customer. However, in the case of receiving guidance, the customer needs to be aware of the necessity of the guidance and actively work on the system, and also needs to move to the location of the imaging device and the display device nearby. Therefore, it is not always possible for all customers to receive guidance at an appropriate timing, so it can not be said that the customers can surely provide the guidance necessary to execute the schedule reliably.

Further, in the system of Patent Document 3 described above, since the guidance according to the customer's schedule information (including the destination) and the current position of the customer is performed according to the scheduled time, the timing according to the customer is It is possible to give guidance in accordance with the contents of the customer. However, since the timing of implementing the guidance is determined only by the scheduled time, the timing of the guidance may not be appropriate depending on the current position of the customer. Also, according to the current location of the customer, the location of guidance is selected, but since the current location of the customer is based on the last usage history of the electronic information board, some customers have already moved to another location. It also happens when you can not receive the

In addition, in the above-mentioned system, guidance can not be carried out for a customer who has no usage history of the electronic guide plate. Furthermore, providing guidance by means of an electronic information board may inadvertently cause the surrounding customers to be provided with guidance, and the customers who should receive the guidance are busy with shopping, for example, sleeping. If the user is obsessed with a certain action, such as watching a television or smoking, the user may not notice the provision of the guidance. For this reason, too, it is not possible to reliably provide guidance for the customer to execute the schedule reliably.

Therefore, the present invention solves the problems in the prior art described above, that is, without omission for each customer, at an appropriate timing according to the customer and with an appropriate content according to the customer. The purpose is to realize a guidance system capable of providing guidance.

In order to solve the above object, according to the present invention, a guidance system is provided that first provides a customer with a guidance service according to the selection of the customer in a preset area, the customer being scheduled Via a communication line, a customer information registration means for registering scheduled behavior including the target position and time limit, a position information acquisition means for acquiring the position of the customer, a guidance implementation means for performing guidance for the customer, And a guidance information processing unit for managing the customer information registration unit, the position information acquisition unit, and the guidance execution unit, the guidance execution unit is configured of an autonomous mobile body, and the customer information registration unit is registered. The guide information processing means stores the target position and the time limit based on the planned behavior of the customer in association with the identification information for identifying the customer, and the guidance information processing means The position information obtained by the position information acquisition unit is stored in the guidance information processing unit with respect to the customer stored in the information processing unit, and based on the target position, the restriction time, and the position information stored in the guidance information processing unit. And the guidance implementation means, based on the instructions determined by the guidance information processing means, approaches the customer only for the customers whose implementation of the guidance has been determined. A guidance system is proposed that implements guidance by prompting the user to move to a target position by voice, video, or the like.

Further, according to the present invention, in the guidance system described above, the guidance implementation means is a mobile robot that performs guidance, or the mobile robot is provided with a chair at a part thereof, and a customer is boarded. It is preferable for the mobile robot to guide or transport the customer to the target position, as selected by the customer. Furthermore, when the mobile robot does not carry out the guidance to the customer, it is preferable to move to a predetermined place including a charging spot or a walkway and stand by.

Furthermore, according to the present invention, in the guidance system described above, the customer information registration unit determines the area division in advance, and implements the area division corresponding to the position of the customer detected by the position information acquisition unit. It is preferable to determine the guidance, or the customer information registration means preferably further comprises means for inputting the identification information of the customer when entering the preset area. The customer identification information input means included in the customer information registration means is a camera, and the position information acquisition means also includes a camera, and the customer's image captured by the camera included in the customer information registration means It is preferable to detect the position of the customer based on the image and the image of the customer captured by a camera provided in the position information acquisition means.

Alternatively, according to the present invention, in the guidance system described above, the guidance implementation means further includes a portable terminal device carried by the customer, and guidance for the customer is implemented by the autonomous mobile body. It is preferable to do via the said portable terminal device with a means. And it is preferable to utilize the guidance system of the said Claim 1 as a guidance system in an airport.

And, according to the present invention described above, by configuring the guidance implementation means for providing guidance to the customer by the mobile robot, the necessary guidance is intended only for the customer, and the voice or video is approached to the customer. As a result, it is possible to realize a guidance system capable of reliably providing guidance to each customer at appropriate timing and with appropriate content without leaking.

It is a block diagram showing a schematic structure of a guidance system which becomes one embodiment of the present invention. It is the figure which showed an example of the arrangement | positioning state of each part at the time of applying the guidance system of this invention in the airport. The guidance system which becomes Example 1 of this invention WHEREIN: It is a figure which shows an example of the various information preserve | saved at a customer information management part. It is a figure which shows an example of the mobile robot which is an autonomous mobile body which comprises the positional infomation acquisition part of the guidance system which becomes said Example 1. FIG. It is a flowchart figure which shows the guidance operation | movement to the customer in the guidance system of the said invention. It is a flowchart figure which shows the detailed content of the "guidance 1" shown in the said FIG. It is operation | movement explanatory drawing which shows the detailed content of "the guidance 1" shown in the said FIG. The guidance system which becomes Example 2 of this invention WHEREIN: It is a figure which shows an example of the various information preserve | saved at a customer information management part. It is a figure which shows an example of the mobile robot which is an autonomous mobile body which comprises the positional infomation acquisition part of the guidance system which becomes said Example 2. FIG. It is a flowchart figure which shows the detailed content of "guidance 2" in the guidance system which becomes Example 2 of the above. It is operation | movement explanatory drawing which shows the detailed content of "the guidance 2" shown in the said FIG.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings. In the present invention, for example, the customer needs to move to a predetermined place by a predetermined time within a preset area such as an airport, a station, an office building, a shopping mall, various event venues, etc. The present invention relates to a guidance system for providing guidance for assisting the customer to reliably execute the set schedule when having the so-called schedule, particularly in the embodiment described below, an example thereof A so-called guidance system at the airport will be described in detail, as it guides passengers (customers) to a predetermined gate by a predetermined time in the airport.

Example 1 shown below is a guidance system for assisting the customer to execute the schedule reliably in the airport, and the robot guides the user at the timing when the customer needs an action to execute the schedule. The operation example of the guidance method (hereinafter referred to as “guidance method 1”) of performing the action of promoting the customer's action is performed.

FIG. 1 is a block diagram showing an example of the configuration of a guidance system according to the present invention, and FIG. 2 is a view showing the arrangement of each part when the guidance system is applied in an airport. Hereinafter, the guidance system which becomes a present Example is demonstrated using these FIG. 1 and 2. FIG.

As shown in FIG. 1, the guidance system of the present invention comprises a customer information registration unit 100, a position information acquisition unit (a) 200, a guidance information processing unit 300, a guidance execution unit 400, and a schedule information change unit 500. In addition, between these components, transmission / reception of information is performed by the communication line by a radio | wireless or a wire communication by the path | route shown to the arrow of a figure.

<Customer information registration unit 100>
First, the customer information registration unit 100 moves to a place (hereinafter referred to as “target position”) where the customer (passenger) is at a certain time (hereinafter referred to as “time limit”) (for example, passes through the boarding gate) And the identification information necessary for specifying a customer by the position information acquisition unit (a) 200 described later. Then, the target position, the time limit, and the identification information of each customer are sent to a customer information management unit 310 described later. Generally, the customer's target position and time limit at the airport are, for example, the location of the boarding gate and the boarding time (for example, 10 minutes before the boarding start time, etc., but this time depends on the conditions such as weather). Change).

More specifically, for example, as shown in FIG. 2, the customer information registration unit 100 is provided near the ticket issue counter 110, the unmanned ticket issue apparatus 112, the ticket information confirmation unit 114, and the ticket information confirmation unit 114. The camera 116 and so on are included. Further, although not shown here, for example, the Internet reservation and the telephone reservation also constitute the customer information registration unit 100. In addition, although each element which comprises the customer information registration part 100 is arrange | positioned on the outer side of the guidance implementation area | region 210 mentioned later in this FIG. 2, however, in this invention, it is not necessarily necessary. It may be provided inside 210.

Subsequently, in the customer information registration unit 100 described above as an example of the configuration, the customer first obtains a ticket recording medium such as a boarding card or the like by the ticket issuing counter 110 or the unmanned ticket issuing apparatus 112 as a series of operation examples. Next, when the customer holds the ticket medium over the ticket information confirmation unit 116, the camera 116 captures an image of the customer's face and clothes, and extracts the captured face and clothes information. That is, by the series of operations of the elements constituting the customer information registration unit 100, the identification information by the image of each customer consisting of face and clothes, the target position (boarding gate) based on the reservation information of the ticket medium Boarding time) can be correlated and acquired.

Further, the ticket medium owned by the customer does not have to be a paper medium such as a boarding card, but instead, for example, using a passive or active wireless tag device or a portable terminal device described later (A portable terminal is indicated by reference numeral 410 in FIG. 2). If the information transmitted from the device to the ticket information confirmation machine 114 is character (number) information such as a reservation number, as in the case of a paper ticket, the camera 116 acquires customer identification information. . Alternatively, in the case where the information of the number uniquely assigned to each apparatus is combined with the reservation number, this can be used as the identification information of the customer, so it is necessary to provide the camera 116 and extract the identification information. Not necessarily. Moreover, it goes without saying that the ticket issue counter 110 and the unmanned ticket issue apparatus 112 may be unnecessary depending on the configuration.

<Position information acquisition unit (a) 200>
The position information acquisition unit (a) 200 targets the registered customers registered in the customer information management unit 310 described later by the customer information registration unit 100 described above in the guidance execution area 210 shown in FIG. The position (or movement speed) of the customer is identified by the collation of the identification information described above. Then, the acquired position (or movement speed) of the customer is sent to the customer information management unit 310 described later.

More specifically, as shown in FIG. 2, the position information acquisition unit (a) 200 arranges, for example, a plurality of cameras 214 so as to cover the entire guidance implementation area 210. Thereby, in the guidance implementation area 210, the identification information captured by the cameras 214 is collated by image processing, and further, each customer in the guidance implementation area 210 is based on the imaging position and the position and orientation of the camera. Identify the location of At that time, with regard to the position of the customer, the moving speed of each customer may be derived by taking the difference from the previously acquired position. In addition, by calculating the median value from the history of the movement speed of the derived customer, it is also possible to acquire a representative value of the movement speed of each customer. Note that even if a large number of these cameras 214 are arranged in the guidance implementation area 210, it is not always the case that leakage does not occur in the position specification of the customer. In such a case, the position of the customer may be specified by using a position acquisition unit (b) 424 mounted on a mobile robot 412 described later. In addition, for a customer whose position can not be specified for a predetermined time (for example, three minutes) or more, the customer information management unit 310 described later has information that the position can not be specified for the customer. send.

When the boarding pass is the wireless tag device 212 or the portable terminal device 410, as shown in FIG. 2, the position information acquisition unit (a) 200 is configured by the wireless tag detection device 216 or the indoor GPS transmitter 218. You may. Although not shown here, the portable terminal device 410 has the same function as the wireless tag device 212, and thereby, like the wireless tag device 212, identifies the wireless tag device 212 in the vicinity of the wireless tag detection device 216. You may specify the position of the customer by doing. Alternatively, the portable terminal device 410 has the function of a GPS receiver, thereby specifying the position of the portable terminal device 410 based on the signal from the indoor GPS transmitter 218 and periodically communicating to the customer information management unit 310 by wireless communication. You may send the customer's location. In any case, a plurality of wireless tag detection devices 216 and indoor GPS transmitters 218 are arranged to cover the entire guidance implementation area 210.

Furthermore, when the position of the customer is specified, if the accuracy of the position and moving speed is not sufficient, the above-described position information acquiring unit (a) 200 may be configured as a combination of a plurality of types, or EKF Processing such as (Extended Kalman Filter) may realize high precision based on time-series information.

<Guidance information processing unit 300>
The guidance information processing unit 300 is, as shown in FIG. 1, a customer information management unit 310 which holds various information about each customer, a guidance necessity determination unit 312 which determines the necessity of guidance for each customer, and The guidance implementation management unit 314 instructs or manages the implementation of guidance to the guidance unit 400.

As shown in FIG. 3, the customer information management unit 310, together with the identification information of the customer, the target position of the customer acquired by the customer information registration unit 100, the time limit, and the position information acquisition unit a) Save the current position of the customer acquired or updated by 200 and the moving speed. Further, in the present embodiment, as described above or later, the information stored for each customer can be expanded as necessary.

The guidance necessity determination unit 312 has a function of determining the necessity of guidance for each customer based on various information stored in the customer information management unit 310. Then, based on the determination result, the information of the customer who is the target of the guidance execution is sent to the guidance execution management unit 314 described later.

In addition, as a specific method for determining the necessity of guidance, for example, the traveling distance from the current position of the customer to the target position (hereinafter referred to as “dist 1”) and the current position to the target position The distance that can reach the time limit by moving (for example, calculated by dist2 = moving speed * (time limit−current time)) is obtained, and in the case of dist1> threshold 1 and dist1−dist2> threshold 2 It can be considered that the customer is determined to be the subject of guidance. Here, the threshold 1 is a distance having a need for guidance, for example, a value such as 10 m, and the threshold 2 is a distance having a need for guidance at the time of time limit, for example, 0 m Use the value.

Further, the moving speed may be a value acquired last, a representative value based on history, or a numerical value generally determined based on the age of the customer. If the customer's age (or age) is required, such information is information that the customer information registration unit 100 normally has at the airport and is necessary for making a reservation, so that information By storing the above in the customer information management unit 310, it is possible to cope with it. Then, by repeatedly performing the above determination for each customer, it is possible to individually perform guidance for each customer at the timing when the necessity for guidance becomes high. Also, in order to conduct guidance at a more appropriate timing, area divisions based on the position of the customer (for example, tobacco (smoking area), toilets, shopping (shopping area), chairs (waiting area), elevators, etc. It is desirable to adjust and calculate the time limit, distance, and moving speed according to the escalator, move walk, etc.). Further, it is desirable that the time required for guidance be subtracted from the limit time according to the method of guidance (for example, according to the activation time of guidance execution unit 400, travel time, customer interaction time, etc.). As described above, when there is a customer whose position can not be specified by the position information acquiring unit (a) 200, the current position of the customer is finally specified by the position information acquiring unit (a) 200. The calculation may be performed using the calculated position, and the time required for guidance may be estimated longer, that is, the time limit may be subtracted.

In addition, for customers who are considered to be subject to guidance, this is the case when dist1 <threshold 3 and dist1-dist2 <threshold 4 according to the same calculation as performed when determining the necessity of guidance. Customers who fulfill the above are not subject to guidance again. The criteria for determining the threshold 3 and the threshold 4 are the same as the threshold 1 and the threshold 2 described above.

Next, based on the determination result of the guidance necessity determination unit 312, the guidance implementation management unit 314 plans or manages the implementation of guidance to the customer by the guidance execution unit 400 described later. That is, the customer information management unit 310 further states that "information guidance 1 is being implemented", "information guidance 1 has been implemented", and "information guidance 1 is implemented" as the implementation status of guidance to each customer. "Not required", "Guide 2 (details will be described in Example 2 below) are being implemented", "Guide 2 has been implemented", "Do not implement Guide 2", etc. Store information to prevent duplicate delivery to the same customer. In addition, when the number of customers who are the target of the guidance is insufficient for the guidance implementation unit 400, the value calculated by the guidance necessity determination unit 312 is larger (in other words, the necessity of guidance is more Give priority to the guidance to customers). When a plurality of guidance implementation units 400 are provided, the guidance implementation management unit 314 plans the minimum necessary guidance for each based on the coverage of each guidance execution unit 400.

<Guidance execution part 400>
The guidance execution unit 400 has a configuration for providing guidance only to specific customers. For example, specifically, as shown in FIG. 1 described above, the control unit 420, the guidance information input / output unit 422, the position information acquisition unit (b) 424, and the moving unit 426 are provided. An autonomous mobile body having a form as shown in FIG. The position information acquisition unit (b) 424 may be configured to include the function of a GPS receiver, or may be configured to include the function of the wireless tag device 212 instead of the position information acquisition unit (b) 424. This also satisfies the function of the guidance system described in the present embodiment.

In the mobile robot 412 constituting the guidance execution unit 400, the position information acquisition unit (b) 424 does not specify the position of the guidance execution unit 400, but rather exists around the guidance execution unit 400. The purpose is to specify the position of the customer, so the position information acquisition unit (b) 424 further includes a camera and a wireless tag detection device, and the same as the position information acquisition unit (a) 200. Perform the processing of

Further, the mobile robot 412 constituting the guidance execution unit 400 is provided with a moving unit 426 in order to move (guide) around the customer who is the target of guidance. Therefore, although not shown here, more specifically, an actuator (a motor, a wheel, a leg, etc.) for moving together with a sensor (a camera, a laser scanner, an inertial sensor, a movement amount sensor, etc.) as the movement unit 426. ), And has functions such as processing for recognizing the current position of the guidance implementation unit 400 and processing for planning movement without touching surrounding objects, and from one point to another. Autonomous movement to the point is possible.

Furthermore, based on the guidance operation instruction determined by the guidance information processing unit 300, the control unit 420 constituting the guidance execution unit 400 displays the display (or touch panel) 430 or the speaker 431 included in the mobile robot 412, and further, rotates. A guidance information input / output unit 422 including a light (not shown) and a button (not shown) provides guidance to the customer.

As described above, according to the present invention, the mobile robot 412 is used as the guidance execution unit 400. Furthermore, in addition to this, the customer himself carries the portable terminal device 410, and also by the portable terminal device 410. Similar to the mobile robot 412, guidance may be provided to the customer. Also in this embodiment, the guidance system provides guidance to the customer by the mobile robot 412 on the assumption that the customer carries the portable terminal device 410 by himself.

<Schedule information change unit 500>
The schedule information changing unit 500 changes the information stored in the customer information management unit 310 when the customer's target position or time limit is changed. For example, at the airport, if the time of departure and arrival of the flight and / or the boarding point of the flight is changed, the customer's schedule can be obtained by the airport employee entering the information or acquiring it from another system. Even when changed, it is possible to conduct guidance correspondingly.

The schedule information changing unit 500 may be configured to include the same function as the above in the guidance execution unit 400 described above. In general, although not required at the airport, an input / output terminal is provided as the schedule information changing unit 500 in the guidance execution area 210, and the customer may change the schedule at a specific place by himself. It will be possible.

<Operation of guidance system>
Subsequently, the overall operation for each customer of the guidance system whose configuration has been described above will be described using the flowchart of FIG. 5 attached hereto.

First, the customer information registration unit 100 functions to register a customer to be a target of guidance in the customer information management unit 310 (step S101). Subsequently, the identification and the position of the customer are specified from the information acquired by the position information acquisition unit (a) 200 for the customer already registered in the customer information management unit 310, and the customer information management unit 310 The stored content is updated (step S102). Furthermore, based on the stored contents of the customer information management unit 310, the guidance necessity determination unit 312 determines the necessity of guidance for each customer (step S103). As a result, for the customer who determined that the guidance is necessary, The guidance execution unit 400 provides guidance (step S104).

The details of steps S105 and S106 shown in this flowchart indicate the necessity determination of the guidance and the implementation of the guidance for "guidance 2" described later as the second embodiment, and here, the details thereof will be described. Although the description is omitted, it is the same as steps S102 and S103 described above. Thereafter, it is determined whether or not the above-described guidance necessity determination unit 312 has achieved the action scheduled by the customer (in this example, passing through the boarding gate) (step S107). If it is determined (YES in the figure), the process ends as the guidance for the customer is completed. Alternatively, if it is not achieved ("NO" in the figure), the above-described steps S102 to S106 are repeated again. If the customer has multiple schedules, make sure that all the schedules have been met. The above is the overall operation of the system, and the details will be described below.

FIG. 6 is a flow chart for explaining the details of the contents of the “guidance 1” described in FIG. Using this flowchart, first, whether the customer is using the portable terminal device, and based on the reference of the guidance state of the customer information management unit 310, guidance to the portable terminal device 410 is not yet implemented. If the result is true (“YES” in the figure), the guidance information is output to the portable terminal device 410 (step S202), and then output to the portable terminal device 410 A predetermined time delay (delay) is performed in consideration of the time when the customer confirms the obtained information (step S203), and the process returns to step S105 in FIG.

On the other hand, if the result of the determination in step S201 is false (“NO” in the figure), the customer information management unit 310 further stores whether or not the customer is moving toward the target position. It determines based on the moving speed of the made customer (step S204). As a result, when it is determined that the user is not moving toward the target position (“NO” in the figure), the mobile robot 412 is directed to the vicinity (the vicinity) of the position of the corresponding customer of one mobile robot 412 close to the customer. The movement is started (step S205). Thereafter, the mobile robot 412 transmits guidance information for the customer according to the distance between the customer and the robot (step S206).

In the above, the case where the guidance system further includes a portable terminal device together with the above-described mobile robot 412 has been described, however, in the present invention, the above-described portable terminal device is not included in the system. In that case, steps S201 to S203 described above are unnecessary. The above is the flow of implementing the “guide 1”.

Next, with reference to the operation explanatory diagram of FIG. 7 attached, the content of the more specific guidance about the “guidance 1” described above with reference to FIG. 6 will be described below.

FIG. 7 (a) corresponds to step S202 of FIG. 6 described above, that is, illustrates that the customer is guided by the portable terminal device 410. Here, the portable terminal device 410 owned by the customer outputs the guidance information transmitted from the guidance execution management unit 314 as a video or a sound from the guidance information input / output unit 422. Specifically, for example, it is information that “it is difficult to reach the target position by the limit time if movement is not started soon” or information on a route from the current position to the target position.

FIG. 7 (b) corresponds to steps S205 and S206 of FIG. 6 described above, that is, illustrates how one mobile robot 412 moves (conveys) toward the position of the corresponding customer. At that time, the mobile robot is based on the schedule (for example, the flight number) of the corresponding customer, even if the distance to the corresponding customer is not sufficiently close yet (for example, the range where the video and audio can reach). And may move while making a general announcement. According to this, not only the customer but also other customers will be alerted that the mobile robot is approaching, and perhaps oneself may be behind schedule, as necessary. It is also possible to obtain an effect that it is possible to urge movement to the target position.

In that case, the corresponding customer will meet the condition of step S 204 in FIG. 6 and, thereafter, the mobile robot 412 stops performing guidance on the way, such as charging spots and passage side not shown. An announcement etc. are implemented similarly to the above, moving to a predetermined | prescribed standby position, or moving to the position of the customer who is the object of another guidance. When the mobile robot 412 approaches a customer, the position information acquisition unit (b) 424 identifies the customer while storing the information in the customer information management unit 310 for more certainty. It becomes possible to carry out highly accurate guidance.

Furthermore, FIG. 7 (c) corresponds to step S206 in FIG. 6 described above, that is, illustrates how the mobile robot performs guidance after moving to a position sufficiently close to the corresponding customer. There is. More specifically, the mobile robot 412 uses the guide information input / output unit 422 provided for itself to warn the customer of the customer by video, voice, lighting of a lamp, etc., and also guides the guide information. provide. As an example of the guidance information, for example, first, confirmation of the name (name) of the corresponding customer, and the fact that it has come for guidance are transmitted. Next, when the corresponding customer is identified by the mounted position information acquisition unit (b) 424, the mobile robot 412 guides the information of the target position (for example, the location of the boarding gate) and the time limit (boarding time) Output via the input / output unit 422. On the other hand, when it is not possible to identify the corresponding customer by the position information acquisition unit (b) 424, the confirmation (voice output) notifying that the robot has come to the guidance is given along with confirmation of the name of the corresponding customer a predetermined number of times. carry out. Thereafter, along with the voice output, the turning on of the rotary light may be repeated, or the employee may be contacted.

According to the series of guidance by the mobile robot 412 described above, for a customer sufficient for the guidance by the mobile terminal device 410, the necessary guidance is implemented with less labor (time), and further, for example, as described above Also, for customers who are not aware of the guidance by the band terminal device 410 due to various factors such as sleeping, crazy for shopping, watching television, smoking, or staying in the bathroom, etc. As the robot 412 gradually approaches, it is more likely to notice the implementation of the guidance. Furthermore, if the user does not notice the fact that the mobile robot 412 approaches immediately to the customer while providing guidance by voice, the customer can surely notice the guidance. In addition, for customers who are ultimately unaware of the information, it is generally highly likely that they are ill customers, and in that case, it is necessary to respond by notifying employees of that fact. It is conceivable to take it.

FIG. 7 (d) corresponds to step S204 of FIG. 6 described above, that is, illustrates how the corresponding customer is heading to the target position. When the corresponding customer inputs to the mobile robot 412 via the guide information input / output unit 422 to acknowledge that the guidance has been received, the mobile robot receives the input from the guide information input / output unit 422. Stop the output of guidance information.

Further, by forming the above-described flowchart in a loop, and repeatedly executing the above-described operation, whether or not the customer accepts or does not approve the guidance information can be obtained in step S204. Based on the movement speed of the customer stored in the customer information management unit 310, it is determined that the customer is moving toward the target position. When the customer who has conducted the guidance starts to move to the target position, the condition in this determination will be satisfied ("YES" in the figure), and in this case, the implementation of the guidance will not be continued. Although not illustrated here, the mobile robot 412 which has finished its role moves to the standby position such as the charging spot and the passage side described above, and returns to a predetermined state (standby state).

Although different from the above description of the flowchart, even in the case where guidance to the portable terminal device 410 is used in combination, guidance is provided only when the customer has not moved to the target position. It is good also as composition.

When it is determined whether the customer is moving toward the target position, for example, a graph or grid structure in which the area is finely divided based on the map of the guidance implementation area 210 is used, between each node and each grid The movement time from the current position to the target position can be calculated based on the movement time between the two, and the movement of the customer to the target position can be determined from the decrease of the movement time. Further, in order to suppress the variation of the determination result, temporary delay processing such as moving average method or LPF (Low Path Filter) may be performed.

Further, in the guidance to the customer by the mobile robot 412 described above, by using the guidance information input / output unit 422 of the mobile robot, the robot leads to the customer (1) target position, (2) employee Options may be provided, such as (3) displaying route information. This is the same as in the case of using the portable terminal device 410 together with the mobile robot 412 and performing guidance by either of them.

In addition, when there is another customer for whom guidance is provided, the robot need not necessarily provide guidance to each customer, and guidance execution management is necessary. According to the processing result of the unit 314, the mobile robot 412 may perform guidance in order from the customer with the highest necessity of guidance.

Subsequently, in the second embodiment described below, in the guidance system for assisting the customer to reliably execute the schedule at the airport, the customer having a large burden in realizing the scheduled action including the movement, in particular. Guidance that implements guidance at appropriate timing (for example, for elderly people and persons with physical disabilities), and that can reduce the burden on customers (hereinafter referred to as “guidance 2”) Describe the system. Also in the second embodiment, the same reference numerals are given to the parts (component requirements) having the same functions as those in the first embodiment, and the detailed description thereof will be omitted.

In the second embodiment, in addition to the customer information used in the first embodiment, the customer information management unit 310 (see FIG. 1) further includes, as shown in FIG. Add information about age or physical disability. These pieces of information are all information required to execute the reservation function normally provided at the customer information registration unit 100 at the airport, and therefore, it is easy to use the above-described customer information registration unit 100. , Can respond.

Further, the guidance necessity determination unit 312 (see FIG. 1) realizes a scheduled action based on the customer information of the customer information management unit 310 based on a determination criterion different from that of the first embodiment described above. Determine the customer who is burdened heavily. Specifically, the traveling distance from the customer's current position to the target position (hereinafter referred to as "dist") and the complexity of the traveling from the current position to the target position (for example, the number of elevators, the number of branches, etc.) It is a value calculated from the number of elevators, the number and length of escalators, the number and length of move walks, etc. (hereinafter referred to as “cost”), and the moving speed of the customer (the method described in the first embodiment above) (Hereinafter referred to as “vel”) and the degree of physical disability of the customer (hereinafter referred to as “handicap”), dist> threshold 5 and dist * constant 1+ In the case of cost * constant 2 + 1 / vel * constant 3 + handicap * constant 4> threshold 6, it is determined for the customer that the burden on realizing the scheduled action is large. Further, the calculation of the determination is not limited to this, as long as at least one of the terms is included. The constants 1 to 4 are set in accordance with the size and shape of the guidance implementation area 210, and the configuration and number of the guidance implementation unit 400.

In addition, the guidance execution unit 400 (see FIG. 1) used in the second embodiment is a board equipped with a chair as shown in the attached FIG. 9 as one form of a configuration for supporting the behavior of the customer. It is desirable to have a mobile robot 412 'of the type (i.e., a person can get on the chair). Alternatively, without providing a functional addition to the mobile robot 412 described above, for example, it may be provided with a luggage case for assisting in the transport of the luggage held by the customer. Alternatively, although not shown here, the mobile robot may be configured to be steerable by a customer by providing a steering wheel, an accelerator and a brake.

In the second embodiment, in the flowchart describing the overall operation of the guidance system shown in FIG. 5 described above, determination of necessity of “guidance 2” for each customer and step S105 and S106 also corresponded. Add the implementation of "Guide 2" to the customer. Thus, "guide 1" and "guide 2" can be implemented with both in one system.

Further, the details of the "guidance 2" in step S106 shown in FIG. 5 will be described using the flowchart of FIG. 10 attached hereto.

First, based on the reference of the guidance state of the customer information management unit 310, it is determined whether the corresponding customer uses the mobile terminal device and guidance to the mobile terminal device has not been performed. Perform (step S301). As a result, when it is determined as true (“YES” in the figure), the guidance information is output from the guidance information input / output unit 422 (see FIG. 1) of the portable terminal device 410 (step S302). Here, the mobile robot 412 'delivers route information to the customer, and takes into consideration that the customer has a large burden of realizing the scheduled action, ie, an option for the robot to support the customer As (A) Attendance to the target position by the mobile robot 412 ', or (B) Movement to the target position by boarding the mobile robot 412', or, in the case of (B), (C) The mobile robot 412 'could also indicate whether to run by the maneuver of the customer or to run automatically.

Next, in consideration of the time during which the customer confirms the information output to the portable terminal device 410, a delay for a predetermined time is performed (step S303). Thereafter, in order to confirm the response from the customer to the portable terminal device 410, it is determined whether the customer requests guidance (step S304). As a result, only when it is determined that there is no request for guidance ("NO" in the figure), this customer subsequently registers in the customer information management unit 310 as a customer who does not implement "guidance 2" (step S305). , And again returns to step S107 of FIG. On the other hand, if there is no response ("No response" in the figure), nothing is done and the process returns to S107 in FIG. 5 again. Also, if there is a request for guidance ("YES" in the figure), although not shown here, based on the customer's selection, that is, in the case of delivery of route information (A), the information is immediately The information is displayed on the portable terminal device 410, and in the case of attendant or boarding (B) by the mobile robot 412, the selected content of the customer is stored in the customer information management unit 310, and the process returns to step S107 in FIG. . Since the whole flow chart is looped, step S301 is executed again as long as it is determined that "guidance 2" is necessary.

Furthermore, if "NO" in the above step S301, it is determined whether or not the customer has made a request for "guidance 2" in the past, or a request for guidance by the mobile robot 412 regarding the guidance 2 from the customer in the past It is determined by referring to the customer information management unit 310 whether or not there is a problem. As a result, when it is determined as "NO", it is determined that "guidance 2" is not implemented for this customer, and the process returns to step S107 of FIG.

On the other hand, if “YES” is determined in the above-described step S301, at least one of the

mobile robots

412 or 412 ′ of the type selected by the customer and present in the vicinity of the customer is the position of the customer. It moves toward (step S307). It should be noted that if there is no customer request for any type of mobile robot, then either type of mobile robot 412 or 412 'may be sufficient.

Thereafter, it is determined whether or not there is a robot near the customer (step S308). As a result, when there is a mobile robot 412 or 412 'assigned to the customer around the customer's position ("YES" in the figure) The guidance information is output from the mobile robot 412 ′ to the customer (step S309). Here, if the customer has not yet selected the content of the guidance, the option is presented. Also, if the mobile robot has not reached around the position of the corresponding customer (“NO” in the figure, the process returns to step S107 of FIG. 5 again. According to this, in the present system, this step S308 It will wait for the movement of the mobile robot 412 or 412 'until the condition is satisfied.

Subsequently, after the above-described step S309, the delay is performed for a predetermined time taking into consideration the time during which the customer confirms the information output by the mobile robot (step S310). Next, it is determined whether or not the customer has requested guidance (step S311), and as a result, the customer is referred to as "guidance 2" only when the response is false ("NO" in the figure). After being registered in the customer information management unit 310 as a customer who does not execute (step S313), the process returns to step S107 in FIG. 5 again. On the other hand, if there is no response ("No response" in the figure), the process returns to step S107 in Fig. 5 again without doing anything. Therefore, the option is presented again by the above-described step S309.

Then, if it is determined in step S311 that the response from the customer is true ("YES" in the figure), although not shown here, the following operation is performed based on the selection of the customer. That is, when the customer desires delivery of the route information, the information is immediately displayed on the mobile robot 412 '. On the other hand, when the customer selects to accompany or board the mobile robot 412 ', the mobile robot corresponding to the customer loads the customer and moves to the target position, or The guidance is carried out while moving close to (step S312). At this time, if it is not possible for the mobile robot 412 'to carry the customer and carry out guidance, although not shown, the other mobile robot 412' of a type capable of responding to the customer's selection is sent to the customer. The assignment returns to step S107 of FIG. 5 again.

When the customer has already selected the content of the guidance and the mobile robot 412 ′ capable of executing the content of the selected guidance is assigned to the customer, the above step S309 is performed. , S310 and S311 may be skipped, and only step S312 may be performed. When the portable terminal device 410 is not included in the guidance system, the above steps S301 to S305 are unnecessary.

Further, in the above-described step S312, the mobile robot 412 'is exclusively used by the customer until reaching the target position, carries the customer, and moves in accordance with the instruction. The above is the flow of implementing the “guide 2” described above.

Furthermore, more specific contents of the "guide 2" described in FIG. 11 will be described below using the operation explanatory diagram of FIG.

First, FIG. 11 (a) corresponds to step S302 in FIG. 10 described above, that is, shows that the customer is guided by the portable terminal device 410. The portable terminal device 410 owned by the customer outputs the guidance information transmitted from the guidance execution management unit 314 as a video or a sound. For example, the long distance (distance) from the current position to the target position and the complexity of the travel route make it difficult for the customer to realize the planned behavior, and can support the customer. As an option, along with the delivery of the route information to the destination, attendant to the target position by the mobile robot 412 ′ or boarding to the target position to the mobile robot 412 ′, and further, maneuvering traveling or automatic traveling of the mobile robot Present as an option.

FIG. 11 (b) corresponds to step S309 in FIG. 10, that is, illustrates how the guidance is carried out after the mobile robot 412 'has moved to a position sufficiently close to the customer. The guidance information input / output unit 422 included in the mobile robot 412 is used to present guidance options in the same manner as the portable terminal device 410 described above. At this time, when the customer selects the content of guidance by the mobile robot 412 'and the mobile robot 412' corresponding to the customer can guide the customer, the position information acquisition unit 424 mounted on the mobile robot 412 'again And a customer is registered as a user of the mobile robot 412 '.

FIG. 11 (c) corresponds to the step S312 of FIG. 10, that is, the mobile robot 412 'shows a state in which the customer is placed and moved to the target position. The guidance information input / output unit 422 of the mobile robot 412 'outputs, for example, the time margin of the customer and facilities around the route to the target position, and the mobile robot 412' moves according to the customer's choice. I do. Alternatively, in the case where the mobile robot 412 'is provided with a steering wheel, an accelerator, a brake, etc., it may move by the maneuver of the customer. When the customer leaves the mobile robot 412 'and uses the peripheral facilities, the mobile robot 412' moves to a predetermined standby position, such as at the side of the passage, to enable the customer to get on and off.

Although not shown here, when the mobile robot 412 'that provides movement support by the customer's boarding thereon moves by the operation of the customer, it is determined based on the determination result of the necessity of the "guide 1" described above. On the basis of this, it may warn that it is likely to be delayed, and further, at that time, stop the movement function by maneuvering, so that the mobile robot 412 'moves to the target position by autonomous movement. You may Further, when the elevator and the escalator exist on the movement route, the guidance information input / output unit 422 confirms which one to use for the customer, and accordingly, the elevator or the customer can stay on the robot. An escalator may be used, or another robot may be switched before and after that.

As described above, the guidance system according to the present invention is preferably implemented as in the above-described first embodiment and second embodiment, but is not limited thereto. For example, only the "guide 2" may be implemented except for the function of the "guide 1" from the second embodiment described above.

Further, with regard to the acquisition of the position of the customer described in the first embodiment and the second embodiment, and the implementation procedure of the guidance, it is not necessary to necessarily implement all the configurations and procedures described above, and within the range satisfying the functions. The same effect as described above may be obtained even if the system configuration is reduced.

The guidance system according to the present invention described in detail above is summarized as follows.

(1) In a guidance system for providing guidance service according to a customer in a predetermined area in a facility or in a town, the guidance system comprises a customer information registration means for initially registering an activity scheduled by the customer, Guidance information provided with position information acquisition means for acquiring position, guidance implementation means for providing guidance to customers, guidance information for managing the customer information registration means, position information acquisition means, and guidance implementation means via wireless or wired communication Processing means, and the customer information registration means associates the target position and time limit based on the registered customer's schedule with identification information for identifying the customer, and stores them in the guidance information processing means Storing the position information obtained by the position information acquiring unit in the guidance information processing unit, for the customer stored in the guidance information processing unit; Guide to determine the customer to carry out guidance based on the target position and the time limit and the position information stored in the information processing means to perform the guidance targeting only customers guide implemented is determined.

In this way, it is possible for customers who are in high need of guidance to receive guidance at appropriate timing and with appropriate content according to the customer.

(2) The position information acquisition means acquires the moving speed of the customer in addition to the position of the customer.

Thereby, in order to determine the necessity of guidance according to a customer's movement, the certainty in determination of the necessity of guidance is high.

(3) The customer information registration means comprises a ticket information confirmation device and a camera, and when the information of the ticket medium is obtained by the ticket information confirmation device, the form or color of the customer present in front of the ticket information confirmation device Alternatively, at least one of the belongings is used as identification information, and the position information acquisition means is provided with a camera, and for the customer whose registration information is stored in the guidance information processing means, identification information included in an image captured by the camera Identify the location of

This makes it possible to perform guidance easily and more reliably without the customer having a new device.

(4) The customer information registration means includes a ticket information confirmation device, and the ticket medium is a portable terminal device equipped with a GPS receiver or a wireless tag device, and acquires the unique number of the ticket medium by the ticket information confirmation device. A unique number is used as identification information, and the position information acquisition means is an indoor GPS transmitter when the ticket medium is a portable terminal equipped with a GPS receiver, and a wireless tag when the ticket medium is a wireless tag device. A detector is provided, and the position of each customer is specified from the pair of the current position calculated by the portable terminal and identification information, or the identification information detected by the wireless tag detector.

As a result, since the customer is highly identifiable, the guidance is highly reliable.

(5) The customer information registration means comprises at least one of an internet reservation device, a telephone reservation device, a reservation counter, or an unmanned reservation device, and stores information in the guidance information processing means according to the input of the customer or employee.

This makes it possible to apply the present invention under more various environments and conditions.

(6) The guidance implementation means comprises either or both of a portable terminal device or a mobile robot.

As a result, since guidance can be directly provided to a specific customer, there is no mistake in providing guidance. In addition, the use of the mobile robot ensures that the customer notices the guidance.

(7) The mobile robot is provided with a chair to allow the customer to board.

This makes it possible not only to provide guidance information but also to provide guidance while physically supporting the movement of the customer.

(8) The guidance information processing means includes guidance necessity determination means, and the guidance necessity determination means stores the target position or time limit for each customer or the position or movement speed or position stored in the guidance information processing means. Based on at least one or more of the required travel time in the area based on the travel time of the area or the travel time of the guidance based on the configuration of the guidance implementation means, the customer determines that the implementation of the guidance is necessary to realize the schedule. .

In this way, the guidance can be provided at the timing when the customer needs to take action to realize the schedule.

(9) The guidance information processing means includes guidance necessity determination means, and the guidance necessity determination means stores the target position or position for each customer or the age of the customer or the physical injury of the customer stored in the guidance information processing means Based on at least one or more of the information, determine that it is necessary for the customer to provide guidance to reduce the burden on fulfilling the schedule;

As a result, the burden on the customer to realize the schedule is large, and the guidance can be implemented at the timing when the burden should be reduced.

(10) In the implementation of the guidance by the mobile robot, the guidance information is not output when the distance to the customer is long, and when the distance to the customer is within a range where the guidance information reaches the customer, the specific customer belongs. By outputting more general guidance information and outputting guidance information for a specific customer when the distance to the customer is sufficiently short, the content of the guidance is changed according to the distance to the customer.

As a result, the entire guidance system is efficient because guidance is provided in a shorter amount of time, and furthermore, the customer who is the object of guidance and surrounding customers are not offended.

(11) A schedule information changing means for changing the customer's target position or time limit stored in the guidance information processing means is provided, and the guidance information processing means manages the schedule information changing means via wireless or wired communication. Do.

As a result, even when the customer's schedule is changed due to an external factor such as weather or when the customer changes the schedule, guidance can be provided at an appropriate timing according to the change.

Then, according to the present invention described above, it is possible to continue to specify the customer's current position in the area where the guidance is to be provided, such as the information that the customer needs to go to a certain place by a certain time, In order to determine the necessity of guidance based on the above, it is possible to carry out guidance at an appropriate timing to a customer who is highly required for guidance.

Furthermore, in order to determine the necessity of guidance based on the above-mentioned information, guidance can be carried out with appropriate contents according to the customer.
Furthermore, since the present position of the customer is continuously identified and the guidance to the location is gradually performed by the portable terminal device or the mobile robot, the possibility of leakage in the guidance to the customer is low, and to another customer There is a low possibility that guidance will be implemented, and the operation of the system is efficient.

Furthermore, in order to repeatedly determine the necessity of the guidance, it is possible to provide the guidance when the need is always high until the customer executes the schedule, so the certainty is high.

In addition, by providing two types of guidance, there is a high degree of certainty to support the customer to execute the schedule. The first is to provide guidance at a time when it is difficult for the customer to realize the schedule due to physical constraints such as position and speed, thereby promoting the customer's action. Second, by combining the length and complexity of the route to the destination with the customer's age and physical disability information, calculate the size of the burden for the customer to realize the schedule, and conduct guidance when this exceeds a predetermined condition Reduce the burden. Although these two are separate guides based on different criteria, they can be implemented in parallel in one system, thus complementarily increasing the certainty of the guides.

In addition, even when a change occurs in the customer's schedule on the way, guidance can be provided at an appropriate timing according to the change only by providing means for changing the information of the customer held by the guidance system. High flexibility because you can.

100 ... customer information registration unit, 110 ... ticket issue counter, 112 ... unmanned ticketing device, 114 ... ticket information confirmation machine, 116 ... camera (for customer information registration), 200 ... location information acquisition unit (a), 210 ... guidance execution area 212: wireless tag device 214: camera (for acquiring positional information) 216: wireless tag detection device 218: indoor GPS transmitter 300: guidance information processing unit 310: customer information management unit 312: guidance necessity or not Judgment unit 314 Guidance implementation management unit 400 Guidance execution unit 410 Mobile terminal device 412 Mobile robot 420 Control unit 422 Guidance information input / output unit 424 Position information acquisition unit (b) 426 ... moving part, 500 ... schedule information changing part.

Claims

A guidance system for providing a customer with a guidance service according to the selection of a customer in a preset area,
Customer information registration means for registering a planned action including a target position and a time limit scheduled by the customer;
Position information acquisition means for acquiring the position of the customer;
Guidance implementing means for providing guidance to customers;
And a guidance information processing unit that manages the customer information registration unit, the position information acquisition unit, and the guidance execution unit via a communication line,
The guidance implementation means comprises an autonomous mobile unit,
The customer information registration means stores, in the guidance information processing means, a target position and a time limit based on the registered customer's scheduled behavior in association with identification information for identifying the customer.
The guidance information processing means stores, in the guidance information processing means, position information obtained by the position information acquiring means with respect to the customer stored in the guidance information processing means, and a target stored in the guidance information processing means. Determine customers to conduct guidance based on location and time limit and location information, and
The guidance implementation means is based on the instruction determined by the guidance information processing means, and approaches the customer for only the customer whose implementation of the guidance has been determined, and moves to the target position by voice or video. A guidance system, characterized by implementing guidance that urges.
The guidance system according to claim 1.
The guidance system characterized in that the guidance implementation means is a mobile robot that performs guidance.
In the guidance system according to claim 2,
A guidance system characterized in that the mobile robot includes a chair at a part of the mobile robot, which enables a customer to board.
In the guidance system according to claim 2 or 3,
The guidance system, wherein the mobile robot guides or transports the customer to the target position according to a selection by the customer.
In the guidance system according to claim 2 or 3,
The guidance system, wherein the mobile robot moves to a predetermined place including a charging spot or a walkway and stands by, when not guiding the customer.
The guidance system according to claim 1.
The guidance system according to claim 1, wherein the customer information registration unit determines an area division in advance and determines a guidance to be performed according to the area division corresponding to the position of the customer detected by the position information acquisition unit.
The guidance system according to claim 1.
The guidance system characterized in that the customer information registration means further comprises means for inputting the identification information of the customer when entering into the preset area.
In the guidance system according to claim 7,
The customer identification information input means provided in the customer information registration means is a camera, and
The position information acquisition means also includes a camera, and the image of the customer captured by the camera included in the customer information registration means and the image of the customer captured by the camera included in the position information acquisition means A guidance system characterized by detecting a position.
The guidance system according to claim 1.
The guidance implementation means further includes a portable terminal device carried by the customer, and guidance to the customer is performed via the portable terminal device together with the guidance implementation means consisting of the autonomous mobile body. Guidance system with.
A guidance system using the guidance system according to claim 1 as a guidance system at an airport.