JP2008046956A - Robot guide system and robot controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot guide system which is easy to use with a simple configuration and capable of surely guiding a robot to a place where a user exists. <P>SOLUTION: A radio signal from a robot 2 and a voice 6 from a user 6 are detected by a sensor unit 3 and transmitted to a server 4 by radio. The server 4 specifies the position of the robot and the user on the basis of detection information transmitted from the sensor unit 3 and a preliminarily stored sketch, and judges whether the user 6 is calling the robot 2 to him or her or not by comparing detection information from the sensor unit 3 with preliminarily stored call instruction work information, and calculates a movement route from the located robot to the located user to control the movement of the robot 2 along the movement route by radio in the case that it is judged that the user 6 is calling the robot to him or her. The robot 2 is moved to the user position on the basis of a movement control signal transmitted from the server 4 by radio. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot guidance system for guiding an autonomously movable robot to a user's location, and more particularly to a robot guidance system and a robot control device for guiding a robot between rooms such as houses.

In recent years, robots that can move autonomously have appeared, and robots are becoming more familiar (see, for example, Patent Document 1). In general, the range in which a robot can recognize an object (obstacle) and the external environment is a range that can be seen from the robot by several meters. In the future, in order to call a robot close to a user in a house or the like, or to move a robot to a predetermined place, a technology that allows the robot to move to a place where the line of sight cannot be obtained is required. For this purpose, the robot can (1) recognize its own position, (2) recognize the user's call command from a place where the line of sight is not visible, that is, the position of the user when the line of sight is not good as seen from the robot. It is necessary to be able to specify.
JP 2003-330538 A

Regarding the recognition of the self-position in (1) above, there are currently the following countermeasures and problems.
(A) Countermeasure: A marker (for example, a barcode sticker) to which position information is given in advance is installed on the environment side such as a wall, and when the robot approaches the marker, the robot inquires about the marker position information. Recognize self-location.
Problem: The self-position cannot be recognized unless it is near the marker position. Moreover, since it depends on the position of the marker, flexible self-position recognition cannot be performed.
(B) Countermeasure: The movement distance and direction from the initial position are calculated based on the cumulative number of rotations of the wheel on the assumption that the initial position is recognized using a wheel type robot.
Problem: Positional accuracy is poor because wheel rotation errors accumulate as the robot moves. In the walking robot, since the error is larger, the position cannot be actually recognized.
(C) Countermeasure: The image of each place is accumulated in the robot in advance, and the self-position is recognized by comparing the image visually recognized by the robot with the accumulated image (for example, pattern matching).
Problem: A huge amount of stored images is required. In addition, for example, when a situation changes from the original accumulated image, such as when a portable object (such as a cardboard box) is placed or removed, this image cannot be referred to. It is also vulnerable to changes in lighting. In addition, it is difficult to specify the position in a uniform (uniform) floor or wall such as an office, that is, in a place where there are few feature points for specifying the position.

In addition, with regard to the recognition of the position of the user in the case (2) where the outlook is unsatisfactory, there are currently the following countermeasures and problems, for example.
(D) Countermeasure: A switch to which position information is given is installed on the environment side such as a wall, and when the user presses the switch, the position information of the switch is transmitted to the robot by wireless communication or the like.
Problem: The number of switches becomes enormous. Further, the specification of the user position depends on the switch installation location. That is, the robot call position by the user is fixed or limited to the switch installation position (the robot can be called only to the position where this switch is installed).
(E) Countermeasure: Install a camera with position information on the environment side such as a wall. For example, a user's begging pose is determined in advance as a calling (calling) pose to the robot, and this calling pose information is stored on the camera side. Then, the user's pose photographed by the camera is compared with the predetermined calling pose information by predetermined image processing, and if they match, the position information of the camera that photographed the pose is obtained by wireless communication or the like. Send to robot.
Problem: Installing a camera places a psychological burden on the user (the user cannot relax).
(F) Countermeasure: The user carries a device that emits a radio signal, such as an IC tag, and a radio receiving device (for example, a tag reader) that receives the radio signal emitted by the user is installed on the environment side to perform three-point positioning. The user position is specified using a positioning method such as
Problem: The user always needs to carry the device. For example, it is inconvenient (practically impossible) for a user to keep carrying a device in a house, and it is not practical.

  The present invention has been made in view of the above problems, and can solve the problems in the above (a) to (f), that is, can perform self-position recognition flexibly without depending on markers. In addition, self-position recognition errors do not accumulate with movement (self-position recognition accuracy is good), and a large amount of accumulated images are not required (the accumulated images cannot be referred to due to changes in the situation, or are uniform) Or, it is not difficult to specify the position of the image in a place where the lighting changes), and a huge number of switches are not required (specification of the user position does not depend on the switch installation location). The installation of the camera does not put a psychological burden on the user, and the user does not always need to carry the device. And to provide a robotic guidance system and a robot controller capable of inducing to the location that.

  A robot guidance system according to the present invention is a robot guidance system that moves a predetermined robot to a place where the user is located by movement control by a predetermined information processing device in response to a call by the user, and is transmitted from the robot. A robot signal detecting means for detecting a predetermined wireless signal and wirelessly transmitting the detected information to the information processing apparatus; and detecting a voice emitted from the user and wirelessly transmitting the detected information to the information processing apparatus. A detection device comprising a signal detection means for a user, a map storage means for storing map information relating to the location of obstacles in the movement environment of the robot in advance, and information on a calling instruction word relating to the robot calling by the user's voice in advance Instruction word storage means for storing, and detection information transmitted wirelessly from the user signal detection means The call determination means for comparing the information of the call command words stored in the command word storage means and determining whether or not the voice uttered by the user is a voice indicating the call of the robot, and the map Robot position specifying means for specifying the position of the robot based on map information stored in the storage means and detection information wirelessly transmitted from the robot signal detection means; and map information stored in the map storage means And the user position specifying means for specifying the position of the user based on the detection information transmitted wirelessly from the user signal detecting means, and the sound emitted from the user is a sound indicating the calling of the robot When determined by the calling determination unit, the robot position specified by the robot position specifying unit and the user position characteristic are determined. A route calculation unit that calculates a movement route from the robot to a place where the user is present based on the information on the user position specified by the unit and the map information stored in the map storage unit; and the route calculation unit An information processing apparatus comprising: a movement control unit configured to control movement of the robot using a radio signal to move the robot along the movement path based on the calculated movement path information; and the predetermined radio signal The robot includes: a signal transmission unit that transmits a movement signal; and a movement drive unit that performs a movement drive in response to a movement control signal wirelessly transmitted from the movement control unit.

  According to the above configuration, in the robot guidance system that moves a predetermined robot to a place where the user is present by movement control by a predetermined information processing device in response to a call by the user, the detection device is a predetermined signal transmitted from the robot. Signal detecting means for robot for detecting the wireless signal and wirelessly transmitting the detected information to the information processing apparatus, and signal detecting means for user for detecting the voice emitted from the user and wirelessly transmitting the detected information to the information processing apparatus The information processing apparatus stores in advance map storage means for storing map information related to the placement of obstacles in the moving environment of the robot in advance, and information on the calling command word related to the robot calling by the user's voice Command word storage means, detection information transmitted wirelessly from user signal detection means, and command word storage means A call determination unit that compares information stored in the calling instruction word and determines whether or not a voice uttered by the user is a voice indicating the calling of the robot, map information stored in the map storage unit, and the robot The robot position specifying means for specifying the position of the robot based on the detection information wirelessly transmitted from the signal detection means, the map information stored in the map storage means, and the detection wirelessly transmitted from the user signal detection means The user position specifying means for specifying the position of the user based on the information, and the robot position specifying means when the call determination means determines that the voice emitted from the user is a voice indicating the call of the robot. Information on the robot position and user position specified by the user position specifying means, and map information stored in the map storage means Based on the information, the route calculation means for calculating the movement route from the robot to the place where the user is located, and the movement of the robot to move the robot along the movement route based on the information on the movement route calculated by the route calculation means And a movement control means for controlling the movement of the robot according to the movement control signal transmitted wirelessly from the movement control means. Moving drive means for performing the above driving.

  Further, in the above configuration, the route calculation means assumes a straight route from the robot to the user, and when the obstacle exists on the assumed straight route, the route calculating unit rotates around a predetermined direction from the straight route. The open part which is a place where the obstacle does not exist is searched, and if the open part found by the search is an effective open part that can reach the user, a straight path from the robot to the effective open part is fixed. The movement route may be calculated by repeating the calculation process. (Claim 2)

  According to this, when a straight path from the robot to the user is assumed by the route calculation means, and the obstacle exists on the assumed straight route, there is an obstacle around the predetermined direction from the straight route. If the open part that is not found is an effective open part that can reach the user, the calculation process for fixing the straight path from the robot to the effective open part is repeated. The travel route is calculated by.

  In the above configuration, the signal transmitting unit may transmit an ultrasonic signal as the predetermined radio signal. (Claim 3)

  According to this, an ultrasonic signal is transmitted as a predetermined radio signal by the signal transmitting means.

  Further, in the above configuration, the detection device detects a plurality of sensors that detect a predetermined wireless signal transmitted from the robot and a sound emitted from the user on an outer peripheral surface of a pyramidal or hemispherical housing. A plurality of microphones may be arranged at predetermined intervals along the circumferential direction. (Claim 4)

  According to this, the detection device has a plurality of sensors for detecting a predetermined radio signal transmitted from the robot and a plurality of microphones for detecting the sound emitted from the user on the outer peripheral surface of the pyramid or hemispherical housing. It is set as the structure arrange | positioned at predetermined intervals along the circumferential direction, respectively.

  In the above configuration, the signal transmission means has a function of periodically transmitting the predetermined radio signal, and the path calculation means is configured to periodically transmit the predetermined radio signal by the signal transmission means. In response, the movement route from the robot to the place where the user is present is recalculated and updated, and the movement control means controls the movement of the robot based on the information on the movement path updated by the route calculation means. You may do it. (Claim 5)

  According to this, the signal transmission means is provided with a function of periodically transmitting a predetermined radio signal, and the robot according to the path calculation means according to the periodic transmission of the predetermined radio signal by the signal transmission means. The movement route from the user to the place where the user is present is recalculated and updated, and the movement control unit controls the movement of the robot based on the information on the movement route updated by the route calculation unit.

  The robot control device according to the present invention also includes map storage means for preliminarily storing map information related to the placement of obstacles in the mobile environment of a self-running robot, and information on a calling command word related to the robot calling by the user's voice. The command word storage means stored in advance, the detection information about the user's voice given from the outside, and the information of the calling command word stored in the command word storage means are compared, and the voice uttered from the user is The position of the robot based on the call determination means for determining whether or not the voice indicates the call of the robot, the map information stored in the map storage means, and the detection information on the transmission signal of the robot given from the outside The robot position specifying means for specifying the map information, the map information stored in the map storage means and the voice of the user User position specifying means for specifying the position of the user based on detection information; and the robot position specifying means when the call determination means determines that the user's voice is a voice indicating the call of the robot. Based on the robot position specified by the user, the user position information specified by the user position specifying means, and the map information stored in the map storage means, the movement route from the robot to the place where the user is located is calculated. And a movement control means for generating a movement control signal for the robot to move the robot along the movement path based on information on the movement path calculated by the path calculation means. Features. (Claim 6)

  According to the above configuration, the robot control device stores in advance map information relating to the location of obstacles in the mobile environment of a self-running robot, and information on calling instructions relating to calling the robot by the user's voice. The command word storage means stored in advance, the detection information related to the user's voice given from the outside, and the information of the calling command word stored in the command word storage means are compared, and the voice emitted from the user calls the robot. Call determination means for determining whether or not the received voice is indicated, and robot position specifying means for specifying the position of the robot based on the map information stored in the map storage means and the detection information relating to the transmission signal of the robot given from the outside Based on the map information stored in the map storage means and the detection information relating to the user's voice given from the outside. The user position specifying means for specifying the position of the user and the call determination means determining that the user's voice is a voice indicating the call of the robot, and the robot position specified by the robot position specifying means and the user position specifying. Based on the user position information specified by the means and the map information stored in the map storage means, a route calculation means for calculating a movement route from the robot to the user's location, and a movement calculated by the route calculation means A movement control means for generating a movement control signal for the robot to move the robot along the movement path based on the path information is provided.

  According to the robot guidance system of the first aspect, the detection device detects a wireless signal transmitted from the robot or a voice emitted from the user and wirelessly transmits it to the server. In the server, the robot position and the user position are specified based on the detection information transmitted from the detection device and the map information stored in advance in the server, and the user transmitted from the detection device. If it is determined whether the user is calling the robot by comparing the detection information regarding the voice of the voice and the calling command information stored in the server in advance, and if it is determined that the user is calling the robot, the specified robot position The movement path from the user to the user position is calculated, and the movement of the robot is controlled wirelessly along the movement path. The robot moves to the user position based on the movement control signal transmitted wirelessly from the server. With such a configuration, no marker is required, that is, the robot's self-position recognition can be performed flexibly without depending on the marker, and the movement calculated based on the specified robot position, user position, and map information Since the robot moves along the route, errors in self-position recognition do not accumulate with the movement of the robot (good self-position recognition accuracy), and it is only necessary to store at least one piece of map information. Does not require an accumulated image (the accumulated image cannot be referred to due to a change in the situation, and it is not difficult to specify the position with the image in a place where uniform or illumination changes). Since at least one detection device (one that detects the user's voice) needs to be installed in the room, a huge number of switches are not required (user level) Is not dependent on the location of the switch), and no camera installation is required, which does not impose a psychological burden on the user by the camera. It is possible to provide a robot guidance system that does not need to carry a device, and that is easy to use with a simple configuration and can reliably guide a robot to a place where a user is present.

  According to the robot guidance system according to claim 2, a straight route from the robot to the user is assumed by the route calculation means, and when the obstacle exists on the assumed straight route, a predetermined direction from the straight route is obtained. Search around the open part where there is no obstacle, and fix the straight path from the robot to the effective open part if the open part found by the search can reach the user Since the movement route is calculated by repeating the calculation process, the movement route can be quickly calculated by a simple calculation method.

  According to the robot guidance system according to claim 3, since the ultrasonic signal is transmitted as a predetermined radio signal by the signal transmission means, that is, the ultrasonic signal having high directivity and strength is transmitted from the robot. The position of the robot can be specified accurately and reliably using the information of the ultrasonic signal.

  According to the robot guidance system of the fourth aspect, the detection device has a plurality of sensors that detect predetermined radio signals transmitted from the robot and voices emitted from the user on the outer peripheral surface of the pyramid or hemispherical housing. Since the plurality of microphones for detecting the above are arranged at predetermined intervals along the circumferential direction, the bottom side of the pyramid-shaped or hemispherical housing is attached to the ceiling surface or wall surface of the room, for example. Thus, it becomes easy to receive the wireless signal from the robot and the sound from the user from all directions by the detection device, that is, the wireless signal and the sound can be reliably detected, and more accurately and reliably. The position of the robot and the position of the user can be specified.

  According to the robot guidance system of the fifth aspect, the signal transmission means is provided with a function of periodically transmitting a predetermined radio signal, and the path calculation means periodically transmits the predetermined radio signal by the signal transmission means. The movement route from the robot to the user's location is recalculated and updated in response to an outgoing call, and the movement control unit controls the movement of the robot based on the movement route information updated by the route calculation unit. Therefore, even if the robot deviates from the original movement route due to some accident, it is calculated based on the latest position of the robot that is sequentially calculated according to the radio signal periodically transmitted by the robot (signal transmission means). Thus, the robot can be reliably moved to the place where the user is along the moving path.

  According to the robot control device of the sixth aspect of the present invention, based on detection information relating to the robot's transmission signal given from outside, detection information relating to the user's voice given from outside, and map information stored in advance in the robot control device. The robot position and the user position are specified, and it is determined whether the user is calling the robot by comparing the detection information related to the user's voice with the calling command information stored in the server in advance. If it is determined that the robot is moving, a movement path from the identified robot position to the user position is calculated, and a movement control signal for moving the robot along the movement path is generated. Since the robot control device is provided with such a configuration, by using this robot control device in the system for guiding the robot, the marker becomes unnecessary, that is, the robot self-position is flexibly recognized without depending on the marker. In addition, since the robot moves along the movement path calculated based on the specified robot position and user position and map information, self-position recognition errors do not accumulate with the movement of the robot (self (Position recognition accuracy is good), and it is only necessary to store at least one piece of map information, and a huge amount of accumulated image is not required (the accumulated image cannot be referred to due to a change in situation, It is not difficult to specify the position of the image in a place where the temperature changes). Since at least one device that detects the user's voice (detection device) needs to be installed in each room, an enormous number of switches are not required (specification of the user position does not depend on the switch installation location). The installation of the camera becomes unnecessary, and the user is not burdened with the psychological burden of the camera. Further, since the user calls the robot by voice, it is not necessary for the user to always carry the device. This makes it easy to use and reliably guides the robot to the place where the user is.

  FIG. 1 is a schematic configuration diagram of a robot guidance system 1 according to an embodiment of the present invention. The robot guidance system 1 moves the robot to a user who is away from the robot, that is, a user who is in a room different from the room where the robot is located, for example, in a house in response to a call (call) by the user. It is a system for guiding to perform (robot guidance). The robot guidance system 1 includes a robot 2, a sensor unit 3, and a server 4.

  The robot 2 is an autonomously movable (self-propellable) robot such as a walking robot (for example, a biped robot) or a wheel robot. As shown in the block diagram of FIG. 2, the robot 2 includes a robot signal transmission unit 21, a server communication unit 22, a movement drive unit 23, and a drive control unit 24. The robot signal transmitter 21 transmits a radio signal (referred to as a robot signal) used for measuring the robot position (positioning of the robot). Here, the robot signal transmitter 21 transmits an ultrasonic signal as a robot signal. Since the ultrasonic signal is a signal having high directivity and intensity, positioning of the robot is facilitated as will be described later. Instead of this ultrasonic wave, light having a certain wavelength, for example, infrared light or visible light may be used. The robot signal is preferably a signal having high directivity and intensity like the ultrasonic wave here, but any signal may be used as long as the robot can be positioned.

  The server communication unit 22 performs wireless communication with the server 4 (I / F; interface), and receives a signal (robot movement control signal described later) transmitted from the server 4 here. The movement drive unit 23 is a drive unit for moving the robot 2. For example, in the case of a walking robot, the movement drive unit 23 is a drive motor or a cylinder drive unit for driving a leg to walk, and in the case of a wheeled robot. A drive motor that rotates the wheels. The drive control unit 24 controls driving of each part of the robot 2. Based on the robot movement control signal received by the server communication unit 22, the drive control unit 24 controls driving of the movement drive unit 23 to move the robot 2 to a predetermined target position.

  The sensor unit 3 receives an ultrasonic signal transmitted from the robot 2 and a voice emitted from the user, and transfers (transmits) the signal information to the server 4. As shown in the block diagram of FIG. 3, the sensor unit 3 includes a robot signal receiving unit 31, a voice receiving unit 32, and a server communication unit 33. The robot signal receiving unit 31 receives an ultrasonic signal (robot signal) transmitted from the robot 2. The robot signal receiving unit 31 includes an ultrasonic receiver for receiving ultrasonic waves, for example, a plurality of ultrasonic sensors. The voice receiving unit 32 receives voice (words) uttered by the user, and is, for example, a microphone (microphone) that collects the voice. The server communication unit 33 performs wireless communication with the server 4 (I / F; interface). Here, the server communication unit 33 converts the ultrasonic signal received by the robot signal receiving unit 31 into a predetermined communication signal (this converted signal is also expressed as an ultrasonic signal) and transmits the signal to the server 4. The voice received by the voice receiving unit 32 is converted into a predetermined communication signal, that is, a voice signal, and transmitted to the server 4. As will be described later, a plurality of sensor units 3 are provided according to the number of rooms in a house, for example.

  By the way, the sensor unit 3 is configured in a so-called pyramid shape, that is, a quadrangular pyramid as shown in a perspective view of FIG. 5A and a top view of FIG. 5B, for example. For example, the ultrasonic sensor and the microphone are provided in the vicinity of the center indicated by reference numeral 301 in the four side surfaces of the quadrangular pyramid. That is, ultrasonic sensors and microphones are arranged on the outer peripheral surface of the sensor unit 3 at predetermined intervals along the circumferential direction. With such a configuration, the sensor unit 3 can easily receive ultrasonic signals and sound from all directions by attaching the bottom surface side indicated by reference numeral 302 of the sensor unit 3 to the ceiling surface or wall surface of the room, for example. That is, the ultrasonic signal and sound can be reliably detected. In addition, the difference in the reception intensity of the signal transmitted from the signal transmission source (robot 2, user) by the ultrasonic sensors and microphones arranged in the four directions of the plurality of ultrasonic sensors and microphones, that is, the sensor unit 3, It is possible to receive a signal that causes a difference in signal arrival time from the signal transmission source (robot 2, user) to the ultrasonic sensor or microphone. Positioning calculation is possible. The shape of the sensor unit 3 is not limited to the above-mentioned quadrangular pyramid (tetragonal pyramid shape), but may be a triangular or pentagonal pyramid shape, or an arbitrary shape such as a hemispherical shape or a disc shape instead of the pyramid shape. Is possible. The arrangement and number of ultrasonic sensors and microphones may be arbitrary. However, even in the case of these hemispheres and discs, a configuration in which a plurality of ultrasonic sensors and microphones are arranged at predetermined intervals along the circumferential direction on the outer peripheral surface (outer surface portion) is preferable.

  The server 4 includes a ROM (Read Only Memory) that stores various programs and the like, a RAM (Random Access Memory) that temporarily stores data, and a microcomputer that reads and executes the various programs from the ROM. It is one (calculation processing server) that performs various types of calculation processing in the guidance system 1, such as a PC (personal computer). Here, the server 4 performs positioning calculation of the robot 2 and the user, route calculation in movement of the robot 2, or movement control of the robot 2. As shown in the block diagram of FIG. 4, the server 4 includes a sensor communication unit 41, a map information storage unit 42, a robot position specification unit 43, a voice information storage unit 44, a call determination unit 45, a user position specification unit 46, a route A calculation unit 47, a robot movement control unit 48, and a robot communication unit 49 are provided.

  The sensor communication unit 41 performs wireless communication with the sensor unit 3 (I / F; interface). The sensor communication unit 41 receives a signal transmitted from the sensor unit 3 (server communication unit 33), that is, an ultrasonic signal of the robot 2 or a user voice signal transferred by the sensor unit 3. The map information storage unit 42 stores map information related to the arrangement of obstacles in the moving environment of the robot 2, for example, information on a floor plan in the house (a floor plan in which partitions between rooms as the obstacles, that is, walls and the like are described). It is stored (accumulated and registered) in advance.

  The robot position specifying unit 43 specifies the position of the robot 2 in the sketch based on the information of the ultrasonic signal of the robot 2 received by the sensor communication unit 41. The robot position specifying unit 43 performs positioning calculation of the robot 2, that is, which sensor unit 3 is installed in the robot 2 depending on, for example, which sensor unit 3 of the plurality of sensor units 3 has received the signal. The position of the robot 2 with respect to the sensor unit 3 is calculated. The method for calculating the position of the robot 2 with respect to the sensor unit 3 is, for example, an ultrasonic signal transmitted from each of a plurality of ultrasonic sensors in the sensor unit 3 (one sensor unit 3) shown in FIG. Based on the information on the arrival time difference and intensity difference of the sound wave signal to the server 4 (sensor communication unit 41), the robot 2 is located in which direction and how far away from the sensor unit 3 that has received the ultrasonic signal. It may be a method of calculating whether or not is located. The robot position specifying unit 43 specifies where the robot 2 is located in the sketch by reflecting the robot position obtained by the positioning calculation in the sketch. The reflection of the robot position on the floor plan includes, for example, a process (for example, a synthesis process) for associating the floor plan information in the map information storage unit 42 with the robot position information obtained by the positioning calculation. In addition, the information of the installation position of the sensor unit 3 shall be linked | related with the information of a sketch beforehand.

  The voice information storage unit 44 stores (accumulates and registers) voice information related to the user's calling of the robot 2 as a “user calling (calling) command word” in advance. The call determination unit 45 determines whether the user is calling the robot 2 (“robot call”). The call determination unit 45 performs a comparison process between the user's voice (word) received by the sensor communication unit 41 and the user call command word stored in the voice information storage unit 44, and these match. Determines that the user is calling the robot 2, and determines that it is not the call if it does not match. In addition, this comparison process can employ | adopt arbitrary methods, such as comparing a speech waveform (voiceprint).

  The user position specifying unit 46 specifies the position of the user in the floor plan based on the user's voice information received by the sensor communication unit 41. The user position specifying unit 46 performs positioning calculation of the user, that is, which sensor unit 3 is installed by the user depending on, for example, which sensor unit 3 of the plurality of sensor units 3 has received the signal. While calculating whether it is in a place (room), the position of the user with respect to the sensor unit 3 is calculated. The calculation method of the position of the user with respect to the sensor unit 3 is, for example, an audio signal transmitted from each of the plurality of microphones in the sensor unit 3 (one sensor unit 3) shown in FIG. Based on information on arrival time difference and intensity difference to the server 4 (sensor communication unit 41), in which direction and at what distance the user is located from the sensor unit 3 that has received the audio signal. It may be a method of calculating. Further, when it is determined that the “robot calling” is performed, the user position specifying unit 46 reflects the specified user position on the drawing. That is, similarly to the above, the process of associating the sketch information in the map information storage unit 42 with the user position information obtained by the positioning calculation is performed.

  The route calculation unit 47 determines the position where the user is located from the position where the robot 2 is based on the floor plan and information on the position of the robot 2 and the user position, that is, the information on the floor plan where the robot position and the user position are associated with each other. The movement path of the robot 2 up to this point is calculated (referred to as path calculation). A specific method of this route calculation will be described later.

  The robot movement control unit 48 controls the movement operation of the robot 2 so as to move the robot 2 to the user along the movement route determined by the route calculation by the route calculation unit 47. The robot movement control unit 48 outputs a signal for controlling the movement operation of the robot 2 (referred to as a robot movement control signal) to the robot 2. The robot communication unit 49 performs wireless communication with the robot 2 (I / F; interface). Here, the robot communication unit 49 transmits the robot movement control signal to the robot 2 (server communication unit 22). As shown in FIG. 1, the server 4 may have a function capable of connecting to other devices and the Internet using a communication standard such as FTTH (Fiber To The Home).

  Here, in the robot guidance system 1 having the above-described configuration, a procedure in which the robot 2 is called by the user and guided to the place where the user is present will be described in order with reference to FIGS. First, as shown in FIG. 6, it is assumed that the robot guidance system 1 is arranged in a house 5 (inside a house, indoors) having a plurality of rooms, for example, rooms 51 to 55. However, the rooms 51 to 55 shown in FIG. 6 are on the same floor. A sensor unit 3 is installed in each room. It is sufficient that at least one sensor unit 3 is provided in each room. For example, the sensor unit 3 is attached to the ceiling of the room. One server 4 is installed in the room 54. However, the server 4 may be installed in any room in the rooms 51 to 55, or may be installed in a room on a different floor from the room on the floor shown in FIG. In short, the robot 2 and the sensor unit 3 may be installed in any place as long as wireless communication is possible. Further, it is assumed that the robot 2 is currently in the room 51. In the server 4, information of a floor plan (plan 50) indicated by reference numeral 50 indicating each room 51 to 55 of the house 5 is registered in advance. Each room has a predetermined number of entrances (referred to as open portions) as indicated by the reference numeral 56 in FIG. However, although a predetermined door is usually provided at the entrance of the room, this door opening / closing is a technical problem on the robot 2 side (which is solved by the door opening / closing function of the robot 2 itself). Here, it is assumed that there is no door.

  Next, in FIG. 7, an ultrasonic signal is transmitted from the robot 2. The robot 2 periodically transmits this ultrasonic signal. The sensor unit 3 installed in the room 51 receives the ultrasonic signal from the robot 2 by a plurality of ultrasonic sensors and transfers the signal to the server 4. Based on the ultrasonic signal transmitted from the sensor unit 3 in the room 51, the server 4 calculates that the robot 2 is in the room 51 in which the sensor unit 3 is installed, and also detects the sensor in the room 51. Based on the ultrasonic signal transmitted from each ultrasonic sensor in the unit 3 (in the same sensor unit 3), the position of the robot 2 with respect to the sensor unit 3 is calculated from the arrival time difference and the intensity difference. The positioning result (the position of the robot 2) is reflected in the sketch 50 as indicated by reference numeral 20. The server 4 performs positioning calculation in the same manner as described above, for example, every time the ultrasonic signal is received via the sensor unit 3 based on the ultrasonic signal periodically transmitted from the robot 2. The latest position is taken and reflected in the drawing 50. Thereby, even if the robot 2 moves from the position shown in FIG. 7, the position of the robot 2 on the sketch 50 is updated.

  Next, in FIG. 8, it is assumed that the user 6 is in the room 55. When the user 6 utters (speaks) a predetermined voice (word) for calling the robot 2 such as “just come”, a plurality of microphones of the sensor unit 3 installed in the room 55 The voice is received and transferred to the server 4. The server 4 compares the transferred voice signal with the previously registered user call command word, and if they match, the server 4 determines “robot call” (the server 4 is so-called voice recognition). To determine that the robot is called.) If it is determined that the robot is called, the positioning calculation of the user 6 is performed based on the audio signal transmitted from the sensor unit 3 in the same manner as the positioning calculation of the robot 2 in FIG. This positioning result (the position of the user 6) is reflected in the sketch 50 as shown in FIG.

  In FIG. 9, the server 4 calculates the route from the robot 2 to the user 6 based on the information of the sketch 50 reflecting the position of the robot 2 and the position of the user 6, and in FIG. The robot 2 is controlled to move along the route obtained by the above. Here, the robot 2 is controlled to move from the room 51 to the place where the user 6 is in the room 55 along the path (path R) indicated by the symbol R in FIG. This movement control is instructed from the server 4 to the robot 2 by, for example, a wireless LAN (Local Area Network) signal. The server 4 obtains a movement route by the route calculation and constantly grasps the current movement position of the robot 2 to control the movement of the robot 2 in a so-called real time. That is, even if some accident occurs in the robot 2 and the robot 2 deviates from this movement route (planned route), the latest of the robot 2 that is sequentially calculated according to the ultrasonic signal that the robot 2 periodically transmits. Based on the position (in this way, the server 4 always knows the current position of the robot 2), a new route is calculated (the so-called trajectory correction), and the robot is moved to the place where the user 6 is along the new route. 2 is controlled to move.

  6 to 10, the robot guidance system 1 is configured by a server 4 that performs various calculation processes of the system, a sensor unit 3 and a robot 2 that are wirelessly connected, that is, a server. It can be said that this is a so-called network-utilized shimtem that works with 4. In the robot guidance system 1, the robot 2 does not perform the various calculation processes (for example, positioning calculation or route calculation), but performs it in a server 4 different from the robot 2, that is, power consumption is large outside the robot 2. Since the calculation processing unit is provided (when the calculation processing unit is provided in the robot 2, it is necessary to provide the robot 2 with a large battery or the like accordingly), the configuration of the robot 2 is simplified or the weight is reduced. It becomes possible. In addition, the versatility that the server 4 can execute various processes in addition to the calculation process such as the positioning calculation and the route calculation in the present embodiment without worrying about the complexity or weight increase of the robot 2 (robot) The applicability of service deployment using the guidance system 1 is also increased.

  Here, an example of a route calculation method by the server 4 (route calculation unit 47) will be described with reference to FIGS. First, as shown in FIG. 11, a (calculated virtual) straight line is drawn from the robot 2 to the user 6 (path a). If there are obstacles (obstacles) such as walls on this straight line, the open part of the room 51 is searched for clockwise (or counterclockwise) from this straight line (path a). If the open part (open part 561) is found, the path to the open part 561 is fixed (path b). Next, a straight line is again drawn to the user 6 using the position of the opening 561 as a base point (path c). Similarly, if there is an obstacle on this straight line, the next open part is searched clockwise from this straight line (path c). However, as shown in FIG. 12, if the open part 562 is found by searching for the open part, the route (route d ′, route e ′) passing through the open part 562 does not reach the user 6 (does not reach). In this case, the selection of the opening part 562 (path d ′, path e ′) is discarded, and the next opening part (opening part 563) is searched further clockwise using the same opening part 561 as a base point. To do. In the case of the above-described room 51, since one open part 561 in the room 51 is an open part (this is called an effective open part) that can reach the user 6 as it is, the open part (route) However, this calculation method is similarly applied from the first room 51.

  If the opening portion 563 is an effective opening portion, the route (route d) from the opening portion 561, which is the previous base point, to the opening portion 563 is fixed as a route that follows the route b. In this way, every time a new opening part (effective opening part) is found, the path to the opening part is fixed, so that the paths b and d from the robot 2 to the user 6 as shown in FIG. , E, f (corresponding to the route R shown in FIG. 10) are determined. In addition, as a method for determining whether or not the searched opening part is an effective opening part, for example, a room in which it is impossible to reach the user 6 from the position information of the robot 2 and the user 6 and the information of the sketch 50 (In this case, the room 52) may be obtained, and this may be discarded when an open portion serving as a route entering the room is to be selected.

  FIG. 14 is a flowchart showing an example of the robot guidance operation in the robot guidance system 1. First, an ultrasonic signal is transmitted from the robot 2 (step S1). The ultrasonic signal from the robot 2 is received by the sensor unit 3 (step S2) and transferred to the server 4 (step S3). Based on the ultrasonic signal information transferred from the sensor unit 3, the server 4 performs positioning calculation of the robot 2 (step S4), and the positioning result (position of the robot 2) is reflected in the sketch 50. (Step S5). The operations in steps S1 to S5 are repeated according to periodic transmission of ultrasonic signals by the robot 2. Each time the operations of Step S1 to Step S5 are repeated, the robot position (information reflecting the robot position in the sketch 50) is obtained. If the robot is not called in Step S9, which will be described later, this robot position information is It is not used for route calculation in step S12 described later (NO in step S6).

  On the other hand, when the voice emitted from the user 6 is received by the sensor unit 3 (step S7), this voice signal is transferred to the server 4 (step S8). Next, the server 4 compares (verifies) the audio signal information transferred from the sensor unit 3 with the calling command word stored in advance in the server 4 to determine whether or not “robot calling”. Is done. If it is determined that the robot is called (YES in step S9), the server 4 performs the positioning calculation of the user 6 based on the audio signal information (step S10), and the positioning result (user 6's). (Position) is reflected in the sketch 50 (step S11). If it is determined that the call is not a robot call (NO in step S9), the process returns to step S7 and waits for reception of the next sound from the user 6. If it is determined in step S9 that the robot is called, the information in which the position of the user 6 is reflected in the sketch 50 is used in S11, and the position of the robot 2 is reflected in the sketch 50 in step S5. Using the information (YES in step S6), route calculation is performed by the server 4 (step S12). Then, the movement control of the robot 2 is performed by the server 4 so as to move the robot 2 to the user 6 along the movement route determined by the route calculation (step S13). It should be noted that the current position of the robot 2 is updated by the loop operation of Steps S1 to S6 that is repeated according to periodic transmission of ultrasonic signals from the robot 2, and in Step S12 according to the update of the robot position. Route calculation is performed, and robot movement control in step S13 is performed according to the recalculated route.

  FIG. 15 is a flowchart showing an example of the route calculation processing operation (algorithm) in step S12 shown in FIG. First, a straight path (for example, path a shown in FIG. 11) from the position of the robot 2 to the position of the user 6 is drawn (step S21). If there is an obstruction on this straight line (YES in step S22), the open part is searched clockwise (may be counterclockwise) from this straight line (step S23). The search continues clockwise until an open part is found (NO in step S24). If an open part is found (YES in step S24), this open part can reach the user 6 (effective open). If it is an effective opening part (for example, the opening part 561 shown in FIG. 11) (YES in step S25), a straight path (for example, a path c shown in FIG. 11) to the opening part is determined. Equivalent) is fixed (step S27). If it is determined that it is not an effective opening part (NO in step S25), the route plan passing through this opening part (for example, the opening part 562 shown in FIG. 11) is discarded (step S26), and the process returns to step S23. Furthermore, the open part is searched clockwise. A straight path (for example, the path c shown in FIG. 11) to the position of the user 6 is drawn again using the effective open part found by the search as a base point (step S28). If there is an obstacle on the straight line (YES in step S29), the process returns to step S23, and the open part is searched clockwise from this straight line. If there is no shielding object on this straight line (NO in step S29), the route calculation is terminated assuming that the route (for example, the route f shown in FIG. 11) has reached the user 6. Similarly, when there is no obstruction on the straight line in step S22, the route calculation is ended assuming that the route drawn first is the route that reaches the user 6 as it is.

  As described above, according to the robot guidance system 1 according to the embodiment of the present invention, the robot 2 is moved to the place where the user 6 is located by the movement control by the server 4 (information processing apparatus) in response to the call by the user 6. In the robot guidance system 1, the sensor unit 3 (detection device) detects a predetermined wireless signal transmitted from the robot 2 and wirelessly transmits the detection information to the server 4 (robot signal detection means). ), And a voice receiving unit 32 (user signal detection means) that detects the voice emitted from the user 6 and wirelessly transmits the detection information to the server 4, and the server 4 has a moving environment of the robot 2. Map information storage unit 42 (map storage means) for storing a sketch 50 (map information) relating to the arrangement of obstacles in advance, and the sound of the user 6 The voice information storage unit 44 (command word storage means) that stores information on the calling command word related to the calling of the robot 2 in advance, the detection information wirelessly transmitted from the robot signal receiving unit 31, and the voice information storage unit 44 store the information. A call determination unit 45 (call determination unit) for determining whether or not the voice uttered by the user 6 is a voice indicating the call of the robot 2 by comparing with the information of the received call instruction word, and map information storage A robot position specifying unit 43 (robot position specifying means) for specifying the position of the robot 2 based on the sketch 50 stored in the unit 42 and the detection information wirelessly transmitted from the robot signal receiving unit 31; and a map information storage unit The user who specifies the position of the user 6 based on the sketch 50 stored in 42 and the detection information wirelessly transmitted from the voice receiving unit 32 When the call determining unit 45 determines that the voice generated from the device specifying unit 46 (user position specifying means) and the voice uttered by the user 6 are sounds indicating the calling of the robot 2, the robot specifying unit 43 specifies the voice. Based on the information on the robot position and the user position specified by the user position specifying unit 46 and the sketch 50 stored in the map information storage unit 42, a movement route from the robot 2 to the place where the user 6 is located is calculated. Based on the route calculation unit 47 (route calculation means) and information on the movement route calculated by the route calculation unit 47, the movement of the robot 2 is controlled using a radio signal so as to move the robot 2 along the movement route. A robot movement control unit 48 (movement control means; the movement control means may include a robot communication unit 49). The robot signal transmitter 21 (signal transmitter) for transmitting a predetermined radio signal, and the movement drive unit 23 (movement) for driving for movement in accordance with the movement control signal wirelessly transmitted from the robot movement controller 48 Drive means).

  As described above, the sensor unit 3 detects the wireless signal transmitted from the robot 2 and the sound emitted from the user 6 and wirelessly transmits them to the server 4. In the server 4, the robot position and the user position are specified based on the detection information transmitted from the sensor unit 3 and the sketch 50 stored in advance in the server 4, and from the sensor unit 3. It is determined whether the user 6 is calling the robot 2 by comparing the transmitted detection information (voice information) relating to the voice of the user 6 and the calling command information stored in the server 4 in advance. If it is determined that the robot 2 is present, a movement path from the identified robot position to the user position is calculated, and the movement of the robot 2 is controlled wirelessly along the movement path. The robot 2 moves to the user position based on the movement control signal transmitted wirelessly from the server 4.

  This eliminates the need for a marker, that is, allows the robot 2 to recognize the position of the robot 2 flexibly without depending on the marker, and along the movement path calculated based on the specified robot position, user position, and sketch. Since the robot 2 moves, self-position recognition errors do not accumulate with the movement of the robot 2 (good self-position recognition accuracy), and it is only necessary to store at least one piece of map information (schematic map). Does not require an enormous amount of accumulated images (the accumulated images cannot be referred to due to changes in the situation, and it is not difficult to specify the location in the place where the uniform or illumination changes), For example, since at least one sensor unit 3 (one that detects the voice of the user 6) needs to be installed in each room, a huge number of switches are required. (The user position is not specified depending on the switch installation location), the installation of the camera is unnecessary, and no psychological burden is imposed on the user 6 by the camera. Therefore, it is possible to provide a robot guidance system 1 that does not require the user 6 to always carry a device, and that is easy to use with a simple configuration and can reliably guide the robot 2 to the place where the user 6 is. Can do.

  In addition, when the route calculation unit 47 assumes a straight route from the robot 2 to the user 6 and an obstacle (for example, a wall of a room) exists on the assumed straight route, the route calculation unit 47 rotates around a predetermined direction ( For example, in the clockwise direction, an open part that is a place where no obstacle exists is searched, and if the open part found by the search is an effective open part that can reach the user 6, from the robot 2 to the effective open part Since the movement route is calculated by repeating the calculation process for fixing the straight route, the movement route can be quickly calculated by a simple calculation method.

  Further, since an ultrasonic signal is transmitted as a radio signal by the robot signal transmission unit 21, that is, an ultrasonic signal having high directivity and intensity is transmitted from the robot 2, the information of this ultrasonic signal is used. The position of the robot 2 can be specified accurately and reliably.

  The sensor unit 3 emits a plurality of sensors (ultrasonic sensors) that detect predetermined radio signals transmitted from the robot 2 and a user on the outer peripheral surface of a pyramid-shaped (see FIG. 5) or hemispherical housing. Since the plurality of microphones for detecting the sound to be generated are arranged at predetermined intervals along the circumferential direction, the bottom side of the pyramid-shaped or hemispherical casing (surface indicated by reference numeral 302 in FIG. 5) is provided. For example, when the sensor unit 3 is attached to a ceiling surface or a wall surface of a room, the wireless signal from the robot 2 and the voice from the user 6 can be easily received from all directions by the sensor unit 3. Therefore, the position of the robot 2 and the position of the user 6 can be specified more accurately and reliably.

  In addition, the robot signal transmission unit 21 has a function of periodically transmitting a radio signal (ultrasonic signal). The route calculation unit 47 causes the robot signal transmission unit 21 to periodically transmit a radio signal. Accordingly, the movement route from the robot 2 to the place where the user 6 is present is recalculated and updated, and the robot movement control unit 48 moves the robot 2 based on the information on the movement route updated by the route calculation unit 47. Therefore, even if the robot 2 deviates from the original movement route due to some accident, the robot 2 (robot signal transmission unit 21) is sequentially calculated according to the wireless signal periodically transmitted. The robot 2 can be reliably moved to the place where the user 6 is present along the movement route calculated based on the latest position.

  Further, according to the robot control apparatus (server 4; information processing apparatus) according to the embodiment of the present invention, the sketch 50 (map information) regarding the arrangement of obstacles in the moving environment of the robot 2 in which the robot control apparatus can self-run. A map information storage unit 42 (map storage unit) that stores information in advance, a voice information storage unit 44 (command word storage unit) that stores in advance information on calling commands relating to the calling of the robot 2 by the voice of the user 6, and The detection information related to the voice of the user 6 given is compared with the information of the calling command stored in the voice information storage unit 44, and whether or not the voice generated from the user 6 is a voice indicating the calling of the robot 2. A call determination unit 45 (call determination unit), a sketch 50 stored in the map information storage unit 42, and the robot 2 given from the outside A robot position specifying unit 43 (robot position specifying means) for specifying the position of the robot 2 based on detection information relating to a transmission signal (for example, an ultrasonic signal), and a sketch 50 stored in the map information storage unit 42 and given from the outside A user position specifying unit 46 (user position specifying means) for specifying the position of the user 6 based on the detected information relating to the voice of the user 6, and a call determination that the voice of the user 6 is a voice indicating the call of the robot 2. When determined by the unit 45, based on the robot position specified by the robot position specifying unit 43 and the user position information specified by the user position specifying unit 46, and the sketch 50 stored in the map information storage unit 42. A route calculation unit 47 (route calculation means) for calculating a movement route from the robot 2 to the place where the user 6 is located, and a route Based on the movement path information calculated by the calculation section 47, a robot movement control section 48 (movement control means; generates movement control signals for moving the robot 2 along the movement path). Robot communication unit 49 may be included).

  As described above, the robot control device (server 4) detects the detection information related to the transmission signal of the robot 2 given from the outside, the detection information related to the voice of the user 6 given from the outside, and the sketches stored in advance in the robot control device. 50, the robot position and the user position are specified, and the user 6 is compared with the detection information (speech information) relating to the voice of the user 6 and the calling command information stored in advance in the robot control device. It is determined whether the robot 2 is calling the robot 2, and if it is determined that the robot 2 is calling, the movement path from the specified robot position to the user position is calculated, and the robot 2 is moved along the movement path. A movement control signal is generated for this purpose.

  Since the robot control apparatus is provided with such a configuration, by using this robot control apparatus in a system for guiding a robot, for example, the robot guidance system 1, a marker becomes unnecessary, that is, the robot is flexible without depending on the marker. 2, and the robot 2 moves along the movement path calculated based on the specified robot position and user position and map information. Position recognition errors do not accumulate (good self-position recognition accuracy), and at least one piece of map information (schematic map) only needs to be stored. It may be difficult to locate an image in a place where the image cannot be referred to, or where the image is uniform or changes in lighting. In addition, it is sufficient that at least one device (sensor unit 3; detection device) for detecting the voice of the user 6 is installed in each room, for example, outside the robot control device, so a huge number of switches are required. (The position of the user does not depend on the switch installation location), the installation of the camera is unnecessary, and the psychological burden on the user 6 by the camera is not imposed. Therefore, it is not necessary for the user 6 to always carry the device, and it is easy to use with a simple configuration, and the robot 2 can be reliably guided to the place where the user 6 is. It should be noted that various configurations can be added or changed without departing from the spirit of the present invention, and for example, the following modifications can be taken.

  (A) In the above embodiment, the calculation of the position of the robot 2 or the user 6 relative to the sensor unit 3 is performed in the server 4 (robot position specifying unit 43, user position specifying unit 46). 3 may be configured. That is, in the sensor unit 3, the sensor unit 3 is based on the ultrasonic signals of the robot 2 detected by a plurality of ultrasonic sensors and microphones included in the sensor unit 3 and information on arrival time differences and intensity differences of user sounds. Alternatively, the position of the robot 2 or the user 6 viewed from above may be calculated, and position information based on the calculation result may be transmitted to the server 4. Note that the server 4 determines the position of the robot 2 or the user 6 using the sketch information based on the transmitted position information and the information on which sensor unit 3 transmits the position information. Identify.

  (B) The position of the user 6 whenever the sensor unit 3 detects the voice of the user 6 as in the case where the position of the robot 2 is updated in response to periodic signal reception from the robot 2 by the sensor unit 3. May be recalculated and updated, and the route may be recalculated and updated in accordance with this update. Thereby, even if the user 6 moves from the original calling position, the robot 2 can be called to the moved position. If the location of the user 6 has changed, but the room where the user 6 is (see the room 55 shown in FIG. 13) itself is the same room and does not change, the route to the user 6 finally (FIG. 13). It is also possible to recalculate and update only the route f shown in FIG.

  (C) In the above embodiment, the installation position of the sensor unit 3 is reflected in the floor plan in advance. However, when calculating the position of the robot 2 or the user 6, the position of the sensor unit 3 itself may be calculated each time. Good. In this case, for example, the server 4 is based on a predetermined signal for calculating the position of the sensor unit 3 transmitted from the sensor unit 3, and in what direction and how far the sensor unit 3 is from the server 4. It may be calculated whether it exists at a distant place, and the position of the sensor unit 3 may be specified (associated) together with the information of the sketch. Thereby, it is possible to cope with a case where the installation position of the sensor unit 3 is changed.

  (D) In the above embodiment, as the route calculation method by the route calculation unit 47, a method of continuing the search for the open portion clockwise (or counterclockwise) is adopted. You may employ | adopt the route calculation method by what is called a "right-hand policy" searching clockwise (or counterclockwise) along the nearest wall.

1 is a schematic configuration diagram of a robot guidance system according to an embodiment of the present invention. It is a block diagram which shows one structural example regarding the robot guidance of the robot in the said robot guidance system. It is a block diagram which shows one structural example regarding the robot guidance of the sensor unit in the said robot guidance system. It is a block diagram which shows one structural example regarding the robot guidance of the server in the said robot guidance system. It is the schematic which shows the example of 1 structure of the said sensor unit, (a) is a perspective view of a sensor unit, (b) is a top view of a sensor unit. It is a schematic diagram for demonstrating the robot guidance operation | movement in the said robot guidance system. It is a schematic diagram for demonstrating the robot guidance operation | movement in the said robot guidance system. It is a schematic diagram for demonstrating the robot guidance operation | movement in the said robot guidance system. It is a schematic diagram for demonstrating the robot guidance operation | movement in the said robot guidance system. It is a schematic diagram for demonstrating the robot guidance operation | movement in the said robot guidance system. It is a schematic diagram for demonstrating the route calculation method by the said server. It is a schematic diagram for demonstrating the route calculation method by the said server. It is a schematic diagram for demonstrating the route calculation method by the said server. It is a flowchart which shows an example of the robot guidance operation | movement in the said robot guidance system. It is a flowchart which shows an example of the path | route calculation process operation (algorithm) in step S12 shown in FIG.

Explanation of symbols

1 Robot guidance system 2 Robot 21 Robot signal transmitter (signal transmitter)
22 server communication unit 23 movement drive unit (movement drive means)
24 Drive control unit 3 Sensor unit (detection device)
31 Robot signal receiver (Robot signal detection means)
32 Voice receiver (user signal detection means)
33 server communication unit 4 server (information processing equipment, robot control equipment)
41 sensor communication unit 42 map information storage unit (map storage means)
43 Robot position specifying unit (robot position specifying means)
44 Voice information storage unit (command word storage means)
45 Calling judgment part (calling judgment means)
46 User position specifying unit (user position specifying means)
47 Route calculation unit (route calculation means)
48 Robot movement controller (movement control means)
49 Robot Communication Department 5 House (Robot movement environment)
51-55 rooms 6 users

Claims (6)

A robot guidance system that moves a predetermined robot to a place where the user is located by movement control by a predetermined information processing device in response to a call by a user,
Robot signal detection means for detecting a predetermined wireless signal transmitted from the robot and wirelessly transmitting the detection information to the information processing device;
A detection device comprising: a user signal detection means for detecting voice emitted from the user and wirelessly transmitting the detection information to the information processing device;
Map storage means for storing in advance map information relating to the placement of obstacles in the moving environment of the robot;
Command word storage means for preliminarily storing information on calling command words related to the robot calling by the user's voice;
The detection information transmitted wirelessly from the user signal detection means is compared with the information of the calling instruction word stored in the instruction word storage means, and the voice emitted from the user indicates the calling of the robot Calling judgment means for judging whether or not,
Robot position specifying means for specifying the position of the robot based on map information stored in the map storage means and detection information wirelessly transmitted from the robot signal detection means;
User position specifying means for specifying the position of the user based on map information stored in the map storage means and detection information transmitted wirelessly from the signal detection means for user;
When the calling determination means determines that the voice emitted from the user is a voice indicating the calling of the robot, the robot position specified by the robot position specifying means and the user position specifying means specified A route calculating means for calculating a movement route from the robot to the place where the user is, based on the user position information and the map information stored in the map storage means;
An information processing apparatus comprising: movement control means for controlling movement of the robot using a radio signal to move the robot along the movement path based on information of the movement path calculated by the path calculation means;
Signal transmitting means for transmitting the predetermined radio signal;
A robot guidance system comprising: the robot including a movement drive unit that performs a movement drive in response to a movement control signal wirelessly transmitted from the movement control unit. The route calculation means includes
Assuming a straight path from the robot to the user, and when the obstacle exists on the assumed straight path, an open portion that is a place where the obstacle does not exist around the predetermined direction from the straight path. If the opening portion discovered by the search is an effective opening portion that can reach the user, the movement route is calculated by repeating a calculation process for fixing a straight path from the robot to the effective opening portion. The robot guidance system according to claim 1 characterized by things.   The robot guidance system according to claim 1, wherein the signal transmission unit transmits an ultrasonic signal as the predetermined radio signal.   The detection device includes a plurality of sensors for detecting a predetermined wireless signal transmitted from the robot and a plurality of microphones for detecting a sound emitted from the user on an outer peripheral surface of a pyramidal or hemispherical housing. The robot guidance system according to any one of claims 1 to 3, wherein the robot guidance system is arranged at predetermined intervals along the direction. The signal transmission means has a function of periodically transmitting the predetermined radio signal,
The route calculation means recalculates and updates the movement route from the robot to the user's location according to the periodic transmission of a predetermined radio signal by the signal transmission means,
5. The robot guidance system according to claim 1, wherein the movement control unit controls movement of the robot based on information on a movement route updated by the route calculation unit. Map storage means for storing in advance map information relating to the placement of obstacles in the mobile environment of a self-propelled robot;
Command word storage means for storing in advance information of a call command word related to a robot call by a user's voice;
Whether the detection information about the user's voice given from the outside is compared with the information of the calling command stored in the command word storage means, and whether the voice emitted from the user is a voice indicating the calling of the robot Calling judgment means for judging whether or not,
Robot position specifying means for specifying the position of the robot based on map information stored in the map storage means and detection information on the transmission signal of the robot given from the outside;
User position specifying means for specifying the position of the user based on map information stored in the map storage means and detection information relating to the voice of the user;
When the call determination unit determines that the voice of the user is a call indicating the robot, the robot position specified by the robot position specifying unit and the user position specified by the user position specifying unit Route calculation means for calculating a movement route from the robot to a place where the user is present based on the information and the map information stored in the map storage means;
And a movement control means for generating a movement control signal for the robot to move the robot along the movement path based on information on the movement path calculated by the path calculation means. .