JP2003006532A - Movable robot and service providing system through server using the acquired image - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a user to operate a moving type robot from a portable telephone or a terminal at a remote location through a server and confirm an operation result. SOLUTION: This service providing system is provided with a robot control server 10 connected to a network for decoding the control signals of the user and controlling the movable robot, the movable robot 1 connected to the network and operated by the control signals of the robot control server 10, a camera 3, the terminal 20 connected to the network for outputting a command to control the movable robot 1, and a charging processing means for checking a robot control server operation in respect to the user and performing the charging processing involved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot in which a user operates and controls a mobile robot from a mobile phone or a terminal at a remote place via a server, and a service providing system via a server using the acquired image. In particular, the user operates a mobile robot equipped with a movable camera and a remote controller that moves in homes, offices, and buildings from a mobile phone / terminal in a remote location to obtain and confirm a camera image (still image or video). A work or communication game is provided by a server on the Internet.

[0002]

2. Description of the Related Art Conventionally, a robot having wheels and movable is used only in a special environment such as a research institute.
In addition, a special control device is required to control this with a remote controller, which is expensive and cannot be widely used for home use.

[0003]

As described above, the conventional movable robot is used only in the special environment described above, and is not widely used for general household use. Robots are for one purpose only and cannot be used for more than one purpose.

Therefore, the present invention provides a service by using a mobile robot in the vicinity of general users such as homes, offices, buildings, etc. In order to use it in a building, etc., to use a mobile phone or PHS line, or to directly connect to the Internet through an ATV line, wireless LAN, etc. to obtain services from a server and to use a robot It is an object of the present invention to provide a service that is easy for the user to use by the service provider preparing an operation program on the server without requiring the user to perform the necessary complicated operation.

[0005]

FIG. 1 shows the principle of the present invention. 1, 1 is a mobile robot, 2 is a wheel, 3 is a pan / tilt movable camera, 4 is a robot controller, 5 is an infrared remote controller, 6 is a voice recognition means, 7 is a control unit, 10 is a robot control server, 20 Is a mobile phone.

The above object of the present invention can be achieved by the following mobile robots and service providing devices via a server using the acquired images of the mobile robots.

(1) A robot control server which is connected to a network and decodes a control signal of a user to control a movable robot, and is connected to the network,
A movable robot equipped with a camera that operates according to the control signals from the robot control server, a terminal that outputs a command to control the movable robot that is connected to the network, and the usage status of the robot control server for users is checked. A service providing system via a server using a mobile robot and an image obtained by the mobile robot, comprising a billing processing unit for billing according to the billing process.

(2) The robot control server is provided with a plurality of operation control programs for controlling the movable robot and a timer, and the operation control programs are selectively operated for a user at a predetermined time. A method of providing a service via a server using the mobile robot according to (1) and the acquired image.

(3) An expert registration means for registering experts in the robot control server and an expert selection means for selecting these experts are provided so that the user can select and contact the experts. A method for providing a service via a server using the mobile robot according to (1) above and an image obtained by the mobile robot.

(4) The robot control server is provided with a virtual learning space having a learning function and an access means for accessing the learning function, and when the user selects the learning function, the selected learning contents can be moved. A service providing system via a server using the mobile robot and the acquired image thereof, wherein the robot is made to remember.

(5) The movable robot is arranged in an amusement park or a theme park, and a whole camera for showing a movable position of the movable robot is installed in the amusement park or the theme park. (1) A service providing system via a server using the mobile robot and the acquired image thereof.

As a result, the following operational effects can be obtained.

(1) In the present invention, a movable robot is controlled by a command from a user terminal connected to the network via a control server connected to the network, and the camera image from the robot is received by the user terminal. This makes it possible to control a robot that the user can move from a remote location, and not only can the control result be determined from a remote location using a photo image, but also multiple controls that control the robot on the control server. Since the program can be managed, it becomes possible for the service agent to manage the program on the control server, and the user can receive the latest functions at a lower cost than when the control program is individually loaded on the robot side. Further, since the control server company develops the software and performs maintenance, the user does not need to install the server independently or develop the program independently, and can receive the service at a low price. Moreover, since the processor on the control server side runs the server software, the processor on the robot body side is lightly loaded, and a small and inexpensive processor can be used.

(2) Since various services are automatically provided at predetermined times, the user can spend his daily life extremely comfortably. Moreover, multiple services can be enabled one after another, and the results of the services can be confirmed with the camera image (still image or video) obtained by taking a picture or shooting a video with a camera, so that you can travel from a remote location, for example. You can feed your pet and check the results.

(3) Since the service of an expert can be easily received, it is possible to appropriately deal with the problem.

(4) Since the learning result in the virtual space on the Internet can be reflected in the movable robot of the actual machine, the movement pattern, voice, etc. of the movable robot can be downloaded and operated in a fun manner. .

(5) Since it is possible to control the movement of a plurality of movable robots within a stage prepared in an amusement park or the like, it is possible to provide a new way of enjoying moving an actual robot unlike a CG game.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to FIG. In FIG. 2, the same symbols as in the other drawings indicate the same parts, 1 is a mobile robot, 2 is a wheel, 3 is a pan / tilt type camera, 4 is a robot controller, 5 is an infrared remote controller, 6 is a voice recognition means, and 7 is control unit,
Reference numeral 8 is a voice output means, 10 is a robot control server, 11 is a decoding means, 12 is a voice recognition means, 13 is a program holding means, 14 is a timer means, 15 is an accounting processing means, and 20 is a mobile phone.

The mobile robot 1 moves in a home, an office, a building, takes a photograph, outputs a video signal as a moving image, controls an indoor air conditioner or TV with an infrared remote controller, and controls a control unit. It feeds pets and waters plants, and has the function of being able to move with wheels, two feet, four feet, and the like. Any means of transportation may be used and is not limited to a specific means. FIG. 1 shows a case in which wheels 2 are provided as the moving means. Further, a mobile phone module, a PHS module, a wireless LAN module, etc. are provided.

The camera 3 is provided on the mobile robot 1,
It is a pan / tilt type camera that can move and rotate the camera up / down / left / right, which makes it possible to take pictures and videos in a wide range of vertical and horizontal directions. In the case of photographing a specific place, the position / direction is roughly determined by the movement of the mobile robot 1, and fine adjustment is possible by position control of the camera by pan / tilt movement.

The robot controller 4 controls the mobile robot 1 in response to a control signal from the robot control server 10 or a control signal from the voice recognition means 6.

The infrared remote controller 5 is built in the mobile robot 1 and controls a home such as a TV or an air conditioner according to a user's instruction.

When the user in the vicinity of the mobile robot 1 inputs a command by voice through a microphone (not shown), the voice recognition means 6 recognizes the command and notifies the robot controller 4 of the command corresponding thereto. However, the mobile robot 1 is controlled. For example, when the user wants to control a TV, an air conditioner, or the like, when the user speaks to the robot, the infrared remote controller 5 operates in response to this, and the home appliance can be controlled by voice recognition.

The control unit 7 performs various operations in response to control signals from the robot controller 4, and controls, for example, on / off of a water supply valve to supply water to a plant or to control a pet feeding machine. It controls the feeding of pets.

When the character data is input, the voice output means 8 decodes the character data, converts it into a voice signal, and outputs the voice.

The robot control server 10 controls the mobile robot selected by the user in accordance with the user's operation command, and is connected to the mobile robot represented by 1 via the Internet. . The user is also connected via a network such as a mobile phone line or a PHS line. The robot control server 10 includes a decoding means 11, a voice recognition means 12,
It has a program holding means 13, a timer means 14, a billing processing means 15 and the like.

The deciphering means 11 is a voice recognizing means 12 for a user to input an operation command by a voice signal from the mobile phone 20, for example.
The robot control server 10 is controlled by decoding an operation command input via the or through the operation button and reading a program corresponding thereto.

The voice recognition means 12 is used by the user for the mobile phone 2.
It decodes an operation command input by voice from 0 and outputs an operation command signal corresponding thereto to the decoding means 11.

The program holding means 13 holds various control programs for outputting control signals for the robot control server 10 to variously control the mobile robot 1.

The timer means 14 registers beforehand what kind of control is to be performed at a predetermined time corresponding to the user, and when the predetermined time comes, the control program corresponding to the control is operated to obtain the obtained control. A signal is sent to the mobile robot 1 corresponding to the user to control it.
For example, pets are fed at a certain time.

The billing processing means 15 carries out a billing process based on the user using the robot control server 10, and this billing process includes, for example, the time when the robot control server 10 is used and the operating control program. Calculate the charge based on the type. Not limited to such a pay-as-you-go system, a fixed-rate system can be used.

The mobile phone 20 is used by a user to control the mobile robot 1 from a remote place, and is connected to the robot control server 10 via a network such as a mobile phone line and a PHS line. Is. When the user controls the key of the mobile robot,
The keys that control movements such as downward, left, right, left rotation, and right rotation, and the keys that control the camera are predetermined. The user sends an operation command (key input), a camera image of the mobile phone, an operation command by a voice of the mobile phone, and the like to the robot control server 10 by the mobile phone 20, and whether the usage fee is a flat rate system or a metered system system.

A description of the operation of the present invention will be given in A. A service that allows the robot to be used remotely from a mobile phone B. A service that allows you to work automatically at a set time C. Expert advice service using robot D. A service that reflects the results of learning in the virtual space on the real robot. An example of a robot remote control service in an amusement park or the like will be described.

A. A service that uses a robot remotely from a mobile phone. As shown in FIG. 2, a robot that moves on wheels 2 or a robot that moves on two or four wheels as shown in other figures described later may be used. The robot controller 4 may use a small personal computer. The robot controller 4 includes a mobile phone module or PH (not shown).
An S module or the like is connected to the robot control server (hereinafter, referred to as a server) 10 on the Internet and can be accessed. This server 10 is an i-mode server having an Internet connection function so that it can be accessed from a mobile phone.

A person who intends to provide a service, that is, an operating company builds a service system on a server and charges a user for accessing the server 10. The billing may be a monthly system or a pay-as-you-go system, but the selection is made by the service provider or the user.

The server 10 manages security such as login management and a robot operation menu according to the service. This is because the operation menu may change depending on the service content. The confirmation of the image by the camera 3 attached to the mobile robot 1 has the effect of increasing the user's sense of security.

Information passed between the server 10 and the mobile phone 20,
The information passed between the server 10 and the mobile robot 1 is as follows.

The data from the server 10 to the mobile phone 20 are login management, mobile robot operation menu, camera image of the mobile robot, and voice around the mobile robot.
The data from the mobile phone 20 to the server 10 is an operation command, a mobile phone camera image, and a mobile phone voice.

The data from the server 10 to the mobile robot 1 includes operation instructions, processing instructions of processing results of the control program,
These are the camera image of the mobile phone 20 and the sound of the mobile phone 20. Then, a usage fee (flat-rate system or pay-per-use system) is passed from the user to the server operating company, and the server service of the mobile robot 1 is provided from the server operating company to the user.

(1) Operating a mobile robot at home with a mobile phone from outside the house The user uses the mobile phone 20 to call the server 10. As a result, the server 10 displays the robot operation menu on the mobile phone 20. The user looks at this operation menu and selects a mobile robot drive item at home. The server 10 sees this and sends the camera image sent from the mobile robot 1 to the mobile phone 20 of the user. The user sees this camera image to recognize the current position of the mobile robot,
For example, when confirming the key lock of the absence house, as shown in FIG. 3A, the mobile robot 30 is moved to the front door, and the key of the front door 31 is in the horizontal position in the camera image, and the key lock state is displayed. You can confirm that there is.

When it is desired to check whether the air conditioner is on or off, the mobile robot 30 is moved to a position where the blinking state of the lamps 34, 35 of the air conditioner 33 can be confirmed as shown in FIG. , 35 are air conditioners
Check the received camera image to confirm that it is off.
If the air conditioner 33 is on because you forget to turn it off,
The user selects the home electric appliance remote control operation menu from the mobile phone, and performs the off control with the infrared remote control.

(2) Home Appliance Remote Control Operation Information The mobile robot 30 can interface with old home appliances that are not compatible with home appliances.
When the user speaks to the mobile robot 30, the voice recognition unit 6 operates to control the robot controller 4 and control the target home appliance.

For example, when recording the video 36, the mobile robot 30 is instructed by voice. Then, as shown in FIG. 4A, the mobile robot 30 is controlled using the mobile phone 20, and the set result can be confirmed by the camera image from the mobile robot 30.

Alternatively, as shown in FIG. 4 (B), when the user wants the mobile robot 30 to control the warming of the room by the mobile phone before arriving at the house and confirms whether the air conditioner is switched on or not, the mobile robot 30 is moved. Similarly, the robot 30 can be controlled to receive a camera image and confirm whether or not the air conditioner is switched on. Thus, in everyday life, when using the air conditioner, the remote control device is often searched for, but if the mobile robot is used, the remote control device may be omitted.

(3) Feeding of pets A control unit is connected to a commercially available pet feeding machine or the like and operated by a remote controller from a remote location via a mobile robot. As shown in FIG. 5, for example, for cats, a cat feeder 3
7, the control unit 40 is attached, and the user uses the mobile terminal such as the mobile information terminal 39 to move the mobile robot 3
The control unit 40 is operated via 0. As a result, the food is fed from the cat feeder 37 and can be fed to the cat. For the small animals in the basket, a small animal feeding machine 38 is prepared and a control unit 41 is attached,
Similarly, operate with a mobile terminal. As a result, the small animal feed is fed from the small animal feeder 38 to feed the small animal.

By receiving the camera image from the mobile robot 30, it is possible to see at a remote place whether the animal has eaten food, how healthy it is, etc., so that it is safe to travel. Moreover, it is safer to use than pet hotels.

(4) Watering Plant Trees As shown in FIG. 6, a control unit 44 is connected to a water dispenser 43 for commercially available plants, and portable information is sent from a remote place via a mobile robot 30 placed outdoors. A control unit 44 of the water dispenser 43 is controlled by a remote controller using a terminal 39 or a mobile terminal such as a mobile phone to open and close the valve of the water dispenser 43. By controlling the opening / closing amount of the valve, the amount of water sprayed on the plant 42 can be adjusted. Moreover, the user is the mobile robot 3
By receiving the camera image from 0, it is possible to adjust the amount of sprinkling water while seeing the soil condition from the travel destination.

(5) Looking Outside While Staying in Room As shown in FIG. 7, the outside can be seen while staying in the room by placing the mobile robot 30 at the entrance. The camera image of the mobile robot 30 shows who came. And for those who do not want to respond, such as solicitation, you can use the absence. In addition, it is possible to see whether the weather is good, whether it is raining, or the like, from the camera image of the mobile robot 30.

(6) Internet Communication Service Using Mobile Robot Charge for access to the server for communication service. If the mobile robot is moving even if you are not moving, you can use it to communicate.

For example, as shown in FIG. 8, when the mobile robot 30-A of Mr. A and the mobile robot 30-B of Mr. B are received, the control right of Mr. B's mobile robot 30-B is received, and Mr. A is mobile robot. 30-B is in an operable state, and Mr. A talks, moves, and plays a game on behalf of the mobile robot 30-B.

The control right can be transferred by, for example, notifying the other party of the telephone number and password of the mobile robot.

Further, as shown in FIG. 9, even when the user is in bed due to illness or injury, by operating the mobile robot 30 with the portable information terminal 39 having a voice output, it is possible to participate in the conversation from the bed. In this case the mobile robot 3
The moving image captured at 0 is reproduced on the portable information terminal 39. By using the video channel and the audio channel at the same time, the portable information terminal 39 can participate in the conversation.

As shown in FIG. 10, for example, using a personal computer PC, "Grandma, today's Kagenhadoo"
When the user inputs, the server 10 can send this to the mobile robot 30 and output the character input by voice. Thus, for example, a greeting can be given from a distant place.

Further, as shown in FIG. 11, a plurality of mobile robots 30-A and 30-B are gathered from a neighborhood or a distant place,
The user A and the user B input characters through the mobile robots 30-A and 30-B, so that the mobile robots 30-A and 30-B are transmitted via the Internet.
You can talk and chat like a well-end conference.

B. A service for automatically performing work collectively at a fixed time A service for automatically performing work collectively at a fixed time (hereinafter referred to as "rakuraku server") will be described. The Rakuraku server is the robot control server 10 shown in FIG. 2 and the public information collecting means 51 as shown in FIG.
And the i-mode server 50 to which the coping means 52 is added. The user sends an operation command or the like by using the mobile phone 20, and the mobile robot 54 receives the robot controller 5
5, the mobile phone module 56 and the processing means 5 are provided.
7, a human body detection sensor 58, a camera 59, etc. are connected. RakuRaku can be charged on a fixed monthly basis.

The public information collecting means 51 previously stores weather forecasts, pollen information, traffic information, stock information, local entertainment information and contact information, new store opening information, bargain information, TV program guides, etc. output on the Internet. It is intended to take in certain fixed information.

The coping means 52 is the public information collecting means 51.
The handling control is performed according to the user's designation by the output output by, for example, when the weather forecast notifies that it will rain, the mobile phone 20 of the user is notified of this.

Regarding the functions of the server easily, (1) do not forget to execute every day, (2) do all at once, (3)
Judgment and (4) voice operation is possible, but these will be briefly described.

(1) Do not forget to execute every day If you use the Raku-Raku server, you can make something fixed at a fixed time every day. For example, you can accumulate pet images every hour and see them all together. You can In addition, by moving the feeding machine every day for a certain period of time, for example, at 10 o'clock, it is possible to feed the pet even while traveling. Further, this result can be confirmed by the camera image of the camera 59 from the mobile robot 54.

(2) What you want to do collectively You can make a photobook by taking pictures at a predetermined time. You can see the pictures all together later. It is also possible to view photos from the internet.

(3) Judgment For example, an automatic alarm function can be added by a warning mode that is activated when going out. When the human body detection sensor 58 of infrared detection type is provided in the mobile robot 54 and the human body detection sensor 58 senses a moving object,
The i-mode server 50 is automatically connected. i-mode server 5
When 0 analyzes the output of the human body detection sensor 58 and detects that this moving object is a human, the i-mode server 50 makes an alarm call to the telephone number designated as having a suspicious person.

(4) Voice operation possible The voice recognition function on the i-mode server 50 allows voice operation instructions.

This enables the following advantages and operations.

B. When specified via the server The scheduler software that indicates the operation start time and work content of the mobile robots placed on the Internet can be kept up to date with the server. On the other hand, if only the mobile robot is used, it is necessary to prepare the scheduler software and the data recording medium for each mobile robot. As a result, the price of the mobile robot becomes high and it is more disadvantageous than the case of using the server. Becomes

B. When Designated by Mobile Robot As shown in FIG. 2, when the schedule is designated from the mobile phone 20 by the voice recognition function of the robot controller 55, the schedule can be recorded and uploaded to the i-mode server 50.

C. Have a server with a mechanism for collecting public information, such as weather forecasts, pollen information, traffic information, stock information, local entertainment information and contact information, new store opening information, bargain information, TV program guides, etc. . This information is updated daily. The mobile robot 54 is operated using the result of this information collection. For example, when it is predicted that it will rain in the weather forecast, the coping means 52 notifies the mobile phone of the user registered in advance of this. If the user owns a large mobile robot with a hand, the user gives a voice command to the mobile robot to take in the laundry from the mobile phone 20. Thereby, the laundry is taken in. Alternatively, when it is predicted from the pollen information that the amount of pollen is large, the coping means 52 operates the mobile robots of the users registered in the i-mode server 50 in advance so that the air conditioners of the respective users are in the air cleaning mode. To control automatically.

Further, when the coping means 52 conducts a performer-specific search from the TV program table and a notification request for a TV program in which a particular performer appears is registered in advance by the user,
The user can be notified of this so that, for example, the user is prevented from missing the recording of the program of the specific performer.

C. Expert advice service using robot A user (Mr. A in the example of FIG. 13) who has subscribed to this expert advice service in advance is, for example, Ueki 42.
The expert P can give advice several times a month (the number of times fixed by the contract). In Figure 13, plant 4
2 shows a case in which the water supply device 43 is prepared and viewed by the mobile robot 30. The user A controls the mobile robot 30 with the mobile phone 20 via the server 10, receives the advice of the expert P, or receives the mobile information terminal 3
The same can be done with 9.

The schedule of the expert P is reserved, and the operation right of the mobile robot 30 is released at the designated time.
Ask expert P to observe the condition. Mobile robot 30
Since the state of the plant tree 42 can be observed from various directions by moving, the diagnosis can be performed. It is more advantageous to see the mobile robot 30 around the plant 42 than to the fixed camera 3 with pan, chill, and zoom. It is also possible to send the advice of the expert P to a travel destination terminal, for example, the mobile information terminal 39.

When expert advice is input in this manner, the information shown in FIG. 14 is added to the information shown in FIG. An advice fee is paid from the user to the expert, and the robot operation right of the mobile robot (shown as 1 in FIG. 14 as in FIGS. 1 and 2) is released on a determined day / time. The data sent from the mobile robot 1 to the expert via the robot control server 10 is shown as information in FIG. 14 as well as for the user. They are login management, a robot operation menu, a camera image of the mobile robot 1, and audio around the mobile robot 1.

From the expert to the user, advice,
The expert's schedule etc. are displayed. From the server operating company to the expert, there are operation instructions, mobile phone camera images, and mobile phone audio. Then, referral fees and brokerage fees are passed from the specialist to the server operating company.

The robot operation right is released by notifying the expert of the mobile robot's telephone number, password, etc., and pre-registering the operation time for this mobile robot in the server 10.

In the above description, an example relating to planting has been described as a specialized field, but the present invention is not limited to this.

D. Service for reflecting the result of learning in the Internet virtual space on the real robot As shown in FIG. 15, the service for reflecting an interaction or event in the virtual space V on the Internet as the mobile robot 30 on the real robot is charged. The robot control server 10 is essential to create a virtual space.
By moving the virtual robot 30 ′ in the virtual space of the mobile robot 30 around the town of the virtual space V, it is possible to meet friends and gain experience and change the character of the mobile robot 30. For example, when the virtual robot 30 'is made to access the mark area of the personality C, a menu indicating the personality C, for example, a menu of "fast motion", "slow motion", "motion pattern A", etc., is displayed. If “fast” is selected, the operation of the mobile robot 30 can be speeded up.
When the voice v mark area is accessed, a voice menu, for example, "fat male voice" or "soft female voice" is displayed. If the latter is selected, the output voice of the mobile robot 30 is a soft female voice. It will be pronounced.

Also, the user is shopping at a virtual space store,
By downloading an interesting motion pattern of the virtual robot 30 'and a cute voice, the mobile robot 30, which is an actual robot, can be wisely enjoyed.

The server operating company prepares operation patterns and voices of rare value, makes them access many times, and creates a mechanism so that rare values do not come out unless access points are collected, and the number of users' access is set. By making it larger, the connection fee can be earned accordingly.

E. Robot remote control service at amusement parks, etc. As shown in FIG. 16, a plurality of mobile robots R1, R2,
Prepare R3 on stage ST such as amusement park or theme park, and cooperate or compete in stage ST for adventure. For example, slide stand T1 on stage ST
And obstacles T2, T3, and T4 are placed, and these obstacles T1 to
When the mobile robots R1, R2, R3 compete for reaching a goal (not shown) between T4, a terminal 61 for operating the mobile robot R1 and a terminal 62 for operating the mobile robot R2 are placed on the stage ST side. These will be operated by the visitors of the amusement park. Further, the mobile robot R3 is operated by, for example, the terminal of the user who has applied for the operation from home. At this time, the whole stage ST is photographed from above by a whole camera (not shown) and the whole image is shown on a personal computer (not shown) of a home user so that the user can recognize the whole stage ST at home.

Then, each participant operates the mobile robots R1, R2, and R3 to which the uniform numbers 1, 2, and 3 are attached, or which are color-coded, for example, to slide the sliding table or to move obstacles. While avoiding, it is possible to compete in the ranking to reach the goal not shown.

In this case, unlike the CG game, since the mobile robots R1 to R3, which are real robots, are moved, there are movements such as habits and slips of the mobile robots that do not exist unless they are real robots. We can provide various ways of enjoying.

To apply for a mobile robot operation from home, if you connect to an amusement park or the like on the Internet and access the robot operation application item, a list of operating robots for which the operator has not been determined is displayed. .

The stage ST changes every few months to collect repeaters. If the stage changes, new fun will be discovered, and the time record update will change, so you will want to try again.

In order to reduce the cost, monitors may be placed at various places on the stage and a 3D background image may be projected on it. When a tunnel or a slope is provided, these parts can be exchanged.

(1) Type having an operating device near the stage As shown in terminals 61 and 62 in FIG. 16, when all operating devices for operating the mobile robot are installed near the stage ST in an amusement park or the like, the operator Uses this operating device by inserting game coins or coins into the operating device.
This eliminates the need for special labor for billing. Audiences around the stage ST can also enjoy watching the movements of these mobile robots, making it an eye-catching attraction for amusement parks and the like.

(2) Type of operating mobile robot on stage from home As in the case of operating mobile robot R3 in FIG. 16, personal computer 63 at home operates a mobile robot on stage ST such as a theme park. In this case, the user applies to the theme park or the like to obtain the access right of each mobile robot, and charges the access right. In this case, it is necessary for the user at home to understand the entire stage ST, and the entire camera is photographed from above the stage ST, and this is displayed on a part of the user's personal computer. This allows the user to enjoy operating the mobile robot without going to a crowded venue.

(3) Shopping Mall As shown in FIG. 17, the mobile robot 70 is moved in the shopping mall SM which can be successively operated in various places by an operation from a personal computer at home or a terminal such as a mobile phone 20, and output from the camera. By receiving the image displayed by this terminal with the camera image, the clothing store SP1, the food store SP2, the CD store SP3, the stationery store SP4 in the shopping mall SM,
You can observe the general store SP5 .... In this case, the mobile robot 70 is preferably a tall robot so that the camera can be seen from the person's point of view. This is preferable because it is possible to check the degree of congestion at each store and whether or not there is a preferable product before actually going. Mobile robot 7
No. 0 requires several units on each floor, so you can check the crowded shops before you go. In this case, the charge may be made on a pay-as-you-go basis or a flat rate for the time when the user accesses the mobile robot 70 via the server 10.

By the way, when the mobile robot moves indoors or outdoors, it is necessary to be able to perform map processing. For this purpose, there are (1) a method of judging an object and (2) a method of judging a self position as described below.

(1) There are the following methods for determining an object.

An image of a specific object is recorded in advance, and a method of matching is used to make a determination by looking at a mark. A method of placing a transmitter on an object. A method of allowing a user to input a layout drawing of map information on a personal computer (2 ) There are the following methods for determining the self-position.

Method of attaching sensor to mobile robot Method of processing ceiling image to detect self-position Method of processing image to detect self-position Here, as an example, as shown in FIG. Air conditioner 71, TV 72, pet 73, sofa 7 in the room
4. Consider a case where there is a plant 75. And FIG. 18 (A)
With the upper left corner of the layout diagram as the origin, the position of the plant 75 is positioned as (X2, Y2) and the direction as θ2. See also FIG.
As shown in FIG. 8 (B), the mobile robot 76 is placed indoors.
A position / direction sensor (not shown) is attached to the mobile robot 76, and the position / direction (X
1, Y1, θ1) is detected.

In this state, as shown in FIG. 18 (C), when the user outputs a command to the mobile phone 20 from outside to give a voice command, "go to the place of the garden," as an operation command, the robot control server 10 outputs this command. The voice signal is decoded and sent to the mobile robot 76, and the mobile robot 76 operates accordingly.

That is, as shown in FIG. 18 (D), the mobile robot 76 has the position (X2, Y2, θ2) of the plant tree input in the layout diagram and its own position / direction detected by the position / direction sensor. Relative to (X1, Y1, θ1), the difference between these X, Y and θ (ΔX, ΔY, Δθ)
To move. Of course, the control method is not limited to this.

The means for transmitting the operation command to the mobile robot between the server and the mobile robot via the Internet can be realized by transmitting the operation command data of the mobile robot on a general TCP / IP protocol.

The following are examples of references relating to TCP / IP.

(1) "TCP / IP Network Management Second Edition" (author Craig Hunt, translator Susumu Ando), published by O'Reilly Japan, Inc., Publisher: Ohmsha, Ltd. November 28, 1998
Issued the first edition of the first edition of the day (see pages 3 to 6).

(2) Japanese Patent Application Laid-Open No. 2001-109908 (near paragraph “0031” and FIG. 9).

[0096]

The present invention has the following effects.

(1) In the present invention, a movable robot is controlled by a command from a user terminal connected to the network via a control server connected to the network, and the user terminal receives a camera image from the robot. As a result, it is possible to control a robot that the user can move from a remote location, and not only can the control result be determined from a remote location using a photo image, but also multiple controls that control the robot on the control server. Since the program can be managed, the service agent can manage the program on the control server, and the user can receive the latest function at a lower cost than when the control program is individually loaded on the robot side. In addition, since the control server company develops software and performs maintenance, the user does not need to install a server or develop a program independently, and can receive the service at a low price. Moreover, since the processor on the control server side runs the server software, the processor on the robot body side is lightly loaded, and a small and inexpensive processor can be used.

(2) Since various services are automatically provided at a predetermined time, the user can enjoy daily life very easily. Moreover, a plurality of services can be sequentially enabled, and the result of the service can be confirmed by a camera image, so that the result can be confirmed by feeding a pet from a remote place even while traveling.

(3) Since the service of an expert can be easily received, it is possible to appropriately deal with the problem.

(4) Since the learning result in the virtual space on the Internet can be reflected in the movable robot of the actual machine, it is possible to download the movement pattern, voice, etc. of the movable robot and have them operate happily. .

(5) Since it is possible to control the movement of a plurality of movable robots in a stage prepared in an amusement park or the like, it is possible to provide a new way of enjoying moving an actual robot unlike a CG game.

[Brief description of drawings]

FIG. 1 is a principle configuration diagram of the present invention.

FIG. 2 is an embodiment of the present invention.

FIG. 3 is an explanatory diagram of confirmation of an absence house.

FIG. 4 is an explanatory diagram of home appliance remote control operation.

FIG. 5 is an explanatory diagram of pet feeding.

FIG. 6 is an explanatory diagram of watering a plant tree.

FIG. 7 is an explanatory diagram of an exterior appearance of a room in which the user looks out from the room.

FIG. 8 is an explanatory diagram of a robot operation of a partner.

FIG. 9 is an explanatory diagram of a participation state from a bed.

FIG. 10 is a diagram for explaining a greeting from a distance.

FIG. 11 is an explanatory diagram of a robot well end conference.

FIG. 12 is an explanatory diagram of automatically performing work collectively at a fixed time.

FIG. 13 is an explanatory diagram of an expert advice service.

FIG. 14 is a data flow diagram of the robot control server system.

FIG. 15 is an explanatory diagram for reflecting a learning result in a virtual space on an actual robot.

FIG. 16 is an explanatory diagram of a robot operation state in an amusement park or the like.

FIG. 17 is an explanatory diagram of image movement of a shopping mall.

FIG. 18 is an example of map processing.

[Explanation of symbols]

1 Mobile robot Two wheels 3 Pan / Tilt movable camera 4 Robot controller 5 infrared remote control 6 Voice recognition means 7 control unit 10 Robot control server 20 mobile phones

Continued front page    F-term (reference) 2C150 AA14 CA01 CA02 CA04 DA06                       DA24 DA25 DA26 DA27 DA28                       DF03 DF06 DF33 DK02 ED42                       ED47 ED52 EF03 EF07 EF16                       EF17 EF23 EF29 EF33 EF36                 3C007 AS36 CS08 JS03 JU12 KT01                       KT15 MT14 WA02 WA13 WA14                       WA16 WB19 WC11

Claims (5)

[Claims] 1. A robot control server which is connected to a network and decodes a user's control signal to control a movable robot, and a camera which is connected to the network and operates by a control signal of the robot control server. A robot that can be used, a terminal that outputs a command to control a movable robot that is connected to a network, and a billing processing unit that checks the robot control server usage status for the user and bills accordingly. A service provision method via a server using a mobile robot and its captured images. 2. The robot control server is provided with a plurality of operation control programs for controlling the movable robot and a timer, and the operation control programs are selectively operated corresponding to a user at a predetermined time. Claim 1
A service providing method via a server using the described mobile robot and the acquired image. 3. The robot control server is provided with an expert registration means for registering experts and an expert selecting means for selecting these experts so that the user can select and contact the experts. A service providing system via a server using the mobile robot according to claim 1 and an image obtained by the mobile robot. 4. The robot control server is provided with a virtual learning space having a learning function and an access means for accessing the learning function, and when the user selects the learning function, the selected learning content is transferred to the movable robot. The method for providing a service via a server using a mobile robot according to claim 1 and an image obtained by the mobile robot according to claim 1. 5. The movable robot is arranged in an amusement park or a theme park, and a whole camera which shows a movable position of the movable robot is installed in the amusement park or the theme park. A service providing method via a server using the mobile robot described in 1 and the acquired image.