JP2007152446A - Robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot system, detecting disconnection of a line and quickly informing a user of the disconnection of the line. <P>SOLUTION: A robot management apparatus is connected to a user terminal, a third party terminal and a robot through a network. The apparatus includes: a communication device for receiving schedule information where service classification and the end scheduled time of the service are registered with a correspondence between them from the robot; a storage device for storing the received schedule information; and an electronic mail creating part for creating an electronic mail for giving information to the effect that the network has trouble at least either the user terminal or the third party terminal when the information on the service is not received from the robot even in the lapse of predetermined time to the end scheduled time registered in the schedule information. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a robot system that includes a robot that can move autonomously in a home and a robot management device that manages the robot, and more particularly, to a robot system that has an answering function for performing an answering machine in the absence of a user. is there.

2. Description of the Related Art Conventionally, there has been proposed a system that monitors a situation in a home when a user is away and detects a third-party intrusion when a user carries a report (for example, a patent document) 1 etc.).
In Patent Literature 1, a terminal device including one or a plurality of crime prevention devices, a user terminal carried by a user, and a center server are connected via a network, and a third party is present in the home in the absence of the user. When an intrusion is detected by a security device, a notification from a terminal device including the security device is sent to the user terminal via the center server, thereby promptly informing the user terminal of the intrusion of a third party. The technology to be performed is disclosed.
Japanese Patent Laid-Open No. 2004-363883

  However, in the invention disclosed in Patent Document 1 described above, for example, when the line between the terminal device and the center server is disconnected, the disconnection of the line cannot be detected. There was a problem that it was not possible to take countermeasures.

  The present invention has been made to solve the above problem, and an object of the present invention is to provide a robot system that can detect line disconnection and promptly notify the user of line disconnection.

In order to solve the above problems, the present invention employs the following means.
The present invention relates to a user terminal, a third party terminal, and a robot management apparatus connected to a robot via a network, and a schedule registered in association with a service type and a scheduled end time of the service from the robot Receiving means for receiving information; storage means for storing the received schedule information; and receiving information on the service from the robot even if a predetermined time has elapsed with respect to the scheduled end time registered in the schedule information. If not, a robot management apparatus is provided that includes notification means for notifying at least one of the user terminal and the third party terminal that the network is malfunctioning.

According to such a configuration, the schedule information transmitted from the robot is received by the receiving unit and stored in the storage unit. In this state, if the information related to the service is not received from the robot even after a predetermined time has elapsed with respect to the scheduled end time registered in the schedule information, the notifying unit and the third terminal are notified by the notification means. At least one of the user terminals is notified that the network is malfunctioning. As described above, if information on the service is not received from the robot even after a predetermined time has elapsed with respect to the scheduled end time, it is estimated that the network line is disconnected, and this network malfunction is Notify at least one of the user terminal and the third party terminal. As a result, the user or the third party who has received this malfunction notification can quickly know that the connection line has been disconnected, and thus can take an appropriate response promptly.
Here, the predetermined time with respect to the scheduled end time is that the scheduled end time is provided with a time margin, for example, considering a delay related to information transmission from the robot. This predetermined time is a time that can be arbitrarily set by design, but for example, a time of about 5 to 10 minutes is set.
Examples of the service include an answering service, which will be described later, a wake-up mode that notifies the user when a pre-registered time is reached, a voice call service that notifies the user when a predetermined time is reached, and the like.

  In the robot management apparatus, for example, when the service type registered in the schedule information is an answering service, and the scheduled end time of the answering service is a scheduled return time of the user, If the information about the answering service is not received from the robot even after a predetermined time has elapsed, the notification means has a malfunctioning network at least one of the user terminal and the third party terminal. It is good also as notifying.

  According to such a configuration, when the robot provides an answering service, a notification is given when information on the answering service is not received from the robot even after a predetermined time has elapsed with respect to the user's scheduled return time. By means of this, at least one of the user terminal and the third party terminal is notified that the network is malfunctioning. As a result, the user or the third party who has received this malfunction notification can quickly know that the connection line has been disconnected, and thus can take an appropriate response promptly.

  In the above robot management device, when the absence information of the user is received from the robot before a predetermined time elapses with respect to the scheduled return time, the notification unit sends a safety confirmation email to the user terminal. It may be sent.

  According to such a configuration, when the robot provides an answering service, a notification is given when the absence information of the user is received from the robot before a predetermined time has elapsed with respect to the scheduled return time of the user. The safety confirmation mail is transmitted to the user terminal by the means. Thereby, the user can notify the robot management apparatus side of his / her state by responding to the safety confirmation mail.

  In the robot management apparatus, when the response to the safety confirmation mail is not obtained from the user terminal until a predetermined time has elapsed after the safety confirmation mail is transmitted to the user terminal, the notification means A safety confirmation mail may be transmitted to the third party terminal.

  According to such a configuration, when a response to the safety confirmation mail is not received from the user terminal within a predetermined period after the safety confirmation mail is transmitted to the user terminal, the third party terminal is notified by the notification means. Will be sent a safety confirmation email. As a result, the third party can grasp that the user has not returned to the home even when the scheduled return time is reached, and thus it is possible to take measures such as contacting the user.

  In the robot management apparatus, when a change request for the scheduled return time is received from the user terminal until a predetermined time elapses after the safety confirmation mail is transmitted to the user terminal, the schedule information is updated. In addition, the updated schedule information may be transmitted to the robot.

  According to such a configuration, when the robot provides the answering service, a request for changing the scheduled answering service end time is sent from the user terminal within a predetermined period after the safety confirmation email is transmitted to the user terminal. When received, the schedule information in the storage means is updated, and the updated schedule information is transmitted to the robot. As described above, since the scheduled end time of the answering service can be easily changed from the user terminal, the answering service can be extended according to the convenience of the user.

  The present invention is a robot connected to a robot management apparatus via a network, and when a user authentication unit for authenticating a user, an answering service execution request and a scheduled end time are input from the user, the answering machine A schedule information management unit that creates and manages schedule information in which a service and a scheduled end time of the service are associated, and a transmission unit that transmits the schedule information created by the schedule management unit to the robot management device; The user authentication means emits a voice that guides the input of a keyword when user authentication by face authentication fails, and performs user authentication based on the keyword input from the user with respect to the voice, and the transmission means The user authentication means uses the user authentication means by the scheduled end time of the answering service. When The is authenticated, it is also possible to send a service cancellation notice that notifies the service end to the robot manager.

  According to such a configuration, when the answering service execution request and the scheduled end time are input from the user, schedule information is created based on these information and managed by the robot management means. It is transmitted to the robot management apparatus via the network. When the user authentication unit authenticates at the time of execution of the answering service, a service release notification for notifying the end of the service is transmitted to the robot management device. In this case, the user authentication means guides the input of a keyword when authentication by face authentication fails, and performs user authentication based on this keyword, so that user authentication can be performed efficiently, Time can be shortened.

  The present invention is a robot system comprising a user terminal, a third-party terminal, a robot management apparatus connected to a robot via a network, and the robot, the robot authenticating a user by means of user authentication means A schedule information management means for creating and managing schedule information in which the answering service and the scheduled end time of the service are associated when an execution request for the answering service and a scheduled end time are input from the user; Transmission means for transmitting the schedule information created by the information management means to the robot management apparatus, the robot management apparatus receiving means for receiving the schedule information from the robot, and the received schedule information. The storage means for storing and the schedule information are registered. If information related to the service is not received from the robot before a predetermined time has elapsed with respect to the scheduled end time of the service being performed, at least one of the user terminal and the third party terminal A robot system having communication means for notifying that the network is malfunctioning is provided.

  According to the present invention, it is possible to detect the disconnection of the communication line connecting the robot and the robot management apparatus, and to promptly notify the user of the disconnection of the communication line.

Hereinafter, an embodiment of a robot system according to the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a network configuration of a robot system according to an embodiment of the present invention. As shown in FIG. 1, the robot system includes a robot management device 40 and a robot 60. The robot management device 40 and the robot 60 are connected via a network and have a configuration capable of bidirectional information communication. Further, a user terminal 80 carried by the user of the robot 60 and a third party terminal 90 carried by a third party such as a relative who notifies the safety of the user are connected to the network. 40 is configured to receive information from 40. The user terminal and the third party terminal are, for example, a mobile phone, a PDA, a PC, and the like.

  For example, the robot management device 40 stores and manages robot user registration information, and stores application programs used by the robot 60, schedule information, robot logs, and user logs sent from the robot 60, for example. Have the ability to manage.

As shown in FIG. 2, the robot management device 40 includes a communication device (reception unit) 41 that transmits and receives information via a network, a storage device (storage unit) 42 that stores schedule information received from the robot, and a control device. 43.
The schedule information is registered by associating the type of service requested by the user with the scheduled start time and scheduled end time of the service. For example, when a request for an answering service to be described later is received from a user, the answering service is registered as the service type, the scheduled going out time of the user as the scheduled start time, and the scheduled return time of the user as the scheduled end time. Become.
For example, when the control device 43 receives information on the schedule information from the robot 60, the control device 43 generates an email to be sent to the user terminal 80 or the third party terminal 90 according to the received information (notification Means) 44.

Next, the robot 60 according to the present embodiment will be described.
FIG. 3 is a front view of the robot 60 according to an embodiment of the present invention, and FIG. 4 is a left side view of the robot shown in FIG.
As shown in FIGS. 3 and 4, the robot body 1 includes a head 2, a chest 3 that supports the head 2 from below, a right arm 4 a provided on the right side of the chest 3, and a left side of the chest 3. A left arm portion 4b provided on the waist portion 5, a waist portion 5 connected below the chest portion 3, a skirt portion 6 connected below the waist portion 5, and a leg portion 7 connected below the skirt portion 6. I have.

One omnidirectional camera 11 is provided near the top of the head 2. A plurality of infrared LEDs 12 are arranged on the ring at predetermined intervals along the outer periphery of the omnidirectional camera 11.
In the vicinity of the center of the front surface of the head 2, as shown in FIG. 4, the front camera 13 for imaging the front is one on the right side when viewed from the front, and the microphone 14 is one on the left side when viewed from the front. Is provided.

  One monitor 15 is provided near the center of the front surface of the chest 3. One ultrasonic distance sensor 16 for detecting a person is provided above the monitor 15. One power switch 17 is provided below the monitor 15. Above the ultrasonic distance sensor 16, two speakers 17 are provided one on each side. Further, as shown in FIG. 5, a backpack 18 that can store luggage is provided on the back of the chest 3. The school bag portion 18 is provided with an opening / closing door 18a that can be rotated around a hinge provided at an upper portion. As shown in FIG. 3, one touch sensor 19 is provided on each of the left and right shoulders of the chest 3.

  A multi-joint structure is adopted for the right arm portion 4a and the left arm portion 4b. In the right arm portion 4a and the left arm portion 4b, side switches 20 are provided in the vicinity of the connection portion with the chest portion 3 to detect the pinching of a body or an object and stop the movement of the arm. As shown in FIG. 3, a handshake switch 21 that functions as a man-machine interface is built in the palm of the right arm 4a. For the side switch 20 and the handshake switch 21, for example, a pressure sensor is employed.

  In the vicinity of the center of the front surface of the waist 5, one ultrasonic distance sensor 22 for detecting a person is provided on each side. Below these ultrasonic distance sensors 22, a sensor region 24 in which a plurality of infrared sensors 23 are arranged is provided. These infrared sensors 22 are for detecting an obstacle or the like in the lower front of the robot body 1. As shown in FIGS. 3 and 4, four microphones 25 for detecting the direction of the sound source are provided below the waist 5 on the front and back, one on each side. As shown in FIG. 4, one handle portion 26 used when lifting the main body is provided on each of the left and right sides of the waist portion 5. The handle 26 is a recess so that the operator's hand can be inserted.

  Below the front surface of the skirt portion 6, a total of three infrared sensors 27 for detecting a step are provided in the center and on the left and right. As shown in FIG. 4, a charging connector 28 is provided on the back surface of the skirt portion 6.

As shown in FIG. 3, one infrared sensor 29 for detecting a lateral distance is provided on the front surface of the leg portion 7 on the left and right sides. These infrared sensors 29 are mainly used for level difference detection.
As shown in FIG. 4, a hook 30 for fixing the position of the robot body 1 to the charging stand is provided on the back surface of the leg portion 7. The leg portion 7 is a carriage provided with traveling wheels 31 and four ball casters 32.

  In the robot 60 described above, the facial expression of the head 2 is variable by a drive mechanism (not shown). Also, a neck joint between the head 2 and the chest 3, a shoulder joint between the chest 3 and the right arm 4a, a shoulder joint between the chest 3 and the left arm 4b, an elbow joint in the right arm 4a and the left arm 4b, a wrist joint, etc. Can be driven by a driving mechanism (not shown), and the driving wheels 31 mounted on the legs 7 are driven by a driving mechanism (not shown) so that automatic steering and automatic driving are possible.

Such a robot 60 has a configuration capable of autonomously moving in a work space by supplying power from a battery built in the robot body 1. For example, it is used to provide various services for assisting, supporting, and caring for the lives of users such as robot owners and operators in general households.
Therefore, in addition to a conversation function that realizes a conversation with the user, the robot has a function of watching the user's action, assisting the user's action, and acting with the user. Such a function is realized by, for example, a control device including a microcomputer or the like built in the robot body 1 described later. Various cameras and various sensors shown in FIGS. 1 and 2 are connected to the control device, acquire image information from the cameras and sensor detection information from the sensors, and execute various programs based on these information. By executing this, the various functions described above are realized. The shape of the robot body 1 is not limited to the shape shown in FIGS. 1 and 2, and various shapes such as a model imitating an animal for pets can be adopted.

Hereinafter, the electrical configuration of the robot built in the robot body 1 will be described with reference to FIG. In FIG. 5, the same components as those in FIGS. 3 to 4 are denoted by the same reference numerals.
As shown in FIG. 5, the robot 60 according to the present embodiment includes a control device 51, an image processing unit 52, an audio processing unit 53, a display control unit 54, a wireless communication unit 55, a drive control unit 56, in the main body. A drive mechanism 57 and a battery 58 are provided.
The image processing unit 52, the sound processing unit 53, the display control unit 54, the wireless communication unit 55, and the drive control unit 56 are connected to the control device 51, and perform various processes based on control signals from the control device 51. In addition to the execution, the processing result, information from various sensors, and the like are provided to the control device 51. The battery 58 functions as a power supply device that supplies power to each component.

The image processing unit 52 processes the images taken by the omnidirectional camera 11 and the front camera 13 shown in FIG. 3 based on the control signal from the control device 51 and outputs the processed images to the control device 51.
The speech processing unit 53 executes speech recognition processing for recognizing the speech signal input from the microphone 14 based on the control signal from the control device 51, and outputs the speech recognition result to the control device 51. Further, the voice processing unit 53 executes voice synthesis processing for generating a voice signal to be emitted from the speaker 18 based on the voice data supplied from the control device 51, and outputs the voice signal to the speaker 18. The speech means of the present invention includes, for example, information processing related to speech in the control device 51, the voice processing unit 53, the microphone 14, the speaker 18, and the like.
The display control unit 54 processes the image data given from the control device 51 and displays it on the monitor 15.

The wireless communication unit 55 performs wireless communication with the outside via the antenna 55a. Specifically, the wireless communication unit 55 is connected to a robot management apparatus provided outside via a network, thereby realizing information exchange between the two.
The drive control unit 56 controls the traveling drive mechanism 57 in accordance with a command from the control device 51 to drive the traveling wheel 31 to execute traveling and steering of the robot body 1. Further, the drive control unit 56 includes a neck joint between the head 2 and the chest part 3, a shoulder joint between the chest part 3 and the right arm part 4a, a shoulder joint between the chest part 3 and the left arm part 4b, a right arm part 4a, and a left arm part 4b. By controlling each drive mechanism (not shown) provided to drive the elbow joint, wrist joint and the like, the robot arm and the like are driven to realize various operations. The facial expression of the head 2 is also variable by controlling a driving mechanism such as a motor.
The battery 58 is automatically charged when the charging connector 28 is electrically connected to a charging station (not shown) provided in the home.

  As described above, the control device 51 controls each component of the robot body 1, and includes an operation mode setting unit 61, an operation mode execution unit 62, a user authentication unit (user authentication means) 63, a self-position recognition unit. , A schedule information management unit (schedule management means) 70, an operation application storage unit 72, and the like.

  The schedule information management unit 70 creates and manages schedule information based on the input information when the user receives input information related to the execution reservation of the service. This schedule information is information associated with the identification number of the user who registered the reservation, the contents of the reserved service (specifically, the type of operation mode described later), the start time and the end time of the service. is there. The schedule information management unit 70 refers to this schedule information at regular time intervals, and when the reservation start time is reached, the operation mode is set using the contents of the service, the end time, the user identification number, etc. as the reservation start time as the reservation start information. To the unit 61. Further, when the schedule information management unit 70 receives new schedule information, the schedule information management unit 70 transmits the schedule information to the robot management apparatus 40 via the wireless communication unit 55. As a result, the schedule information is managed also in the robot management apparatus 40.

The operation application storage unit 72 stores various operation applications necessary for realizing various operation modes described later, and additional information necessary for executing the operation application, for example, in the home Map information, voice data for talking to the user, driving data for gesture operation during conversation with the user or dialogue with the user, and the like are stored.
The map information is map information necessary for the robot body 1 to move autonomously in the home, and a predetermined location in the home (for example, a terrace, a living room, a bedroom, a front door, etc.) registered in advance by the user. The position information regarding each of the arbitrary positions), route information necessary for moving these, and the like are included.

The operation mode setting unit 61 sets the operation mode to be executed by the operation mode execution unit 62 as the current mode based on the service request command from the user input from the schedule information management unit 70 and the voice processing unit 53.
The operation mode execution unit 62 reads out an operation application corresponding to the operation mode set as the current mode by the operation mode setting unit 61 from the operation application storage unit 72, and executes the operation application to thereby perform various operation modes. Provide services to users.

  The self-position recognition unit 63 recognizes the position and orientation (orientation and orientation) of the robot body 1 based on the image information received from the image processing unit 52, and refers to the map information to thereby determine the current position in the home. Is identified. As described above, since the self-position recognizing unit 64 capable of always grasping the self-position is provided, the robot can autonomously move in the home.

  The user authentication unit 64 identifies a user registered in advance by performing face authentication or the like based on the image received from the image processing unit 52. As a user authentication method such as face authentication, a known technique can be adopted. In addition, when user authentication by face authentication fails, the user authentication unit 63 requests the user to input a keyword and performs authentication based on the keyword. Thereby, user authentication can be performed efficiently and authentication time can be shortened.

  The control device 51 described above is configured by, for example, a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. A series of processing procedures for realizing each unit described above is recorded in a ROM or the like in the form of a program, and the CPU reads the program into the RAM or the like and executes information processing / calculation processing. The provision of services by the functions of the field operation mode setting unit 61 and the operation mode execution unit 62 and the execution of each operation mode is realized.

Next, an example of a service provided to the user by the robot 60 according to the present embodiment will be described.
The robot 60 according to the present embodiment provides various services such as conversation and information provision to the user by executing the following various operation modes. Examples of the operation mode include “answer machine mode”, “voice call mode”, “quiet mode”, “rest mode”, “image shooting mode”, “information provision mode”, and the like.

  The “answer machine mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 5 when, for example, the keyword “answer machine” is input by voice, and is registered in advance. Concerns that the user has not come home to the user terminal 80 carried by the user or the third party terminal 90 carried by the user's relative, etc., when the user does not come home even at a certain home time It provides services that deliver e-mail and the like. Details of this service will be described later.

  The “calling mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 5 when the keyword “call out” is input by the user. It provides a service to speak to the user at time.

The “quiet mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 5 when the keyword “quietly” is inputted by the user, and the speech and the operation are stopped. And provide a static service. This operation mode is canceled when, for example, the shoulder switch 19 provided in the robot body 1 is pressed by the user.
The “rest mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 5 when the user inputs the keyword “rest” by voice, and moves to the charging station. Then, charging is started and a service is provided to stop. This operation mode is canceled when it is time to wake up the robot registered in advance or when a request for another operation mode is input by the user.

The “image shooting mode” is a mode in which the user operates the robot from a remote location. In this mode, the robot does not perform autonomous control. Specifically, a user moves a robot to a desired location by transmitting a remote command to the robot via a robot management server via a network from a terminal having a communication function such as a PC or a mobile phone. Or a mode in which surrounding images can be taken.
The “information provision mode” includes a “message mode” and an “information provision mode” as lower operation modes.
“Message mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 shown in FIG. 5 when the keyword “Tell me” is input by the user, and the message is stored by the user. When the other user designated by the user is recognized, a service is provided in which the message is reproduced for the other user.
The “information provision mode” is an operation mode that is set as the current mode by the operation mode setting unit 61 when the keywords “let me know” and “check” are input by voice. Fortune-telling, today is a service that acquires information on xx days (for example, physical education day) from the information management device via the wireless communication unit 55 and notifies the user of the acquired information by voice or image Is to provide.

Next, among the services provided to the user by the robot 60 according to the present embodiment, an answering mode that is a feature of the present invention will be described with reference to FIG.
First, when the user inputs the keyword “answering machine” by voice, and when the scheduled time to go out and the scheduled time to go home are input (step SA1 in FIG. 6), the schedule information management unit 70 includes these information. Create and manage schedule information based on it. The schedule information created here includes “answering machine” as the operation mode, “scheduled time to go out (for example, 11:00)” as the scheduled start time, and “scheduled time to return (for example, 18:00)” as the scheduled end time. Will be registered. The schedule information is transmitted to the robot management device 40 via the wireless communication unit 55 and the network, and stored in the storage device 42 in the robot management device 40 (step SA2 in FIG. 6).
Next, the schedule information management unit 70 outputs the reservation start information to the operation mode setting unit 61 at the scheduled start time of the schedule information, for example, at 11:00. Accordingly, the “answering machine mode” is set as the current mode by the operation mode setting unit 61, and the operation application corresponding to the answering machine mode is executed by the operation mode execution unit 62. As a result, home monitoring or the like while the user is out is performed by the robot 60.

  Subsequently, when the user returns before the scheduled return time set by the user, the user authentication unit 64 authenticates the user. In this authentication process, first, face authentication based on image information by the user authentication unit 64 is performed. If the face authentication based on the image is not successful even after a predetermined period (for example, 10 seconds to 30 seconds), the user authentication unit 64 performs user authentication by inputting a keyword. For example, an utterance requesting the input of a keyword is performed via the voice processing unit 53 and the speaker 18, and as a result, when a keyword is input by the user, the keyword of the user registered in advance is stored. To determine whether or not. As a result, if they match, the person is authenticated as a user, and the authentication result is output to the operation mode execution unit 62 (step SA3 in FIG. 6).

  Thus, when it is confirmed that the person who has returned is a user, the operation mode execution unit 62 detects the user's return based on the authentication result, and sends a service release notification indicating the end of the answering service to the wireless It transmits to the robot management apparatus 40 via the communication part 55 (step SA4 of FIG. 6), and execution of the operation | movement application of answering machine mode is complete | finished after that.

  Next, as shown in FIG. 7, when the answering machine mode described above is executed, user authentication by the user authentication unit 64 is not performed even at 18:00 registered as the scheduled return time, and it is detected that the user has returned home. If not, the operation mode execution unit 62 transmits a transmission request of “OK mail” for confirming the safety to the user to the robot management device 40 via the wireless communication unit 55 (step of FIG. 7). SB3).

  When the communication device 41 of the robot management device 40 receives the above-mentioned “OK mail” transmission request, the transmission request is output to the electronic mail creation unit 44 in the control device 43. The e-mail creating unit 44 creates an “OK mail” based on this request, and outputs this e-mail to the communication device 41. Thereby, “OK mail” is transmitted to the user terminal 80 (step SB4 in FIG. 7). The e-mail created here is, for example, “Scheduled home time (18:00) has passed as text information, but is it okay? If it seems to be late, go to the following and go home time Please change "." Also, this mail discloses a URL for connecting to a WEB site for changing the schedule stored in the storage device 42 of the robot management device 40, and this URL is accessed to access a new home. By inputting the scheduled time, the user can change the scheduled return time from the user terminal 80 from the outside. When the schedule information in the storage device 42 of the robot management device 40 is updated by performing an operation for changing the scheduled return time (for example, 19:00) from the user terminal (step SB5 in FIG. 7), the robot Information indicating that there is a request to extend the scheduled return time from the management device 40 to the robot 60 is transmitted (step SB6 in FIG. 7). This information includes the scheduled return home time (for example, 19:00) after the update.

  The operation mode execution unit 62 of the robot 60 that has acquired the information indicating that the extension request has been made continues the application until the scheduled return home time (for example, 19:00) after the change. If the user authentication by the user authentication unit 64 is not performed at the scheduled return home time after the change (for example, 19:00) and the user's return home cannot be confirmed, the operation mode execution unit 62 In this way, a transmission request for “OK mail” is transmitted to the robot management apparatus 40 via the wireless communication unit 55 (step SB7 in FIG. 7). As a result, as described above, “OK mail” is transmitted from the robot management device 40 to the user terminal 80 (step SB8 in FIG. 7).

When there is no response from the user terminal 80 to this “OK mail”, and when a predetermined period (for example, 10 minutes) has passed in this state, the operation mode execution unit 62 of the robot 60 cannot confirm the safety of the user. Is transmitted to the robot management apparatus 40 (step SB9 in FIG. 7).
In the robot management apparatus 40 that has received this “worry mail” transmission request, a worried mail is created by the e-mail creating unit 44 in the control device 43. And this worry mail is transmitted to the user terminal 80 and the third party terminal 90 via the communication apparatus 41 (step SB10, SB11).

Here, “worried mail” is a message in which, for example, “(user name) is not going home at the scheduled time. .
In this way, by sending a worry mail to the user terminal 80, the user is notified that some kind of response is required, and the third party is informed that the user will not return home at the scheduled return time. By notifying, it becomes possible to ask a third party for some contact with the user.

  When the user returns home after transmitting the “worry email”, the user authentication unit 64 of the robot 60 performs user authentication, and when the user returns home (step SB12 in FIG. 7), the operation is performed. The mode execution unit 62 transmits a service release notification indicating the end of the answering service and a transmission request for “safe mail” to the robot management device 40 via the wireless communication unit 55 (step SB13), and then the operation in the answering mode is performed. End application execution.

The robot management apparatus 40 that has received the service release notification and the “safe mail” transmission request confirms the end of the answering mode and creates the “safe mail” by the e-mail creation unit 44. Is transmitted to the user terminal and the third party terminal (steps SB14 and SB15 in FIG. 7).
The user can confirm that the answering machine mode has been canceled by viewing this secure mail, and a third party can confirm that the user has returned home. For example, the reassurance mail includes a message such as “I was able to meet (user name).

Next, as shown in FIG. 8, during the execution of the answering machine mode described above, the robot management device 40 does not receive the “OK mail” even if a predetermined time elapses with respect to the scheduled end time registered in the schedule information. If the information related to the service such as a request for transmission or a service release notification is not received, it is estimated that the communication line with the robot 60 is disconnected.
In such a case, the e-mail creation unit 44 of the robot management apparatus 40 creates a “net malfunction mail”, sets the user terminal 80 and the third-party terminal 90 as the transmission destination, and sends them to the communication apparatus 41. Output. As a result, “net malfunction mail” is transmitted to the user terminal 80 and the third party terminal 90 (steps SC3 and SC4 in FIG. 8).
As a result, the user can confirm that the answering machine mode is not functioning normally because the communication line is disconnected, and the third party can grasp that the user's safety cannot be confirmed. it can.

  As described above, the “predetermined time with respect to the scheduled end time” refers to the scheduled end time having a time margin. For example, a delay related to information transmission from the robot 60, etc. It is taken into consideration. This predetermined time is a time that can be arbitrarily set by design, but for example, a time of about 5 to 10 minutes is set.

  As described above, according to the robot system according to this embodiment, even if a predetermined time elapses with respect to the scheduled end time registered in the schedule information during service provision (operation mode execution). If the information regarding the service is not received from the robot 60, the e-mail creation unit 44 creates a “net malfunction mail”, and the “net malfunction mail” is at least one of the user terminal 80 and the third party terminal 90. Since it is transmitted to either of them, the user or third party who has received this malfunction notification can quickly know that the connection line is disconnected. Thereby, a user or a third party can quickly take an appropriate response.

In the above embodiment, the “answer machine mode” has been described as an example. However, the event in which the Internet malfunction mail is transmitted is not limited to the “answer machine mode”. The present invention can also be applied to an operation mode that provides information to a user or the like, for example, a “voice call mode”.
Furthermore, in the above embodiment, e-mail is used as means for notifying that the Internet is in a malfunction. However, the present invention is not limited to this. For example, a telephone call is made to the user terminal to notify the user of the Internet malfunction. It is also possible to take such an embodiment.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like within a scope not departing from the gist of the present invention.

It is the figure which showed the network structure of the robot system which concerns on one Embodiment of this invention. It is the block diagram shown about schematic structure of the robot management apparatus which concerns on one Embodiment of this invention. It is a front view of the robot which concerns on one Embodiment of this invention. It is a left view of the robot shown in FIG. It is a figure which shows the electrical structural example of the robot incorporated in the robot main body shown in FIG. It is the figure shown about an example of the exchange of the information performed between the robot which concerns on the answering machine mode which concerns on one Embodiment of this invention, a robot management apparatus, a user terminal, and a third party terminal. It is the figure shown about an example of the exchange of the information performed between the robot which concerns on the answering machine mode which concerns on one Embodiment of this invention, a robot management apparatus, a user terminal, and a third party terminal. It is the figure shown about the example of the exchange of the information performed between the robot which concerns on the answering machine mode which concerns on one Embodiment of this invention, a robot management apparatus, a user terminal, and a third party terminal.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Omnidirectional camera 13 Front camera 14 Microphone 15 Monitor 18 Speaker 28 Charging connector 31 Running wheel 40 Robot management apparatus 41 Communication apparatus 42 Storage apparatus 43 Control apparatus 44 E-mail preparation part 51 Control apparatus 52 Image processing part 53 Voice processing part 54 Display control unit 55 Wireless communication unit 55a Antenna 56 Drive control unit 57 Driving mechanism 58 Battery 60 Robot 61 Operation mode setting unit 62 Operation mode execution unit 70 Schedule information management unit 72 Operation application storage unit 80 User terminal 90 Third party terminal

Claims (7)

A robot management apparatus connected to a user terminal, a third party terminal, and a robot via a network,
Receiving means for receiving schedule information registered in association with a service type and a scheduled end time of the service from the robot;
Storage means for storing the received schedule information;
Even when a predetermined time has elapsed with respect to the scheduled end time registered in the schedule information, when information related to a service is not received from the robot, at least one of the user terminal and the third party terminal, A robot management apparatus comprising: a notification unit that notifies that the network is malfunctioning. In the case where the service type registered in the schedule information is an answering service, and the scheduled end time of the answering service is the scheduled return time of the user,
If the information related to the answering service is not received from the robot even after a predetermined time has elapsed with respect to the scheduled time to return home, the notifying means is provided to at least one of the user terminal and the third party terminal. The robot management apparatus according to claim 1, which notifies that the network is malfunctioning.   The said notification means transmits the safety confirmation mail with respect to the said user terminal, when a user's absence information is received from the said robot until predetermined time passes with respect to the said time to go home. Robot management device.   When the response to the safety confirmation mail is not obtained from the user terminal until a predetermined time has elapsed after the safety confirmation mail is transmitted to the user terminal, the notification means notifies the third party terminal. 4. The robot management apparatus according to claim 3, wherein a safety confirmation mail is transmitted.   When a change request for the scheduled return home time is received from the user terminal until a predetermined time elapses after the safety confirmation mail is transmitted to the user terminal, the schedule information is updated and the schedule after the change The robot management apparatus according to claim 3, wherein information is transmitted to the robot. A robot connected to a robot management device via a network,
User authentication means for authenticating the user;
A schedule information management means for creating and managing schedule information in which the answering service and the scheduled end time of the service are associated when the answering service execution request and the scheduled end time are input from the user;
Transmission means for transmitting schedule information created by the schedule management means to the robot management device,
When the user authentication by the face authentication fails, the user authentication means emits a voice that guides the input of a keyword, and performs user authentication based on the keyword input from the user with respect to the voice. A robot that transmits a service release notification that notifies the robot management device of the end of service if the user is authenticated by the user authentication means before the scheduled end time of the answering service. A robot system comprising a user terminal, a third party terminal, a robot management apparatus connected to the robot via a network, and the robot,
The robot is
User authentication means for authenticating the user;
Schedule information management means for creating and managing schedule information in which the answering service and the scheduled end time of the service are associated with each other when an execution request for the answering service and a scheduled end time are input from the user;
Transmission means for transmitting the schedule information created by the schedule information management means to the robot management device,
The robot management device includes:
Receiving means for receiving the schedule information from the robot;
Storage means for storing the received schedule information;
When information related to the service is not received from the robot before a predetermined time has elapsed with respect to the scheduled end time of the service registered in the schedule information, the user terminal and the third party terminal A robot system having communication means for notifying at least one of them that the network is malfunctioning.

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