WO2022038794A1 - Information processing device, information processing method, and program - Google Patents

Information processing device, information processing method, and program Download PDF

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Publication number
WO2022038794A1
WO2022038794A1 PCT/JP2020/034484 JP2020034484W WO2022038794A1 WO 2022038794 A1 WO2022038794 A1 WO 2022038794A1 JP 2020034484 W JP2020034484 W JP 2020034484W WO 2022038794 A1 WO2022038794 A1 WO 2022038794A1
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WIPO (PCT)
Prior art keywords
information
robot
terminal device
information processing
acquisition unit
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PCT/JP2020/034484
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French (fr)
Japanese (ja)
Inventor
昂 深堀
ケビン 梶谷
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ａｖａｔａｒｉｎ株式会社
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Publication of WO2022038794A1 publication Critical patent/WO2022038794A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/02—Marketing; Price estimation or determination; Fundraising
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services

Definitions

  • the present invention relates to an information processing device, an information processing method, and a program.
  • Patent Document 1 describes a moving body with a camera that provides a photographed image to a user at a remote location.
  • An object of the present invention is to provide a technique for evaluating the value of a user operating a robot.
  • the information processing device is the terminal based on the acquisition unit that acquires information on the distance between the terminal device and the robot that is not fixed, and the information acquired by the acquisition unit. It is provided with an evaluation unit that evaluates the value of operating the robot via the device.
  • the computer acquires information on the distance between the terminal device and the non-fixed robot, and based on the acquired information, the terminal device is used. Includes assessing the value of operating the robot through.
  • the program acquires information on the distance between the terminal device and the non-fixed robot to the computer, and based on the acquired information, the program is performed via the terminal device. To evaluate the value of operating the robot and to execute it.
  • the system 1 can evaluate the value of the user operating the robot via the terminal device.
  • the system 1 evaluates, for example, a charge for the operation as the value of operating the robot via the terminal device. Further, the system 1 can perform processing such as searching for an operable robot and reserving an operation by a robot user.
  • the system 1 includes a server device 10, terminal devices 20a, 20b, 20c, and robots 30a, 30b, 30c.
  • Each device or robot is configured to be able to communicate with other devices or robots wirelessly or by wire (or both).
  • the system 1 includes three terminal devices, but the number of terminal devices may be arbitrarily set and may be two or less or four or more.
  • the terminal devices 20a, 20b, and 20c may have similar configurations or different configurations. When the terminal devices 20a, 20b, and 20c are referred to without distinguishing each other, they are collectively referred to as the terminal device 20.
  • the system 1 includes three robots, but the number of robots is arbitrarily set and may be two or less or four or more.
  • the robots 30a, 30b, and 30c may have similar configurations or different configurations. When the robots 30a, 30b, and 30c are referred to without being distinguished from each other, they are collectively referred to as the robot 30. The outline of each device and robot will be described below.
  • the server device 10 is a device that executes a process for evaluating the value of operating the robot 30 via the terminal device 20.
  • the server device 10 further performs search processing for available robots 30, management of reservation registration of robots 30, and the like.
  • the server device 10 is composed of an information processing device such as a server computer.
  • the server device 10 may be configured by one information processing device or may be configured by a plurality of information processing devices (for example, cloud computing or edge computing).
  • the terminal device 20 is an information processing device used by the user for operating the robot 30 and reserving the operation.
  • the terminal device 20 is a general-purpose or dedicated information processing device such as a smartphone, a tablet terminal, a PDA (Personal Digital Assistants), a personal computer, a head-mounted display, and an operation system for a specific purpose.
  • the terminal device 20 may be configured by an operation of the robot 30 or a dedicated information processing device for reserving the operation.
  • the terminal device 20 used for operating the robot 30 may be a device different from the terminal device 20 used for the operation, or may be the same device.
  • the robot 30 is a non-fixed robot.
  • the term "not fixed” means that the robot 30 is a mobile type having a drive unit for moving wheels or the like, or a wearable type that can be worn by a person and has a drive unit for operation of a manipulator or the like. including.
  • the mobile robot is shown in, for example, Patent Document 1.
  • the moving part of the mobile robot is one that travels by one wheel, two wheels or multiple wheels, one that travels by a caterpillar, one that travels on a rail, one that jumps and moves, bipedal walking, four-legged walking or multi-legged walking. Includes those that navigate on or under water with a screw, and those that fly with a propeller or the like.
  • Wearable robots are, for example, MHD Yaman Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 ACM It has been published.
  • the robot 30 includes a vehicle or a heavy machine capable of automatic or semi-automatic traveling, or a drone or an airplane. Further, the robot 30 includes a robot installed in a sports stadium or the like and equipped with a camera that can move on rails. Further, the robot 30 is a satellite type robot launched into outer space, and includes a robot capable of controlling the attitude and the shooting direction of the camera.
  • the user operates the robot 30 via the terminal device 20 (for example, the movement of the robot 30 or the operation of the camera mounted on the robot 30).
  • the signal for operating the robot 30 is transmitted from the terminal device 20 to the robot 30 via the server device 10 or other devices.
  • a signal for the operation may be transmitted directly from the terminal device 20 to the robot 30.
  • the robot 30 operates in response to a received signal, and the robot 30 acquires or detects the location where the robot 30 is located, such as image data and audio data acquired through a camera, a microphone, and other devices mounted on the robot 30.
  • the data is transmitted to the terminal device 20.
  • the user can experience the experience as if he / she is in the place where the robot 30 is located through the terminal device 20 and the robot 30.
  • the data transmitted from the robot 30 may be transmitted to the terminal device 20 via the server device 10 or other devices, or may be transmitted directly to the terminal device 20.
  • the configuration of the main functions of the server device 10 will be described with reference to FIG. These functions are realized by the control unit (processor) of the server device 10 reading and executing the computer program stored in the storage unit.
  • the hardware configuration of these devices will be described later.
  • the server device 10 has an acquisition unit 11, an evaluation unit 12, a display control unit 13, a registration unit 14, and a database 15 as main functional configurations.
  • the functions of the server device 10 are not limited to these, and may have functions generally possessed by a computer and other functions.
  • the acquisition unit 11 acquires information necessary for evaluation processing by the evaluation unit 12, which will be described later.
  • the information acquired by the acquisition unit 11 includes, for example, the following information. Further, in order to acquire the next information, communication may be performed with the terminal device 20, the robot 30, or another device (not shown), or various operations may be performed by the server device 10. Further, the information acquired by the acquisition unit 11 is stored in the database 15.
  • Example of information acquired by acquisition unit 11> (1) Information on the distance between the terminal device 20 and the robot 30 (2) Information on the time attribute in the time zone of the position of the terminal device 20 (3) Information on the time attribute in the time zone of the position of the robot 30 (4) Information on the number of robots 30 that can be operated during the time when the operation is performed (5) Information on the attributes of the location of the robot 30 (6) Information on the attributes of the event held at the location of the robot 30 (7) Robot Information on the attributes of the person corresponding to 30 (8) Information on the capabilities of the robot 30 (9) Information on the operation purpose of the robot 30 (10) Information on the attributes of the operator of the robot 30 (11) Number of reservations for the latest robot 30 Information (12) Information on the search volume of the robot 30 (13) Information on the operation time of the robot 30
  • Information (1) (information about the distance between the terminal device 20 and the robot 30) is acquired based on, for example, the positioning process of the terminal device 20 (used for operation) and the robot 30 (operated). It may be the information of the distance specified according to the position information.
  • the positioning process may be carried out by GNSS (Global Navigation Satellite System), or may be carried out by using a base station or a communication device (for example, a router), or by another method.
  • the information regarding the positions of the terminal device 20 and the robot 30 is based on, for example, communication address information (for example, IP address) of a device (for example, a server device) in the vicinity of the robot 30 used for communication of the robot 30. It may be the information of the acquired position.
  • the position of the device is specified based on the IP address of the device in the vicinity of the robot 30 (or the terminal device 20), and the information on the specified position can be used as the information on the position of the robot 30 (or the terminal device 20). good.
  • Information on the positions of the terminal device 20 and the robot 30 may be stored in the database 15 in advance, or may be acquired from the terminal device 20 and the robot 30, and the acquisition unit 11 may obtain the database 15, the terminal device 20, or the terminal device 20.
  • Information on the distance between the terminal device 20 and the robot 30 may be acquired based on the position information acquired from the robot 30.
  • the position information is represented by latitude / longitude, arbitrarily set coordinate information, or other format.
  • the information regarding the distance between the terminal device 20 and the robot 30 may be the distance between the terminal device 20 and the robot 30 as a linear distance between the terminal device 20 and the robot 30. Further, the information regarding the distance between the terminal device 20 and the robot 30 may be a distance in consideration of the communication path performed between the terminal device 20 and the robot 30.
  • the acquisition unit 11 determines the local IP address of the terminal device 20 used in the communication of the terminal device 20 and the IP address of the device (for example, a cloud server) used in the communication between the terminal device 20 and the robot 30. To get.
  • the acquisition unit 11 specifies information on the location specified by the acquired IP address (for example, an area name such as an administrative division name, or an address).
  • the acquisition unit 11 specifies the distance between the positions specified based on the IP address as the distance between the terminal device 20 and the robot 30. In the example shown in FIG. 4, the distance between the terminal device 20 and the robot 30 is d1 + d2 + d3 + d4. Since the position specified based on the IP address may not be an accurate position, the distance specified as described above may be an approximate distance.
  • information (2) (information on the time attribute in the time zone of the position of the terminal device 20) and information (3) (information on the time attribute in the time zone of the position of the robot 30), the positions of the terminal device 20 and the robot 30.
  • the information acquisition method is acquired by the above-mentioned positioning process, processing using communication address information, or the like. The same applies to the processing described below.
  • the information of the time attribute in the information (2) is, for example, time information (for example, operation start time and operation end) in the time zone of the position of the terminal device 20 when the user operates the robot 30 via the terminal device 20. Includes at least one of time), length of operation time, morning, noon, evening, night, or midnight information, daytime information, and seasonal information.
  • the information of the time attribute in the information (3) is, for example, time information (for example, operation start time and operation end time) in the time zone of the position of the robot 30 when the user operates the robot 30 via the terminal device 20. ), Length of operation time, morning, noon, evening, night, or midnight information, daytime information, and seasonal information at least.
  • the information (4) (information on the number of robots 30 that can be operated in the time zone in which the operation is performed) is, for example, a time zone set as a time when the user wants to operate the robot 30 (for example, 12 on September 10, 2020). : 00 to 15:00) may be used as a search key to search a database (for example, database 15) that stores reservation information for the operation of the robot 30 in advance, and to specify the number of robots 30 that can be operated.
  • a database for example, database 15
  • Information (5) (information on the attributes of the location of the robot 30) is information on which location the robot 30 is to be operated.
  • Information (5) includes, for example, information on whether or not a person is crowded, information on facilities (for example, a station, a museum, an aquarium, a zoo), and the degree of difficulty for a person to go to the place (for example, space or). , Dangerous places, etc. have a high degree of difficulty).
  • Information (6) (information on the attributes of the event held at the location of the robot 30) is information on the attributes of the event held at the location of the robot 30 to be operated.
  • Information on the attributes of an event includes, for example, information such as the type of event, the participation fee of the event, and the scale of the event.
  • the information (7) (information on the attributes of the person corresponding to the robot 30) is information about the person corresponding to the robot 30 to be operated, and includes, for example, information such as the name and occupation of the person. .. Further, the information (7) may include information on the number of persons corresponding to the robot 30.
  • Information (8) includes information on the presence or absence of devices such as cameras, microphones, speakers, moving mechanisms, and manipulators, or information on the performance of each of the devices.
  • the information (8) may further include the degree of human expansion of the robot 30 (for example, information on how much superior power, visual, auditory, and other abilities are compared to humans).
  • Information (9) (information on the purpose of operating the robot 30) is information on what purpose the user operates the robot 30 via the terminal device 20.
  • Operational objectives include, for example, tourism, conference participation, presentations, long-term care, rescue, construction, maintenance, and inspection.
  • Information (10) (information on the attributes of the operator of the robot 30) includes information on the position of the operator (terminal device 20) of the robot 30, occupation of the operator (for example, whether or not he / she is a student), and members. Includes information such as whether or not there is a member, type of member, and whether or not they are seniors.
  • Information (11) (information on the number of reservations of the latest robot 30) is, for example, information on the number of reservations for operation in the latest (for example, the latest one month, the latest six months, the latest one year, etc.) of each robot 30. ..
  • Information (12) (information on the search volume of the robot 30) is information on the search volume of each robot 30 for a database (for example, database 15) that stores reservation information for the operation of the robot 30 in advance.
  • Information (13) (information on the operation time of the robot 30) is information on the length of time (time from the operation start time to the operation end time) in which the robot 30 is operated via the terminal device 20.
  • the evaluation unit 12 evaluates the value of operating the robot 30 via the terminal device 20 based on the information acquired by the acquisition unit 11.
  • the evaluation unit 12 evaluates the value of operating the robot 30 based on, for example, any one or more of the above-mentioned information (1) to (13).
  • the value evaluated is expressed in any way, for example by amount, points, level (eg, 3 levels, 10 levels, etc.).
  • the evaluation by the evaluation unit 12 includes, for example, calculating a charge for operating the robot 30 as a value.
  • a business operator that provides a service that enables a user to operate a robot 30 via a terminal device 20 can use a fee calculated by the evaluation unit 12 as a usage fee for the service. be.
  • the evaluation unit 12 can evaluate the above-mentioned value by using the information acquired by the acquisition unit 11 by an arbitrary method. For example, each of the above-mentioned information (1) to (13) can be evaluated. It may be quantified (for example, quantified) and evaluated as follows.
  • timing for example, time zone, day of the week, season
  • business purposes such as attending meetings are evaluated to be more specialized than tourism purposes.
  • the operations for business purposes the more complicated or advanced the operation, the higher the specialty may be evaluated.
  • the operator shown in the information (10) is a student, a member, a member with a high degree of preferential treatment, and a senior, the lower the value may be evaluated.
  • the evaluation unit 12 evaluates the value of operating the robot 30 via the terminal device 20.
  • the user plans to operate the robot 30 in the B or C area from the A area via the terminal device 20 at 9 am in the time zone of the A area.
  • the distance from land A to land B is 500 km.
  • the search volume of the robot 30 in the B ground is 10, and 6 robots can be used in the operation at 11:00 am.
  • the distance from land A to land C is 10,000 km.
  • the search volume of the robot 30 in the C ground is 10,000, and one robot can be used in the operation at 2 AM in the morning.
  • the distance from the A ground to the C ground is longer than the distance from the A ground to the B ground. Therefore, in this respect, the operation of the robot 30 at the C ground is evaluated as having higher value. You may. In addition, since it is 11:00 am (time when many people are active) in the time zone of B area and 2:00 am (time when many people are not active) in the time zone of C area, in this respect. , The operation of the robot 30 on the ground B may be evaluated as a higher value. Further, since the usable number of the robot 30 is 6 in the B area and 1 in the C area, the operation of the robot 30 in the C area may be evaluated as a higher value in this respect. ..
  • the display control unit 13 controls the display contents on the display units of the terminal device 20 and the robot 30.
  • the display control unit 13 transmits information on the display contents on the display unit of the terminal device 20 to the terminal device 20 based on the information received by the server device 10 in response to the operation of the terminal device 20 by the user. , Controls the display on the display unit of the terminal device 20.
  • the display control unit 13 has, for example, the value evaluated by the evaluation unit 12 (for example, the charge for operating the robot 30) and at least a part of the information acquired by the acquisition unit 11 (for example, the evaluation by the evaluation unit 12).
  • the information used for the above may be controlled to be displayed on the display unit (display device) of the terminal device 20.
  • the display control unit 13 has, for example, a value evaluated by the evaluation unit 12 (for example, a charge for operating the robot 30) and at least a part of the information acquired by the acquisition unit 11 (for example, the evaluation unit 12).
  • the image for accepting the reservation of the operation of the robot 30 based on the information used for the evaluation by the terminal device 20 may be controlled to be displayed on the display unit (display device) of the terminal device 20.
  • the registration unit 14 manages the registration of the reservation by storing the reservation information (reservation information) of the operation of the robot 30 transmitted from the terminal device 20 in the database 15 or updating the stored information. ..
  • the reservation information stored in the database 15 may include arbitrary information, and for example, identification information of a user who operates the robot 30, location information of the terminal device 20 used for the operation, and location of the robot 30 to be operated. It includes information, time zone information to be operated, ability information of the robot 30, and operation purpose information.
  • the database 15 stores various data such as data required for processing executed by the server device 10 and data generated or set by the processing.
  • the information stored in the database 15 includes, for example, user information, information about the terminal device 20 used for operating the robot 30, information about the robot 30, and reservation information for operating the robot 30.
  • the user information is information about a user who reserves the operation of the robot 30, and includes information such as user identification information.
  • Information about the terminal device 20 used for operating the robot 30 includes information on the type of the terminal device 20 (for example, information on whether it is a personal computer, a mobile terminal, a dedicated terminal, or any other), and information on the initial position of the terminal device 20. including.
  • the information about the robot 30 includes the identification information of the robot, the information about the ability of the robot, and the information about the initial position of the robot 30.
  • the reservation information for the operation of the robot 30 is, for example, the identification information of the user who operates the robot 30, the location information of the terminal device 20 used for the operation, the location information of the robot 30 to be operated, the time zone information to be operated, and the robot 30. Includes ability information and operation purpose information.
  • the functions of the server device 10 have been described with reference to FIG. 3, some or all of the above-mentioned functions may be executed by the terminal device 20 or the robot 30.
  • the acquisition unit 11 acquires information about the terminal device 20 and the robot 30, such as information about the distance between the terminal device 20 and the robot 30, and the evaluation unit 12 acquires the information. Based on the information acquired by the unit 11, the value of operating the robot 30 via the terminal device 20 is evaluated. That is, the value of the user operating the robot 30 via the terminal device 20 can be evaluated.
  • This process starts when the server device 10 receives a search command for the operable robot 30 by the user via the terminal device 20a.
  • step S101 the server device 10 searches for the operable robot 30 based on the search conditions included in the search command received from the terminal device 20.
  • the search conditions include, for example, position information at the time of operation of the terminal device 20 used for operating the robot 30 (referred to as terminal device 20b in the processing example shown in FIG. 6), position information of the robot 30 to be operated, and so on. At least a part of the time zone information to be operated, the ability information of the robot 30, and the operation purpose information may be included.
  • the server device 10 acquires the information of the robot 30 that satisfies the search condition among the robots 30 whose information is registered in the database 15.
  • step S102 the server device 10 acquires information that can be used to evaluate the value for operating the robot 30 that satisfies the search condition by the terminal device 20b.
  • the method of acquiring information for evaluating the value has already been described as the processing by the acquisition unit 11.
  • step S103 the server device 10 evaluates the value of operating the robot 30 via the terminal device 20b based on the information acquired in step S102.
  • the value evaluation method has already been described as the processing by the evaluation unit 12.
  • step S104 the server device 10 transmits the information of the robot 30 acquired by the search in step S101 and the information of the value of operating the robot 30 evaluated in step S103 to the terminal device 20a.
  • the terminal device 20a displays the information received from the server device 10 on the display unit. That is, the server device 10 controls the content to be displayed on the display unit of the terminal device 20a.
  • FIG. 7 shows an example of an image displayed on the display unit of the terminal device 20a based on the information transmitted from the server device 10 to the terminal device 20a in step S104 of FIG.
  • the image 70 is acquired to evaluate the value of operating the robot 30 via the terminal device 20b and the information about the robot 30 satisfying the search condition and the information regarding the operation of the robot 30. , Information used) and the charge for operating the robot 30 (value of operating the robot 30 via the terminal device 20b). That is, the image 70 displays the value for operating the robot 30 evaluated by the server device 10 and the information acquired for evaluating the value.
  • Information such as "robot A” is displayed as information on the robot 30 that satisfies the search conditions.
  • “location”, “distance”, “operation location time zone”, and “local time zone” are displayed.
  • the “location” is information on the location of the robot 30 to be operated.
  • the “distance” is information on the distance between the terminal device 20b and the operated robot 30.
  • the “operation place time zone” is information on the operation start time and the operation prisoner time in the time zone of the operation place of the terminal device 20b.
  • the "local time zone” is information on the operation start time and the operation prisoner time in the time zone of the place of the robot 30 to be operated.
  • Information such as "5000 yen” is displayed as a charge for operating each robot 30 that satisfies the search condition.
  • step S105 the server device 10 receives a request for operation reservation of the robot 30 from the terminal device 20a, and in step S106, the server device 10 makes a reservation for the operation of the robot 30. to register.
  • the server device 10 acquires information about the terminal device 20 and the robot 30, such as information about the distance between the terminal device 20 and the robot 30, and the acquired information is used. Based on this, the value of operating the robot 30 via the terminal device 20 is evaluated. That is, the value of the user operating the robot 30 via the terminal device 20 can be evaluated.
  • the computer 700 mainly includes a processor 701, a memory 703, a storage device 705, an operation unit 707, an input unit 709, a communication unit 711, and a display device 713.
  • the computer 700 does not have to include at least a part of these configurations.
  • the computer 700 may include a general-purpose computer or another configuration generally provided by a dedicated computer. Further, the computer 700 does not have to include a part of the configurations shown in FIG.
  • the processor 701 is a control unit that controls various processes in the computer 700 by executing a program stored in the memory 703. Therefore, the processor 701 realizes the function of each device described in the above-described embodiment by the cooperation with the program and other configurations included in the computer 700, and controls the execution of the above-mentioned processing.
  • the memory 703 is a storage medium such as, for example, a RAM (Random Access Memory).
  • the program code of the program executed by the processor 701 and the data required for executing the program are temporarily read from the storage device 705 or the like, or stored in advance.
  • the storage device 705 is a non-volatile storage medium such as a hard disk drive (HDD).
  • the storage device 705 stores an operating system, various programs for realizing each of the above configurations, data of the above-mentioned processing results, and the like.
  • the operation unit 707 is a device for receiving input from the user. Specific examples of the operation unit 707 include a keyboard, a mouse, a touch panel, a joystick, various sensors, a wearable device, and the like.
  • the operation unit 707 may be detachably connected to the computer 700 via an interface such as USB (Universal Serial Bus).
  • the input unit 709 is a device for inputting data from the outside of the computer 700.
  • Specific examples of the input unit 709 include a drive device for reading data stored in various storage media.
  • the input unit 709 may be detachably connected to the computer 700. In that case, the input unit 709 is connected to the computer 700 via an interface such as USB.
  • the communication unit 711 is a device for performing data communication via a network with an external device of the computer 700 by wire or wirelessly.
  • the communication unit 711 may be detachably connected to the computer 700. In that case, the communication unit 711 is connected to the computer 700 via an interface such as USB.
  • the display device 713 is a device for displaying various information. Specific examples of the display device 713 include a liquid crystal display, an organic EL display, a display of a wearable device, and the like.
  • the display device 713 may be detachably connected to the outside of the computer 700. In that case, the display device 713 is connected to the computer 700 via, for example, a display cable or the like. Further, when the touch panel is adopted as the operation unit 707, the display device 713 can be integrally configured with the operation unit 707.
  • the robot 30 includes a processor 901, a RAM (Random Access Memory) 902, a ROM (Read only Memory) 903, a communication unit 904, an input unit 905, a display unit 906, a drive unit 907, and a camera 908.
  • the configuration shown in FIG. 9 is an example, and the robot 30 may have configurations other than these, or may not have a part of these configurations.
  • the robot 30 may include a speaker, a microphone, and various sensors.
  • the processor 901 is a calculation unit of the robot 30, and is, for example, a CPU (Central Processing Unit).
  • the RAM 902 and the ROM 903 are storage units for storing data required for various processes and data of processing results.
  • the robot 30 may include a large-capacity storage unit such as an HDD (Hard Disk Drive).
  • the communication unit 904 is a device that communicates with an external device.
  • the input unit 905 is a device for inputting data from the outside of the robot 30.
  • the display unit 906 is a device for displaying various information.
  • the processor 901 is a control unit that controls execution of a program stored in RAM 902 or ROM 903, calculates data, and processes data.
  • the processor 901 executes a program (communication program) for controlling communication via the robot.
  • the processor 901 receives various data from the input unit 905 and the communication unit 904, displays the calculation result of the data on the display unit 906, and stores the data in the RAM 902.
  • the input unit 905 accepts data input from the user, and may include, for example, a keyboard and a touch panel. Further, the input unit 905 may include a microphone for voice input.
  • the display unit 906 visually displays the calculation result by the processor 901, and may be configured by, for example, an LCD (Liquid Crystal Display).
  • the display unit 906 may display an image taken by the camera 908 of the robot 30.
  • the communication program may be stored in a storage medium readable by a computer such as RAM 902 or ROM 903 and provided, or may be provided via a communication network connected by the communication unit 904.
  • various operations for controlling the robot 30 are realized by the processor 901 executing the communication program.
  • the computer 900 may include an LSI (Large-Scale Integration) in which a processor 901 and a RAM 902 or a ROM 903 are integrated.
  • the drive unit 907 includes an actuator that can be remotely controlled, and includes a moving unit such as a wheel, a manipulator, and the like.
  • the drive unit 907 includes at least a moving unit such as a wheel, but may include a manipulator.
  • the drive unit 907 includes at least a manipulator.
  • the camera 908 includes an image sensor that captures a still image or a moving image, and transmits the captured still image or the moving image to an external device via the communication unit 904.
  • the program for mounting the system 1 (or the server device 10, the terminal device 20, or the robot 30) in the present embodiment is recorded on various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory. Can be done. It can also be installed or loaded on a computer by downloading the above program through a recording medium or via a communication network or the like.
  • the present invention is not limited to the above-described embodiment, and can be carried out in various other forms without departing from the gist of the present invention.
  • the above embodiments are merely examples in all respects and are not to be construed in a limited manner.

Abstract

In the present invention, a value of a user's operation of a robot is evaluated. This information processing device comprises: an acquisition unit that acquires information pertaining to the distance between a terminal device and a robot that is not fixed; and an evaluation unit that evaluates, on the basis of the information acquired by the acquisition unit, a value of the operation of the robot via the terminal device.

Description

情報処理装置、情報処理方法、及びプログラムInformation processing equipment, information processing methods, and programs
　本発明は、情報処理装置、情報処理方法、及びプログラムに関する。 The present invention relates to an information processing device, an information processing method, and a program.
　近年、インターネットを用いたテレビ会議システムが普及し、顔を見ながら話すだけでなく、遠隔地にいるユーザがカメラの向きや位置を操作することができるテレプレゼンスロボットが知られている。 In recent years, video conference systems using the Internet have become widespread, and telepresence robots that not only talk while looking at the face but also allow users at remote locations to control the direction and position of the camera are known.
　特許文献１には、遠隔地にいるユーザに対して撮影画像を提供するカメラ付き移動体が記載されている。 Patent Document 1 describes a moving body with a camera that provides a photographed image to a user at a remote location.
特開２０１９－０６２３０８号公報JP-A-2019-062308
　ユーザがロボットを操作し、ロボットがいる場所におけるエクスペリエンスを体感できることは、ユーザにとって価値の高いことであるが、その価値を評価する方法は確立されていない。 It is highly valuable for the user to be able to operate the robot and experience the experience in the place where the robot is, but a method for evaluating the value has not been established.
　本発明の目的は、ユーザがロボットを操作することの価値を評価することに関する技術を提供することにある。 An object of the present invention is to provide a technique for evaluating the value of a user operating a robot.
　本発明の一態様に係る情報処理装置は、端末装置と、固定されていないロボットとの間の距離に関する情報を取得する取得部と、前記取得部により取得された前記情報に基づいて、前記端末装置を介して前記ロボットを操作することの価値を評価する評価部とを備える。 The information processing device according to one aspect of the present invention is the terminal based on the acquisition unit that acquires information on the distance between the terminal device and the robot that is not fixed, and the information acquired by the acquisition unit. It is provided with an evaluation unit that evaluates the value of operating the robot via the device.
　本発明の一態様に係る情報処理方法は、コンピュータが、端末装置と、固定されていないロボットとの間の距離に関する情報を取得することと、取得された前記情報に基づいて、前記端末装置を介して前記ロボットを操作することの価値を評価することとを含む。 In the information processing method according to one aspect of the present invention, the computer acquires information on the distance between the terminal device and the non-fixed robot, and based on the acquired information, the terminal device is used. Includes assessing the value of operating the robot through.
　本発明の一態様に係るプログラムは、コンピュータに、端末装置と、固定されていないロボットとの間の距離に関する情報を取得することと、取得された前記情報に基づいて、前記端末装置を介して前記ロボットを操作することの価値を評価することとを実行させる。 The program according to one aspect of the present invention acquires information on the distance between the terminal device and the non-fixed robot to the computer, and based on the acquired information, the program is performed via the terminal device. To evaluate the value of operating the robot and to execute it.
　本発明によれば、ユーザがロボットを操作することの価値を評価することに関する技術を提供することにある。 According to the present invention, it is an object of the present invention to provide a technique for evaluating the value of operating a robot by a user.
一実施形態におけるシステムの構成を例示する図である。It is a figure which illustrates the structure of the system in one Embodiment. 一実施形態における端末装置及びロボットを説明するための概念図である。It is a conceptual diagram for demonstrating the terminal apparatus and the robot in one Embodiment. 一実施形態におけるサーバ装置の機能構成を示すブロック図である。It is a block diagram which shows the functional structure of the server apparatus in one Embodiment. 一実施形態における通信システムのサブシステムの処理フローを例示的に説明するためのシーケンス図である。It is a sequence diagram for exemplifying the processing flow of the subsystem of the communication system in one embodiment. 一実施形態において、ロボットを操作することの価値を評価する方法を説明するための概念図である。In one embodiment, it is a conceptual diagram for explaining a method of evaluating the value of operating a robot. 一実施形態におけるサーバ装置の処理のフローを示す図である。It is a figure which shows the flow of the process of the server apparatus in one Embodiment. 一実施形態において端末装置に表示される画像の一例を示す概念図である。It is a conceptual diagram which shows an example of the image displayed on the terminal apparatus in one Embodiment. 一実施形態においてシステムにより使用されるコンピュータのハードウェア構成を例示する概念図である。It is a conceptual diagram which illustrates the hardware composition of the computer used by the system in one Embodiment. 一実施形態におけるロボットのハードウェア構成を例示する概念図である。It is a conceptual diagram which illustrates the hardware composition of the robot in one Embodiment.
　以下に、本発明の一実施形態について説明する。なお、以下の実施形態は、本発明を説明するための例示であり、本発明をその実施の形態のみに限定する趣旨ではない。また、本発明は、その要旨を逸脱しない限り、さまざまな変形が可能である。さらに、当業者であれば、以下に述べる各要素を均等なものに置換した実施の形態を採用することが可能であり、かかる実施の形態も本発明の範囲に含まれる。また、以下においては、理解を容易にするために、情報処理装置（又はコンピュータ）を利用して本発明が実現される実施の形態を例にとって説明するが、本発明はそれに限定されない。 Hereinafter, an embodiment of the present invention will be described. It should be noted that the following embodiments are examples for explaining the present invention, and the present invention is not intended to be limited only to the embodiments thereof. Further, the present invention can be modified in various ways as long as it does not deviate from the gist thereof. Further, those skilled in the art can adopt an embodiment in which each element described below is replaced with an equal one, and such an embodiment is also included in the scope of the present invention. Further, in the following, in order to facilitate understanding, an embodiment in which the present invention is realized by using an information processing device (or a computer) will be described as an example, but the present invention is not limited thereto.
　［システムの構成］
　図１及び図２を参照して、一実施形態に係るシステム１の例示的な構成について説明する。本実施形態において、システム１は、ユーザが端末装置を介してロボットを操作することの価値を評価することが可能である。システム１は、端末装置を介してロボットを操作することの価値として、例えば、当該操作のための料金を評価する。また、システム１は、操作可能なロボットの検索や、ロボットのユーザによる操作の予約などの処理を行うことが可能である。 [System configuration]
An exemplary configuration of the system 1 according to an embodiment will be described with reference to FIGS. 1 and 2. In the present embodiment, the system 1 can evaluate the value of the user operating the robot via the terminal device. The system 1 evaluates, for example, a charge for the operation as the value of operating the robot via the terminal device. Further, the system 1 can perform processing such as searching for an operable robot and reserving an operation by a robot user.
　図１に示すように、システム１は、サーバ装置１０、端末装置２０ａ，２０ｂ，２０ｃ、及びロボット３０ａ，３０ｂ，３０ｃを備える。各装置又はロボットは、他の装置又はロボットと、無線若しくは有線により（又はその両者により）通信可能に構成されている。図１に示す例において、システム１は、３つの端末装置を備えるが、端末装置の数は任意に設定され、２つ以下でも４つ以上であってもよい。端末装置２０ａ，２０ｂ，２０ｃは、それぞれ同様の構成を有してもよいし、異なる構成を有してもよい。端末装置２０ａ，２０ｂ，２０ｃが互いに区別せずに参照される場合は、総称して端末装置２０と称される。また、システム１は、３つのロボットを備えるが、ロボットの数は任意に設定され、２つ以下でも４つ以上であってもよい。ロボット３０ａ，３０ｂ，３０ｃは、それぞれ同様の構成を有してもよいし、異なる構成を有してもよい。ロボット３０ａ，３０ｂ，３０ｃを互いに区別せずに参照する場合は、総称してロボット３０と称される。以下に、それぞれの装置及びロボットの概要を説明する。 As shown in FIG. 1, the system 1 includes a server device 10, terminal devices 20a, 20b, 20c, and robots 30a, 30b, 30c. Each device or robot is configured to be able to communicate with other devices or robots wirelessly or by wire (or both). In the example shown in FIG. 1, the system 1 includes three terminal devices, but the number of terminal devices may be arbitrarily set and may be two or less or four or more. The terminal devices 20a, 20b, and 20c may have similar configurations or different configurations. When the terminal devices 20a, 20b, and 20c are referred to without distinguishing each other, they are collectively referred to as the terminal device 20. Further, the system 1 includes three robots, but the number of robots is arbitrarily set and may be two or less or four or more. The robots 30a, 30b, and 30c may have similar configurations or different configurations. When the robots 30a, 30b, and 30c are referred to without being distinguished from each other, they are collectively referred to as the robot 30. The outline of each device and robot will be described below.
　サーバ装置１０は、端末装置２０を介してロボット３０を操作することの価値を評価する処理等を実行する装置である。サーバ装置１０はさらに、利用可能なロボット３０の検索処理や、ロボット３０の予約登録の管理等を行う。サーバ装置１０は、サーバコンピュータなどの情報処理装置により構成される。サーバ装置１０は、１つの情報処理装置により構成されてもよいし、複数の情報処理装置（例えば、クラウドコンピューティング又はエッヂコンピューティング）により構成されてもよい。 The server device 10 is a device that executes a process for evaluating the value of operating the robot 30 via the terminal device 20. The server device 10 further performs search processing for available robots 30, management of reservation registration of robots 30, and the like. The server device 10 is composed of an information processing device such as a server computer. The server device 10 may be configured by one information processing device or may be configured by a plurality of information processing devices (for example, cloud computing or edge computing).
　端末装置２０は、ロボット３０の操作や、当該操作の予約のために、ユーザにより使用される情報処理装置である。端末装置２０は、例えば、スマートフォン、タブレット端末、ＰＤＡ（Personal Digital Assistants）、パーソナルコンピュータ、ヘッドマウントディスプレイ、特定用途の操作系などの汎用または専用の情報処理装置である。端末装置２０は、ロボット３０の操作、又は当該操作の予約のための専用の情報処理装置により構成されてもよい。ロボット３０の操作のために使用される端末装置２０は、当該操作のために使用される端末装置２０と異なる装置であってもよいし、同じ装置であってもよい。 The terminal device 20 is an information processing device used by the user for operating the robot 30 and reserving the operation. The terminal device 20 is a general-purpose or dedicated information processing device such as a smartphone, a tablet terminal, a PDA (Personal Digital Assistants), a personal computer, a head-mounted display, and an operation system for a specific purpose. The terminal device 20 may be configured by an operation of the robot 30 or a dedicated information processing device for reserving the operation. The terminal device 20 used for operating the robot 30 may be a device different from the terminal device 20 used for the operation, or may be the same device.
　ロボット３０は、固定されていないロボットである。固定されていないとは、ロボット３０が車輪等の移動のための駆動部を有する移動型である場合と、人が装着でき、マニピュレータ等の動作のための駆動部を有する装着型である場合とを含む。 The robot 30 is a non-fixed robot. The term "not fixed" means that the robot 30 is a mobile type having a drive unit for moving wheels or the like, or a wearable type that can be worn by a person and has a drive unit for operation of a manipulator or the like. including.
　移動型のロボットは、例えば特許文献１に示されている。移動型ロボットの移動部は、一輪、二輪又は多輪により走行するもの、キャタピラにより走行するもの、レールの上を走行するもの、飛び跳ねて移動するもの、二足歩行、四足歩行又は多足歩行するもの、スクリューにより水上又は水中を航行するもの及びプロペラ等により飛行するものを含む。装着型のロボットは、例えばMHD Yamen Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 ACM SIGGRAPH 2018 Emerging Technologies Article No. 7.にて公開されている。さらに、ロボット３０は、自動走行又は半自動走行可能な車両や重機であったり、ドローンや飛行機であったりを含む。また、ロボット３０は、スポーツスタジアム等に設置され、レールの上を移動可能なカメラを備えたロボットを含む。また、ロボット３０は、宇宙空間に打ち上げられる衛星型ロボットであって、姿勢制御やカメラの撮影方向の制御が可能なロボットを含む。 The mobile robot is shown in, for example, Patent Document 1. The moving part of the mobile robot is one that travels by one wheel, two wheels or multiple wheels, one that travels by a caterpillar, one that travels on a rail, one that jumps and moves, bipedal walking, four-legged walking or multi-legged walking. Includes those that navigate on or under water with a screw, and those that fly with a propeller or the like. Wearable robots are, for example, MHD Yaman Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 ACM It has been published. Further, the robot 30 includes a vehicle or a heavy machine capable of automatic or semi-automatic traveling, or a drone or an airplane. Further, the robot 30 includes a robot installed in a sports stadium or the like and equipped with a camera that can move on rails. Further, the robot 30 is a satellite type robot launched into outer space, and includes a robot capable of controlling the attitude and the shooting direction of the camera.
　図２に示すように、ユーザは端末装置２０を介してロボット３０の操作（例えば、ロボット３０の移動やロボット３０に搭載されたカメラの操作）を行う。ロボット３０の操作のための信号は、端末装置２０からサーバ装置１０又はその他の装置を介して、ロボット３０に送信される。当該操作のための信号が端末装置２０からロボット３０に直接送信されてもよい。ロボット３０は、受信した信号に応じて動作し、ロボット３０に搭載されたカメラ、マイク及びその他の装置を通じて取得された画像データ及び音声データなど、ロボット３０がいる場所に関してロボット３０が取得又は検知等したデータを端末装置２０に送信する。これにより、ユーザは、端末装置２０及びロボット３０を介して、ロボット３０がいる場所に自分もいるかのようなエクスペリエンスを体感することができる。ロボット３０から送信されるデータは、サーバ装置１０又はその他の装置を介して端末装置２０に送信されてもよいし、端末装置２０に直接送信されてもよい。 As shown in FIG. 2, the user operates the robot 30 via the terminal device 20 (for example, the movement of the robot 30 or the operation of the camera mounted on the robot 30). The signal for operating the robot 30 is transmitted from the terminal device 20 to the robot 30 via the server device 10 or other devices. A signal for the operation may be transmitted directly from the terminal device 20 to the robot 30. The robot 30 operates in response to a received signal, and the robot 30 acquires or detects the location where the robot 30 is located, such as image data and audio data acquired through a camera, a microphone, and other devices mounted on the robot 30. The data is transmitted to the terminal device 20. As a result, the user can experience the experience as if he / she is in the place where the robot 30 is located through the terminal device 20 and the robot 30. The data transmitted from the robot 30 may be transmitted to the terminal device 20 via the server device 10 or other devices, or may be transmitted directly to the terminal device 20.
　図３を参照して、サーバ装置１０が有する主な機能の構成を説明する。これらの機能は、サーバ装置１０が有する制御部（プロセッサ）が、記憶部に記憶されたコンピュータプログラムを読み込み、実行することにより実現される。これらの装置のハードウェア構成については、後述する。 The configuration of the main functions of the server device 10 will be described with reference to FIG. These functions are realized by the control unit (processor) of the server device 10 reading and executing the computer program stored in the storage unit. The hardware configuration of these devices will be described later.
　図３に示すように、サーバ装置１０は、主な機能の構成として、取得部１１、評価部１２、表示制御部１３、登録部１４、及びデータベース１５を有する。サーバ装置１０が有する機能は、これらに限定されず、コンピュータが一般的に有する機能、及び他の機能を有してもよい。 As shown in FIG. 3, the server device 10 has an acquisition unit 11, an evaluation unit 12, a display control unit 13, a registration unit 14, and a database 15 as main functional configurations. The functions of the server device 10 are not limited to these, and may have functions generally possessed by a computer and other functions.
　取得部１１は、後述する評価部１２による評価の処理に必要な情報を取得する。取得部１１により取得される情報は、例えば、次の情報を含む。また、次の情報の取得のために、端末装置２０、ロボット３０、又は図示しないその他の装置と通信が行われてもよいし、サーバ装置１０において各種の演算が行われてもよい。また、取得部１１により取得された情報は、データベース１５に記憶される。 The acquisition unit 11 acquires information necessary for evaluation processing by the evaluation unit 12, which will be described later. The information acquired by the acquisition unit 11 includes, for example, the following information. Further, in order to acquire the next information, communication may be performed with the terminal device 20, the robot 30, or another device (not shown), or various operations may be performed by the server device 10. Further, the information acquired by the acquisition unit 11 is stored in the database 15.
　＜取得部１１により取得される情報の例＞
　（１）端末装置２０と、ロボット３０との間の距離に関する情報
　（２）端末装置２０の位置のタイムゾーンにおける時間的属性の情報
　（３）ロボット３０の位置のタイムゾーンにおける時間的属性の情報
　（４）操作が行われる時間帯において操作可能なロボット３０の数の情報
　（５）ロボット３０の場所の属性の情報
　（６）ロボット３０の場所で開催されるイベントの属性の情報
　（７）ロボット３０に対応する人物の属性の情報
　（８）ロボット３０の能力の情報
　（９）ロボット３０の操作目的の情報
　（１０）ロボット３０の操作者の属性の情報
　（１１）直近のロボット３０の予約数の情報
　（１２）ロボット３０の検索ボリュームの情報
　（１３）ロボット３０の操作時間の情報 <Example of information acquired by acquisition unit 11>
(1) Information on the distance between the terminal device 20 and the robot 30 (2) Information on the time attribute in the time zone of the position of the terminal device 20 (3) Information on the time attribute in the time zone of the position of the robot 30 (4) Information on the number of robots 30 that can be operated during the time when the operation is performed (5) Information on the attributes of the location of the robot 30 (6) Information on the attributes of the event held at the location of the robot 30 (7) Robot Information on the attributes of the person corresponding to 30 (8) Information on the capabilities of the robot 30 (9) Information on the operation purpose of the robot 30 (10) Information on the attributes of the operator of the robot 30 (11) Number of reservations for the latest robot 30 Information (12) Information on the search volume of the robot 30 (13) Information on the operation time of the robot 30
　情報（１）（端末装置２０と、ロボット３０との間の距離に関する情報）は、例えば、（操作に使用される）端末装置２０及び（操作される）ロボット３０の測位処理に基づいて取得された位置情報に応じて特定された距離の情報であってもよい。測位処理は、ＧＮＳＳ（Ｇｌｏｂａｌ　Ｎａｖｉｇａｔｉｏｎ　Ｓａｔｅｌｌｉｔｅ　Ｓｙｓｔｅｍ）により実施されてもよいし、基地局又は通信機器（例えば、ルータ）などを使用して、又はその他の方法により実施されてもよい。また、端末装置２０及びロボット３０の位置に関する情報は、例えば、ロボット３０の通信に使用するロボット３０の近隣の装置（例えば、サーバ装置）の通信用のアドレス情報（例えば、ＩＰアドレス）に基づいて取得された位置の情報であってもよい。例えば、ロボット３０（又は端末装置２０）の近隣の装置のＩＰアドレスに基づいて、当該装置の位置を特定し、特定された位置の情報をロボット３０（又は端末装置２０）の位置に関する情報としてもよい。端末装置２０及びロボット３０の位置の情報は、予めデータベース１５に記憶されていてもよいし、端末装置２０及びロボット３０から取得してもよく、取得部１１は、データベース１５、端末装置２０、又はロボット３０から取得した位置の情報に基づいて、端末装置２０と、ロボット３０との間の距離に関する情報を取得してもよい。位置の情報は、緯度／経度、任意に設定された座標情報、又はその他の形式により表現される。 Information (1) (information about the distance between the terminal device 20 and the robot 30) is acquired based on, for example, the positioning process of the terminal device 20 (used for operation) and the robot 30 (operated). It may be the information of the distance specified according to the position information. The positioning process may be carried out by GNSS (Global Navigation Satellite System), or may be carried out by using a base station or a communication device (for example, a router), or by another method. Further, the information regarding the positions of the terminal device 20 and the robot 30 is based on, for example, communication address information (for example, IP address) of a device (for example, a server device) in the vicinity of the robot 30 used for communication of the robot 30. It may be the information of the acquired position. For example, the position of the device is specified based on the IP address of the device in the vicinity of the robot 30 (or the terminal device 20), and the information on the specified position can be used as the information on the position of the robot 30 (or the terminal device 20). good. Information on the positions of the terminal device 20 and the robot 30 may be stored in the database 15 in advance, or may be acquired from the terminal device 20 and the robot 30, and the acquisition unit 11 may obtain the database 15, the terminal device 20, or the terminal device 20. Information on the distance between the terminal device 20 and the robot 30 may be acquired based on the position information acquired from the robot 30. The position information is represented by latitude / longitude, arbitrarily set coordinate information, or other format.
　端末装置２０と、ロボット３０との間の距離に関する情報は、端末装置２０と、ロボット３０との間の距離は、端末装置２０と、ロボット３０との間の直線距離であってもよい。また、端末装置２０と、ロボット３０との間の距離に関する情報は、端末装置２０と、ロボット３０との間で行われる通信経路を考慮した距離であってもよい。 The information regarding the distance between the terminal device 20 and the robot 30 may be the distance between the terminal device 20 and the robot 30 as a linear distance between the terminal device 20 and the robot 30. Further, the information regarding the distance between the terminal device 20 and the robot 30 may be a distance in consideration of the communication path performed between the terminal device 20 and the robot 30.
　図４を参照して、端末装置２０と、ロボット３０との間で行われる通信経路を考慮した距離の一例について説明する。まず、取得部１１は、端末装置２０の通信で使用される端末装置２０のローカルＩＰアドレス、及び端末装置２０とロボット３０との間の通信で使用される装置（例えば、クラウドサーバ）のＩＰアドレスを取得する。取得部１１は、取得されたＩＰアドレスにより特定される位置の情報（例えば、行政区画名称などの地域名、又は住所など）を特定する。取得部１１は、ＩＰアドレスに基づいて特定される位置の間の距離を端末装置２０と、ロボット３０との間の距離として特定する。図４に示す例において、端末装置２０と、ロボット３０との間の距離は、ｄ１＋ｄ２＋ｄ３＋ｄ４である。ＩＰアドレスに基づいて特定される位置は、正確な位置ではない場合もあるため、上記のようにして特定される距離は、概算距離であってもよい。 With reference to FIG. 4, an example of a distance considering a communication path performed between the terminal device 20 and the robot 30 will be described. First, the acquisition unit 11 determines the local IP address of the terminal device 20 used in the communication of the terminal device 20 and the IP address of the device (for example, a cloud server) used in the communication between the terminal device 20 and the robot 30. To get. The acquisition unit 11 specifies information on the location specified by the acquired IP address (for example, an area name such as an administrative division name, or an address). The acquisition unit 11 specifies the distance between the positions specified based on the IP address as the distance between the terminal device 20 and the robot 30. In the example shown in FIG. 4, the distance between the terminal device 20 and the robot 30 is d1 + d2 + d3 + d4. Since the position specified based on the IP address may not be an accurate position, the distance specified as described above may be an approximate distance.
　情報（２）（端末装置２０の位置のタイムゾーンにおける時間的属性の情報）、情報（３）（ロボット３０の位置のタイムゾーンにおける時間的属性の情報）に関して、端末装置２０及びロボット３０の位置の情報の取得方法は、上述した測位処理又は通信用アドレス情報を使用した処理等のより取得される。以下に説明する処理においても同様である。 Regarding information (2) (information on the time attribute in the time zone of the position of the terminal device 20) and information (3) (information on the time attribute in the time zone of the position of the robot 30), the positions of the terminal device 20 and the robot 30. The information acquisition method is acquired by the above-mentioned positioning process, processing using communication address information, or the like. The same applies to the processing described below.
　情報（２）における時間的属性の情報は、ユーザが端末装置２０を介してロボット３０を操作するときの端末装置２０の位置のタイムゾーンにおける、例えば、時間情報（例えば、操作開始時間及び操作終了時間）、操作時間の長さ、朝、昼、夕、夜、又は深夜の何れであるかの情報、曜日の情報、及び季節の情報のうちの少なくともいずれかを含む。 The information of the time attribute in the information (2) is, for example, time information (for example, operation start time and operation end) in the time zone of the position of the terminal device 20 when the user operates the robot 30 via the terminal device 20. Includes at least one of time), length of operation time, morning, noon, evening, night, or midnight information, daytime information, and seasonal information.
　情報（３）における時間的属性の情報は、ユーザが端末装置２０を介してロボット３０を操作するときのロボット３０の位置のタイムゾーンにおける、例えば、時間情報（例えば、操作開始時間及び操作終了時間）、操作時間の長さ、朝、昼、夕、夜、又は深夜の何れであるかの情報、曜日の情報、及び季節の情報のうちの少なくともいずれかを含む。 The information of the time attribute in the information (3) is, for example, time information (for example, operation start time and operation end time) in the time zone of the position of the robot 30 when the user operates the robot 30 via the terminal device 20. ), Length of operation time, morning, noon, evening, night, or midnight information, daytime information, and seasonal information at least.
　情報（４）（操作が行われる時間帯において操作可能なロボット３０の数の情報）は、例えば、ユーザがロボット３０を操作したい時間として設定した時間帯（例えば、２０２０年９月１０日の１２：００から１５：００）を検索キーとして、ロボット３０の操作の予約情報を予め記憶しているデータベース（例えば、データベース１５）を検索し、操作可能なロボット３０の数を特定してもよい。 The information (4) (information on the number of robots 30 that can be operated in the time zone in which the operation is performed) is, for example, a time zone set as a time when the user wants to operate the robot 30 (for example, 12 on September 10, 2020). : 00 to 15:00) may be used as a search key to search a database (for example, database 15) that stores reservation information for the operation of the robot 30 in advance, and to specify the number of robots 30 that can be operated.
　情報（５）（ロボット３０の場所の属性の情報）は、どの場所にいるロボット３０を操作するかについての情報である。情報（５）は、例えば、人が多く混雑しているか否かの情報、施設の情報（例えば、駅、美術館、水族館、動物園）、人がその場へ行くことの難易度（例えば、宇宙や、危険な場所等は、難易度が高い）などの情報を含む。 Information (5) (information on the attributes of the location of the robot 30) is information on which location the robot 30 is to be operated. Information (5) includes, for example, information on whether or not a person is crowded, information on facilities (for example, a station, a museum, an aquarium, a zoo), and the degree of difficulty for a person to go to the place (for example, space or). , Dangerous places, etc. have a high degree of difficulty).
　情報（６）（ロボット３０の場所で開催されるイベントの属性の情報）は、操作されるロボット３０のいる場所で開催されるイベントの属性の情報である。イベントの属性の情報は、例えば、イベントの種類、イベントの参加料金、イベントの規模などの情報を含む。 Information (6) (information on the attributes of the event held at the location of the robot 30) is information on the attributes of the event held at the location of the robot 30 to be operated. Information on the attributes of an event includes, for example, information such as the type of event, the participation fee of the event, and the scale of the event.
　情報（７）（ロボット３０に対応する人物の属性の情報）は、操作されるロボット３０に対して、対応する人物ついての情報であり、例えば、その人物の知名度、及び職業などの情報を含む。また、情報（７）は、ロボット３０が対応する人物の人数の情報を含んでもよい。 The information (7) (information on the attributes of the person corresponding to the robot 30) is information about the person corresponding to the robot 30 to be operated, and includes, for example, information such as the name and occupation of the person. .. Further, the information (7) may include information on the number of persons corresponding to the robot 30.
　情報（８）（ロボット３０の能力の情報）は、例えば、カメラ、マイク、スピーカ、移動機構、及びマニピュレータなどのデバイスの有無、又は当該デバイスのそれぞれの性能の情報を含む。また、情報（８）は、さらに、そのロボット３０の人間拡張度（例えば、人間と比較してどれだけ優れたパワー、視覚、聴覚などの能力を有するかについての情報）を含んでもよい。 Information (8) (information on the capabilities of the robot 30) includes information on the presence or absence of devices such as cameras, microphones, speakers, moving mechanisms, and manipulators, or information on the performance of each of the devices. In addition, the information (8) may further include the degree of human expansion of the robot 30 (for example, information on how much superior power, visual, auditory, and other abilities are compared to humans).
　情報（９）（ロボット３０の操作目的の情報）は、ユーザが端末装置２０を介してどのような目的でロボット３０を操作するかについての情報である。操作目的は、例えば、観光、会議参加、プレゼンテーション、介護、救助、工事、メンテナンス、及び検査などを含む。 Information (9) (information on the purpose of operating the robot 30) is information on what purpose the user operates the robot 30 via the terminal device 20. Operational objectives include, for example, tourism, conference participation, presentations, long-term care, rescue, construction, maintenance, and inspection.
　情報（１０）（ロボット３０の操作者の属性の情報）は、ロボット３０の操作者（端末装置２０）の位置の情報、操作者の職業（例えば、学生であるか否かなど）、会員であるか否か、会員の種別、シニアであるか否かなどの情報を含む。 Information (10) (information on the attributes of the operator of the robot 30) includes information on the position of the operator (terminal device 20) of the robot 30, occupation of the operator (for example, whether or not he / she is a student), and members. Includes information such as whether or not there is a member, type of member, and whether or not they are seniors.
　情報（１１）（直近のロボット３０の予約数の情報）は、例えば、各ロボット３０の直近（例えば、直近１ヶ月、直近半年、直近１年など）における操作のための予約数の情報である。 Information (11) (information on the number of reservations of the latest robot 30) is, for example, information on the number of reservations for operation in the latest (for example, the latest one month, the latest six months, the latest one year, etc.) of each robot 30. ..
　情報（１２）（ロボット３０の検索ボリュームの情報）は、ロボット３０の操作の予約情報を予め記憶しているデータベース（例えば、データベース１５）についての各ロボット３０の検索ボリュームの情報である。 Information (12) (information on the search volume of the robot 30) is information on the search volume of each robot 30 for a database (for example, database 15) that stores reservation information for the operation of the robot 30 in advance.
　情報（１３）（ロボット３０の操作時間の情報）は、端末装置２０を介してロボット３０が操作される時間の長さ（操作開始時間から操作終了時間までの時間）の情報である。 Information (13) (information on the operation time of the robot 30) is information on the length of time (time from the operation start time to the operation end time) in which the robot 30 is operated via the terminal device 20.
　評価部１２は、取得部１１により取得された情報に基づいて、端末装置２０を介して、ロボット３０を操作することの価値を評価する。評価部１２は、例えば、上述の情報（１）から（１３）のうち、いずれか１つ又は複数の情報に基づいて、ロボット３０を操作することの価値を評価する。評価された価値は、任意の方法で示されるが、例えば、金額、ポイント、レベル（例えば、３段階のレベル、１０段階のレベルなど）により示される。 The evaluation unit 12 evaluates the value of operating the robot 30 via the terminal device 20 based on the information acquired by the acquisition unit 11. The evaluation unit 12 evaluates the value of operating the robot 30 based on, for example, any one or more of the above-mentioned information (1) to (13). The value evaluated is expressed in any way, for example by amount, points, level (eg, 3 levels, 10 levels, etc.).
　評価部１２による評価は、例えば、価値として、ロボット３０を操作するための料金を算出することを含む。詳細には、ユーザが端末装置２０を介してロボット３０を操作できるようにするサービスを提供する事業者が、そのサービスの利用料として、評価部１２により算出された料金を使用することが可能である。 The evaluation by the evaluation unit 12 includes, for example, calculating a charge for operating the robot 30 as a value. Specifically, a business operator that provides a service that enables a user to operate a robot 30 via a terminal device 20 can use a fee calculated by the evaluation unit 12 as a usage fee for the service. be.
　評価部１２は、取得部１１により取得された情報を任意の方法により使用して、上述の価値を評価することができるが、例えば、上述の情報（１）から（１３）のそれぞれの情報を定量化（例えば、数値化）して、次のように評価してもよい。 The evaluation unit 12 can evaluate the above-mentioned value by using the information acquired by the acquisition unit 11 by an arbitrary method. For example, each of the above-mentioned information (1) to (13) can be evaluated. It may be quantified (for example, quantified) and evaluated as follows.
　情報（１）の距離に関する情報が長い距離を示すほど、より高い価値として評価される。 The longer the distance information in information (1) shows, the higher the value is evaluated.
　情報（２）の端末装置２０のタイムゾーンにおける時間的属性の情報が示すタイミング（例えば、時間帯、曜日、季節）において、端末装置２０のタイムゾーンにおいて、ロボット３０を使用するユーザ数が多いほど、より高い価値として評価される。 In the timing (for example, time zone, day of the week, season) indicated by the information of the time attribute in the time zone of the terminal device 20 of the information (2), the larger the number of users who use the robot 30 in the time zone of the terminal device 20. , Evaluated as higher value.
　情報（３）のロボット３０のタイムゾーンにおける時間的属性の情報が示すタイミング（例えば、時間帯、曜日、季節）において、ロボット３０のタイムゾーンにおいて、ロボット３０を使用するユーザ数が多いほど、より高い価値として評価される。 In the timing (for example, time zone, day of the week, season) indicated by the information of the time attribute in the time zone of the robot 30 in the information (3), the larger the number of users who use the robot 30 in the time zone of the robot 30, the more. It is evaluated as a high value.
　情報（４）が示す操作可能なロボット３０の数が少ないほど、より高い価値として評価される。 The smaller the number of operable robots 30 indicated by the information (4), the higher the value is evaluated.
　情報（５）が示す混雑度、施設に入場するための入場料、難易度、又はロボット３０を介して体感できるものの希少価値が高いほど、より高い価値として評価される。 The higher the congestion level shown in the information (5), the entrance fee for entering the facility, the difficulty level, or the rare value of what can be experienced through the robot 30, the higher the value is evaluated.
　情報（６）が示すイベントの種類の希少価値、イベントの参加料金、又はイベントの規模が高い（又は大きい）ほど、より高い価値として評価される。 The rare value of the event type shown in information (6), the participation fee of the event, or the larger (or larger) the scale of the event, the higher the value is evaluated.
　情報（７）が示す人物の知名度が高い、職業の専門性の度合いが高い、対応する人物の人数が多いほど、より高い価値として評価される。 The higher the name recognition of the person shown in the information (7), the higher the degree of professionalism, and the larger the number of corresponding persons, the higher the value is evaluated.
　情報（８）が示すロボット３０の能力が高いほど、より高い価値として評価される。 The higher the ability of the robot 30 shown in the information (8), the higher the value is evaluated.
　情報（９）が示す操作目的の専門性が高いほど、より高い価値として評価される。例えば、観光の目的よりも、会議参加などのビジネス目的の方が、より専門性が高いと評価される。ビジネス目的の操作の中でも、より複雑又は高度な操作であるほど、専門性が高いと評価されてもよい。 The higher the specialty of the operation purpose shown in the information (9), the higher the value is evaluated. For example, business purposes such as attending meetings are evaluated to be more specialized than tourism purposes. Among the operations for business purposes, the more complicated or advanced the operation, the higher the specialty may be evaluated.
　情報（１０）が示す操作者が学生である、会員である、優遇度の高い会員である、シニアであるほど、より低い価値として評価されてもよい。 The operator shown in the information (10) is a student, a member, a member with a high degree of preferential treatment, and a senior, the lower the value may be evaluated.
　情報（１１）が示す予約数が多いほど、より高い価値として評価されてもよい。 The larger the number of reservations indicated by the information (11), the higher the value may be evaluated.
　情報（１２）が示す検索ボリュームの値が高いほど、より高い価値として評価されてもよい。 The higher the value of the search volume indicated by the information (12), the higher the value may be evaluated.
　情報（１３）が示す操作時間が長いほど、より高い価値として評価されてもよい。 The longer the operation time indicated by the information (13), the higher the value may be evaluated.
　図５を参照して、評価部１２が、端末装置２０を介してロボット３０を操作することの価値を評価する方法の例を説明する。図５に示す例において、ユーザは、Ａ地から端末装置２０を介してＡ地のタイムゾーンで午前９時に、Ｂ地又はＣ地のロボット３０を操作することを予定している。Ａ地からＢ地までの距離は５００ｋｍである。Ｂ地のロボット３０の検索ボリュームは１０であり、午前１１時の操作における利用可能なロボットは６台である。また、Ａ地からＣ地までの距離は１０，０００ｋｍである。Ｃ地のロボット３０の検索ボリュームは１０，０００であり、午前２ＡＭにおける操作における利用可能なロボットは１台である。 With reference to FIG. 5, an example of a method in which the evaluation unit 12 evaluates the value of operating the robot 30 via the terminal device 20 will be described. In the example shown in FIG. 5, the user plans to operate the robot 30 in the B or C area from the A area via the terminal device 20 at 9 am in the time zone of the A area. The distance from land A to land B is 500 km. The search volume of the robot 30 in the B ground is 10, and 6 robots can be used in the operation at 11:00 am. The distance from land A to land C is 10,000 km. The search volume of the robot 30 in the C ground is 10,000, and one robot can be used in the operation at 2 AM in the morning.
　図５に示す例において、Ａ地からＢ地までの距離よりもＡ地からＣ地までの距離の方が長いため、この点において、Ｃ地のロボット３０の操作の方が高い価値として評価されてもよい。また、Ｂ地のタイムゾーンでは午前１１時（多くの人が活動する時間）であるときに、Ｃ地のタイムゾーンでは午前２時（多くの人が活動しない時間）であるため、この点において、Ｂ地のロボット３０の操作の方が高い価値として評価されてもよい。また、ロボット３０の利用可能数は、Ｂ地では６であるのに対し、Ｃ地では１であるため、この点において、Ｃ地のロボット３０の操作の方が高い価値として評価されてもよい。 In the example shown in FIG. 5, the distance from the A ground to the C ground is longer than the distance from the A ground to the B ground. Therefore, in this respect, the operation of the robot 30 at the C ground is evaluated as having higher value. You may. In addition, since it is 11:00 am (time when many people are active) in the time zone of B area and 2:00 am (time when many people are not active) in the time zone of C area, in this respect. , The operation of the robot 30 on the ground B may be evaluated as a higher value. Further, since the usable number of the robot 30 is 6 in the B area and 1 in the C area, the operation of the robot 30 in the C area may be evaluated as a higher value in this respect. ..
　図３の説明に戻り、表示制御部１３は、端末装置２０及びロボット３０の表示部への表示内容を制御する。例えば、表示制御部１３は、ユーザによる端末装置２０に対する操作に応じてサーバ装置１０が受信した情報に基づいて、端末装置２０の表示部への表示内容に関する情報を端末装置２０へ送信することにより、端末装置２０の表示部への表示を制御する。 Returning to the explanation of FIG. 3, the display control unit 13 controls the display contents on the display units of the terminal device 20 and the robot 30. For example, the display control unit 13 transmits information on the display contents on the display unit of the terminal device 20 to the terminal device 20 based on the information received by the server device 10 in response to the operation of the terminal device 20 by the user. , Controls the display on the display unit of the terminal device 20.
　表示制御部１３は、例えば、評価部１２により評価された価値（例えば、ロボット３０の操作のための料金）と、取得部１１により取得された情報の少なくとも一部（例えば、評価部１２による評価のために使用された情報）とを端末装置２０の表示部（表示装置）に表示するように制御してもよい。 The display control unit 13 has, for example, the value evaluated by the evaluation unit 12 (for example, the charge for operating the robot 30) and at least a part of the information acquired by the acquisition unit 11 (for example, the evaluation by the evaluation unit 12). The information used for the above may be controlled to be displayed on the display unit (display device) of the terminal device 20.
　また、表示制御部１３は、例えば、評価部１２により評価された価値（例えば、ロボット３０の操作のための料金）と、取得部１１により取得された情報の少なくとも一部（例えば、評価部１２による評価のために使用された情報）とに基づいたロボット３０の操作の予約を受け付けるための画像を端末装置２０の表示部（表示装置）に表示するように制御してもよい。 Further, the display control unit 13 has, for example, a value evaluated by the evaluation unit 12 (for example, a charge for operating the robot 30) and at least a part of the information acquired by the acquisition unit 11 (for example, the evaluation unit 12). The image for accepting the reservation of the operation of the robot 30 based on the information used for the evaluation by the terminal device 20 may be controlled to be displayed on the display unit (display device) of the terminal device 20.
　登録部１４は、端末装置２０から送信されたロボット３０の操作の予約の情報（予約情報）をデータベース１５に記憶し、又は記憶された情報を更新等することにより、当該予約の登録を管理する。データベース１５に記憶される予約情報は、任意の情報を含むことができるが、例えば、ロボット３０を操作するユーザの識別情報、操作に使用する端末装置２０の場所情報、操作されるロボット３０の場所情報、操作する時間帯情報、ロボット３０の能力情報、及び操作目的情報を含む。 The registration unit 14 manages the registration of the reservation by storing the reservation information (reservation information) of the operation of the robot 30 transmitted from the terminal device 20 in the database 15 or updating the stored information. .. The reservation information stored in the database 15 may include arbitrary information, and for example, identification information of a user who operates the robot 30, location information of the terminal device 20 used for the operation, and location of the robot 30 to be operated. It includes information, time zone information to be operated, ability information of the robot 30, and operation purpose information.
　データベース１５は、サーバ装置１０において実行される処理に必要なデータ、並びに当該処理により生成又は設定されたデータなど、各種データを記憶する。データベース１５に記憶される情報は、例えば、ユーザ情報、ロボット３０の操作に使用される端末装置２０に関する情報、ロボット３０に関する情報、ロボット３０の操作の予約情報を含む。 The database 15 stores various data such as data required for processing executed by the server device 10 and data generated or set by the processing. The information stored in the database 15 includes, for example, user information, information about the terminal device 20 used for operating the robot 30, information about the robot 30, and reservation information for operating the robot 30.
　ユーザ情報は、ロボット３０の操作を予約するユーザに関する情報であり、ユーザ識別情報などの情報を含む。ロボット３０の操作に使用される端末装置２０に関する情報は、端末装置２０の種類（例えば、パーソナルコンピュータ、モバイル端末、専用端末、その他の何れであるかの情報）、端末装置２０の初期位置の情報を含む。ロボット３０に関する情報は、ロボットの識別情報、ロボットの能力に関する情報、ロボット３０の初期位置の情報を含む。ロボット３０の操作の予約情報は、例えば、ロボット３０を操作するユーザの識別情報、操作に使用する端末装置２０の場所情報、操作されるロボット３０の場所情報、操作する時間帯情報、ロボット３０の能力情報、及び操作目的情報を含む。 The user information is information about a user who reserves the operation of the robot 30, and includes information such as user identification information. Information about the terminal device 20 used for operating the robot 30 includes information on the type of the terminal device 20 (for example, information on whether it is a personal computer, a mobile terminal, a dedicated terminal, or any other), and information on the initial position of the terminal device 20. including. The information about the robot 30 includes the identification information of the robot, the information about the ability of the robot, and the information about the initial position of the robot 30. The reservation information for the operation of the robot 30 is, for example, the identification information of the user who operates the robot 30, the location information of the terminal device 20 used for the operation, the location information of the robot 30 to be operated, the time zone information to be operated, and the robot 30. Includes ability information and operation purpose information.
　図３を参照してサーバ装置１０が有する機能の説明をしたが、上述した機能の一部又は全てが、端末装置２０又はロボット３０により実行されてもよい。 Although the functions of the server device 10 have been described with reference to FIG. 3, some or all of the above-mentioned functions may be executed by the terminal device 20 or the robot 30.
　以上のように本実施形態によれば、取得部１１は、端末装置２０と、ロボット３０との間の距離に関する情報など、端末装置２０及びロボット３０に関する情報を取得し、評価部１２は、取得部１１により取得された情報に基づいて、端末装置２０を介してロボット３０を操作することの価値を評価する。すなわち、ユーザが端末装置２０を介してロボット３０を操作することの価値を評価することができる。 As described above, according to the present embodiment, the acquisition unit 11 acquires information about the terminal device 20 and the robot 30, such as information about the distance between the terminal device 20 and the robot 30, and the evaluation unit 12 acquires the information. Based on the information acquired by the unit 11, the value of operating the robot 30 via the terminal device 20 is evaluated. That is, the value of the user operating the robot 30 via the terminal device 20 can be evaluated.
　［処理フロー］
　図６を参照して、システム１における処理フローの一例として、ロボット３０の操作の予約のための処理の例を説明する。この処理は、サーバ装置１０及び端末装置２０において、プロセッサが、記憶部に記憶されたコンピュータプログラムを読み込み、実行することにより実現される。なお、この処理における各処理ステップについて、既に詳細を説明しているものについては、ここでは詳細な説明を省略する。 [Processing flow]
As an example of the processing flow in the system 1, an example of processing for reserving the operation of the robot 30 will be described with reference to FIG. This process is realized in the server device 10 and the terminal device 20 by the processor reading and executing the computer program stored in the storage unit. It should be noted that detailed description of each processing step in this processing has already been described here.
　この処理は、サーバ装置１０が、ユーザにより端末装置２０ａを介して、操作可能なロボット３０の検索命令を受信したときに開始する。 This process starts when the server device 10 receives a search command for the operable robot 30 by the user via the terminal device 20a.
　ステップＳ１０１において、サーバ装置１０は、端末装置２０から受信した検索命令に含まれる検索条件に基づいて、操作可能なロボット３０の検索を実施する。検索条件は、例えば、ロボット３０の操作に使用される端末装置２０（図６に示す処理の例において、端末装置２０ｂとする。）の操作時の位置情報、操作されるロボット３０の位置情報、操作する時間帯情報、ロボット３０の能力情報、及び操作目的情報のうち少なくとも一部を含んでもよい。サーバ装置１０は、データベース１５に情報が登録されたロボット３０のうち、検索条件を満たすロボット３０の情報を取得する。 In step S101, the server device 10 searches for the operable robot 30 based on the search conditions included in the search command received from the terminal device 20. The search conditions include, for example, position information at the time of operation of the terminal device 20 used for operating the robot 30 (referred to as terminal device 20b in the processing example shown in FIG. 6), position information of the robot 30 to be operated, and so on. At least a part of the time zone information to be operated, the ability information of the robot 30, and the operation purpose information may be included. The server device 10 acquires the information of the robot 30 that satisfies the search condition among the robots 30 whose information is registered in the database 15.
　次に、ステップＳ１０２において、サーバ装置１０は、検索条件を満たしたロボット３０を端末装置２０ｂにより操作するための価値を評価するために利用可能な情報を取得する。価値を評価するための情報の取得方法については、取得部１１による処理として既に説明したとおりである。 Next, in step S102, the server device 10 acquires information that can be used to evaluate the value for operating the robot 30 that satisfies the search condition by the terminal device 20b. The method of acquiring information for evaluating the value has already been described as the processing by the acquisition unit 11.
　次に、ステップＳ１０３において、サーバ装置１０は、ステップＳ１０２で取得された情報に基づいて、端末装置２０ｂを介して、ロボット３０を操作することの価値を評価する。価値の評価方法については、評価部１２による処理として既に説明したとおりである。 Next, in step S103, the server device 10 evaluates the value of operating the robot 30 via the terminal device 20b based on the information acquired in step S102. The value evaluation method has already been described as the processing by the evaluation unit 12.
　ステップＳ１０４において、サーバ装置１０は、ステップＳ１０１における検索により取得されたロボット３０の情報と、ステップＳ１０３で評価されたロボット３０を操作することの価値の情報とを端末装置２０ａに送信する。端末装置２０ａは、サーバ装置１０から受信した情報を表示部に表示する。すわなち、サーバ装置１０は、端末装置２０ａの表示部に表示する内容を制御する。 In step S104, the server device 10 transmits the information of the robot 30 acquired by the search in step S101 and the information of the value of operating the robot 30 evaluated in step S103 to the terminal device 20a. The terminal device 20a displays the information received from the server device 10 on the display unit. That is, the server device 10 controls the content to be displayed on the display unit of the terminal device 20a.
　図７は、図６のステップＳ１０４において、サーバ装置１０から端末装置２０ａに送信された情報に基づいて、端末装置２０ａの表示部に表示された画像の例を示している。図７に示すように、画像７０は、検索条件を満たしたロボット３０の情報と、ロボット３０の操作に関する情報（端末装置２０ｂを介してロボット３０を操作することの価値を評価するために取得され、使用された情報）と、ロボット３０を操作するための料金（端末装置２０ｂを介してロボット３０を操作することの価値）とを示している。すなわち、画像７０は、サーバ装置１０により評価されたロボット３０を操作するための価値と、当該価値を評価するために取得された情報とを表示している。 FIG. 7 shows an example of an image displayed on the display unit of the terminal device 20a based on the information transmitted from the server device 10 to the terminal device 20a in step S104 of FIG. As shown in FIG. 7, the image 70 is acquired to evaluate the value of operating the robot 30 via the terminal device 20b and the information about the robot 30 satisfying the search condition and the information regarding the operation of the robot 30. , Information used) and the charge for operating the robot 30 (value of operating the robot 30 via the terminal device 20b). That is, the image 70 displays the value for operating the robot 30 evaluated by the server device 10 and the information acquired for evaluating the value.
　検索条件を満たしたロボット３０の情報として、「ロボットＡ」などの情報が表示されている。ロボット３０の操作に関する情報として、「場所」、「距離」、「操作地時間帯」、「現地時間帯」が表示されている。「場所」は操作されるロボット３０の場所の情報である。「距離」は、端末装置２０ｂと操作されるロボット３０との間の距離の情報である。「操作地時間帯」は、端末装置２０ｂの操作場所のタイムゾーンにおける操作開始時間及び操作囚虜時間の情報である。「現地時間帯」は、操作されるロボット３０の場所のタイムゾーンにおける操作開始時間及び操作囚虜時間の情報である。検索条件を満たしたそれぞれのロボット３０を操作するための料金として、「５０００円」などの情報が表示されている。 Information such as "robot A" is displayed as information on the robot 30 that satisfies the search conditions. As information related to the operation of the robot 30, "location", "distance", "operation location time zone", and "local time zone" are displayed. The "location" is information on the location of the robot 30 to be operated. The "distance" is information on the distance between the terminal device 20b and the operated robot 30. The "operation place time zone" is information on the operation start time and the operation prisoner time in the time zone of the operation place of the terminal device 20b. The "local time zone" is information on the operation start time and the operation prisoner time in the time zone of the place of the robot 30 to be operated. Information such as "5000 yen" is displayed as a charge for operating each robot 30 that satisfies the search condition.
　図６に戻り、ステップＳ１０５において、サーバ装置１０は、端末装置２０ａからロボット３０の操作予約のリクエストを受信したことに応じて、ステップＳ１０６で、サーバ装置１０は、ロボット３０の操作についての予約を登録する。 Returning to FIG. 6, in step S105, the server device 10 receives a request for operation reservation of the robot 30 from the terminal device 20a, and in step S106, the server device 10 makes a reservation for the operation of the robot 30. to register.
　図７に示した端末装置２０ａの表示部に表示される画像７０の例において、検索条件を満たした「ロボットＡ」、「ロボットＢ」、及び「ロボットＣ」のうち、「ロボットＡ」が選択されていることが示されている。この状態で、「予約」ボタンが端末装置２０ａのユーザにより選択（例えば、タップ又はクリック）されることにより、端末装置２０ａからサーバ装置１０に対して、ロボット３０（「ロボットＡ」）を設定された条件で操作するための予約のリクエストが送信される。すなわち、画像７０は、評価された価値と、当該価値の評価のために使用された情報とに基づいたロボット３０の操作の予約を受け付けるための画像である。 In the example of the image 70 displayed on the display unit of the terminal device 20a shown in FIG. 7, "robot A" is selected from "robot A", "robot B", and "robot C" that satisfy the search conditions. It is shown that it has been done. In this state, the "reservation" button is selected (for example, tapped or clicked) by the user of the terminal device 20a, so that the robot 30 ("robot A") is set from the terminal device 20a to the server device 10. A reservation request for operating under the above conditions is sent. That is, the image 70 is an image for accepting a reservation for the operation of the robot 30 based on the evaluated value and the information used for the evaluation of the value.
　以上のように本実施形態によれば、サーバ装置１０は、端末装置２０と、ロボット３０との間の距離に関する情報など、端末装置２０及びロボット３０に関する情報を取得し、取得された当該情報に基づいて、端末装置２０を介してロボット３０を操作することの価値を評価する。すなわち、ユーザが端末装置２０を介してロボット３０を操作することの価値を評価することができる。 As described above, according to the present embodiment, the server device 10 acquires information about the terminal device 20 and the robot 30, such as information about the distance between the terminal device 20 and the robot 30, and the acquired information is used. Based on this, the value of operating the robot 30 via the terminal device 20 is evaluated. That is, the value of the user operating the robot 30 via the terminal device 20 can be evaluated.
　［コンピュータのハードウェア構成］
　次に、図８を参照して、本実施形態におけるサーバ装置１０及び端末装置２０を実装するためのコンピュータ（情報処理装置）の例示的なハードウェア構成を説明する。 [Computer hardware configuration]
Next, with reference to FIG. 8, an exemplary hardware configuration of a computer (information processing device) for mounting the server device 10 and the terminal device 20 in the present embodiment will be described.
　図８に示すように、コンピュータ７００は、主な構成として、プロセッサ７０１と、メモリ７０３と、記憶装置７０５と、操作部７０７と、入力部７０９と、通信部７１１、及び表示装置７１３を備える。コンピュータ７００は、これらの構成のうち、少なくとも一部を備えなくてもよい。また、コンピュータ７００は、これらの構成以外に、汎用コンピュータ又は専用コンピュータが一般的に備える他の構成を備えてもよい。また、コンピュータ７００は、図８に示した構成のうち、一部を備えなくてもよい。 As shown in FIG. 8, the computer 700 mainly includes a processor 701, a memory 703, a storage device 705, an operation unit 707, an input unit 709, a communication unit 711, and a display device 713. The computer 700 does not have to include at least a part of these configurations. In addition to these configurations, the computer 700 may include a general-purpose computer or another configuration generally provided by a dedicated computer. Further, the computer 700 does not have to include a part of the configurations shown in FIG.
　プロセッサ７０１は、メモリ７０３に記憶されているプログラムを実行することによりコンピュータ７００における各種の処理を制御する制御部である。従って、プロセッサ７０１は、コンピュータ７００が備える他の構成と、プログラムとの協働により、上記の実施形態で説明した各装置の機能を実現し、上記の処理の実行を制御する。 The processor 701 is a control unit that controls various processes in the computer 700 by executing a program stored in the memory 703. Therefore, the processor 701 realizes the function of each device described in the above-described embodiment by the cooperation with the program and other configurations included in the computer 700, and controls the execution of the above-mentioned processing.
　メモリ７０３は、例えばＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）等の記憶媒体である。メモリ７０３には、プロセッサ７０１によって実行されるプログラムのプログラムコードや、プログラムの実行時に必要となるデータが記憶装置７０５等から一時的に読みだされて、又は予め記憶されている。 The memory 703 is a storage medium such as, for example, a RAM (Random Access Memory). In the memory 703, the program code of the program executed by the processor 701 and the data required for executing the program are temporarily read from the storage device 705 or the like, or stored in advance.
　記憶装置７０５は、例えばハードディスクドライブ（ＨＤＤ）等の不揮発性の記憶媒体である。記憶装置７０５は、オペレーティングシステム、上記各構成を実現するための各種プログラム、上述した処理結果のデータ等を記憶する。 The storage device 705 is a non-volatile storage medium such as a hard disk drive (HDD). The storage device 705 stores an operating system, various programs for realizing each of the above configurations, data of the above-mentioned processing results, and the like.
　操作部７０７は、ユーザからの入力を受け付けるためのデバイスである。操作部７０７の具体例としては、キーボード、マウス、タッチパネル、ジョイスティック、各種センサ、ウェアラブルデバイス等が挙げられる。操作部７０７は、例えばＵＳＢ（Ｕｎｉｖｅｒｓａｌ　Ｓｅｒｉａｌ　Ｂｕｓ）等のインタフェースを介してコンピュータ７００に取り外し可能に接続されても良い。 The operation unit 707 is a device for receiving input from the user. Specific examples of the operation unit 707 include a keyboard, a mouse, a touch panel, a joystick, various sensors, a wearable device, and the like. The operation unit 707 may be detachably connected to the computer 700 via an interface such as USB (Universal Serial Bus).
　入力部７０９は、コンピュータ７００の外部からデータを入力するためのデバイスである。入力部７０９の具体例としては、各種記憶媒体に記憶されているデータを読み取るためのドライブ装置等がある。入力部７０９は、コンピュータ７００に取り外し可能に接続されてもよい。その場合、入力部７０９は、例えばＵＳＢ等のインタフェースを介してコンピュータ７００へと接続される。 The input unit 709 is a device for inputting data from the outside of the computer 700. Specific examples of the input unit 709 include a drive device for reading data stored in various storage media. The input unit 709 may be detachably connected to the computer 700. In that case, the input unit 709 is connected to the computer 700 via an interface such as USB.
　通信部７１１は、コンピュータ７００の外部の装置と有線又は無線により、ネットワークを介したデータ通信を行うための装置である。通信部７１１は、コンピュータ７００に取り外し可能に接続されてもよい。その場合、通信部７１１は、例えばＵＳＢ等のインタフェースを介してコンピュータ７００に接続される。 The communication unit 711 is a device for performing data communication via a network with an external device of the computer 700 by wire or wirelessly. The communication unit 711 may be detachably connected to the computer 700. In that case, the communication unit 711 is connected to the computer 700 via an interface such as USB.
　表示装置７１３は、各種情報を表示するためのデバイスである。表示装置７１３の具体例としては、例えば液晶ディスプレイや有機ＥＬディスプレイ、ウェアラブルデバイスのディスプレイ等が挙げられる。表示装置７１３は、コンピュータ７００の外部に取り外し可能に接続されてもよい。その場合、表示装置７１３は、例えばディスプレイケーブル等を介してコンピュータ７００に接続される。また、操作部７０７としてタッチパネルが採用される場合には、表示装置７１３は、操作部７０７と一体化して構成することが可能である。 The display device 713 is a device for displaying various information. Specific examples of the display device 713 include a liquid crystal display, an organic EL display, a display of a wearable device, and the like. The display device 713 may be detachably connected to the outside of the computer 700. In that case, the display device 713 is connected to the computer 700 via, for example, a display cable or the like. Further, when the touch panel is adopted as the operation unit 707, the display device 713 can be integrally configured with the operation unit 707.
　次に、図９を参照して、本実施形態におけるロボット３０に搭載されるコンピュータ（情報処理装置）及びその他の主な構成の例示的なハードウェア構成を説明する。ロボット３０は、プロセッサ９０１、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）９０２、ＲＯＭ（Ｒｅａｄ　ｏｎｌｙ　Ｍｅｍｏｒｙ）９０３、通信部９０４、入力部９０５、表示部９０６、駆動部９０７、及びカメラ９０８を備える。図９に示す構成は一例であり、ロボット３０はこれら以外の構成を有してもよいし、これらの構成のうち一部を有さなくてもよい。例えば、ロボット３０は、スピーカ、マイク、各種センサを備えてもよい。 Next, with reference to FIG. 9, an exemplary hardware configuration of a computer (information processing device) mounted on the robot 30 and other main configurations in the present embodiment will be described. The robot 30 includes a processor 901, a RAM (Random Access Memory) 902, a ROM (Read only Memory) 903, a communication unit 904, an input unit 905, a display unit 906, a drive unit 907, and a camera 908. The configuration shown in FIG. 9 is an example, and the robot 30 may have configurations other than these, or may not have a part of these configurations. For example, the robot 30 may include a speaker, a microphone, and various sensors.
　プロセッサ９０１は、ロボット３０の演算部であり、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）である。ＲＡＭ９０２及びＲＯＭ９０３は、各種処理に必要なデータ及び処理結果のデータを記憶する記憶部である。ロボット３０は、ＲＡＭ９０２及びＲＯＭ９０３以外に、ＨＤＤ（Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ）などの大容量の記憶部を備えてもよい。通信部９０４は、外部装置との通信を行うデバイスである。入力部９０５は、ロボット３０の外部からデータを入力するためのデバイスである。表示部９０６は、各種情報を表示するためのデバイスである。 The processor 901 is a calculation unit of the robot 30, and is, for example, a CPU (Central Processing Unit). The RAM 902 and the ROM 903 are storage units for storing data required for various processes and data of processing results. In addition to the RAM 902 and the ROM 903, the robot 30 may include a large-capacity storage unit such as an HDD (Hard Disk Drive). The communication unit 904 is a device that communicates with an external device. The input unit 905 is a device for inputting data from the outside of the robot 30. The display unit 906 is a device for displaying various information.
　プロセッサ９０１は、ＲＡＭ９０２又はＲＯＭ９０３に記憶されたプログラムの実行に関する制御やデータの演算、加工を行う制御部である。プロセッサ９０１は、ロボットを介したコミュニケーションを制御するプログラム（コミュニケーションプログラム）を実行する。プロセッサ９０１は、入力部９０５や通信部９０４から種々のデータを受け取り、データの演算結果を表示部９０６に表示したり、ＲＡＭ９０２に格納したりする。 The processor 901 is a control unit that controls execution of a program stored in RAM 902 or ROM 903, calculates data, and processes data. The processor 901 executes a program (communication program) for controlling communication via the robot. The processor 901 receives various data from the input unit 905 and the communication unit 904, displays the calculation result of the data on the display unit 906, and stores the data in the RAM 902.
　入力部９０５は、ユーザからデータの入力を受け付けるものであり、例えば、キーボード及びタッチパネルを含んでよい。また、入力部９０５は、音声入力のためのマイクを含んでよい。 The input unit 905 accepts data input from the user, and may include, for example, a keyboard and a touch panel. Further, the input unit 905 may include a microphone for voice input.
　表示部９０６は、プロセッサ９０１による演算結果を視覚的に表示するものであり、例えば、ＬＣＤ（Ｌｉｑｕｉｄ　Ｃｒｙｓｔａｌ　Ｄｉｓｐｌａｙ）により構成されてよい。表示部９０６は、ロボット３０のカメラ９０８で撮影された画像を表示してよい。 The display unit 906 visually displays the calculation result by the processor 901, and may be configured by, for example, an LCD (Liquid Crystal Display). The display unit 906 may display an image taken by the camera 908 of the robot 30.
　コミュニケーションプログラムは、ＲＡＭ９０２やＲＯＭ９０３等のコンピュータによって読み取り可能な記憶媒体に記憶されて提供されてもよいし、通信部９０４により接続される通信ネットワークを介して提供されてもよい。ロボット３０では、プロセッサ９０１がコミュニケーションプログラムを実行することにより、ロボット３０を制御するための様々な動作が実現される。なお、これらの物理的な構成は例示であって、必ずしも独立した構成でなくてもよい。例えば、コンピュータ９００は、プロセッサ９０１とＲＡＭ９０２やＲＯＭ９０３が一体化したＬＳＩ（Ｌａｒｇｅ－Ｓｃａｌｅ Ｉｎｔｅｇｒａｔｉｏｎ）を備えていてもよい。 The communication program may be stored in a storage medium readable by a computer such as RAM 902 or ROM 903 and provided, or may be provided via a communication network connected by the communication unit 904. In the robot 30, various operations for controlling the robot 30 are realized by the processor 901 executing the communication program. It should be noted that these physical configurations are examples and do not necessarily have to be independent configurations. For example, the computer 900 may include an LSI (Large-Scale Integration) in which a processor 901 and a RAM 902 or a ROM 903 are integrated.
　駆動部９０７は、遠隔操作可能なアクチュエータを含み、車輪等の移動部やマニピュレータ等を含む。ロボット３０が移動型のロボットである場合、駆動部９０７は、少なくとも車輪等の移動部を含むが、マニピュレータを含んでもよい。ロボット３０が装着型である場合、駆動部９０７は、少なくともマニピュレータを含む。 The drive unit 907 includes an actuator that can be remotely controlled, and includes a moving unit such as a wheel, a manipulator, and the like. When the robot 30 is a mobile robot, the drive unit 907 includes at least a moving unit such as a wheel, but may include a manipulator. When the robot 30 is wearable, the drive unit 907 includes at least a manipulator.
　カメラ９０８は、静止画又は動画を撮像する撮像素子を含み、撮像した静止画又は動画を、通信部９０４を介して外部装置に送信する。 The camera 908 includes an image sensor that captures a still image or a moving image, and transmits the captured still image or the moving image to an external device via the communication unit 904.
　［変形例］ [Modification example]
　本実施形態におけるシステム１（または、サーバ装置１０、端末装置２０、又はロボット３０）を実装するためのプログラムは、ＣＤ－ＲＯＭ等の光学ディスク、磁気ディスク、半導体メモリなどの各種の記録媒体に記録しておくことができる。また、記録媒体を通じて、又は通信ネットワークなどを介して上記のプログラムをダウンロードすることにより、コンピュータにインストール又はロードすることができる。 The program for mounting the system 1 (or the server device 10, the terminal device 20, or the robot 30) in the present embodiment is recorded on various recording media such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory. Can be done. It can also be installed or loaded on a computer by downloading the above program through a recording medium or via a communication network or the like.
　本発明は、上記した実施の形態に限定されるものではなく、本発明の要旨を逸脱しない範囲内において、他の様々な形で実施することができる。上記実施形態はあらゆる点で単なる例示にすぎず、限定的に解釈されるものではない。 The present invention is not limited to the above-described embodiment, and can be carried out in various other forms without departing from the gist of the present invention. The above embodiments are merely examples in all respects and are not to be construed in a limited manner.
１　システム
１０　サーバ装置
２０　端末装置
３０　ロボット 1 System 10 Server device 20 Terminal device 30 Robot

Claims (16)

  1. 　端末装置と、固定されていないロボットとの間の距離に関する情報を取得する取得部と、
    　前記取得部により取得された前記情報に基づいて、前記端末装置を介して前記ロボットを操作することの価値を評価する評価部と
    　を備える情報処理装置。     An acquisition unit that acquires information about the distance between the terminal device and the non-fixed robot,
    An information processing device including an evaluation unit that evaluates the value of operating the robot via the terminal device based on the information acquired by the acquisition unit.
  2. 　前記取得部による前記距離の情報の取得は、前記端末装置又は前記ロボットの測位処理に基づいて特定された情報を含む、請求項１に記載の情報処理装置。 The information processing device according to claim 1, wherein the acquisition of the distance information by the acquisition unit includes information specified based on the positioning process of the terminal device or the robot.
  3. 　前記取得部による前記距離の情報の取得は、前記端末装置又は前記ロボットにより通信で使用されるアドレス情報に基づいて特定された情報を含む、請求項１又は２に記載の情報処理装置。 The information processing device according to claim 1 or 2, wherein the acquisition of the distance information by the acquisition unit includes information specified based on the address information used in communication by the terminal device or the robot.
  4. 　前記取得部は、前記操作が行われるときの前記端末装置の位置のタイムゾーンにおける時間的属性の情報を取得する、請求項１から３のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 3, wherein the acquisition unit acquires information on a time attribute in the time zone of the position of the terminal device when the operation is performed.
  5. 　前記取得部は、前記操作が行われるときの前記ロボットの位置のタイムゾーンにおける時間的属性の情報を取得する、請求項１から４のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 4, wherein the acquisition unit acquires information on a time attribute in the time zone of the position of the robot when the operation is performed.
  6. 　前記取得部は、前記操作が行われる時間帯において操作可能な前記ロボットの数の情報を取得する、請求項１から５のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 5, wherein the acquisition unit acquires information on the number of robots that can be operated in the time zone in which the operation is performed.
  7. 　前記取得部は、前記ロボットの場所の属性の情報を取得する、請求項１から６のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 6, wherein the acquisition unit acquires information on the attributes of the location of the robot.
  8. 　前記取得部は、前記ロボットの場所で開催されるイベントの属性の情報を取得する、請求項１から７のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 7, wherein the acquisition unit acquires information on the attributes of an event held at the location of the robot.
  9. 　前記取得部は、前記ロボットに対応する人物の属性の情報を取得する、請求項１から８のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 8, wherein the acquisition unit acquires information on the attributes of a person corresponding to the robot.
  10. 　前記取得部は、前記ロボットの能力の情報を取得する、請求項１から９のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 9, wherein the acquisition unit acquires information on the ability of the robot.
  11. 　前記取得部は、前記ロボットの操作目的の情報を取得する、請求項１から１０のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 10, wherein the acquisition unit acquires information on the purpose of operating the robot.
  12. 　前記評価部による前記評価は、前記価値として、前記ロボットを操作するための料金を算出することを含む、請求項１から１１のいずれか一項に記載の情報処理装置。 The information processing apparatus according to any one of claims 1 to 11, wherein the evaluation by the evaluation unit includes calculating a charge for operating the robot as the value.
  13. 　算出された前記価値と、取得された前記情報の少なくとも一部とを表示装置に表示するように制御する表示制御部を備える、請求項１から１２のいずれか一項に記載の情報処理装置。 The information processing device according to any one of claims 1 to 12, further comprising a display control unit that controls the calculated value and at least a part of the acquired information to be displayed on the display device.
  14. 　前記表示制御部は、前記価値と、前記情報の少なくとも一部とに基づいた前記ロボットの操作の予約を受け付けるための画像を前記表示装置に表示するように制御する、請求項１３に記載の情報処理装置。 13. The information according to claim 13, wherein the display control unit controls the display device to display an image for accepting a reservation for operation of the robot based on the value and at least a part of the information. Processing equipment.
  15. 　コンピュータが、
    　端末装置と、固定されていないロボットとの間の距離に関する情報を取得することと、
    　取得された前記情報に基づいて、前記端末装置を介して前記ロボットを操作することの価値を評価することと
    　を含む情報処理方法。     The computer
    Obtaining information about the distance between the terminal device and the non-fixed robot,
    An information processing method including evaluating the value of operating the robot through the terminal device based on the acquired information.
  16. 　コンピュータに、
    　端末装置と、固定されていないロボットとの間の距離に関する情報を取得することと、
    　取得された前記情報に基づいて、前記端末装置を介して前記ロボットを操作することの価値を評価することと
    　を実行させるためのプログラム。     On the computer
    Obtaining information about the distance between the terminal device and the non-fixed robot,
    A program for evaluating and executing the value of operating the robot through the terminal device based on the acquired information.
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