JP2003050559A - Autonomously movable robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomously movable robot which can freely change advertisement contents and improve the effect of the advertisement. SOLUTION: The autonomously movable robot, which autonomously moves in a predetermined area to advertise, is equipped with a communication means for accessing an information providing server which is arranged outside, an advertising means which displays or voices the contents of advertisement, and a control means which reads advertisement information stored on the information providing server through the communication means and outputs it to the advertising means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous mobile robot that autonomously moves in a predetermined area to advertise.

[0002]

2. Description of the Related Art Conventionally, there are known two types of advertisements in the city: static display such as posters, signboards, and those drawn on walls, and moving image display such as electronic panels and liquid crystal panels.
Further, as described in Japanese Patent Application Laid-Open No. 6-43823, an autonomous traveling vehicle that displays characters or figures pre-recorded in an IC memory or wirelessly transmits and displays displayed characters or figures is known. Are known.

[0003]

However, it is difficult to predict the effect of the advertisement because the advertisement by the signboard or the electronic panel can only be seen by those who are in the vicinity and interested. There is. Also, IC
There is also a problem that it is difficult to freely change the content of the advertisement because the memory has a limited capacity and is restricted by the characters and figures that can be displayed. In addition, traveling vehicles are limited in places where they can be moved by wheels so that it is difficult to advertise in airports, trains, stadiums, theaters and the like.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an autonomous mobile robot capable of freely changing the content of advertisement and improving the effect of advertisement. .

[0005]

According to a first aspect of the present invention, there is provided an autonomous mobile robot that autonomously moves in a predetermined area to perform an advertisement, the autonomous mobile robot comprising:
Communication means for accessing an information providing server arranged externally, advertising means for displaying or uttering the content of the advertisement, and reading out advertisement information stored in the information providing server via the communication means And a control means for outputting to the advertising means. According to the present invention, the advertisement information stored in the information providing server is read out via the communication means, and the content of the advertisement is displayed or uttered. Therefore, it is possible to efficiently perform an advertisement having a large content. The effect of becoming

[0006] According to a second aspect of the present invention, the autonomous mobile robot comprises image acquisition means for acquiring an image of the surroundings, and image analysis means for analyzing the image to determine whether or not a human is present. Further, there is further provided action planning means for moving to an area where more humans exist, based on the judgment result of the image analysis means. According to the present invention, it is determined whether or not a human is present by analyzing the acquired image, and based on the result of the determination, the human is moved to an area in which more humans are present. It is possible to autonomously move to an area in which humans exist and effectively advertise.

According to a third aspect of the present invention, the autonomous mobile robot further includes voice recognition means for recognizing the voices of surrounding humans, and response means for performing a predetermined operation in response to the voice. Characterize. According to the present invention, the voices of the people around them are recognized, and a response is made by performing a predetermined action in accordance with the recognized voices. Therefore, it is possible to attract the attention of the surroundings and increase the effect of the advertisement. The effect that it can be obtained.

According to a fourth aspect of the present invention, the autonomous mobile robot recognizes the position of a human being faced by the position recognizing unit and the position recognizing unit based on the determination result of the image analyzing unit. And a line-of-sight instruction means for gazing at a human face. According to the present invention, the position of the facing human is recognized based on the image analysis result, and the face of the recognized human is gazed at. Therefore, the presence of the robot is strongly impressed and the advertising effect presented by the robot itself is displayed. The effect that is effectively exhibited is obtained.

According to a fifth aspect of the present invention, the autonomous mobile robot determines whether or not a person is present in the planned moving direction based on the determination result of the image analysis means.
It is characterized in that it further comprises a calling means for calling attention when a person is present in the planned moving direction. According to the present invention, it is determined whether or not a person is present in the planned moving direction based on the image solution result, and attention is given when the person is present in the planned moving direction. In this case, it is possible to obtain an effect that the movement of the robot can be evoked to the person who becomes an obstacle and the behavior of the robot itself can be smoothed.

According to a sixth aspect of the present invention, the autonomous mobile robot is provided with a global map in which its own action range is defined. According to the present invention, since the robot includes the global map which is the movement range map information of the robot, the position of the robot itself is accurately recognized based on the position information of the obstacle, stairs, entrance, etc. defined in the global map. The effect of being able to do is obtained.

The invention according to claim 7 is characterized in that the information providing server is a server connected to the Internet. According to the present invention, it is possible to advertise a plurality of types of information at a time by incorporating information to be advertised via the Internet.

According to an eighth aspect of the present invention, the autonomous mobile robot is a humanoid legged bipedal walking robot. According to the present invention, by using a legged mobile robot in the shape of a human being, it is possible to give a sense of familiarity to surrounding human beings and attract attention, thereby increasing the advertising effect. The effect is obtained.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An autonomous mobile robot according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the same embodiment. In this figure, reference numeral 1 is an autonomous mobile robot (hereinafter referred to as a robot) capable of bipedal walking with a humanoid leg, and carries an information display device F with two arms. The information display device F includes a display that can display a moving image and a speaker that produces a voice. Reference numeral 2 is a base station for performing wireless communication, and includes the wireless device 31 and the robot 1.
Robot operation unit 3 for the operator to operate the movements of
It consists of two. Reference numeral 3 is the Internet. Code 4
Reference numerals 6 to 6 are information providing servers connected to the Internet 3 and store advertisement information. Reference numeral 7 is a base station that is connected to the Internet 3 and establishes a communication line by wireless communication, and establishes a communication line between the robot 1 and the Internet 3. Reference numeral 8 is a distribution management server that manages information to be distributed to the robot 1, and manages information distribution based on a timetable 9 in which an information distribution schedule is defined.

Next, the configuration of the robot 1 shown in FIG. 1 will be described with reference to FIG. FIG. 2 shows the robot 1 shown in FIG.
3 is a block diagram showing the configuration of FIG. Reference numeral 10 is a stereo camera (hereinafter,
It is called a camera). Reference numeral A is an image recognition unit, and reference numeral 11 is a stereo processing unit that generates a distance image from two images obtained by the camera 10. Reference numeral 12 is a moving body extraction unit that extracts a moving body from the obtained image. Reference numeral 13 is a face detection unit that detects a human face area from the obtained image. Reference numeral 14 is a local map generated from the obtained image in order to detect a moving body or a face. Reference numeral 15 is an avoidance route generation unit that generates a route to be avoided when there is a failure on its own path. Reference numeral B is a voice recognition device, which includes a voice synthesis unit 18 and a voice recognition unit 19. Reference numeral 16 is a speaker, which utters a synthesized voice. Reference numeral 17 is a microphone, and the voice recognition unit 19 recognizes the collected sound. In the voice synthesizing unit 18 and the voice recognizing unit 19, the voice input from the microphone 17 is recognized by the voice recognizing unit 19 when the surrounding person speaks, and the voice synthesizing unit 18 reproduces the response sentence.

Reference numeral C is an action planning section, and reference numeral 20
Is a human response instructing unit that responds to humans. Reference numeral 21 is a movement instructing unit for instructing control for its own movement. Reference numeral 22 is a line-of-sight instructing unit that instructs the control for moving the line of sight of the user. Reference numeral 23 is a movement / motion planning unit that makes a motion plan based on the global map G. Reference numeral 24 is an arm operation instructing unit that instructs control for moving one's own arm. Reference numeral D is a motion control unit that controls its own motion, and includes a camera / neck control unit 25, a movement control unit 26 that controls legs, an arm control unit 27, and a wireless device 28 that receives an operation instruction from the outside. Consists of. The motion control unit D can move the arm to a designated position based on the arm control information, and can select and execute a pre-programmed motion pattern. In addition, the action planning unit C generates a gesture instruction according to the positions of surrounding people and a voice response, and performs an operation such as waving to improve the attention degree by the gesture of the robot itself.

Reference numeral E is an external information display unit, which is connected to the wireless device 29 for receiving advertisement information transmitted from the information providing servers 4 to 6 connected to the Internet 3 and connected to the Internet 3 to exchange information. It is composed of a computer for network connection (hereinafter, referred to as a computer). Reference symbol F is an information display device that displays information provided by the information providing servers 4 to 6, and if the home page to be displayed includes voice or music, it is played back by a speaker. The information display device F is carried by the movable hand and arm of the robot 1. The information display device F may be embedded in a position such as the chest of the robot 1. Reference numeral H is a motion mechanism that moves movable parts such as the camera, neck, legs, arms, and hands.

Next, the operation of the robot 1 shown in FIG. 2 will be described. First, with reference to FIG. 3, an operation of autonomously moving with reference to the global map G will be described. Here, the table structure of the global map G will be described with reference to FIG. Global map G has a sequential number, an X coordinate,
It has Y-coordinate and dwell time fields. One record consisting of these four fields defines a relay point (this is called a subgoal) when moving to the final destination (goal). Therefore, it is possible to reach the final destination by tracing the sequence numbers in ascending order. First, the movement / operation planning unit 23 sets the wireless device 2
A movement start command is received via 8 (step S1). In response to this, the movement / motion planning unit 23 sets the coordinate values of the movement destination position (subgoal) to the global map G.
Is read from (step S2). Then, the movement / motion planning unit 23 determines whether or not the table has been completed depending on whether or not all the tables of the global map G have been read (step S3). If the result of this determination is that the table has ended, the movement processing ends.

Next, if the table is not completed, the movement / motion planning unit 23 reads its own current position (step S4). Then, the movement / motion planning unit 23 compares the coordinate value of the subgoal with the coordinate value of the current position to determine whether the subgoal is reached (step S5). If the result of this determination is that the subgoal has been reached, the movement / motion planning unit 23 determines whether or not the dwell time read from the global map G is "0" (step S6). If the stop time is not “0” as a result of this determination, the movement / motion planning unit 23 transmits a stop command to the motion control unit D so as to stop for the read stop time (step S7). In response to this, the motion control unit D waits for the designated dwell time (step S8). And
After waiting for the dwell time, the process returns to step S2 and the process is repeated.

On the other hand, in step S5, if the sub-goal has not been reached, the movement / motion planning unit 23 notifies the movement instruction unit 21 of the coordinate values of the sub-goal and its own coordinate value. In response to this, the movement instructing unit 21 calculates the difference so that the relative angle from the present position of the self to the position of the subgoal is 0, and the distance to the subgoal is 0 (step S9). Then, the calculated difference is transmitted as a control command value to the motion control unit D (step S10). Thereby, the motion control unit D starts moving based on the control command value and repeats the process until reaching the subgoal.
Note that the movement between fixed positions based on the global map G is performed when the final subgoal is reached.
The subgoal defined in can be traced back to the starting point. Further, it is also possible to estimate a certain number of specific points and visit them.

Next, the operation of displaying the advertisement information on the information display device F carried by the robot 1 will be described with reference to FIG. First, the delivery management server 8 uses the timetable 9
The content of the timetable is transmitted to the robot 1 via the Internet 3 and the base station 7. This is received by the wireless device 29 and stored in the computer 30 to set the time table (step S11). Here, the contents of the timetable set in the computer 30 will be described with reference to FIG. One record of the timetable is composed of "start time", "end time", and "URL (Uniform Resource Locators)", and a plurality of these records are stored.
In this timetable, the URL of the home page to be displayed is defined from the start time to the end time.

Next, the computer 30 reads one record of the internally stored time table (step S
12). Then, it is determined whether or not the time table is finished (step S13), and if the table is finished, the process is finished. On the other hand, if the table is not finished, the computer 30 monitors the time (step S14),
Until the end time has passed (step S15), the content of the advertisement is displayed on the information display device F by accessing the information providing servers 4 to 6 (step S16). The advertisement displayed here is the content of the home page specified by the URL stored in the timetable. Then, when the end time is reached, the timetable is read again and new advertisement contents are displayed.

In this way, the contents of the home page can be displayed within a predetermined time based on the start / end times defined in the timetable 9, so that the processing can be performed in parallel with the above-mentioned movement operation. If it is executed, the advertising robot can move autonomously. The timetable 9 may be stored in the computer 30 in advance.

Next, with reference to FIG. 7, an operation of finding a person existing around himself and moving to it will be described. First, the movement / motion planning unit 23 sets an initial value of a repeating loop (step S21). Here, the processing is repeated for the number of turning patterns. Subsequently, the movement / motion planning unit 23
Turns the neck by designating the turning angle to the camera / neck control unit 25 (step S22). Then, the stereo processing unit 11 captures the image captured by the camera 10 (step S23). The stereo processing unit 11 extracts a distance image by image processing and projects a grid plane assuming pixels in the ground direction for each distance. The grid size of this grid surface is, for example, 5 cm. This grid plane is updated for each frame of the obtained image.

Next, a local map is created (step S24). This local map is obtained from the previously projected image of the grid plane, the object width, the position of the center of gravity of the object, the distance from itself to the object, and the relative orientation. Then, a block of objects is obtained by examining the connectivity in the four neighborhoods of the grid (step S25).

Next, the total number of objects in one block is set as the initial value of the iteration loop. Then, in the object area, the sum of products of the skin color pixel positions and the center of gravity are calculated (step S27). The process of step S27 is repeatedly executed for the total number of objects, and steps S22 to S27 are performed.
The above process is repeatedly executed for the number of turning patterns. Then, when the processing up to step S27 is completed, the object having the largest total number of skin color pixels for each object obtained by the turning of the camera part, and the position of the center of gravity thereof is equal to or higher than a predetermined height (for example, 120 cm), and If the distance to the object is within a predetermined distance (for example, 5 m), the object is moved to that distance (steps S28 and S29).

As described above, when finding a place where there are many humans, the camera portion is left, front, right, or right, front,
The left view is turned in the same angle as the camera view angle, the local map is updated each time, and the objects that cross the view boundary are processed as a lump. Then, the pixels on the image corresponding to the width of the object are scanned to integrate the number of pixels of skin color, and the coordinates of these pixels are integrated to obtain the center of gravity of the object. After performing these processes, if the object with the largest total number of flesh color pixels for each object obtained by turning the camera part and the center of gravity position is at a predetermined height, and the distance to that object is within a predetermined distance, By moving there, it becomes possible to approach the places where more humans exist.

Next, the operation of moving while detecting an obstacle on the route will be described. When moving while detecting obstacles on the path, it is similar to the process of finding a human and moving to it as described above.The difference is that the relative direction and distance to the existing object are calculated and the distance and relative This is to pass a command value to the motion control unit D so that the direction is constant, and to move without colliding with an object in the visual field. Further, the position of the stationary object that goes out of the field of view is updated virtually based on the movement of the stationary object to obtain the object presence / absence pattern around the entire robot, thereby enabling safer movement.

The collision avoidance route generation unit 15 may use the preset turning angle of the robot according to the presence / absence pattern of the object within the viewing angle division, or the result learned by simulating with a simulator in advance. You may use it. Further, in the above description, the distance image is obtained from the stereo image,
A range finder such as an ultrasonic sensor may be provided all around and the range finder may be used to similarly implement the above-described processing.

As described above, during the movement of the predetermined route obtained from the global map G, an appropriate time interval (for example, 3
Every minute), the robot 1 turns the camera part to find a place where it is estimated that the number of people is the most, and if there is a place within a predetermined distance (for example, 5 m), it approaches until just before that, Can be presented. Also, when moving to the advertisement presentation place, it is possible to move while avoiding obstacles by the same processing.

Next, the operation when a person is stopped and present on his or her path will be described. First, the face detection unit 13 and the moving body extraction unit 12 scan the image from the upper end of the object to obtain the face portion region based on the face color,
The center of gravity is used as the candidate position of the face, and the pixel position on the image is
It is sent to the line-of-sight instruction unit 22 and the human response instruction unit 20. In addition, the moving body extraction unit 12 obtains the contour information of the moving body by a snake method or the like, sets the center of a rectangular area with the upper end portion of the contour as a reference, and determines the pixel position on the image to be the pixel position on the image. Two
2 and the person response instructing section 20.

When the face candidate position as a result of face detection and the face candidate position by the moving body extracting unit 12 are obtained at the same time, the line-of-sight instructing unit 22 determines the average as the face position. Find the line-of-sight control value from the face position,
Send to the camera / neck controller 25. Camera / neck controller 25
Controls the pan direction and the tilt direction of the camera 10 based on the given line-of-sight control value. As a result, the face of the human being faced is closely watched, the person himself facing is aware of the existence of the robot, and the degree of attention to the advertisement is improved.
Furthermore, it becomes more reliable to convey the future action of the robot to the surrounding people. For example, the voice synthesizing unit 18 generates a voice such as “Proceed to the front. Sorry, please leave the front.”, And the speaker 16 utters the voice.

The human response instructing section 20 measures the time after the object is found, and if there is no data transmitted from the voice recognizing section 19 for a certain threshold time (for example, 5 seconds), the movement instructing section 21. Instruct to avoid obstacles.
When the voice data is input, the movement instructing unit 21 is instructed to remain stopped. If the route is blocked for a longer time, the base station 2 is notified via the wireless device 18, and the operator is called. The initial plan is changed by the intervention of the operator. In this way, if a human-like object stops and exists on the path for a certain period of time, it is requested by voice synthesis to open the path, and when the path opens, the robot moves forward safely by moving forward. You can proceed.

As described above, the advertisement effect can be further enhanced by displaying the advertisement by the humanoid robot in the place where the people gather in the city. Further, since the computer 30 mounted on the robot main body is directly connected to the Internet 3 via the wireless device 29, the display content can be freely selected. Further, by making the movement mechanism of the robot 1 leg-type, it becomes possible to perform activities on a place with stairs or on an irregular road surface, and further it is possible to provide guidance in an airport, a train, a stadium, or a theater. In addition, it is possible to display information on a limited place directly by displaying the home page.

Further, with a computer placed at a fixed position, the home page of the Internet can see advertisements only by the person trying to see it, but the autonomous mobile robot according to the present invention can be used by an unspecified number of people. It is possible to present a home page on the Internet and to present an advertisement at a place where many publics come and go.

Further, regarding the advertisement from the person who saw the advertisement or the advertisement to which the prize is awarded, by presenting the inquiry destination, the personal information can be collected on the spot and the timely information can be collected. For example, by displaying the telop "If you are interested in seeing this CM right now, please call XX now", you can immediately make inquiries using your mobile phone, etc. Prompt dissemination and response are possible at the same time.

In addition, a quiz is conducted online,
By enabling entry via mobile phone and notification of the results to the winners on the spot, it is possible to greatly reduce the time and time required to win and announce, as in conventional quiz advertisements for newspapers, magazines, etc. I'm dying. Also, home page search by mobile phone is limited in the display area of the mobile phone and cannot display a lot of information at a time, so it is difficult for multiple people such as a group to see the same home page. However, when the autonomous mobile robot according to the present invention is in close proximity, the home page displayed by the robot is displayed by the system for connecting the person who calls the mobile phone and the robot by inputting the dedicated access code or the like from the mobile phone. Being able to respond to this by using a mobile phone makes it fun and allows multiple people to see a lot of information at the same time. Also, for urgent news, etc., a delivery management server can insert a home page to convey the news and change the schedule of the conventional timetable on the spot.

Furthermore, by displaying the contents of the extra on the information display device F of the autonomous mobile robot in place of the extra of the newspaper distributed in the city, it is possible to transmit information faster than the extra is distributed, and It is also possible that a specific large number of people can receive the information at the same time and easily attract attention.

In a conventional mobile robot, an operator operates movements by a remote control device or the like, but an image recognition unit A provided in the robot itself detects a person or an obstacle in the surroundings, and an action planning unit C. By controlling the movement of the operator, the operator's operation load is reduced, so that the operator can perform other operations with a margin.

Further, since the human face can be efficiently detected by the face detecting section 13, it can be judged whether or not the object coming in front is a human being, and an appropriate action can be taken. Therefore, it becomes possible to effectively carry out services and advertisements for people. In addition, the moving body extraction unit 12
Since it is possible to predict the moving direction of the moving object, it is possible to prevent a collision in advance. In addition, more appropriate collision avoidance can be achieved by determining a person by a composite evaluation such as face detection, moving object detection, and voice recognition.
Alternatively, the action plan can be changed. For example, when the face position can be estimated, it is possible to inform surrounding people of the course of the person by voice. Alternatively, it is possible to request that the course be opened.

It should be noted that a program for realizing the function of each processing unit in FIGS. 1 and 2 is recorded in a computer-readable recording medium, and the program recorded in this recording medium is read into a computer system and executed. By doing so, autonomous movement processing of the robot may be performed. The “computer system” mentioned here includes an OS and hardware such as peripheral devices. Also,
The “computer system” also includes a homepage providing environment (or display environment) if a WWW system is used. The "computer-readable recording medium" means a flexible disk,
Portable media such as magneto-optical disk, ROM, CD-ROM,
A storage device such as a hard disk built in a computer system. Further, the "computer-readable recording medium" is a volatile memory (RAM) inside a computer system which serves as a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those that hold the program for a certain period of time are also included.

Further, the program may be transmitted from a computer system that stores the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the program may be a program for realizing some of the functions described above. further,
It may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0042]

As described above, according to the invention described in claim 1, the advertisement information stored in the information providing server is read out through the communication means to display or speak the content of the advertisement. As a result, the effect that it becomes possible to efficiently carry out an advertisement with a rich content is obtained.

According to the second aspect of the present invention, it is determined whether or not there are human beings by analyzing the acquired image, and based on the result of this determination, it is determined in the area where more humans are present. Since it is moved, it is possible to autonomously move to an area where a human being, which is an advertisement partner, exists, and it is possible to effectively advertise.

According to the third aspect of the invention, since the voice of the surrounding human beings is recognized and a response is made by performing a predetermined operation according to the recognized voice, the attention of the surroundings is gathered. As a result, it is possible to increase the effect of advertisement.

Further, according to the invention described in claim 4, the position of the facing person is recognized based on the image analysis result,
By paying attention to the recognized human face, the presence of the robot is strongly impressed, and the advertising effect presented by the robot itself is effectively exhibited.

According to the invention described in claim 5, it is judged based on the image solution result whether or not a person is present in the planned movement direction, and when the person is present in the planned movement direction. Since the attention is urged, it is possible to obtain an effect that the movement of the robot itself can be smoothed by inviting the movement to a person who is an obstacle when moving.

According to the sixth aspect of the present invention, since the robot includes the global map which is the action range map information of the robot, the position information of the obstacle, the stairs, the entrance, etc. defined in the global map is used. Based on this, the effect that the position of the robot itself can be accurately recognized is obtained.

According to the invention described in claim 7, it is possible to advertise a plurality of types of information at a time by incorporating the information to be advertised via the Internet.

Further, according to the invention described in claim 8, by using the legged mobile robot in the shape of a human being, it becomes possible to give a sense of familiarity to the human beings in the surroundings and attract attention. The effect that the advertising effect can be increased is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of the robot 1 shown in FIG.

FIG. 3 is a flowchart showing an autonomous movement operation of the robot 1.

4 is an explanatory diagram showing a table structure of a global map G shown in FIG.

5 is a flowchart showing an operation of displaying advertisement information on the information display device F shown in FIG.

FIG. 6 is an explanatory diagram showing a table structure of a time table referred to when displaying advertisement information.

FIG. 7 is a flowchart showing an autonomous movement operation of the robot 1.

[Explanation of symbols]

1 ... Robot 2 ... Base station 3 ... Internet 4-6 ... Information providing server 7 ... Base station 8 ... Delivery management server 9 ... Time table A: Image recognition unit B: Speech recognition unit C ... Action Planning Department D: Motion control unit E ... External information display F: Information display device G: Global map H: Movement mechanism section

Claims (8)

[Claims] 1. An autonomous mobile robot that autonomously moves in a predetermined area to perform an advertisement, wherein the autonomous mobile robot has a communication means for accessing an information providing server arranged outside. An advertisement means for displaying or uttering the content of the advertisement, and a control means for reading out the advertisement information stored in the information providing server via the communication means and outputting the advertisement information to the advertisement means. And an autonomous mobile robot. 2. The autonomous mobile robot includes: an image acquisition unit that acquires an image of a surrounding area; an image analysis unit that determines whether or not a human is present by analyzing the image; and a judgment of the image analysis unit. The autonomous mobile robot according to claim 1, further comprising: an action planning unit that moves to an area where more humans exist, based on the result. 3. The autonomous mobile robot further comprises voice recognition means for recognizing the voices of humans around it, and response means for performing a predetermined operation according to the voice. The autonomous mobile robot described. 4. The autonomous mobile robot, based on the determination result of the image analysis means, a position recognition means for recognizing the position of a human being facing, and a line of sight for gazing at the human face recognized by the position recognition means. The autonomous mobile robot according to claim 2, further comprising an instruction unit. 5. The autonomous mobile robot judges whether or not a person exists in the planned moving direction based on the judgment result of the image analysis means, and takes care when the human exists in the planned moving direction. The autonomous mobile robot according to claim 2, further comprising a stimulating means for urging the user. 6. The autonomous mobile robot according to claim 2, wherein the autonomous mobile robot is provided with a global map in which an action range of the autonomous mobile robot is defined. 7. The autonomous mobile robot according to claim 1, wherein the information providing server is a server connected to the Internet. 8. The autonomous mobile robot according to claim 1, wherein the autonomous mobile robot is a humanoid legged bipedal walking robot.