JP2007265329A - Route guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guidance system capable of intelligibly executing route guidance even for a person who is poor at understanding a map. <P>SOLUTION: The route guidance system 100 includes a communication robot 10 and a display device 12. For example, when the person A existing near the display device 12 is detected based on a detection result of a floor sensor 18, the robot 10 asks the person whether or not the route guidance is required. If the route guidance is required, the robot 10 further asks the person the destination. When destination information is acquired from the robot 10, a computer 14 sequentially displays a path from the present location to the destination by every key point (path point) on the display device 12. In addition, the computer 14 properly transmits control commands to the robot 10 and transmits (explains) the direction in which the person should go by utterance and gestures by every key point. As a result, since the path from the present position to the destination is displayed and the path on which the person should go is explained to the person by the gestures, the path to the destination is intelligibly explained without transfer of the robot to the destination with the person. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a road guidance system, and in particular, for example, a road guidance in which a communication robot that presents information using voice and body movement and a display device that presents information by visual display of map information cooperate to execute road guidance. About the system.

An example of background art is disclosed in Patent Document 1. The technology of the user guidance device disclosed in Patent Document 1 includes a mobile robot having a first display, a mobile terminal device having a second display, and a robot management server. When the user inputs a destination to the mobile terminal device, the second display displays a road leading to the destination, an arrow indicating the user and the destination direction as a CG character. The robot management server determines whether there is a mobile robot near the user in response to the destination input to the mobile terminal device. When there is no mobile robot near the user or when another user is being guided, the user moves to the destination according to the CG character displayed on the second display as it is. On the other hand, when there is an empty mobile robot near the user, the CG character displayed on the second display is erased and the same CG character is displayed on the first display. Thereby, it is possible to notify the user that the information on the mobile terminal has moved to the mobile robot. Thereafter, the mobile robot guides the user to the destination by moving with the user.
JP 2000-99871 A [G08G 1/005]

  In the technique of Patent Document 1, by displaying a CG character on the display, the user can be easily guided to the destination. Although it is kind to the user, since the mobile robot moves with the user to the destination, it takes time to guide one person. That is, it is inefficient.

  In addition, people who are not good at understanding the map, for example, even if the current location and destination and its route are shown on the map, do not know which direction you are currently facing, in which direction Sometimes you don't know what to do and you can't reach your destination.

  Therefore, a main object of the present invention is to provide a road guidance system that can efficiently perform road guidance.

  Another object of the present invention is to provide a road guidance system that can execute road guidance in an easy-to-understand manner even for people who are not good at understanding maps.

  The present invention employs the following configuration in order to solve the above problems. The reference numerals in parentheses, supplementary explanations, and the like indicate correspondence relationships with embodiments described later to help understanding of the present invention, and do not limit the present invention in any way.

  According to the first aspect of the present invention, destination information is acquired by at least map display means for displaying a map on a display device, destination information acquisition means for acquiring destination information indicating a destination for route guidance, and destination information acquisition means. When the route display means displays the route from the current location where the display device is installed to the destination on the map according to the important points, and the route is visually displayed by the route display means, a human progresses at each important point. It is a road guidance system provided with the control means which controls the communication robot which explains the direction which should be done to the said person with an audio | voice and a body motion.

  In the first aspect of the invention, the route guidance system (100) includes a communication robot (10) that performs route guidance by information presentation (explanation) using voice (utterance) and body movement (gesture), and map information (map and route). A display device (12) that provides road guidance by visually displaying information on the information) cooperates, for example, via a computer (14) to execute road guidance. The map display means (12, 14, S13) displays at least a map on the screen of the display device. For example, a map including the current location (for example, a point where a display device is installed) is displayed. The destination information acquisition means (10, 14, S11) acquires destination information for route guidance from a human. For example, the destination information may be acquired based on human speech or touch panel operation. The route display means (12, 14, S13, S25, S29) is a route from the current position to the destination on the map displayed on the screen of the display device when the destination information is acquired by the destination information acquisition means. Is visually displayed according to important points (following directions). Here, the key points mean points where a person turns around (turns right or left) such as a corner or an intersection. However, the key points include the current location and destination. The control means (14, S27, S31, S37) controls the operation (speech and gesture) of the communication robot by transmitting a control command to the communication robot, for example. For example, when the route is visually displayed according to the route by the route display means, the communication robot is made to respond (link) and let the communication robot speak the direction that the person should travel for each important point, or present it with a gesture. Explain the route to the destination.

  According to the first aspect of the present invention, the route from the current location to the destination is displayed, or the route to be traveled is explained to the human by utterance or gesture, so the communication robot moves to the destination together with the human. Therefore, the route can be explained in an easy-to-understand manner even for a person who is not good at understanding a map. Therefore, the route guidance can be executed efficiently.

  The invention of claim 2 is dependent on claim 1 and further comprises human detection means for detecting a human at least in the vicinity of the display device, and the control means is configured to detect the human when the human detection means detects the human. The communication robot is asked whether route guidance is necessary, and the operation of the communication robot is controlled based on a human reaction to the question.

  The invention of claim 2 further includes human detection means (14, 18, S3). The human detection means detects a human (that is, a human who is looking for a road) existing at least in the vicinity of the display device (a distance at which the content displayed on the screen of the display device can be confirmed, for example, within 2 m). When the person is detected by the human detection means, the control means (14, S5) causes the communication robot to ask whether or not the person needs route guidance. That is, the communication robot actively works on the detected human. Then, the operation of the communication robot is controlled based on a human reaction to the question (speech, specific action, etc.). For example, the communication robot is made to ask the person about the destination, or the action for the person is ended. Accordingly, it is possible to actively work on a person who seems to be searching for a road in the vicinity of the display device, and to execute the road guide.

  According to the present invention, the route to the destination can be explained in an easy-to-understand manner even for a person who is not good at understanding a map without the communication robot moving to the destination together with the person. That is, the route guidance can be executed efficiently.

  The above object, other objects, features and advantages of the present invention will become more apparent from the following detailed description of embodiments with reference to the drawings.

  Referring to FIG. 1, a road guidance system (hereinafter simply referred to as “system”) 100 of this embodiment includes a communication robot (hereinafter simply referred to as “robot”) 10, a display device 12, a computer 14, a database ( DB) 16 and floor sensor 18. In this system 100, for example, the robot 10 and the display device 12 cooperate with each other via a computer 14 to provide a route guidance service. As can be seen from FIG. 1, in the system 100, for example, the robot 10 is connected to a computer 14 so as to be communicable wirelessly, and the display device 12, the DB 16 and the floor sensor 18 are connected to the computer 14 by wire. .

  The robot 10 and the computer 14 are connected wirelessly, but may be connected by wire.

  The robot 10 is interaction-oriented mainly for the purpose of executing communication with a communication target such as a human being, and has a function of executing communication using body movements such as voice and gesture gestures. Although details will be described later, the robot 10 explains a route (direction) to a destination for a person who needs route guidance by using voice (utterance) and body movement (gesture). The external appearance or electrical configuration of the robot 10 will be described in detail later.

  The display device 12 is, for example, a CRT display or a liquid crystal display. As described above, the computer 14 is connected and display control is performed by the computer 14. The display device 12 displays a map corresponding to a range in which a road guidance service is provided. Further, when executing the route guidance, the display device 12 displays the current location and the destination on the map in a distinguishable manner, and visually displays the route from the current location to the destination.

  Note that displaying the current location and the destination in a distinguishable manner means that the location is indicated by a color, or that the location is indicated by blinking light. The visual display of the route will be described in detail later.

  The computer 14 is a computer such as a general-purpose personal computer (PC) or a workstation, and controls the display of the display device 12 and the communication behavior of the robot 10 as described above.

  The DB 16 stores map information (map information) about a range (environment) in which the system 100 provides a route guidance service. Although illustration is omitted, this map information includes image data about the map, all the points where humans such as corners and intersections may turn around (turn right or left), and all possible destinations in the environment. Includes key data indicating key points such as points. However, the important point indicated by the important point data includes the current location (for example, the point where the display device 12 is installed). In addition, the DB 16 includes route information including a route (direction) that is the shortest distance from the current location to the relevant destination and information on important points in the route in association with each destination in association with the map information. Is memorized. However, each important point in the route is stored in the order according to the route from the current location to the destination. Therefore, the computer 14 controls the display of the display device 12 based on the map information and the route information. For example, based on the map information, the computer 14 displays a map of a range where the route guidance service is presented on the display device 12, and when executing the route guidance, based on the map information and the route information, The route from to the destination is displayed on the map according to the directions.

  The DB 16 stores a command name of a control command for controlling the operation of the robot 10. This command name is the name of the behavior module of the robot 10. Therefore, the computer 14 transmits (instructs) the control command (behavior module name) of the robot 10 to the robot 10 when providing the route guidance service. The robot 10 executes communication behavior, that is, route guidance, according to a control command from the computer 14. For example, when the computer 14 displays the route from the current location to the destination on the map according to the route on the display device 12 based on the map information and the route information, the computer 14 causes the robot 10 to speak the traveling direction for each important point. Or make them present with gestures.

  The floor sensor (floor pressure sensor) 18 includes a large number of detection elements (pressure-sensitive sensors). The large number of detection elements are, for example, in the vicinity of the display device 12 (a person can confirm the contents displayed on the display device 12). Embedded within the floor). In this embodiment, when a person is present near the display device 12, the floor sensor 18 outputs a signal (detection signal) based on the pressure to the computer 14. Therefore, the computer 14 can know whether or not a person is present near the display device 12 based on the presence or absence of the detection signal from the floor sensor 18.

  FIG. 2 is a front view showing the appearance of the robot 10, and the hardware configuration of the robot 10 will be described with reference to FIG. The robot 10 includes a carriage 20, and two wheels 22 and one slave wheel 24 for moving the robot 10 autonomously are provided on the lower surface of the carriage 20. The two wheels 22 are independently driven by a wheel motor 26 (see FIG. 3), and the carriage 20, that is, the robot 10 can be moved in any direction, front, back, left, and right. The slave wheel 24 is an auxiliary wheel that assists the wheel 22. Therefore, the robot 10 can freely move in the arranged space.

  A cylindrical sensor mounting panel 28 is provided on the carriage 20, and an infrared distance sensor 30 is mounted on the sensor mounting panel 28. The infrared distance sensor 30 measures the distance from the sensor mounting panel 28, that is, the object (human or obstacle) around the robot 10.

  Further, the body 32 is provided on the sensor mounting panel 28 so as to stand upright. The above-described infrared distance sensor 30 is further provided on the front center upper portion of the body 32 (a position corresponding to the chest). This measures the distance to the human mainly in front of the robot 10. Also. The body 32 is provided with one omnidirectional camera 34. The omnidirectional camera 34 is provided, for example, on a support column 36 extending from substantially the center of the upper end on the back side. The omnidirectional camera 34 captures the surroundings of the robot 10 and is distinguished from an eye camera 60 described later. As this omnidirectional camera 34, for example, a camera using a solid-state imaging device such as a CCD or a CMOS can be adopted. In addition, the installation positions of the infrared distance sensor 30 and the omnidirectional camera 34 are not limited to the portions, and can be changed as appropriate.

  Upper arms 40R and 40L are provided at upper end portions (positions corresponding to shoulders) on both side surfaces of the body 32 by shoulder joints 38R and 38L, respectively. Although illustration is omitted, the shoulder joints 38R and 38L each have three orthogonal degrees of freedom. That is, the shoulder joint 38R can control the angle of the upper arm 40R around each of the three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 38R is an axis parallel to the longitudinal direction (or axis) of the upper arm 40R, and the other two axes (pitch axis and roll axis) are axes orthogonal to each other from different directions. It is. Similarly, the shoulder joint 38L can control the angle of the upper arm 40L around each of the three orthogonal axes. A certain axis (yaw axis) of the shoulder joint 38L is an axis parallel to the longitudinal direction (or axis) of the upper arm 40L, and the other two axes (pitch axis and roll axis) are axes orthogonal to each other from different directions. It is.

  Further, forearms 44R and 44L are provided at the tips of the upper arms 40R and 40L via elbow joints 42R and 42L, respectively. Although illustration is omitted, each of the elbow joints 42R and 42L has one degree of freedom, and the angle of the forearms 44R and 44L can be controlled around the axis (pitch axis).

  Spheres 46R and 46L corresponding to hands are fixedly provided at the tips of the forearms 44R and 44L, respectively. However, when a finger or palm function is required, a “hand” in the shape of a human hand can be used.

  Although illustration is omitted, a contact sensor (FIG. 3) is provided on each of the front surface of the carriage 20, a portion corresponding to the shoulder including the shoulder joints 38R and 38L, the upper arms 40R and 40L, the forearms 44R and 44L, and the spheres 46R and 46L. 48) is provided. The contact sensor 48 on the front surface of the carriage 20 detects contact of a person or another obstacle with the carriage 20. Therefore, if there is contact with an obstacle while the robot 10 is moving, it can be detected, and the driving of the wheel 22 can be immediately stopped to suddenly stop the movement of the robot 10. The other contact sensors 48 mainly detect whether or not a human has touched each part of the robot 10. The installation position of the contact sensor 48 is not limited to these, and may be provided at an appropriate position (chest, abdomen, side, back, waist, head, etc.).

  A neck joint 50 is provided at the upper center of the body 32 (a position corresponding to the neck), and a head 52 is further provided thereon. Although illustration is omitted, the neck joint 50 has a degree of freedom of three axes, and the angle can be controlled around each of the three axes. A certain axis (yaw axis) is an axis directed directly above (vertically upward) of the robot 10, and the other two axes (pitch axis and roll axis) are axes orthogonal to each other in different directions.

  The head 52 is provided with a speaker 54 at a position corresponding to the mouth. The speaker 54 is used for the robot 10 to communicate with a person around it by voice or sound. Further, microphones 56R and 56L are provided at positions corresponding to the ears. Hereinafter, the microphone 56R corresponding to the right ear and the microphone 56L corresponding to the left ear may be collectively referred to as the microphone 56. The microphone 56 captures ambient sounds, particularly a human voice that is an object for performing communication. Further, eyeball portions 58R and 58L are provided at positions corresponding to the eyes. Eyeball portions 58R and 58L include eye cameras 60R and 60L, respectively. Hereinafter, the right eyeball portion 58R and the left eyeball portion 58L may be collectively referred to as the eyeball portion 58, and the right eye camera 60R and the left eye camera 60L may be collectively referred to as the eye camera 60.

  The eye camera 60 captures a human face approaching the robot 10, other parts or objects, and captures a corresponding video signal. As the eye camera 60, a camera similar to the omnidirectional camera 34 described above can be used. For example, the eye camera 60 is fixed in the eyeball part 58, and the eyeball part 58 is attached to a predetermined position in the head 52 via an eyeball support part (not shown). Although illustration is omitted, the eyeball support portion has two degrees of freedom, and the angle can be controlled around each of these axes. For example, one of the two axes is an axis (yaw axis) in a direction toward the top of the head 52, and the other is orthogonal to one axis and the direction in which the front side (face) of the head 52 faces. It is an axis (pitch axis) in the direction to be performed. By rotating the eyeball support portion around each of these two axes, the tip (front) side of the eyeball portion 58 or the eye camera 60 is displaced, and the camera axis, that is, the line-of-sight direction is moved.

  The installation positions of the speaker 54, the microphone 56, and the eye camera 60 described above are not limited to these, and may be provided at appropriate positions.

  FIG. 3 is a block diagram showing an electrical configuration of the robot 10. With reference to FIG. 3, the robot 10 includes a CPU 62 for controlling the whole. The CPU 62 is also called a microcomputer or a processor, and is connected to the memory 66, the motor control board 68, the sensor input / output board 70, and the audio input / output board 72 via the bus 64.

  Although not shown, the memory 66 includes a ROM, an HDD, and a RAM. The ROM and the HDD store in advance a control program for the robot 10 (an action control program for executing communication with a human). At the same time, voice data or voice data (voice synthesis data) to be generated from the speaker 54 when performing communication, angle data for presenting a predetermined gesture, and the like are also stored. However, the robot 10 communicates with humans according to one or a plurality of behavior control programs, that is, performs gestures and utterances, and provides route guidance to the humans. The ROM or HDD stores a communication program for transmitting / receiving necessary information to / from an external computer (computer 14 or the like). The RAM is used as a work memory or a buffer memory.

  For example, there are “question A”, “question B”,..., “Road guidance A”, “road guidance B”,. However, “” is the name of the action module. When the robot 10 executes the behavior module “Question A”, for example, the robot 10 utters “Do you need route guidance?” And tilts its head. Specifically, the CPU 62 reads out voice data (synthesized voice data) corresponding to “Do you need route guidance?” From the memory 66 and outputs it from the speaker 54 via the voice input / output board 72. At the same time or almost the same time, the CPU 62 reads out the angle data when the head is tilted from the memory 66 and supplies it to the motor control board 68. Then, the head motor 82 is rotated so as to tilt the neck.

  When the robot 10 executes the behavior module “Question B”, for example, the robot 10 utters “Where do you want to go?” And tilts the head. Specifically, the CPU 62 reads out audio data corresponding to “Where do you want to go?” From the memory 66 and outputs it from the speaker 54 via the audio input / output board 72. At the same time or almost the same time, the CPU 62 reads out the angle data when the head is tilted from the memory 66 and supplies it to the motor control board 68. Then, the head motor 82 is rotated so as to tilt the neck.

  Further, when the robot 10 executes the behavior module “Guide A”, for example, the right hand is raised forward and the robot 10 turns 90 degrees rightward and speaks, “Go straight in this direction and immediately hit”. . Specifically, the CPU 62 reads out the angle data for turning the right hand forward and the angle data for turning 90 degrees to the right from the memory 66, and gives them to the motor control board 68. Then, the right arm motor 78 is rotated by a predetermined angle so that the right hand is raised forward, and the wheel motor 26 is rotated so as to turn 90 degrees rightward. Thereafter, the CPU 62 reads out the audio data corresponding to “go straight in this direction and go straight ahead” from the memory 66, and outputs it from the speaker 54 via the audio input / output board 72.

  Furthermore, when the robot 10 executes the behavior module “way guidance B”, for example, the robot 10 turns 90 degrees leftward and utters “turn left and immediately cross the road”. Specifically, the CPU 62 reads out angle data for turning 90 degrees leftward from the memory 66, and provides it to the motor control board 68. Then, the wheel motor 26 is rotated so as to turn 90 degrees in the left direction. Thereafter, the CPU 62 reads out audio data corresponding to “turn left and immediately cross the intersection” from the memory 66, and outputs it from the speaker 54 via the audio input / output board 72.

  Note that these behavior modules and their communication behavior are merely examples, and are set as appropriate by the developer or designer according to the environment or situation in which the robot 10 is placed.

  The motor control board 68 is composed of, for example, a DSP, and controls the driving of each axis motor such as each arm, neck joint, and eyeball. That is, the motor control board 68 receives two control data from the CPU 62 and controls two motors for controlling the respective angles of the two axes of the right eyeball portion 58R (collectively, “right eyeball motor” in FIG. 3) 74. Control the rotation angle. Similarly, the motor control board 68 receives control data from the CPU 62, and controls two angles of the two axes of the left eyeball part 58L (in FIG. 3, collectively referred to as “left eyeball motor”). The rotation angle of 76 is controlled.

  The motor control board 68 receives control data from the CPU 62, and includes three motors for controlling the angles of the three orthogonal axes of the right shoulder joint 38R and one motor for controlling the angle of the right elbow joint 42R. The rotation angles of a total of four motors 78 (collectively referred to as “right arm motor” in FIG. 3) 78 are adjusted. Similarly, the motor control board 68 receives control data from the CPU 62 and includes three motors for controlling the angles of the three orthogonal axes of the left shoulder joint 38L and one motor for controlling the angle of the left elbow joint 42L. The rotation angles of a total of four motors (collectively referred to as “left arm motor” in FIG. 3) 80 are adjusted.

  Further, the motor control board 68 receives the control data from the CPU 62 and controls three motors for controlling the respective angles of the three orthogonal axes of the neck indirect 50 (collectively referred to as “head motors” in FIG. 3). The rotation angle of 82 is controlled. Furthermore, the motor control board 68 receives control data from the CPU 62 and controls the rotation angle of two motors 26 (hereinafter collectively referred to as “wheel motors”) 26 that drive the wheels 22.

  In this embodiment, a motor other than the wheel motor 26 is a stepping motor or a pulse motor in order to simplify the control. However, as with the wheel motor 26, a DC motor may be used.

  Similarly, the sensor input / output board 70 is also configured by a DSP, and takes in signals from each sensor and gives them to the CPU 62. That is, data relating to the reflection time from each of the infrared distance sensors 30 is input to the CPU 62 through the sensor input / output board 70. Further, a video signal from the omnidirectional camera 34 is input to the CPU 62 after being subjected to predetermined processing by the sensor input / output board 70 as necessary. Similarly, the video signal from the eye camera 60 is also input to the CPU 62. Further, signals from the plurality of contact sensors described above (collectively referred to as “contact sensors 48” in FIG. 3) are provided to the CPU 62 via the sensor input / output board 70.

  Similarly, the voice input / output board 72 is also configured by a DSP, and a voice or voice according to voice synthesis data provided from the CPU 62 is output from the speaker 54. For example, information presentation (explanation of the route to the destination) by a relative coordinate system, which will be described later, is emitted from the speaker 54 as voice or voice. Also, the voice input from the microphone 56 is taken into the CPU 62 via the voice input / output board 56.

  The CPU 62 is connected to the communication LAN board 84 via the bus 64. The communication LAN board 84 is configured by a DSP, gives transmission data sent from the CPU 62 to the wireless communication device 86, and sends the transmission data from the wireless communication device 86 to an external computer (for example, via a network such as a wireless LAN). 1 and FIG. 4, the data is transmitted to a computer 14) or the like. The communication LAN board 84 receives data via the wireless communication device 86 and gives the received data to the CPU 62. That is, the communication LAN board 84 and the wireless communication device 86 allow the robot 10 to perform wireless communication with the computer 14 and the like. However, the robot 10 and the computer 14 may be connected so as to be directly communicable by short-range wireless (Bluetooth (registered trademark)) or wired.

  The system 100 having such a configuration is applied to a certain underground mall (shopping mall), an event venue, and the like, and provides a route guidance service. FIG. 4 shows an example of a state in which the robot 10 and the display device 12 cooperate to provide route guidance to a human (here, human A). For example, the display device 12 is installed at a road information center in an underground mall. The robot 10 is fixedly installed near the display device 12. Moreover, since the robot 10 can move autonomously, the robot 10 may be installed so as to be movable around the display device 12. However, as will be described later, the robot 10 utters a phrase or a word including a relative direction (straight, right, left, etc.) with the direction (standard) when the person advances according to the map as the center (reference). Since guidance (information presentation) is performed by performing gestures such as pointing in the direction, it is possible to turn even if it is fixedly installed (so that its direction can be changed) It is done. Further, as described above, the floor sensor 18 is embedded in the vicinity of the point (place) where the display device 12 is installed.

  In FIG. 4, the computer 14 and the DB 16 are omitted, but as shown in FIG. 1, the robot 10, the display device 12, and the floor sensor 18 are connected to the computer 14, and the DB 16 is connected to the computer 14. .

  FIG. 5 shows an example of route guidance (display contents displayed on the screen) provided by the display device 12. For example, when the route guidance is not executed, the display device 12 displays a map including the current location p1 as shown in FIG. However, in FIG. 5 (A) (FIG. 5 (B) -FIG. 5 (F) is also the same), the position of a person is displayed according to a route by a triangle mark. Here, for the sake of simplicity, it is assumed that the display device 12 displays a fixed map for the entire range where the route guidance is performed. However, when the range where the route guidance is performed is wide, the display range may be changed as appropriate by reducing, enlarging, or scrolling the screen. In the state shown in FIG. 5A, when the destination is acquired from a human, the destination pn is further displayed on the map as shown in FIG. 5B. Here, pi (i = 1, 2,..., N) means important points (route points) from the current location p1 to the destination pn, and includes the current location p1 and the destination pn. Therefore, n is the total number of important points. Further, in FIG. 5B (the same applies to FIGS. 5C to 5F), the destination pn is indicated by the letter and the background is white, but as described above. Actually, the destination pn may be displayed by adding a color or blinking light.

  After this, the position of the triangle mark on the map is updated while showing the important points according to the route (shortest route) from the current location p1 to the destination pn. First, FIG. 5C shows a route on the map that travels downward from the current location p1 to the important point p2 that is the end (should change direction). Next, as shown in FIG. 5 (D), a route is shown on the map from the important point p2 to the left, and the route to the important point p3 that becomes a branch point (to change direction). Subsequently, as shown in FIG. 5 (E), a route is shown on the map from the key point p3 to the key point p4, which is a point to turn left and turn left. Then, as shown in FIG. 5F, the route from the important point p4 to the left and reaching the destination pn is shown on the map.

  On the other hand, the robot 10 explains a route to the destination using a voice (utterance) and a body motion (gesture) such as gesture gesture. However, as described above, the robot 10 speaks using a direction that is relatively determined with reference to the traveling direction of the person, and instructs the direction by physical movement. For example, when the person is facing north, the north is the reference, and when the person is facing south, the south is the reference. Therefore, for example, the robot 10 uses an utterance or gesture that assumes a situation where a human is actually traveling along the road, such as “go the intersection to the right and turn to the next crossroad to the left ...” when guiding the road. Can be executed.

  Specifically, as shown in FIGS. 5C to 5F, when the human traveling direction is shown on the map, the robot 10 appropriately assumes the case where the human is traveling. , Run directions. First, as shown in FIG. 5C, when the route from the current location p1 to the important point p2 is shown on the map, the robot 10 turns in the direction of the important point p2 and points to the direction. However, he says, "Go straight in this direction and hit the end". Next, as shown in FIG. 5D, when the route from the key point p2 to the key point p3 is shown on the map, the robot 10 turns to the right, goes straight for a while, and reaches the end. And turn to turn rightward (rightward when the direction from the current location p1 toward the main point p2 is used as a reference). Further, as shown in FIG. 5E, when the route from the key point p3 to the key point p4 is shown on the map, the robot 10 utters “turn right and go about 20 m”. However, the vehicle turns in the right direction (the right direction when the direction from the key point p2 toward the key point p3 is used as a reference). Also, as shown in FIG. 5F, when the route from the key point p4 to the destination pn is shown on the map, the robot 10 speaks “Left hand is the destination” Point in the direction (left direction with reference to the direction from the key point p3 to the key point p4).

  That is, as shown in FIGS. 5 (C) to 5 (F), when a route from the current location p1 to the destination pn is sequentially displayed on the map, the robot 10 "corresponds to this direction. Go straight, turn right at the right end, go straight for a while, turn right at the end, and after about 20m, your left hand is your destination. " . In this way, the robot 10 executes route guidance assuming a situation where a person is actually traveling on the road, so even a person who is not good at understanding a map can easily understand the route to the destination. Can be explained.

  Although detailed explanation is omitted, it is assumed that the person who is listening to the explanation of the robot 10 changes the direction of his / her body and face as appropriate according to the communication behavior (speech and gesture) of the robot 10. .

  The operation of the system 100 as described above will be described with reference to a flowchart. Specifically, the computer 14 executes the entire process according to the flowchart shown in FIG. 6 and provides a route guidance service. As shown in FIG. 6, when starting the entire process, the computer 14 determines whether or not there is a stop command in step S1. For example, the stop command is input by an administrator of the system 100 using an input device (keyboard, computer mouse, etc.) of the computer 14. If “YES” in the step S1, that is, if there is a stop command, the entire processing is ended as it is to finish providing the route guidance service. On the other hand, if “NO” in the step S1, that is, if there is no stop command, it is determined whether or not a human is present in the vicinity of the display device 12 in a step S3. That is, for example, based on the detection result of the floor sensor 18, whether or not a person is detected in the vicinity of the display device 12 (a distance at which map information displayed on the screen of the display device 12 can be confirmed, for example, within 2 m). to decide.

  If “NO” in the step S3, that is, if there is no human in the vicinity of the display device 12, the process returns to the step S1. On the other hand, if “YES” in the step S3, that is, if a human is present near the display device 12, a control command is transmitted to the robot 10 in a step S5. This control command is an action module “Question A” for causing the robot 10 to ask whether the person needs route guidance. Although illustration is omitted, when the robot 10 receives this control command, the CPU 62 executes an operation corresponding to the control command (an operation for asking whether route guidance is necessary). Thus, for example, the robot 10 utters “Do you need directions?” And tilts his head or says “If you need directions, please touch my shoulder.” And ask humans if they need directions.

  In the next step S7, it is determined whether or not route guidance is necessary. However, in this embodiment, the robot 10 determines whether route guidance is necessary and transmits the result to the computer 14. For example, the robot 10 asks a human whether route guidance is required according to the control command, and in response to this, the human speaks a positive response (for example, “Yes”) or the robot 10 shoulders. If it touches, it will be judged that the route guidance is necessary. However, the robot 10 asks the person whether or not the route guidance is necessary according to the control command. On the other hand, if there is no reaction, the robot 10 determines that the route guidance is unnecessary.

  If “NO” in the step S7, that is, if the route guidance is unnecessary, the process returns to the step S1 as it is. On the other hand, if “YES” in the step S7, that is, if the route guidance is necessary, a control command is transmitted in a step S9. This control command is an action module “question B” for causing the robot 10 to ask a human to ask a destination. When the robot 10 receives this control command, the robot 10 executes a communication action corresponding to the control command (an operation for asking a destination). For example, the robot 10 utters “Where do you want to go?” And tilts his / her head to ask a human to ask the destination (question).

  In the next step S11, the destination information of the route guidance is acquired. However, in this embodiment, since the robot 10 asks the person about the destination, the computer 14 acquires the destination information from the robot 10 here. For example, the robot 10 acquires destination information by recognizing a place where a human has responded (spoken).

  Subsequently, in step S13, a map including the current location p1 and the destination pn is displayed on the display device 12. That is, as shown in FIG. 5B, the destination pn is displayed on the map shown in FIG. For example, in the map data developed on the VRAM (not shown) of the computer 14, characters pn are displayed at a position (a certain area or range) corresponding to the destination, and a color ( For example, red) is given. Therefore, the destination pn is shown on the display device 12. In the next step S15, route information and control command information corresponding to the destination pn are acquired from the DB 16. In step S17, a route guidance process (see FIG. 7) described later is executed, and the process returns to step S1.

  FIG. 7 is a flowchart showing the route guidance process of step S17 shown in FIG. As shown in FIG. 7, when starting the route guidance process, the computer 14 initializes a variable j in step S21 (j = 1). This variable j indicates the number of times the route guidance (processing) has been executed. In the subsequent step S23, the variable i is initialized (i = 1). That is, the key point pi is set to the current location p1.

  In the next step S25, the current location p1 is displayed blinking on the display device 12. That is, by blinking a triangle indicating the current location p1 displayed on the map, the current location p1 is shown to be easily understood by humans. However, as described above, the current location p1 may be indicated by adding a color to the position or blinking the light at the position. In a succeeding step S27, a control command is transmitted to the robot 10. This control command is an action module for causing the robot 10 to explain the current location p1 on the map. When the robot 10 receives this control command, for example, it points to the current location p1 on the map and utters "I'm here now". Through the processing of step S25 and step S27, a human can confirm (know) the current location p1 on the map.

  In the next step S29, the route from the important point pi to the important point pi + 1 is displayed on the display device 12. Therefore, on the screen of the display device 12, a triangle mark indicating the important point pi and the important point pi + 1 and an arrow connecting them in the traveling direction are displayed on the map. For example, when i = 1, as shown in FIG. 5C, each of the current location p1 and the important point p2 is displayed with a triangle, and an arrow indicating a route from the current location p1 to the important point p2 is displayed on the map. Is displayed. In a succeeding step S31, a control command is transmitted to the robot 10. This control command is an action module (“Guidance A”, “Guidance B”,...) For causing the robot 10 to explain the route from the important point pi to the important point pi + 1. For example, when i = 1, when the route from the current location p1 to the key point p2 shown in FIG. 5C is displayed, the robot 10 turns in the direction of the key point p2 and points to the direction. , "Go straight in this direction and hit the end". By the processing of step S29 and step S31, a human can know the route from the key point pi to the key point pi + 1.

  Subsequently, in step S33, it is determined whether or not the variable i is n−1 or more. Here, as described above, n is the total number of important points (route points) included in the shortest route to the destination. If the variable i is n−1 or more, all the routes to the destination pn are displayed. Means what was explained. If “NO” in the step S33, that is, if all the routes to the destination pn have not yet been described, the variable i is incremented (i = i + 1) in a step S35, and the process returns to the step S29. On the other hand, if “YES” in the step S33, that is, if all the routes to the destination are described, a control command is transmitted to the robot 10 in a step S37. This control command is for causing the robot 10 to explain the destination pn on the map. When the robot 10 receives this control command, for example, it points to the destination pn on the map and utters “This is the destination”. By the processing in step S37, the human can confirm the destination on the map.

  In the next step S39, it is determined whether or not the person understands the route to the destination. However, since the robot 10 asks a human question, the computer 14 acquires a determination result from the robot 10 as to whether or not the human understands the route. For example, the robot 10 utters “Did you understand?” And the like, and in response to this, when a human utters a positive response (for example, “Yes”), the robot 10 recognizes it by voice recognition. It can be determined that the human has understood the route to the destination. However, when a human utters a negative response (for example, “No”, “I don't know”), it can be determined that the human does not understand the route to the destination.

  If “YES” in the step S39, that is, if the person understands the route to the destination, the process proceeds to a step S45 as it is. On the other hand, if “NO” in the step S39, that is, if the person does not understand the route to the destination, in a step S41, it is determined whether or not the variable j is equal to or more than the explanation limit number m. Here, the explanation limit number m is a number for determining how many times the same route guidance is repeated for the person, and is set to 2 to 3, for example. If “NO” in the step S41, that is, if the explanation limit number m has not yet been reached, the process returns to the step S23 to repeat the same route guidance. On the other hand, if “YES” in the step S41, that is, if the explanation limit number m is reached, the process proceeds to a step S45.

  In step S45, a control command is transmitted to the robot 10. This control command is for causing the robot 10 to inform the human being that the explanation has been completed. When the robot 10 receives this control command, the robot 10 utters “the explanation is over”. When the process in step S45 is completed, the process returns to the overall process shown in FIG.

  According to this embodiment, the route from the current location to the destination is displayed on the map in order for each important point on the display device, and the robot provides route guidance for each important point by speech or gesture. Road guidance can be executed in cooperation with the device. In other words, the route is visually displayed on the map, and the direction in which the person should travel is transmitted by the robot's communication behavior, so that the route can be explained easily even for a person who is not good at understanding the map.

  In this embodiment, since the robot does not guide the person to the destination, the route can be guided efficiently.

  In the above-described embodiment, the display device 12 displays the important points including the current location and the destination on the map according to the order of the routes, but it is not necessary to be limited to this. For example, the shortest route including the current location and the destination and all the important points and the arrows indicating the traveling directions may be displayed from the beginning. In such a case, in order to correspond to the route guidance of the robot 10, the robot 10 changes the color of the important point and the arrow being explained, or blinks the light, so that the robot 10 is currently at which point. You may make it notify to a human whether it is explaining.

  In the above-described embodiment, the person is detected near the display device 12 using the floor sensor 18, but the present invention is not limited to this. For example, a person may be detected using a ceiling camera installed in the environment, or a person may be detected using a wireless tag reading system. Moreover, you may make it detect a human with the sensor with which the robot 10 is provided. For example, a human may be detected based on the detection result of the infrared distance sensor 30.

  Further, in the above-described embodiment, when a person existing in the vicinity of the display device 12 is detected, the robot 10 speaks to the person and determines that the route guidance is necessary. The guidance is started, but should not be limited to this. For example, a button for selecting a destination is provided in the vicinity of the display device 12, and when a button corresponding to the destination is selected, the location corresponding to the button is acquired as the destination, and road guidance is started. You may do it. Further, for example, if a touch panel is provided on the screen of the display device 12, a destination on the map can be directly selected.

  Further, in the above-described embodiment, for simplicity, a person existing in the vicinity of the display device 12 is detected and the route guidance is executed. However, the present invention is not limited to this. For example, the display of the display device 12 is displayed. It is also possible to actively work on humans who are in difficult-to-see positions to execute route guidance. For example, by detecting a person in a certain room (for example, a route guidance service center) where the display device 12 is installed, the robot 10 moves freely in this room. When the robot 10 speaks to a person who has entered the room and determines that the route guidance is necessary, the route guidance is started after guiding to the front of the display device 12 (a point where the display is easy to see). It may be said that.

  In the above-described embodiment, the route information and the operation command information are generated and stored in advance in association with each destination. However, the present invention is not limited to this. For example, based on the acquired destination, a shortest route is generated using an existing route search algorithm (such as Dynaxtra method or Warsal Floyd method), and the relationship between key points (route points) included in this shortest route The operation (speech and gesture) of the robot 10 and the display content of the display device 12 may be automatically generated based on the map information.

FIG. 1 is an illustrative view showing one embodiment of a road guidance robot system of the present invention. FIG. 2 is an illustrative view showing the appearance of the communication robot shown in FIG. 1 from the front. FIG. 3 is a block diagram showing an electrical configuration of the communication robot shown in FIG. FIG. 4 is an illustrative view showing one embodiment of application of the present invention. FIG. 5 is an illustrative view showing one example of route guidance provided by the display device shown in FIG. 1. FIG. 6 is a flowchart showing an example of overall processing of the computer shown in FIG. FIG. 7 is a flowchart showing an example of the route guidance processing of the computer shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Communication robot 12 ... Display apparatus 14 ... Computer 16 ... Database 18 ... Floor sensor 54 ... Speaker 56 ... Microphone 62 ... CPU
66 ... Memory 68 ... Motor control board 70 ... Sensor input / output board 72 ... Voice input / output board 84 ... Communication LAN board 86 ... Wireless communication device

Claims (2)

Map display means for displaying at least a map on a display device;
Destination information acquisition means for acquiring destination information indicating the destination of the route guidance;
When the destination information is acquired by the destination information acquisition means, a route display means for visually displaying a route from the current location where the display device is installed to the destination according to important points on the map, and the route display A route guidance system comprising control means for controlling a communication robot that explains to a person the direction in which the person should travel for each important point by means of voice and physical movement when the route is visually displayed by the means. Human detection means for detecting at least a human present in the vicinity of the display device;
When the human is detected by the human detection means, the control means causes the communication robot to ask whether or not the person needs route guidance, and based on a human reaction to the question, the communication robot The route guidance system according to claim 1, which controls the operation of

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