JP2019084628A - Autonomous mobile robot - Google Patents

Abstract

To allow a direction of a display device to be changed to a direction in which a user can easily view without explicit operation by the user.SOLUTION: A sensor 30 functions as a sound recognizing part 48, a face recognizing part 50 and a visual line direction estimating part 52. A CPU 32 functions as a driving control part 54, which controls a moving device 26 that functions as a yaw-directional driving part for a display-type robot 10, a support part 25 that functions as a vertical directional driving part, a pitch-shaft directional driving part 42 and a roll-shaft directional driving part 44. Further, the driving control part 54 controls the moving device 26, the support part 25, the pitch-shaft directional driving part 42 and the roll-shaft directional driving part 44 so that a position, a height and a direction of the display part 28 are adjusted, in accordance with a situation of a user detected by the sensor 30.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an autonomous mobile robot.

  In Patent Document 1, a device operated by a user, a support device for executing processing for supporting a user's operation of the device, a user information acquisition unit for acquiring user information representing the position and posture of the user, and a position of the device And device information acquiring means for acquiring device information representing attitude, and operation state information acquisition means for acquiring operation state information representing the operation state of the device; There is disclosed a user support system characterized in that at least one of the movable parts has a movable part that is movable to change.

JP, 2011-143511, A

  An object of the present invention is to provide an autonomous mobile robot capable of changing the orientation of a display device in a direction in which the user can easily view without explicit operation by the user.

  The present invention according to claim 1 is a robot main body, moving means for moving the robot main body, a display device movable with respect to the robot main body with at least a plurality of axes of freedom, and a movement destination An autonomous mobile robot comprising: detection means for detecting the user's situation; and control means for controlling the orientation of the display device in accordance with the user's situation detected by the detection means.

  The present invention according to claim 2 is the autonomous mobile robot according to claim 1, wherein the display device is movable with at least a plurality of degrees of freedom among at least three axes of a pitch axis, a roll axis and a yaw axis.

  The present invention according to claim 3 is the autonomous mobile robot according to claim 1 or 2, further comprising changing means for changing the position of the display device from the ground in the vertical direction.

  According to a fourth aspect of the present invention, the control means controls the change means to change the position of the display device from the ground according to the eye height of the user detected by the detection means. An autonomous mobile robot according to item 3.

  The present invention according to claim 5 is the autonomous mobile robot according to any one of claims 1 to 4, wherein the detection means has an estimation means for recognizing a face of a user and estimating a gaze direction of the user.

  According to a sixth aspect of the present invention, in the autonomous mobile robot according to the fifth aspect, the control means controls the direction of the display device to be directed to a position opposite to the gaze direction of the user estimated by the estimation means. is there.

  The present invention according to claim 7 is the autonomous mobile robot according to any one of claims 1 to 4, wherein the detection means has a recognition means for recognizing a voice.

  According to an eighth aspect of the present invention, in the autonomous mobile robot according to the seventh aspect, the control means controls the display device to be directed in the direction in which the voice recognized by the recognition means is emitted.

  According to a ninth aspect of the present invention, in the autonomous mobile robot according to the seventh aspect, the control means controls the display device to face upward according to an instruction of the user by the voice recognized by the recognition means.

  According to a tenth aspect of the present invention, there is provided an extraction means for extracting information from conversation contents of a user recognized by voice recognized by the recognition means, and an acquisition means for acquiring information related to information extracted by the extraction means from a server. The autonomous mobile robot according to any one of claims 7 to 9, wherein the control means controls to display the information acquired by the acquisition means on the display device.

  The present invention according to claim 11 has a receiving means for receiving a user request by voice recognized by the recognition means, and an obtaining means for acquiring from a server information on the user request received by the receiving means. The autonomous mobile robot according to any one of claims 7 to 9, wherein the control means controls to display the information acquired by the acquisition means on the display device.

  According to the first aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the orientation of the display device in a direction in which the user can easily view without explicit operation by the user.

  According to the second aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the orientation of the display device in a direction in which the user can easily view without explicit operation by the user.

  According to the third aspect of the present invention, there is provided an autonomous mobile robot capable of changing the position of the display device from the ground according to the height at which the user can easily view without explicit operation by the user. Can.

  According to the fourth aspect of the present invention, there is provided an autonomous mobile robot capable of changing the position of the display device from the ground according to the height at which the user can easily view without explicit operation by the user. Can.

  According to the fifth aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the orientation of the display device in a direction in which the user can easily view without explicit operation by the user.

  According to the sixth aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the orientation of the display device in a direction in which the user can easily view without explicit operation by the user.

  According to the seventh aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the orientation of the display device in a direction in which the user can easily view without explicit operation by the user.

  According to the eighth aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the orientation of the display device in the direction in which the user can easily view without explicit operation by the user.

  According to the ninth aspect of the present invention, it is possible to provide an autonomous mobile robot capable of changing the direction of the display device to the writing mode by voice.

  According to the tenth aspect of the present invention, it is possible to provide an autonomous mobile robot capable of presenting information required by the user on the display device without the user's explicit operation.

  According to the eleventh aspect of the present invention, it is possible to provide an autonomous mobile robot capable of presenting information required by the user on a display device by voice.

It is a figure showing the system configuration to which the display type robot concerning one embodiment of the present invention is applied. It is a top view showing the office to which the display type robot concerning one embodiment of the present invention is applied. (A) is a figure showing the front view of the display type robot concerning one embodiment of the present invention. (B) is a figure showing the side view of the display type robot concerning one embodiment of the present invention. (A)-(C) are front views which show operation | movement of the display type robot which concerns on one Embodiment of this invention. (A)-(C) are side views which show operation | movement of the display type robot which concerns on one Embodiment of this invention. It is a top view which shows operation | movement of the display type robot which concerns on one Embodiment of this invention. It is a block diagram showing the hardware constitutions of the display type robot concerning one embodiment of the present invention. It is a block diagram showing functional composition of a display type robot concerning one embodiment of the present invention. It is a block diagram showing the hardware constitutions of the server concerning one embodiment of the present invention. It is a flowchart which shows the control flow of the display type robot which concerns on one Embodiment of this invention. (A)-(D) are top views explaining operation | movement of the display type robot which concerns on one Embodiment of this invention. It is a figure which shows an example of operation | movement of the display type robot which concerns on one Embodiment of this invention. It is a figure which shows an example of operation | movement of the display type robot which concerns on one Embodiment of this invention. 11 is a flowchart showing an operation flow of a document recommendation function, which is an example of the user assistance operation of the display type robot shown in FIG. FIG. 15 is a diagram showing an example of a screen displayed on the display in the operation flow of the document recommendation function shown in FIG. 14; It is an example of the user assistance operation | movement of the display type robot shown in FIG. 10, Comprising: It is a flowchart which shows the operation | movement flow of a search function. FIG. 17 is a diagram showing an example of a screen displayed on the display in the operation flow of the search function shown in FIG. 16;

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a view showing the configuration of a system using a self-propelled display type robot 10 as an autonomous mobile robot according to an embodiment of the present invention.

  A system using a display type robot 10 according to an embodiment of the present invention is composed of a display type robot 10 and a server 12 as shown in FIG.

  The display robot 10 and the server 12 are connected to each other via, for example, a wireless LAN terminal 14 and the Internet 16.

  FIG. 2 shows an example of an office 18 to which a system using a display robot 10 according to an embodiment of the present invention is applied. In the office 18, even if the conference areas 20 a to 20 c or free spaces do not have the terminal device 22 or the terminal device such as a mobile terminal is not used, the display robot 10 can be used to Similar operations can be performed, and information required by the user can be displayed on the display.

  The display robot 10 transmits and receives data and the like to and from the wireless LAN terminal 14. In addition, the display robot 10 stores a map in the office 18 and is configured to travel in the office 18 by itself. Then, the display type robot 10 approaches the user by, for example, a user's call or gesture, and the user uses the display type robot 10 to display information requested by the user on the display or makes a memo using the display Can perform user support such as writing.

Next, the configuration of the display robot 10 will be described.
FIG. 3A is a front view showing the appearance of the display robot 10, and FIG. 3B is a side view showing the appearance of the display robot 10.

  The display type robot 10 includes a robot body 24, a moving device 26 as a moving means, a display 28 as a display device, a support 25 for supporting the display 28 with respect to the robot body 24, and a sensor 30 as a detecting means. Is equipped.

  The sensor 30 is provided on the robot body 24 to detect the user and recognize the position, movement, voice and face of the user. Then, the sensor 30 recognizes the user's situation such as the position of the user's face, the direction of the face, and the posture. For example, a Kinect camera is used as the sensor 30, and a camera such as an RGB camera or a 3D camera, a depth sensor, a microphone, an infrared sensor, an ultrasonic sensor, a laser range finder (LRF), or the like can be used in combination.

  The moving device 26 is provided at the lower part of the robot body 24 and moves the robot body 24. For example, wheels or legs are used as the moving device 26. For example, a motor, an actuator, an engine, a hydraulic pump or the like as a drive source is connected to the wheels or legs.

  The display unit 28 is provided on the upper portion of the robot body unit 24 and displays various information such as document data and image data. The display unit 28 also has an input function as a touch panel, and accepts writing of characters or images.

  The support portion 25 includes a first support portion 25a and a second support portion 25b, and functions as changing means for changing the position of the display portion 28 from the ground.

  4 to 6 are diagrams for explaining the operation of the display robot 10. As shown in FIG.

  As shown in FIGS. 4A and 4B, the display unit 28 has a roll axis with the display type robot 10 in the front-rear direction (X axis in FIG. 4) as an axis with respect to the robot main body 24. It can rotate 360 degrees in the direction. That is, the display unit 28 can be arranged horizontally long or vertically long with respect to the robot body 24.

  Further, as shown in FIG. 5A and FIG. 5B, the display unit 28 is positioned in the lateral direction (width direction, Y axis in FIG. 5) of the display type robot 10 with respect to the robot main body 24. As an axis, it can rotate 90 degrees in the pitch axis direction. That is, the display unit 28 can be disposed so as to face the front (front) direction, or can be disposed so as to face upward with respect to the robot main body 24.

  In addition, the display unit 28 moves in the vertical direction by sliding the first support 25a with respect to the second support 25b mounted on the robot main body 24, as shown in FIG. As shown in FIG. 4C, FIG. 5B, and FIG. 5C, the display unit 28 can be moved in the vertical direction (the Z-axis direction in FIGS. 4 and 5). That is, the position of the display unit 28 from the ground can be changed.

  In addition, as shown in FIG. 6, the display unit 28 operates the moving unit 26 to move the display unit 28 in the yaw axis direction 360 about the vertical direction of the display robot 10 (Z axis direction in FIG. 6). It is rotatable.

  That is, the display unit 28 is movable at four degrees of freedom in the vertical direction, the pitch axis, the roll axis, and the yaw axis. Thereby, the position, height, and direction of the display unit 28 are configured to be movable.

  FIG. 7 is a block diagram showing the hardware configuration of the display robot 10. As shown in FIG.

  As shown in FIG. 7, the display type robot 10 includes a CPU 32, a memory 34, a storage device 36, a sensor 30, a wireless communication unit 38, a display unit 28, a moving device 26, a support 25 and a pitch axis direction. A drive unit 42 and a roll axial drive unit 44 are provided, which are connected via a control bus 46.

  The CPU 32 executes a predetermined process based on the control program stored in the memory 34.

  The storage device 36 stores a control program for controlling each part of the display type robot 10. In addition, the map of the office 18 and the like is stored.

  The wireless communication unit 38 transmits and receives data to and from the wireless LAN terminal 14 via a wireless channel.

  FIG. 8 is a block diagram showing a functional configuration of the display type robot 10 realized by executing a program.

  The display robot 10 detects the user by the sensor 30 and approaches it. Then, by causing the CPU 32 to execute the control program stored in the storage device 36, the sensor 30 functions as the voice recognition unit 48, the face recognition unit 50, and the gaze direction estimation unit 52, as shown in FIG. . The CPU 32 functions as a drive control unit 54, and functions as a moving device 26 functioning as a drive unit in the yaw axis direction of the display robot 10, a support unit 25 functioning as a vertical drive unit, a pitch axis direction drive unit 42, and a roll. The axial drive unit 44 and the like are controlled. Further, the CPU 32 functions as the display control unit 49 to control a screen (display screen) on the display of the display unit 28.

  The speech recognition unit 48 recognizes speech and recognizes the position of the user by the user's invitation. Also, the voice of the user is converted into a character string and recognized. Also, it recognizes the contents of conversation, extracts information related to the topic, converts it into a character string, and recognizes it.

  The face recognition unit 50 recognizes the face of the user recognized by the voice recognition unit 48 and the face of the user who needs a support by a gesture.

  The gaze direction estimating unit 52 estimates the gaze direction of the user recognized by the face recognition unit 50.

  Then, the CPU 32 estimates the user's situation based on the information recognized by the face recognition unit 50 and the gaze direction estimated by the gaze direction estimation unit 52.

  Specifically, it is estimated what the user is doing from the information of the user's position, motion, face, line of sight, etc. recognized by the face recognition unit 50 and the line of sight direction estimation unit 52, for example, standing up It is possible to obtain information such as sitting, facing, and talking in person. In addition, when there are a plurality of people, it is possible to estimate what kind of arrangement, whether they face each other, whether they are lined up, or whether they are pointing in the direction of pieces.

  The drive control unit 54 controls the moving device 26 to move toward the user detected by the sensor 30.

  The drive control unit 54 adjusts the moving device 26 as the yaw axial direction drive unit, the support unit 25 as the vertical direction drive unit, the pitch axial direction drive unit 42, and the roll according to the user's situation detected by the sensor 30. The axial drive unit 44 is controlled.

  Further, the drive control unit 54 moves the display type robot 10 by a predetermined character string recognized by the voice recognition unit 48, which is a user's instruction by voice, and changes the position and orientation of the display unit 28. The moving device 26, the support portion 25, the pitch axial direction drive portion 42, and the roll axial direction drive portion 44 are controlled to do this.

  Further, the drive control unit 54 moves the display type robot 10 in the direction in which the voice recognized by the voice recognition unit 48 is emitted, and the moving device 26, the support unit 25, and the pitch axis direction drive so that the display unit 28 faces. The unit 42 and the roll axial direction drive unit 44 are controlled.

  That is, according to the user's face position, face orientation, posture, and the like detected by the sensor 30, the display robot 10 moves the moving device 26, the support 25, the pitch axis direction drive 42, and the roll axis. Control the direction drive unit 44 or the like to adjust the position of the display unit 28, adjust the position of the display unit 28 from the ground according to the height of the user's eyes, or adjust the orientation of the display unit 28 can do.

  The display unit 28 is controlled to turn upward or forward (front) according to the user's instruction (predetermined character string) by the voice recognized by the voice recognition unit 48. Alternatively, the position of the display unit 28 and the height from the ground can be adjusted, and the orientation of the display unit 28 can be adjusted.

  Here, adjusting the position, height, and orientation of the display unit 28 in accordance with the user's position, posture, face orientation, etc. means, for example, display in accordance with the height of the user recognized by the face recognition unit 50. Adjusting the position of the unit 28 from the ground, adjusting the position of the display unit 28 from the ground according to the height of the user's eyes recognized by the face recognition unit 50, recognizing by the face recognition unit 50 So that the center of the display unit 28 is disposed at a position about 50 cm from the top of the user's head, or the display so as to face the user's gaze direction recognized by the face recognition unit 50 Adjusting the orientation of the unit 28 or adjusting the face of the user recognized by the face recognition unit 50 to be disposed at the center (front) of the display unit 28 It means.

  FIG. 9 is a block diagram showing the hardware configuration of the server 12.

  As shown in FIG. 9, the server 12 is a communication interface (IF) 62 that transmits and receives data to and from an external device via the CPU 56, the memory 58, the storage device 60, the database 61, and the Internet 16. Have. These components are connected to one another via a control bus 64.

  The CPU 56 executes predetermined processing based on a control program stored in the memory 58 or the storage device 60 to control the operation of the server 12. In the present embodiment, the CPU 56 is described as reading and executing the control program stored in the memory 58 or the storage device 60. However, the CPU 56 stores the program in a storage medium such as a CD-ROM and the like. It is also possible to provide.

  The database 61 stores a document recommendation engine, a search engine, and the like. The document recommendation engine extracts information related to the topic from the information stored in the database 61 and the information on the Internet. The search engine extracts information related to the information designated by the user from the information stored in the database 61 and the information on the Internet.

  Next, the operation of the display robot 10 will be described based on FIGS. 10 and 11. FIG. FIG. 10 is a flowchart showing the control flow of the display robot 10. As shown in FIG. 11A to 11D are top views for explaining the operation of the display robot 10. As shown in FIG.

  First, the display robot 10 detects the user a and the user b in a conversation by the sensor 30 (step S10).

  Next, the CPU 32 determines whether the user a and the user b need assistance (step S11). For example, it is determined whether a user's assistance is required by a gesture such as a user's call or a beckon. Then, if it is determined that the user needs to be supported, the process proceeds to the next step S12. If it is determined that the user's assistance is not necessary, the processing is ended, and the user moves to the home position or returns to the patrol operation.

  When it is determined that the user's assistance is necessary, the CPU 32 causes the face recognition unit 50 and the gaze direction estimation unit 52 to determine the positions, postures, and face directions (gaze direction) of the users a and b. The situation of the user a and the user b is estimated (step S12).

  Then, as shown in FIG. 11A, the user approaches from the side as much as possible (moves) so as to enter the view of the user a and the user b. Then, as shown in FIG. 11B, the CPU 32 sets the position easy for both the user a and the user b to see according to the estimated position of the user a, the position of the user b, the posture of the user b, and the like. The drive control unit 54 controls the moving device 26, the support unit 25, the pitch axial direction drive unit 42, and the roll axial direction drive unit 44 so that the display unit 28 is disposed, and the position, height, and orientation of the display unit 28. (Step S13).

  The drive control unit 54 controls the roll axial direction drive unit 44 according to the content to be displayed on the display to display the orientation of the display unit 28 horizontally to the user or rotate it to be vertically elongated. Display.

  Then, the CPU 32 controls to execute user support such as displaying information requested by the user on the display unit 28 (step S14).

  In addition, when the user a directs a line of sight to the display or makes an interaction (interaction), as shown in FIG. 11C and FIG. 12, the CPU 32 directs the display unit 28 toward the user a. Control. Specifically, the CPU 32 controls the position, height, and orientation of the display unit 28 in accordance with the user's a situation such as the face position, posture, and face orientation of the user a.

  That is, the drive control unit 54 controls the support unit (vertical drive unit) 25 by the interaction of the user a, and adjusts the height of the display unit 28 according to the face position, posture, and face direction of the user a. . The drive control unit 54 controls the moving device (yaw axial direction drive unit) 26 to adjust the orientation of the display unit 28 according to the face position, posture, and face orientation of the user a. That is, the position, height, and direction of the display unit 28 are adjusted so that the display unit 28 faces a position facing the viewing direction of the user a detected by the sensor 30.

  Further, the CPU 32 controls the pitch axis direction drive unit 42 by the drive control unit 54 to display the display unit as shown in FIG. 11D and FIG. 28 is controlled so that it falls 90 degrees and turns upward. That is, the display unit 28 can be rotated 90 degrees in the pitch axis direction with respect to the robot main body unit 24 with the left and right direction of the display type robot 10 as an axis, to set the writing mode.

  Furthermore, the CPU 32 controls the pitch axial direction drive unit 42 by the drive control unit 54 by a call from the user such as “Back!”, And the display unit 28 falls down and is directed upward (display mode) It controls so that the part 28 turns to the front (front) direction.

  That is, according to a predetermined call from the user, the drive control unit 54 can control the pitch axial direction drive unit 42 to control the display unit 28 to face upward or to control to face the front. . Then, the user can perform a writing operation and the like by using the display unit 28 facing upward.

  Next, an example of the user assistance operation of the display robot 10 will be described.

  FIG. 14 is a flowchart showing an operation flow of the document recommendation function of the display robot 10.

  Here, with the document recommendation function, even if there is no explicit instruction from the user, speech contents are voice-recognized at predetermined intervals to extract keywords contained in the contents of the conversation, and a document related to the extracted keywords, etc. It refers to the function of extracting information from data stored in the database 61 or from the Internet and recommending it as a related document to the user.

  First, the conversation contents are listened to by the sensor 30 (step S20).

  Then, the conversation content is voice-recognized and converted into a character string, and a keyword included in the conversation content is extracted (step S21). At this time, speech recognition is performed at predetermined intervals, for example, every 15 seconds, and keywords included in the contents of conversation are extracted.

  Then, the information of the extracted keyword is transmitted to the server 12 via the wireless communication unit 38. Then, analysis is performed by the document recommendation engine, and information such as a document related to the keyword is acquired as an analysis result from the information stored in the database 61 and the information on the Internet (step S22).

  Then, the analysis result list is displayed on the display unit 28 (step S23). Specifically, for example, when "robot", "AI", or "in-house document" is extracted as a keyword included in the conversation content, it is related to the extracted "robot," "AI," or "in-house document" A document is detected, and the detected analysis result is displayed on the display unit 28 as shown in FIG.

  Then, the document selected by the user from the analysis result list is displayed on the display unit 28 (step S24).

  FIG. 16 is a flowchart showing the operation flow of the search function of the display robot 10. As shown in FIG.

  Here, the search function refers to a user who searches for information such as a document related to the information (question) that he / she wants to know from data stored in the database 61 or from the Internet based on the information that the user wants to know Refers to the function presented to

  First, as shown in FIG. 17, the user's question (information to be known) is accepted on the search screen of the display unit 28 (step S30).

  Then, the question content is voice-recognized and converted into a character string (step S31).

  Then, the recognition result is transmitted to the server 12 via the wireless communication unit 38. Then, analysis is performed by the search engine, and information such as a document related to information desired by the user is acquired as an analysis result from the information stored in the database 61 and the information on the Internet (step S32).

  Then, the analysis result list is displayed on the display unit 28 (step S33).

  Then, when the selection is accepted by the user, the selected document is displayed on the display unit 28 (step S34).

  Specifically, for example, when the user makes a question about the “travel expense settlement method” on the search screen, the document related to the “travel expense settlement method” stored in the database 61 is voice-recognized, and the display unit 28 Is displayed.

  The present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the above embodiment, the display unit 28 has been described as movable in the vertical, pitch, roll, and yaw axes with four degrees of freedom. However, the present invention is not limited thereto. It can be applied to possible configurations.

10 Display Robot (Autonomous Mobile Robot)
12 server 24 robot main body 25 support (changing means, vertical drive)
26 Moving device (Yaw axis direction drive unit)
28 Display (Display Device)
30 sensor 32 CPU (control means)
34 memory 36 storage unit 38 wireless communication unit 42 pitch axial direction drive unit 44 roll axial direction drive unit

Claims (11)

The robot body,
Moving means for moving the robot body;
A display device movable with respect to the robot main body with at least a plurality of axes of freedom;
Detection means for detecting the situation of the destination user;
Control means for controlling the orientation of the display device according to the situation of the user detected by the detection means;
Mobile robot with.   The autonomous mobile robot according to claim 1, wherein the display device is movable with a degree of freedom of at least a plurality of three axes among a pitch axis, a roll axis and a yaw axis.   3. The autonomous mobile robot according to claim 1, further comprising changing means for changing the position of the display device from the ground in the vertical direction.   The autonomous mobile robot according to claim 3, wherein the control means controls the change means to change the position of the display device from the ground according to the height of the user's eyes detected by the detection means.   The autonomous mobile robot according to any one of claims 1 to 4, wherein the detection means comprises an estimation means for recognizing a face of a user and estimating a gaze direction of the user.   6. The autonomous mobile robot according to claim 5, wherein the control means controls the direction of the display device to be directed to a position opposite to the gaze direction of the user estimated by the estimation means.   The autonomous mobile robot according to any one of claims 1 to 4, wherein the detection means comprises recognition means for recognizing speech.   The autonomous mobile robot according to claim 7, wherein the control means controls the display device to face in the direction in which the voice recognized by the recognition means is emitted.   8. The autonomous mobile robot according to claim 7, wherein said control means controls said display device to face upward according to a user's instruction by voice recognized by said recognition means. Extracting means for extracting information from the conversation content of the user by the voice recognized by the recognition means;
And acquiring means for acquiring information related to the information extracted by the extraction means from a server,
The autonomous mobile robot according to any one of claims 7 to 9, wherein the control means controls to display the information acquired by the acquisition means on the display device. Reception means for receiving a user request by voice recognized by the recognition means;
Obtaining means for obtaining from the server information on the user request accepted by the accepting means;
The autonomous mobile robot according to any one of claims 7 to 9, wherein the control means controls to display the information acquired by the acquisition means on the display device.

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