JP2005186220A - Service providing system, robot support device, robot device, robot management device, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize the provision of a service accompanying the movement of a robot. <P>SOLUTION: The robot management device 100 decides the behavior of the robot 300 required for providing the service based on the service request from a user. The robot management device 100 instructs the robot 300 to execute the service by transferring behavior information indicating the decided behavior to the robot 300. If the movement is required when the robot 300 provides the instructed service, a moving means CT as public transportation is utilized. The robot 300 receives the support regarding action power of the robot 300 by a robot support device 400 installed in a vehicle TR during utilizing the moving means CT. Power to be used for action by the robot 300 after being separated from the moving means CT can be sufficiently secured by receiving the support. The movable distance of the robot 300 can be extended. By this, it is possible to provide various services accompanying the movement of the robot 300. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a service providing system, a robot support device, a robot device, a robot management device, and a program, and in particular, a service providing system, a robot support device that realizes service provision using a robot that can act autonomously, The present invention relates to a robot apparatus, a robot management apparatus, and a program.

  Recently, robot technology has rapidly advanced, and robots that can be used not only in conventional industrial robots but also in various fields are being realized. For example, a robot (for example, Patent Document 1) that provides care support for a person who needs care, a robot that substitutes for an auxiliary dog such as a guide dog, and the like are being realized. In other words, it is expected that robots that will work closely with human life will appear in the future. If such a robot can act in the human society in the same way as a human, the range of utilization of the robot will be expanded.

  On the other hand, the development of robot technology has also realized a robot that enables biped walking like a human being. Conventionally, robot movement methods have been mainly based on wheels or the like, but it is conceivable that the range of robot activities will be further expanded by diversification of movement methods such as biped walking. This is because the movement by a wheel or the like is limited to movement on a flat surface, but for example, by walking on two legs, it is possible to move up and down stairs. This brings about the possibility of autonomous activities outdoors for robots that have been mainly limited to indoor applications.

  Here, since the robot consumes energy such as electric power and operates, it is necessary to establish an energy supply method to the robot in order to operate the robot outdoors for a long time. In particular, since movement by biped walking involves a lot of energy consumption, establishment of an effective and efficient energy supply method is desired. If such a method is established, the robot can be operated for a long time, and more diverse activities are possible.

  Similarly to human beings, if a moving means such as public transportation can be used, long-distance movement is possible and the use of the robot is expanded. For example, when a person in need of assistance moves using public transportation, assistance can be provided while the robot is accompanied by a robot. Also, there are cases where public transportation is used in logistics operations such as home delivery services, and such operations can also be performed using robots. Alternatively, the care robot can go to a remote place to provide care services. That is, if restrictions on the movement of the robot are reduced, the possibility of realizing various services using the robot is dramatically improved.

However, conventionally, an effective and efficient energy supply method for such a robot has not been established. In addition, there has not been established a method in which a robot moves using a transportation means such as public transportation. In addition, a service provision method involving the movement of the robot has not been established.
Japanese Patent Application Laid-Open No. 2003-337996

  The present invention has been made in view of the above circumstances, and an object thereof is to provide various services using a robot.

In order to achieve the above object, a service providing system according to the first aspect of the present invention includes:
A service providing system configured to provide a predetermined service using the robot, the robot being capable of autonomously acting, a management device that manages the robot, and a support device that supports the robot,
The management device
Instructing the robot to provide a service by determining the behavior of the robot based on a service request and providing the robot with behavior information indicating the determined behavior.
The robot is
Service providing means for acquiring the behavior information from the management device and autonomously acting based on the acquired behavior information to provide the service,
The robot support device includes:
The behavior information is obtained from the robot, and based on the obtained behavior information, support means for assisting the robot is provided.
Providing a predetermined service accompanied by movement of the robot by cooperation of the management device, the robot, and the support device;
It is characterized by that.

In order to achieve the above object, a robot support apparatus according to the second aspect of the present invention provides:
A robot support device installed in a predetermined moving means to support a robot that can act autonomously,
Information acquisition means for acquiring behavior information defining the behavior of the robot from the robot;
Support means for supporting the robot using the moving means for a predetermined period based on the behavior information acquired from the robot,
It is characterized by that.

In the robot support apparatus,
The support means preferably determines the predetermined period by specifying a point where the robot should leave the moving means based on the behavior information.

In the robot support apparatus,
It is desirable that the support means controls the energy consumption of the robot for the predetermined period based on the behavior information.

In the robot support apparatus,
Preferably, the support means puts the robot into a resting state for the predetermined period based on the behavior information, and excites the robot so that the robot can leave the moving means when the predetermined period elapses.

In the robot support apparatus,
The support means preferably supplies the robot with predetermined energy used by the robot.

In the robot support apparatus,
It is desirable that the support means determines the support content for the robot based on the behavior information acquired from the robot.

In the robot support apparatus,
It is desirable that the support apparatus further includes a billing unit that charges the support by the support unit.

  It is desirable that the support device is installed on the moving unit in a shape corresponding to a posture when the robot uses the moving unit.

In order to achieve the above object, a robot apparatus according to a third aspect of the present invention provides:
A robotic device that acts autonomously to provide services,
Action information acquisition means for acquiring action information defining actions for providing the service;
An action means for providing a service by acting autonomously based on the action information acquired by the action information acquisition means,
When the action information includes movement using a predetermined moving means, the action means is installed on the moving means and acts with the support of a robot support device that provides support for energy consumption of the robot. To
It is characterized by that.

In order to achieve the above object, a robot management apparatus according to the fourth aspect of the present invention provides:
A robot management device for managing a robot device that acts autonomously and provides a service,
Request information acquisition means for acquiring information for requesting provision of the service;
Action information generating means for generating action information defining the action of the robot device based on the request information acquired by the request information acquiring means;
Instruction means for transmitting the action information generated by the action information generating means to the robot apparatus, and instructing the robot apparatus to execute the action prescribed in the action information;
It is characterized by providing.

In order to achieve the above object, a program according to the fifth aspect of the present invention is:
On the computer,
Obtaining behavior information defining behavior of the robot from a robot acting autonomously;
Determining a support action related to energy consumption of the robot based on the acquired behavior information;
Providing the determined support action to the robot for a predetermined period;
It is made to function as a robot support apparatus which supports the said robot by performing.

In order to achieve the above object, a program according to the sixth aspect of the present invention is:
To a computer that controls a robot that can act autonomously,
Obtaining behavior information defining the behavior of the robot;
A step of acting based on the obtained behavior information;
When movement using a predetermined moving means is defined in the behavior information, using a robot support device for supporting the robot installed in the moving means;
Controlling the energy consumption of the robot based on the support operation of the robot support device;
Is executed.

In order to achieve the above object, a program according to the seventh aspect of the present invention is:
On the computer,
Receiving a service request using a robot that can act autonomously;
Generating behavior information defining the behavior of the robot based on the received request;
Transmitting the generated behavior information to the robot and instructing the robot to provide the service;
Is executed.

  According to the present invention, various services using autonomously acting robots can be provided, and in particular, services involving movement can be provided.

  Embodiments according to the present invention will be described below with reference to the drawings. In this embodiment, a business entity that provides a service (hereinafter referred to as “business C”) dispatches a robot that can act autonomously in response to a request from a user to provide the service. An example will be described below. In this embodiment, it is assumed that the robot uses moving means CT (for example, a railroad, a bus, an aircraft, a ship, a taxi, etc.) that is a public transportation in addition to the movement by itself. Here, it is assumed that, for example, a predetermined contract or the like regarding a usage fee is made between the business entity that operates the public transportation and the business entity C, and thus, the use of the moving means CT by the robot. Is realized. In this embodiment, it is assumed that a railway is used as the moving means CT used by the robot.

  FIG. 1 is a diagram showing a configuration of a service providing system according to an embodiment of the present invention. As shown in the figure, the service providing system 1 according to the present embodiment includes a robot management apparatus 100, a user terminal 200 used by a user of a service provided by a business entity C, a robot 300, and a vehicle TR of a moving means CT. And a robot support device 400 installed inside. The robot management apparatus 100 and the user terminal 200 are connected to each other via the communication network 10.

  Hereinafter, the details of each of the above components will be described with reference to the drawings.

  The communication network 10 is a network that mediates communication based on a predetermined communication protocol (for example, TCP / IP: Transmission Control Protocol / Internet Protocol), for example, the Internet.

  The robot management apparatus 100 is configured from an information processing apparatus such as a mainframe or a workstation, for example, and manages the robot 300 used for services provided by the business entity C. That is, the robot management apparatus 100 is installed in the robot station RS for the business entity C to perform the above service, and is operated by the business entity C. The robot station RS is operated by the business entity C and is used as a standby place for the robot 300 used for providing services. The configuration of the robot management apparatus 100 will be described below with reference to FIG.

  FIG. 2 is a block diagram illustrating a configuration of the robot management apparatus 100. As illustrated, the robot management apparatus 100 includes a control unit 110, a communication control unit 120, an input control unit 130, an output control unit 140, a program storage unit 150, and a storage unit 160.

  The control unit 110 includes, for example, a CPU (Central Processing Unit) and a predetermined storage device (RAM (Random Access Memory)) serving as a work area, and controls each unit of the robot management device 100. Each process described later is executed based on a predetermined operation program stored in the program storage unit 150. More specifically, each function as shown in FIG. 3 is realized by the control unit 110 executing the operation program stored in the program storage unit 150. That is, as shown in FIG. 3, the control unit 110 has a request reception function 111 that receives a service request from a user, and a determination function 112 that determines an action, a movement route, and the like of the robot 300 necessary for providing the service in response to the request. An instruction function 113 for instructing the robot 300 to provide a service based on the determined action, a moving route, etc., a charging function 114 for performing a charging process for the service provided by the robot 300, a management function 115 for managing the robot 300, etc. I will provide a.

  The communication control unit 120 includes, for example, a predetermined communication device such as a router, and connects the robot management device 100 and the communication network 10 to communicate with the user terminal 200. The communication control unit 120 includes a predetermined wireless communication device and performs wireless communication with the robot 300. In the present embodiment, behavior information indicating the behavior, movement route, and the like of the robot 300 determined by the control unit 110 is transmitted to the robot 300.

  For example, the input control unit 130 connects a predetermined input device 13 such as a keyboard or a pointing device, and transmits an instruction or the like input from the input device 13 to the control unit 110.

  For example, the output control unit 140 connects a predetermined output device 14 such as a display device or a printer, and outputs the processing result of the control unit 110 to the output device 14 as necessary.

The program storage unit 150 is composed of a predetermined storage device such as a hard disk device or a ROM (Read Only Memory), and stores various operation programs executed by the control unit 110. The operation program stored in the program storage unit 150 is used to implement each process described later in cooperation with the OS, in addition to an arbitrary OS (Operating System: basic software) that controls the basic operation of the robot management apparatus 100. Assume that an operation program as shown below is stored. Processing by the robot management apparatus 100 described later is realized by the control unit 110 executing these operation programs.
(1) “Web server program”: a program for causing the robot management apparatus 100 to function as a web server for providing a website for accepting user registration and service provision requests, etc. (2) “request acceptance program”: user terminals Program for receiving service request from 200 (3) “Service determination program”: Program for determining service to be provided, robot 300 for providing service, behavior of robot 300, etc. based on service request (4) “Service execution program” ": Program for causing the robot 300 to execute the service (5)" Billing processing program ": Program for charging the user for the compensation of the provided service

  The storage unit 160 includes, for example, a storage device such as a RAM or a hard disk device, and stores various databases (DB). As shown in FIG. 4, the storage unit 160 includes databases such as a user information DB 161, a reception information DB 162, a service information DB 163, a robot information DB 164, and a route information DB 165.

  Details of each DB will be described below with reference to the drawings.

The user information DB 161 stores information related to registered users. Here, in this embodiment, it is assumed that a service is provided to a user who has registered predetermined information in advance. An example of information recorded in the user information DB 161 is shown in FIG. As shown in the figure, in the user information DB 161, a record is created with “user ID”, which is identification information uniquely assigned to each user, as a key. Each record includes “user name”, “attribute information”. "," Use service "," Use history ", etc. are prepared.
In the item “user ID”, identification information uniquely assigned to each registrant is recorded.
In the item “user name”, information indicating the name of the user is recorded.
In the item “attribute information”, in addition to information indicating attributes such as the sex and age of the user, contact information such as a location such as a home or work place, a telephone number, and an e-mail address is recorded.
In the item “service to be used”, a service ID designated by a service information DB 163 described later, which indicates the type of service desired by the user or the type of service with high usage frequency, is recorded.
In the item “Usage history”, information indicating the history of the service used by the user so far is recorded.

Information regarding the service request received from the user terminal is recorded in the reception information DB 162 as needed. An example of information recorded in the reception information DB 162 is shown in FIG. As shown in the figure, in the reception information DB 162, a record is created using “reception ID” as identification information uniquely assigned for each received request, and each record includes “reception date” and “requester”. Items such as “user ID”, “use service”, “use date / time”, and “use place” are prepared.
In the item “acceptance date and time”, information indicating the date and time when the request is accepted is recorded.
In the item “requester user ID”, the user ID of the user who requested the request is recorded.
In the item “service to be used”, a service ID specified in a service information DB 163 described later, which indicates the type of requested service, is recorded.
In the item “use date and time”, information indicating the date and time when the requested service is provided is recorded.
In the item “use place”, information indicating a place where the requested service is provided is recorded. Here, if the requested service involves the movement of the robot 300, a plurality of locations included in the movement route are recorded.

The service information DB 163 stores information related to services provided by the business entity C using the robot 300. An example of information recorded in the service information DB 163 is shown in FIG. As shown in the figure, in the service information DB 163, a record is created with “service ID”, which is identification information uniquely assigned for each type of service provided by the entity C, as a key. Items such as “service name”, “service contents”, and “charge” are prepared.
In the item “service content”, information indicating the name of the service specified by the service ID is recorded. In the present embodiment, for example, a “care service” in which the robot 300 assists care, a “going out assistance service” in which the robot 300 assists a person to go out, and a “home delivery service” in which the robot 300 delivers goods are prepared. Shall be.
In the item “service content”, information indicating the content of the service is recorded. In addition, information indicating the action performed by the robot 300 when providing the service is recorded. Here, in the information indicating the service content, when the robot 300 moves using the moving means CT, information indicating whether the moving means CT is used alone or with a human being is used. Shall be included. For example, when the service content is “home delivery service”, it indicates that the robot 300 moves alone, and when the service content is “outing assistance”, the robot 300 and the person being assisted move together. Will show.
In the item “charge”, information indicating the charge for the service is recorded. Here, the fee system is arbitrary. For example, a basic fee charged every time the service is provided, a time fee charged according to the operating time of the robot 300, an energy consumption amount of the robot 300, a moving distance of the robot 300, and the like. Or the like, or a combination thereof. In addition, for example, an optional fee that is added according to the content of the service to be provided may be set.

The robot information DB 164 stores information related to the robot 300 belonging to the robot station RS managed by the robot management apparatus 100. An example of information recorded in the robot information DB 164 is shown in FIG. As shown in the figure, in the robot information DB 164, a record with “robot ID”, which is identification information uniquely assigned to each robot 300, as a key is created. Items such as “service” are prepared.
In the item “name”, information indicating the name of the robot 300 is recorded.
In the item “providable service”, a service ID indicating a service that can be provided by the robot 300 is recorded.

  The route information DB 165 accumulates information for specifying the movement route of the robot 300 according to the received request. That is, the route information DB 165 includes a database group such as a point information DB 165A, a map information DB 165B, and a route information DB 165C as shown in FIG.

The point information DB 165A accumulates at least geographical information related to a dispatchable area of the robot 300 (hereinafter referred to as “service providing area”). An example of information recorded in the spot information DB 165A is shown in FIG. As shown in the figure, in the point information DB 165A, a record is created with “location name” indicating the geographical name included in the service providing area as a key, and each record includes “coordinate information”, “peripheral information”, and the like. Items are prepared.
In the item “coordinate information”, information indicating the latitude and longitude of the point indicated by the place name of the record is recorded.
In the item “peripheral information”, information about the periphery of the point indicated by the place name of the record is recorded. In the present embodiment, it is assumed that information indicating the station name of the moving means CT existing in the vicinity is recorded. When the public transport CT includes other than the railway, information indicating the facilities of the public transport CT to be used (for example, an airport, a bus stop, a taxi stand, a ship arrival / departure point, etc.) is recorded.

Map information DB165B accumulate | stores the map information which shows the map of a service provision area. An example of information recorded in the map information DB 165B is shown in FIG. Here, it is assumed that the map indicating the service providing area is divided by a predetermined range (for example, a range defined by latitude and longitude). As shown in the figure, in the map information DB 165B, a record with “map ID” as a key, which is identification information uniquely assigned to each divided map, is created, and each record includes “coordinate information”, Items such as “place name” and “map” are prepared.
In the item “coordinate information”, information indicating latitude / longitude defining the map is recorded.
In the item “place name”, information indicating the place name included in the map is recorded.
In the item “map”, image information indicating the map (hereinafter referred to as “map image information”) is recorded.
It is assumed that the map image information and the coordinate information of each place name are associated with each other. That is, if the place name is specified, the position corresponding to the place name on the map can be specified, and if a certain position on the map is specified, the place name of the position can be specified. Further, regarding the location of each user registered as attribute information in the user information DB 161, the coordinate information is specified in advance and is associated with the map image information.

Route information DB165C accumulate | stores the information regarding each route of the moving means CT. An example of information recorded in the route information DB 165C is shown in FIG. As shown in the figure, in the route information DB 165C, a record is created with “route ID”, which is identification information uniquely assigned for each route of the moving means CT, as a key. Items such as “timetable” are prepared.
In the item “station name”, information indicating the station name of the station included in the route is recorded.
In the item “timetable”, information indicating a timetable of the route at each station indicated by the item “station name” is recorded.
When the public transportation CT includes other than the railway, route information corresponding to the public transportation CT to be used is recorded.

  Next, the user terminal 200 will be described. The user terminal 200 is configured by an information processing apparatus such as a personal computer, for example, and is operated by a user of a service provided by the business entity C. The user terminal 200 according to the present embodiment has a configuration capable of accessing a website provided by the robot management apparatus 100 via the communication network 10. That is, it is connected to the communication network 10 via a predetermined communication device (modem, router, TA (Terminal Adapter), etc.), and a so-called browser program is executed to display a web page and display information through the web page. It is possible to input and transmit the input information.

  Next, the robot 300 will be described. It is a robot for implementing the service provided by the business entity C. The robot 300 is a humanoid biped walking robot as shown in FIG. 8, and operates using electric power as energy. The robot 300 is managed and operated by the business entity C, acts autonomously based on an instruction from the robot management apparatus 100, and provides the requested service. The robot 300 belongs to the robot station RS of the business entity C, and is dispatched from the robot station RS to which the robot 300 belongs to a service providing place to provide a service. The configuration of the robot 300 according to the present embodiment will be described below with reference to FIG.

  8A and 8B are views showing the appearance of the robot 300, where FIG. 8A is a front view and FIG. 8B is a rear view. As shown in FIG. 8A, the robot 300 includes a sensor unit 31, a communication antenna 32, a communication device 33, a storage unit 34, an arm unit 35, and a leg unit 36. Further, as shown in FIG. 8B, a connector unit 37, a fixing member 38, and a charging device 39 are provided on the back surface of the robot 300.

  The sensor unit 31 includes, for example, an imaging device such as a CCD (Charge Coupled Device) camera, a sound collection device such as a microphone, an obstacle detection sensor, and the like, and senses the situation around the robot 300. . Therefore, the sensor part 31 shall be suitably arrange | positioned not only at the position shown in FIG.

  The communication antenna 32 is an antenna for performing wireless communication with the robot management apparatus 100 and the robot support apparatus 400.

  The communication device 33 includes, for example, a display device that displays characters and images, an utterance device that speaks by voice, a voice recognition device that recognizes voice acquired by the sound collection device, and the like, and communicates with service users and the like. Provide services by realizing For example, when the robot 300 performs a care service, a situation is determined by talking with a care recipient and a therapy effect is provided by becoming a talking partner. Also, when the home delivery service is performed, the arrival of the article is notified to the home delivery person.

  The storage unit 34 includes a space for storing articles, an opening / closing door, and the like. When the robot 300 performs a service for transporting articles such as a home delivery service, the storage unit 34 stores and protects articles so that it is safe and reliable. Realize transportation services.

  The arm unit 35 is a movable unit having the same shape as the human arm unit, and provides a service by performing the same operation as the human arm unit. For example, when the robot 300 performs a home delivery service, the robot 300 receives and delivers goods, and when performing a care service, lifts or supports a care recipient.

  That is, in the present embodiment, the communication device 33, the storage unit 34, and the arm unit 35 are portions where the robot 300 directly provides a service to the user.

  The leg part 36 is a movable part having the same shape as a human leg part, and realizes biped walking of the robot 300 by performing the same operation as the human leg part. In addition, a traveling mechanism composed of predetermined wheels or the like may be provided at the sole of the leg portion 36, and may be moved while switching between biped walking by the leg portion 36 and traveling by the traveling mechanism according to the road surface conditions and the like. .

  The connector unit 37 is composed of predetermined electrodes and the like, and obtains electric power that is operating energy of the robot 300 from the outside. It is assumed that the connector unit 37 is configured with a position and a shape that can be connected to the connector unit 47 of the robot support apparatus 400.

  The fixing member 38 is a member that receives the fixing member 48 of the robot support apparatus 400. When the robot 300 uses the robot support apparatus 400, the fixing member 38 is engaged with the fixing member 48, so that the robot 300 is connected to the robot support apparatus 400. Fix it.

  The billing device 39 includes a predetermined reader / writer for reading a predetermined recording medium (hereinafter referred to as “electronic money card”) on which information having a monetary value such as an electronic money card is recorded, and the robot. Charge processing such as the fee for the service provided by 300 and the fee for the energy supplied from the robot support apparatus 400 is performed and collected from the user. In addition to the electronic money card, the charging device 39 may be configured to handle a card that can be used for a financial transaction such as a cash card, a debit card, a credit card, etc., or cash. Good.

  Next, the internal configuration and functions of the robot 300 will be described with reference to FIG. FIG. 9 is a block diagram showing the configuration of the robot 300. As illustrated, the robot 300 includes a control unit 310, a communication control unit 320, an input control unit 330, an output control unit 340, a program storage unit 350, a storage unit 360, and a power supply unit 370. The

  The control unit 310 includes, for example, a CPU and a predetermined storage device (RAM or the like) serving as a work area, controls each unit of the robot 300, and based on a predetermined operation program stored in the program storage unit 350. Each process to be described later is executed. More specifically, when the control unit 310 executes a program stored in the program storage unit 350, functions as shown in FIG. 10 are realized. That is, as illustrated in FIG. 10, the control unit 310 acquires the behavior information from the robot management device 100 and also transmits the behavior information to the robot support device 400, the behavior information and the external information acquired from the sensor unit 31. A recognition function 312 for recognizing an external environment and an action to be executed based on environment information and the like, and an action control function for autonomously operating by controlling the arm portion 35 and the leg portion 36 in accordance with the recognition of the recognition function 312 313, a service providing function 314 that provides a service by controlling operations of the communication device 33, the storage unit 34, the arm unit 35, and the like, a passive operation function 315 that operates according to control by the robot support device 400, and a charging device A charging function 316 for performing charging processing by controlling the number 39 is realized.

  The communication control unit 320 controls wireless communication between the robot management apparatus 100 and the robot support apparatus 400 by operating the communication antenna 32.

  The input control unit 330 is connected to a sound collection device or the like of the communication device 33, and includes an AD conversion circuit that converts input speech or the like into a digital signal, a speech recognition device that recognizes input speech, and the like. The digital signal and the conversion result are sent to the control unit 310.

  The output control unit 340 is connected to a display device, a speech device, or the like of the communication device 33, and controls a display operation or a speech operation according to information provided from the control unit 310.

The program storage unit 350 includes a predetermined storage device such as a hard disk device or a ROM, and stores various operation programs executed by the control unit 310. The operation program stored in the program storage unit 350 includes an operation program as shown below for realizing each process described later in cooperation with the OS, in addition to an arbitrary OS that controls the basic operation of the robot 300. Assume that it is stored. Processing performed by the robot 300, which will be described later, is realized by the control unit 310 executing these operation programs.
(1) “Communication control program”: a program for controlling the communication control unit 320 to communicate with the robot management apparatus 100 and the robot support apparatus 400 (2) “Autonomous operation control program”: analyzing information acquired from the outside Then, a program for autonomously operating the robot 300 by controlling the movable part of the robot 300 according to the analysis result (3) “default operation program”: the robot 300 is controlled by controlling the movable part of the robot 300 Program (4) “Service Execution Program” for executing a predefined operation: Program (5) “Billing Processing Program”: Controlling the Billing Device 39 to Make the Robot 300 Run a Service by Autonomous Operation and Default Operation And a program for executing predetermined accounting processing

  The storage unit 360 includes, for example, a storage device such as a RAM or a hard disk device, and stores various types of information necessary when the robot 300 provides a service. In the present embodiment, action information provided from the robot management apparatus 100 is stored.

  The power supply unit 370 is configured by, for example, a battery, and accumulates electric power that is operating energy of the robot 300 and supplies necessary electric power to each unit of the robot 300. The power supply unit 370 is connected to the connector unit 37 and receives power supply from the outside via the connector unit 37. Electric power supplied from the outside is charged to the battery. Alternatively, it is immediately used as operating energy as needed. In the present embodiment, power is supplied not only from the robot station RS but also from the robot support apparatus 400. Further, the power supply unit 370 detects the remaining battery level and notifies the control unit 310 of information indicating the remaining battery level (hereinafter referred to as “battery remaining level information”).

  Next, the robot support apparatus 400 will be described. As shown in FIG. 11, the robot support apparatus 400 is installed in the vehicle TR of the moving means CT and supports the robot 300 that has got on the vehicle TR. Here, as shown in FIG. 12, the robot support apparatus 400 according to the present embodiment is configured to have a chair-shaped external shape that the robot 300 is seated and used. The configuration of the robot support apparatus 400 will be described with reference to FIG.

  FIG. 12 is a block diagram illustrating a configuration of the robot support apparatus 400. As illustrated, the robot support apparatus 400 includes a control unit 410, a communication control unit 420, a program storage unit 450, a storage unit 460, a power supply device 470, a fixing device 480, and a power supply unit 490. Composed.

  The control unit 410 includes, for example, a CPU and a predetermined storage device (RAM or the like) serving as a work area. The control unit 410 controls each unit of the robot support device 400 and stores predetermined operation programs stored in the program storage unit 450. Based on this, each process to be described later is executed. More specifically, when the control unit 410 executes a program stored in the program storage unit 450, functions as shown in FIG. 13 are realized. That is, as illustrated in FIG. 13, the control unit 410 determines the support content for the robot 300 according to the communication function 411 that acquires behavior information from the robot 300, the analysis function 412 that analyzes the acquired behavior information, and the analysis result. A determination function 413 to perform, a support function 414 for executing an operation for realizing the determined support content, a charge function 415 for performing a charge processing for a fee according to the support performed, and the like.

  The communication control unit 420 operates the communication antenna 42 to perform wireless communication with the robot 300. In the present embodiment, behavior information is received from the robot 300.

  The program storage unit 450 is composed of a predetermined storage device such as a hard disk device or a ROM, and stores various operation programs executed by the control unit 410. The operation program stored in the program storage unit 450 stores an operation program for realizing each process to be described later in cooperation with the OS, in addition to an arbitrary OS that controls the basic operation of the robot support apparatus 400. Shall. The processing by the robot support apparatus 400 is realized by the control unit 410 executing these operation programs.

  The storage unit 460 includes, for example, a storage device such as a RAM or a hard disk device, and stores various information necessary when the robot support device 400 supports the robot 300. In the present embodiment, action information provided from the robot 300 is stored. Further, identification information for identifying each robot support device 400, information indicating the moving means CT in which the robot support device 400 is installed, and the like are stored.

  As shown in FIG. 12, the power supply device 470 is connected to the connector unit 47 and supplies power to the robot 300 via the connector unit 47. The connector part 47 is composed of electrodes and the like, and has a shape that can be connected to the connector part 37 of the robot 300. Further, when the robot 300 is seated on the robot support device 400, the robot 300 is disposed at a position where it can be connected to the connector unit 37.

  The fixing device 480 has a fixing member 48 that engages with the fixing member 38 of the robot 300, and when the robot 300 is seated on the robot support device 400, the fixing member 48 is driven, and the fixing member 48, the fixing member 38, Engage. Note that the shape and engagement method of the fixing member 38 and the fixing member 48 are arbitrary.

  The power supply unit 490 obtains electric power from a predetermined power supply device or the like of the vehicle TR and supplies electric power to each unit in order to operate the robot support device 400, and the electric power supplied by the power supply device 470 to the robot 300. Is supplied to the power supply device 470.

  It should be noted that a predetermined sensor connected to the control unit 410 is disposed in each unit of the robot support apparatus 400, and the control unit 410 determines the position and orientation of the robot 300 based on the detection signal from each sensor. Etc. shall be recognized.

  Next, the operation of the service providing system 1 configured as described above will be described. First, “instruction processing” in which the robot management apparatus 100 instructs the robot 300 to perform a service providing operation based on a user request will be described with reference to the flowchart shown in FIG. In the present embodiment, it is assumed that a service provision request from a user is received on a website provided by the robot management apparatus 100. Therefore, the “instruction process” is started when the user terminal 200 accesses a website provided by the web server function of the robot management apparatus 100.

  The control unit 110 of the robot management apparatus 100 provides a “service request form” as shown in FIG. 15 to the user terminal 200 in response to the access from the user terminal 200 (step S101). As shown in FIG. 15, the service request form is a form for the user to input the user ID of the user requesting the service, the type of service requested, the desired service provision date and time, and the location. The user inputs necessary information (hereinafter referred to as “request information”) according to the service request form displayed on the user terminal 200 and transmits it to the robot management apparatus 100.

  When the robot management apparatus 100 receives request information from the user terminal 200 (step S102), it creates a new record in the reception information DB 162, records information in each item based on the received request information, and receives information from the user. The service request is accepted (step S103). Further, the control unit 110 analyzes the request information and generates “behavior information” that defines the behavior of the robot 300 that performs the requested service (step S104). Here, the control unit 110 refers to each database in the storage unit 160 to select the robot 300 that performs the requested service, the movement path when the robot 300 performs the requested service, and , Determine the service content (such as operation when providing the service).

  More specifically, based on the location of the robot station RS and the service providing location specified by the request information, the route information DB 165 is referred to determine an optimal movement route. For example, the route for providing the care service at the client's home is “robot station RS → client home → robot station RS”. Further, a route for providing a home delivery service for transporting an article is “robot station RS → article receiving place → article delivery place → robot station RS”. Alternatively, a route for providing a service for assisting the client to go out is “robot station RS → client home → designated outing location → client home → robot station RS”. That is, an essential visit point for providing a service is determined.

  When the essential visit points are determined in this way, a route connecting the points is determined. Here, the control unit 310 refers to the point information DB 165A and recognizes the position of each point based on the coordinate information (latitude / longitude) of each point. And the map information of each point is acquired from map information DB165B, and a movement route is determined. Here, information indicating points (for example, intersections, points to be turned left and right, etc.) serving as a reference for movement determination in each route between the required visit points is also acquired.

  In addition, when the nearest station information of each point can be acquired in the point information DB 165A, the route information DB 165C is searched for the route of the moving means CT connecting the stations. When there is a usable route, information indicating a route to be used and a station to get on and off is obtained from the route information DB 165C. Further, based on the service provision date and time information, the time required for the robot 300 to move is calculated, and the time when the robot 300 departs the robot station RS, the time when the moving means CT gets on and off the vehicle TR, and the like are also scheduled.

  The control unit 110 indicates requested service contents, service execution date / time, determined travel route, information about the travel means CT to be used (such as a use route and a boarding / exiting station), a schedule (such as a start date / time of each action), and the like. Information is generated as “behavior information”. That is, the behavior information generated by the robot management apparatus 100 is information for specifying a behavior (operation) to be executed by the robot 300 to perform the requested service and instructing the robot 300. Note that the control unit 110 acquires the charge information of the requested service from the service information DB 163 and includes it in the action information.

  The control part 110 transmits the produced | generated action information to the selected robot 300 via the communication control part 120 (step S105), and complete | finishes a process. That is, by notifying the robot 300 of the generated behavior information, the robot 300 is instructed to perform the requested service.

  Next, “service provision processing” in which the robot 300 provides a service will be described with reference to a flowchart shown in FIG. This “service provision process” is started when the communication control unit 320 of the robot 300 receives the behavior information from the robot management apparatus 100.

  When the robot 300 receives behavior information from the robot management apparatus 100, the control unit 310 stores the received information in the storage unit 360 (step S201).

  The control unit 310 reads the behavior information stored in the storage unit 360 and executes the prescribed behavior. Here, first, movement is started based on the behavior information (step S202). That is, when the departure date and time indicated in the schedule information of the behavior information is reached, the robot departs from the robot station RS and moves based on the route information. Note that the robot 300 additionally records information indicating the action execution history indicated in the action information (hereinafter referred to as “behavior history information”) in the action information stored in the storage unit 360 as needed. . For example, when arriving at a point indicated by the route information, information such as arrival at the point and arrival date / time is additionally recorded in the behavior information.

  Based on the behavior information and the external environment detected by the sensor unit 31, the control unit 310 determines whether or not it has arrived at the service providing place (step S203), and if it has arrived (step S203: Yes), Service provision is executed (step S204). Here, if the requested service is, for example, a “care service” in which a care activity is performed at a user's home, a predetermined care operation is executed at the service providing location where the service arrives. In the case of the “home delivery service”, an article to be transported is received at the service providing place that has arrived, stored in the storage unit 34, and departed toward the designated destination. Or if it is "outing assistance service" which assists a user's going out, a movement will be started with a user.

  Based on the behavior information and the behavior history information, the control unit 310 determines whether or not the service being performed is accompanied by movement (step S205). That is, in the above “care service”, care activities at the user's home are service contents, and therefore no further movement is involved. On the other hand, the “home delivery service” and the “outing assistance service” involve movement such as transportation of goods and outing with users.

  If the control unit 310 determines that “accompanying movement” (step S205: No), the control unit 310 returns to step S202, starts movement according to the service being performed, and at the service providing place specified in the behavior information. Then, the operation for providing the service is executed (steps S203: Yes, S204).

  The control unit 310 determines whether the provision of the service being performed has been completed (step S206). Here, in the case of the above “care service”, it is determined whether or not a predetermined care operation has been completed, and in the case of “home delivery service”, it is determined whether or not the delivery at the destination of the article has been completed. In the case of “outing assistance service”, it is determined whether or not the service provision has been completed by determining whether or not the user has returned to the user's home.

  If the service provision has not been completed (step S206: No), the process returns to step S204 to continue the service provision operation. On the other hand, when the service provision is completed (step S206: Yes), the robot 300 returns to the robot station RS (step S207) and ends the process.

  When the action information stored in the storage unit 360 includes the use of the moving unit CT, the control unit 310 acts to use the moving unit CT. As described above, when the robot 300 uses the moving means in CT during the movement in step S202, the “moving means use processing” is executed. This “moving means utilization processing” will be described with reference to the flowchart shown in FIG. Here, processing executed by the robot 300 and the robot support apparatus 400 will be described. This “moving means use process” is started when the robot 300 arrives at a place where the moving means CT is used, that is, in the present embodiment, at the boarding station of the railway.

  When the robot 300 gets on the vehicle TR of the moving means CT from the designated boarding station based on the behavior information (step S301), the robot 300 connects to the robot support device 400 installed in the vehicle TR (step S302). In the present embodiment, the robot support device 400 has a chair shape, and thus the robot 300 is seated on the robot support device 400. At this time, the control unit 310 of the robot 300 controls each movable unit based on the detection signal from the sensor unit 31 so that the connector unit 37 of the robot 300 and the connector unit 47 of the robot support apparatus 400 are connected. Sit while controlling posture.

  Note that how the robot 300 discovers the robot support device 400 in the vehicle TR is determined by an arbitrary method. For example, the position of the robot support apparatus 400 may be recognized by recognizing the shape or the like of the robot support apparatus 400 from an image obtained by the CCD camera of the sensor unit 31. Alternatively, the robot support device 400 may be seated based on a guidance signal or the like generated by the robot support device 400.

  When seated on the robot support apparatus 400, the control unit 310 uses the communication control unit 320 to transmit the behavior information and battery remaining amount information (hereinafter referred to as “robot information”) stored in the storage unit 360 to the robot. It transmits to the support apparatus 400 (step S303).

  In the robot support device 400, when the control unit 410 detects the seating of the robot 300 based on a detection signal from the sensor, the control unit 410 controls the fixing device 480 to engage the fixing member 48 and the fixing member 38. Then, the robot 300 is fixed to the robot support device 400. Thereby, dropping off from the robot support apparatus 400 due to the shaking of the vehicle TR or the like is prevented.

  When the communication control unit 420 receives the robot information, the control unit 410 stores the received robot information in the storage unit 460 (step S304). The control unit 410 analyzes the acquired robot information and executes “support operation determination processing” for determining the support content for the robot 300 (step S400). Here, information indicating the getting-off station indicated in the route information, action history information of the robot 300, battery remaining amount information, and the like are analyzed. The details of the support determination process will be described with reference to the flowchart shown in FIG.

  First, the control unit 410 determines whether or not the robot 300 may be put into a resting state (sleep state) by determining whether or not the robot 300 is riding alone based on the behavior information. (Step S401). Here, the control unit 410 determines whether or not it is a single boarding based on the service contents and the action history information indicated in the action information. For example, if the robot 300 is a single service such as “home delivery service”, it is determined that it is a single boarding. In addition, if the service content is, for example, assistance for going out of the user, that is, a service accompanied by the user, it is determined whether the user is currently accompanying the user based on the action history information. Then, it is determined whether or not it is a single ride.

  In step S401, the control unit 410 determines that “pause state is possible” when the robot 300 is riding alone, and determines that “pause state is not possible” when the robot 300 is riding with the user. Here, the “pause state” is an operation mode in which the power consumption of the robot 300 is kept low. For example, power is supplied only to the volatile memory, or the power of the robot 300 is turned off. Here, when riding with the user, the reason that the “pause state is not possible” is, for example, that the user talks with the user using the communication device 33 or uses the arm unit 35 while riding. This is because a person's assistance is required. On the other hand, if the robot 300 is on its own, there is no problem even when the robot 300 is in a resting state, and the battery consumption of the robot 300 can be suppressed by making the resting state.

  Therefore, when it is determined that “pause state is possible” (step S401: Yes), the control unit 410 sets “pause state” as the support operation for the robot 300, and the storage unit 460 stores information indicating that as support operation information. (Step S402).

  On the other hand, when it is determined that “the sleep state is not possible” (step S401: No), “power supply for operation” is set as the support operation for the robot 300, and information indicating that is stored as the support operation information in the storage unit 460 or the like. (Step S403). Here, the support operation “power supply for operation” indicates that power for operation of the robot 300 is supplied from the robot support device 400 while the robot 300 is in the vehicle TR. That is, the robot 300 can perform necessary operations (such as conversation and user assistance) without consuming the battery.

  Next, the control unit 410 determines whether or not the battery of the robot 300 needs to be charged based on the battery remaining amount information provided from the robot 300 (step S404). Here, for example, if the remaining battery level indicated by the remaining battery level information is equal to or less than a predetermined value, it is determined that “charging is required”. Further, the necessity of charging may be determined based on a future action schedule indicated in the action information.

  When it is determined that “charging is required” (step S404: Yes), the control unit 410 sets “charging power supply” as the support operation, and records information indicating that in the storage unit 460 or the like as support operation information. (Step S405), the process ends, and the process returns to the process flow shown in FIG. On the other hand, if it is determined that “charging is not required” (step S404: No), the process is terminated as it is, and the process returns to the process flow shown in FIG.

  The control unit 410 executes the support operation determined in the support operation determination process, that is, the operation indicated in the support operation information recorded in the storage unit 460 (step S305 in FIG. 17). That is, when “pause state is possible” is set, a control signal for controlling the operation mode of the robot 300 to “pause state” is transmitted from the communication control unit 420 to the robot 300 to place the robot 300 in the pause state. . Alternatively, when “operation power supply” or “charging power supply” is set in the support operation, the power supply device 470 supplies power to the robot 300 via the connector 47. At this time, the control unit 410 transmits to the robot 300 a control signal indicating the application of power to be supplied (for operation or for charging). The power supply device 470 detects the supply amount of the supplied power as needed, and sends information indicating the detected supply amount (hereinafter referred to as “supply amount information”) to the control unit 410. Control unit 410 stores supply amount information sent from power supply device 470 in storage unit 460.

  That is, the robot 300 operates without consuming its own battery while using the moving means CT with the above-described support of the robot support device 400, or minimizes the consumption of its own battery. It operates and can be supplemented to the battery as needed. As a result, the movable distance of the robot 300 after leaving the moving means CT is greatly expanded as compared with the case where the support is not received.

  The robot 300 operates based on the control signal from the robot support apparatus 400 received by the communication control unit 320 (step S306). That is, when a control signal indicating “resting state” is received, the control unit 310 controls the power supply unit 370 and operates with the minimum necessary power consumption (or turns off the power supply). In addition, when a control signal indicating “operation power supply” is received, the control unit 310 controls each unit to operate using the power supplied via the connector unit 37. When the instruction signal indicating “charging power supply” is received, the control unit 310 controls the power supply unit 370 to charge the battery with the power supplied via the connector unit 37.

  On the other hand, the control unit 410 of the robot support apparatus 400, based on the route information included in the action information stored in the storage unit 460, is a point where the robot 300 should leave the vehicle TR (that is, the getting-off station). ) Is specified (step S307).

  Control unit 410 also detects the current position of vehicle TR as needed to determine whether vehicle TR has arrived (or approached) at the point specified in step S307 (step S308). . Here, it is assumed that control unit 410 detects the current position of vehicle TR, for example, in cooperation with a travel position detection function that is mounted in advance in vehicle TR.

  When it is determined that the vehicle TR has arrived (or has approached) at the departure point (step S308: Yes), the control unit 410 transmits a control signal indicating the fact to the robot 300 from the communication control unit 420 for notification (step S308). S309). If the support operation determined in step S400 is “pause”, a control signal for returning the robot 300 from the pause state is transmitted to excite the robot 300. When “operating power supply” or “charging power supply” is being performed, a control signal indicating that power supply is to be stopped is transmitted.

  If the control signal which notifies a leaving point is transmitted, the control part 410 will complete | finish the assistance operation currently performed (step S310), and will complete | finish a process. It should be noted that “end of support operation” also includes fixing release by the operation of the fixing device 480.

  The robot 300 executes an operation according to the received control signal (step S311). That is, when a control signal indicating “recovery from hibernation” is received, the control unit 310 controls the power supply unit 370 to supply power necessary for normal operation (or turn on the power). Further, when a control signal indicating “end of power supply” is received, the control unit 310 controls the power supply unit 370 to switch to an operation using its own battery.

  When the controller 310 of the robot 300 confirms that the fixing state of the fixing member 37 to the robot support device 400 has been released, the controller 310 gets off (leaves) from the vehicle TR by operating each unit (step S312). The “means use process” is terminated.

  Next, a process for charging a fee generated when the robot 300 uses the robot support apparatus 400 will be described with reference to a flowchart shown in FIG. Here, it is assumed that the price of the power supplied to the robot 300 is charged, and the processing executed by the robot support apparatus 400 and the robot 300 will be described. Further, the “billing process” is started when the support operation of the robot support apparatus 400 is completed in step S310 of the “moving means use process” (FIG. 17).

  First, the control unit 410 of the robot support apparatus 400 determines whether power is supplied as a support operation for the robot 300 (step S501). Here, when the power supply is not performed (step S501: No), there is no billing target, and the process is terminated.

  On the other hand, when power supply is performed (step S501: No), the control unit 410 calculates a fee that is a price for the supplied power based on the supply amount information stored in the storage unit 460 (step S502). .

  The control unit 410 transmits information indicating the calculated charge (hereinafter referred to as “power charge information”) to the robot 300 via the communication control unit 420 (step S503), and ends the process. Here, for example, identification information of the robot support apparatus 400, information indicating the vehicle TR in which the robot support apparatus 400 is installed, and the vehicle TR when the support operation is performed are used as the power charge information. Information indicating a route, information indicating a business entity that operates the moving means CT, and the like may be added.

  In the robot 300, when the communication control unit 320 receives the power rate information (step S504), the control unit 310 determines whether or not the moving unit CT is used alone based on the action history information (step S505). ). Here, in the case of single use (step S505: Yes), the control unit 310 stores the received power rate information in the storage unit 360 (step S506).

  On the other hand, when acting with the user (step S505: No), the control unit 310 controls the communication device 33 so that the charge amount indicated in the power charge information and the electronic money card to the charging device 39 are displayed. A message prompting insertion is notified to the user, and a payment of a charge is requested (step S507). When the electronic money card is inserted, the charging device 39 updates information indicating the monetary value of the electronic money card based on the fee amount, and information indicating that the amount has been received (hereinafter, “ The receipt information ”is stored in the storage unit 360 (step S508).

  When the robot 300 returns to the robot station RS, the control unit 310 transmits the power rate information or the receipt information stored in the storage unit 360 to the robot management apparatus 100 via the communication control unit 320. (Step S509), the process ends. When the robot management apparatus 100 acquires the power charge information from the robot 300, the robot management apparatus 100 collects the charge from the user by a method such as account withdrawal. On the other hand, when the receipt information is acquired, for example, a payment for the amount indicated in the receipt information is requested from the operating entity of the used electronic money card.

  In the above “billing process”, when there is a user in the vicinity of the robot 300, the robot support apparatus 400 collects the charge of the power supplied to the robot 300 by the user's electronic money card. You may also collect charges for the services provided. Alternatively, the usage fee (boarding fee etc.) of the moving means CT may be collected by the same method. Even if there is a user in the vicinity of the robot 300, charging may be performed by a method that does not use an electronic money card (account withdrawal, etc.).

  As described above, according to the above-described embodiment, the robot management apparatus 100 automatically determines the action of the robot 300 necessary for providing the service based on the service request from the user. The behavior information indicating the performed behavior is transferred to the robot 300 to instruct the robot 300 to perform the service. When the robot 300 needs to move to provide the instructed service, the robot 300 uses the moving means CT that is a public transportation. During use of the moving means CT, the robot support device 400 installed in the vehicle TR receives support related to the operating power of the robot 300. That is, the robot 300 is in a dormant state under the control of the robot support apparatus 400 while using the moving means CT. Alternatively, it operates without consuming its own battery by receiving supply of operating power. Furthermore, the battery is charged by receiving supply of charging power to the battery as necessary. By receiving such support, sufficient power is ensured for the operation after the robot 300 leaves the moving means CT.

  That is, according to the above-described embodiment, the robot 300 uses the moving unit CT, so that the movable distance of the robot 300 is greatly extended, and various services accompanying the movement of the robot 300 can be provided. In addition, since the operations of the robot 300 and the robot support device 400 are executed based on behavior information automatically generated by the robot management device 100, a service providing operation using the robot 300 can be realized without human intervention. Can do.

  In addition, although the robot support apparatus 400 in the said embodiment was made into the chair-shaped shape which the robot 300 sits and uses, the shape of the robot support apparatus 400 is not restricted to this. For example, when the moving means CT is a railroad or a bus, it may be in the shape of a strap as shown in FIG. In this case, the connector part 37 of the robot 300 is configured as a part (palm) where the robot 300 holds the strap type device. Alternatively, as shown in FIG. 20 (b), the robot 300 is installed on the floor surface of the vehicle TR or the like, and receives the support in a state where the robot 300 is upright (or in a bent state) by contacting the foot of the robot 300. It is good also as a shape which can do.

  In the above-described embodiment, the case where a railroad is used as the moving means CT is shown as an example. However, other public transportation (bus, taxi, aircraft, ship, etc.) may be used. Moreover, you may apply this invention to arbitrary moving means other than public transport. For example, the above-described service may be provided by installing the robot support apparatus 400 in a user's private car or a truck that carries the robot 300.

  The installation location of the robot support device 400 is not limited to the moving means CT, and appropriate locations indoors and outdoors (for example, commercial facilities such as convenience stores and gas stations, stations and airports, and other public facilities). It may be installed in. Thereby, even if the robot 300 does not use the moving means CT, the movable distance of the robot 300 can be increased. In such a form, it is possible to collect an appropriate charge through the robot management apparatus 100 by including in the power charge information information indicating an entity that manages and operates the robot support apparatus 400.

  In the above-described embodiment, the case where the robot 300 operates by supplying power using a battery has been described. However, the energy generation method of the robot 300 is not limited to this, and for example, a fuel cell may be adopted. . The robot support apparatus 400 performs a support operation according to the energy generation method employed by the robot 300. For example, when the robot 300 employs a fuel cell, the fuel to be used is supplied to the robot 300.

  In the above embodiment, the robot support device 400 determines the support content by specifying the state of the robot 300, the departure point, and the like based on the action information acquired from the robot 300. You may do it. That is, the robot 300 may determine the desired support content by itself and instruct the robot support apparatus 400 to execute the determined support operation.

  The robot management apparatus 100 according to the above embodiment can be realized not only by a dedicated apparatus but also by a general-purpose computer apparatus such as a personal computer. In this case, it is possible to cause the robot management apparatus 100 according to the above-described embodiment to function by installing and executing a program for realizing each process of the robot management apparatus 100 described above on a general-purpose computer apparatus.

  Similarly, for the robot 300, not only a dedicated robot device but also a general-purpose robot that can be used for various purposes by switching operation programs can be used. Also in this case, it is possible to function as the robot 300 according to the above-described embodiment by installing and executing a program for realizing each process of the robot 300 described above.

  Such a program can be distributed in any form. For example, the program can be distributed by being stored in a recording medium such as a CD-ROM or a memory card, or can be distributed via a communication medium such as the communication network 10. Good.

  As described above, according to the present invention, it is possible to provide a service that accompanies the movement of a robot.

It is a figure which shows the structure of the service provision system which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the robot management apparatus shown in FIG. It is a functional block diagram which shows the function of the control part shown in FIG. It is a figure for demonstrating the database comprised by the memory | storage part shown in FIG. It is a figure which shows the example of the information recorded on the database shown in FIG. 4, (a) shows the example of the information recorded on user information DB, (b) shows the example of the information recorded on reception information DB. (C) shows an example of information recorded in the service information DB, and (d) shows an example of information recorded in the robot information DB. It is a figure for demonstrating the database which comprises route information DB shown in FIG. It is a figure which shows the example of the information recorded on the database shown in FIG. 6, (a) shows the example of the information recorded on point information DB, (b) shows the example of the information recorded on map information DB. (C) shows an example of information recorded in the route information DB. It is a figure which shows the external structure of the robot concerning embodiment of this invention. It is a block diagram which shows the internal structure of the robot concerning embodiment of this invention. It is a functional block diagram which shows the function of the control part shown in FIG. It is a figure for demonstrating the robot assistance apparatus concerning embodiment of this invention. It is a block diagram which shows the structure of the robot assistance apparatus shown in FIG. It is a functional block diagram which shows the function of the control part shown in FIG. It is a flowchart for demonstrating the "instruction | indication process" concerning embodiment of this invention. It is a figure which shows the example of the "service request form" provided by the "instruction | indication process" shown in FIG. It is a flowchart for demonstrating the "service provision process" concerning embodiment of this invention. It is a flowchart for demonstrating the "movement means utilization process" concerning embodiment of this invention. It is a flowchart for demonstrating the "support determination process" concerning embodiment of this invention. It is a flowchart for demonstrating the "billing process" concerning embodiment of this invention. It is a figure which shows the modification of the robot assistance apparatus concerning embodiment of this invention, (a) shows the example of a strap type robot assistance apparatus, (b) is the robot assistance apparatus connected with the foot part of a robot. An example is shown.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Service provision system, 10 ... Communication network, 100 ... Robot management apparatus, 200 ... User terminal, 300 ... Robot, 400 ... Robot support apparatus

Claims (14)

A service providing system configured to provide a predetermined service using the robot, which includes a robot capable of acting autonomously, a management device that manages the robot, and a support device that supports the robot,
The management device
Instructing the robot to provide a service by determining the behavior of the robot based on a service request and providing the robot with behavior information indicating the determined behavior.
The robot is
Service providing means for acquiring the behavior information from the management device and autonomously acting based on the acquired behavior information to provide the service,
The robot support device includes:
The behavior information is obtained from the robot, and based on the obtained behavior information, support means for assisting the robot is provided.
Providing a predetermined service accompanied by movement of the robot by cooperation of the management device, the robot, and the support device;
A service providing system characterized by that. A robot support device installed in a predetermined moving means to support a robot that can act autonomously,
Information acquisition means for acquiring behavior information defining the behavior of the robot from the robot;
Support means for supporting the robot using the moving means for a predetermined period based on the behavior information acquired from the robot,
A robot support device characterized by that. The support means determines the predetermined period by specifying a point where the robot should leave the moving means based on the behavior information.
The robot support apparatus according to claim 2. The support means controls the energy consumption of the robot for the predetermined period based on the behavior information.
The robot support apparatus according to claim 2 or 3, wherein The support means puts the robot into a resting state for the predetermined period based on the behavior information, and excites the robot so that the robot can leave the moving means when the predetermined period has elapsed.
The robot support apparatus according to any one of claims 2 to 4, wherein the robot support apparatus is configured as described above. The support means supplies the robot with predetermined energy used by the robot;
The robot support apparatus according to claim 2, wherein the robot support apparatus is a robot support apparatus. The support means determines support content for the robot based on the behavior information acquired from the robot.
The robot support apparatus according to any one of claims 2 to 6, wherein the robot support apparatus is configured as described above. The support apparatus further includes a billing unit that charges the support by the support unit.
The robot support device according to claim 2, wherein the robot support device is a robot support device. The support device is installed on the moving unit in a shape corresponding to a posture when the robot uses the moving unit.
The robot support apparatus according to any one of claims 2 to 8, wherein the robot support apparatus is any one of the above. A robotic device that acts autonomously to provide services,
Action information acquisition means for acquiring action information defining actions for providing the service;
An action means for providing a service by acting autonomously based on the action information acquired by the action information acquisition means,
When the behavior information includes a movement using a predetermined moving means, the behavior means is installed on the moving means and acts with the support of a robot support device that provides support for energy consumption of the robot. To
A robot apparatus characterized by that. A robot management device for managing a robot device that acts autonomously and provides a service,
Request information acquisition means for acquiring information for requesting provision of the service;
Action information generating means for generating action information defining the action of the robot device based on the request information acquired by the request information acquiring means;
Instruction means for transmitting the action information generated by the action information generating means to the robot apparatus, and instructing the robot apparatus to execute the action prescribed in the action information;
A robot management apparatus comprising: On the computer,
Obtaining behavior information defining behavior of the robot from a robot acting autonomously;
Determining a support action related to energy consumption of the robot based on the acquired behavior information;
Providing the determined support action to the robot for a predetermined period;
By executing the program, the program is made to function as a robot support device that supports the robot. To a computer that controls a robot that can act autonomously,
Obtaining behavior information defining the behavior of the robot;
A step of acting based on the obtained behavior information;
When movement using a predetermined moving means is defined in the behavior information, using a robot support device for supporting the robot installed in the moving means;
Controlling the energy consumption of the robot based on the support operation of the robot support device;
A program characterized by having executed. On the computer,
Receiving a service request using a robot that can act autonomously;
Generating behavior information defining the behavior of the robot based on the received request;
Transmitting the generated behavior information to the robot and instructing the robot to provide the service;
A program characterized by having executed.

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