JP2008149427A - Method of acquiring information necessary for service of moving object by robot, and the object movement service system by the robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method of surely acquiring information necessary for a service of moving an object by a robot in an arbitrary area such as home or an airport lounge, and an object movement service system using the method. <P>SOLUTION: Contents of a service request from a service recipient are acquired. Items to be checked necessary for realizing the contents of the request corresponding to a current service area are acquired from a data base. Whether or not the necessary information is available from the service request contents is confirmed. Thereafter, an optimum device for acquisition of the insufficient (absent) information is selected, and the information lacking in the device for the service is acquired, so as to implement the service. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a method for acquiring information necessary for a service for moving an object by a robot, and an object movement service system by a robot using the method, and more particularly, an approximately human type (humanoid type) configured to be autonomously movable. This service is used to provide life support, drinks, newspapers, etc. to customers who are in service areas such as homes and airport lounges, and to bring baggage for departing customers. The present invention relates to a method for acquiring necessary information and an object movement service system by a robot using the method.

  For example, industrial robots such as articulated arm robots and transfer robots have been known for a long time, and are often used in factories and the like. However, since these industrial robots work according to a predetermined object / procedure according to a program that is determined and incorporated in advance, if the position or shape of the object is different or the procedure is different, the difference cannot be accommodated. There are many. In other words, these industrial robots are used only for each robot, such as welding, painting, and transportation, and are determined as fixed robots such as arm robots and transport robots. Most of the routes traveled in a predetermined order.

  However, in recent years, autonomous mobile robots have been announced. This autonomous mobile robot is configured to be able to move freely within a predetermined space, coexists with humans in a human living environment, and performs simple work, dangerous work, difficult work in industrial activities and production activities, etc. It is intended to help and act on behalf of. Examples of the work include maintenance work in a nuclear power plant, a thermal power plant, etc., cleaning work in a high-rise building, rescue activity at a disaster site such as a fire site, and the like.

  In addition, as a range of use of autonomous mobile robots, for example, it is installed in the homes of elderly people living alone, and the human safety such as room cleaning, resident physical condition management, or indoor safety confirmation when the resident is away from home Announcing robots designed to provide specific services to target people in specific service areas, such as robots that support daily life and support people who are waiting for departure at airport lounges. Has been.

  Autonomous mobile robots that perform specific services in such life support types and specific service areas are humanoid types with head, chest, torso, arms, etc., because of their friendliness to people, The head can be tilted back and forth and left and right, and the facial expression can be changed, the facial expression can be changed, simple conversation as shown in Patent Document 1, and a plurality of joints can be provided on the arm. It would be desirable to have the same behavior as some people do.

  However, in a daily life space in an arbitrary area such as a home or airport lounge, when a robot is asked to carry an object, for example, when the robot brings a cup, the robot actually performs the work. What is the object to be conveyed, how to hold it, whether it can be held, where the object is now, and if there are multiple objects, if you hold the object at which position It is necessary to have various information such as whether it is good, where the gripped object should be transported, and what route it is transported.

  In order for the robot to acquire such information, there are a method of acquiring the information by conversation as disclosed in Patent Document 1, a method of using a keyboard, a joystick, a laser pointer, and the like. Of these, the method of acquiring information by conversation is that the current speech recognition technology shows a fairly high recognition rate at the word level, but if multiple words are spoken continuously as spoken words, It is very difficult to understand the contents correctly. For example, to get the position of the moving object to be pointed to, "It is 12cm in the direction of 42 degrees diagonally right ..." or the shape and properties of the object There are contents that are difficult to express in words, such as (softness, weight, etc.), and it is difficult to acquire all information by conversation alone. In addition, it is difficult to acquire all information even when the robot has a conversation in which the object cannot be recognized, such as “Take that” or “Take that there”.

  Also, when giving instructions using a keyboard, joystick, mouse, etc., it is necessary to prepare a display device and go to the display device every time an instruction is given, so the robot recognizes all work contents. It becomes very annoying to let you.

  Therefore, the robot detects the direction of the indicated position indicated by a person using a pointing means such as a laser pointer, and specifies the indicated position from the image obtained by pointing the robot's imaging device toward the robot. The position specified by the specific position indicating means such as a laser pointer is indicated, the person determines whether the position is correct, and the robot acquires the coordinates of the specified position when the position is OK. An acquisition method is shown in Patent Document 2.

JP 2004-34274 A JP 2006-231447 A

  However, since the technology disclosed in Patent Document 1 simply has a close conversation with the service target person, it recognizes the face and eyes of the service target person and talks while looking at the eyes. The technique disclosed in Patent Document 2 is for recognizing a specific object indicated by a person and acquiring the position of the object. Therefore, in the prior arts shown in these documents, among the information necessary for requesting the robot to carry an object in an arbitrary area as described above, it is necessary to specify the position of the object around the person. It is not possible to perform the service requested by the person by checking the items.

  Therefore, in the present invention, transportation, movement and storage of things desired by people in service areas such as homes and airport lounges, provision of drinks and newspapers to customers, and the act of bringing customers' luggage to leave, etc. It is an object to provide a method for reliably obtaining information necessary for a service for moving an object by a robot in an arbitrary area, and to provide an object movement service system by a robot using the method.

In order to achieve the above object, a method for obtaining information necessary for a service for moving an object according to the present invention is as follows.
Humanoid robots are placed in service areas including homes,
The robot includes an object gripping unit, an autonomous moving unit, and a conversation unit with a service target person, and transmits information necessary for performing the object moving service requested by the service target by the robot. The method of obtaining by
In order to acquire data related to service objects in the service area in the database, confirmation items for confirming the presence / absence of information necessary for implementing the object movement service, and information confirmed to be absent by the confirmation items Store data about the device used for
A first step of acquiring a service request from the service target person using the conversation means, a second step of acquiring the confirmation item stored in the database, and the confirmation acquired in the second step For each item, it is determined whether there is sufficient information from the service request content acquired in the first step and the data related to the service object stored in the database searchable by the request content. If the service is not sufficient, the third step for confirming what information is not available, and the information that has not been confirmed in the third step are acquired as the information that has been confirmed to be absent. Performing a fourth step of obtaining using the device used for data and the data relating to the device stored in the database;
Information required for the requested object movement service is acquired.

Moreover, the object movement service system by the robot using this method is
Humanoid robots and service objects are placed in service areas including homes,
The robot comprises an object gripping means, an autonomous moving means, a conversation means with a service target person, and a display device provided with a display device or a touch panel, and the object requested by the service target person by the robot An object movement service system that acquires information necessary for performing a movement service of a robot by a robot and moves an object,
In order to acquire data related to service objects in the service area in the database, confirmation items for confirming the presence / absence of information necessary for implementing the object movement service, and information confirmed to be absent by the confirmation items Data related to the device used for
By causing the robot to acquire a service request from a service target person using the conversation means, and using the acquired service request content and data related to the service target stored in the database searchable by the request content, data The processing device determines whether or not there is information for each of the confirmation items. If all the necessary information is present, the service is performed by the robot, and if there is not, the information is confirmed and the information is obtained. Using the robot device and data related to the device to obtain information that is not available to the robot,
The object movement is performed by acquiring information necessary for the requested object movement service.

  In this way, the information necessary for carrying out the service request contents from the service target person is confirmed by the confirmation item data stored in advance in the database, one by one, and no information is obtained by a device suitable for the acquisition. By acquiring, service implementation information can be acquired reliably and quickly, and a service according to the preference of the service target person can be provided.

  The service object is divided into an object associated with the service object and an object irrelevant to the service object, and the object unrelated to the service object includes all of the information necessary for performing the service. The data associated with the service target person and the location associated with the service target person are stored in the database, respectively. For the object unrelated to the service target person, if the service target object is known, all the information necessary for the service is known. Since the object associated with the service target person can know the data and the location associated with the service target person, there is little information and the necessary information can be easily acquired.

  In this case, if an RF-ID (Radio Frequency Identification) tag is attached to an object associated with the service target person, the object associated with the service target person can be reliably recognized.

  The confirmation items acquired in the second step are the service object, the location of the service object, the moving means, the moving time, and the moving place, so that the so-called 5W1H information can be confirmed. The presence or absence of information can be confirmed for all the information necessary for the service that moves.

  Further, data related to the service object in the database is searched with the information acquired in the fourth step performed, and based on the search result, it is reconfirmed whether there is still no information confirmed in the third step. By performing the fourth step for information that has not been confirmed, and performing the service if there is, the object whose service object data is stored in the database is the service as described above. As long as the object is known, the information necessary for movement is often found, so that all necessary information can be easily obtained.

  The information acquisition device not used in the fourth step includes a conversation means, a menu displayed on an item selection means including a display device or a touch panel, a means for pointing an object with light, and the display device or touch panel. By using any of the devices including the clock or the map displayed on the item selection means including the information necessary for the service implementation as described above, it is possible to quickly and reliably obtain information of the service target person Services according to preferences can be provided.

  In addition, the device for acquiring the non-existent information used in the fourth step tries whether or not acquisition by conversation is possible, and if it cannot be acquired by the trial, the item selection means including a menu or a touch panel, or light All necessary information can be easily obtained by using a means for indicating an object, a clock for selecting the time, and a map for selecting a moving place.

  Furthermore, by providing a container that can be gripped by the object gripping means in the robot by putting the service target in the moving means of the service target object, a small object that is difficult for the robot to grip is also subject to the moving service by the robot. It can be.

  As described above, according to the present invention, it is possible to provide an object movement service system by a robot that can reliably and quickly acquire service implementation information and can provide a service according to the preference of the service target person. it can.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, but are merely illustrative examples. Not too much.

  FIG. 1 is a view showing a lounge such as an airport as an example of a target area for performing a service for moving an object, FIG. 2 is a front view of an example of a robot for performing a service for moving an object according to the present invention, 3 is a control block diagram of a robot, FIG. 4 is a flowchart of an information acquisition method necessary for a service that moves an object according to the present invention, and FIG. 5 is an information acquisition method required for a service that moves an object according to the present invention. 6 is a detailed flowchart from confirmation item acquisition to information collection. FIG. 6 is a flowchart showing a device selection method for each confirmation item, and other confirmation items that are simultaneously identified when the confirmation item is confirmed by each method. is there.

  FIG. 1 is a diagram showing a lounge such as an airport as an example of a target area where a service for moving an object is performed. In this target area, a robot 1 for providing a service to a service target person is arranged. In the figure, for example, 40 is an airport lounge reception, and a receptionist 41 sits on a chair and interacts with a service target person 42. For example, when the service target person 42 has the baggage 43, for example, an RF-ID (Radio Frequency Identification) tag or the like is attached to the service person 42 so that it is not mistaken for another person's item and placed in the luggage storage area 44. Ask. By doing so, the data of the service subject 42 and the baggage 43 are sent to the server 50, stored in the database 51 and also sent to the robot 1, and stored in the database of the robot 1 in association with the service subject 42. Make it visible at times.

The service subject 42, after the move from the position shown at the reception 40 in 42 ₁ as position to 42 ₂ luggage storage 44, placed as shown luggage 43 43 ₂ luggage storage 44, to move to a table position, seated as shown by 42 _3. Then, the service is requested by allowing the robot 1 to recognize it or by calling the service robot 1 by the service target person 42.

Service in airport lounges, as in this example is, for example, from the shelf 45, which is put the drinks and food to the service subject 42 _3, or carry the drinks and food that wanted the service subject 42 _3, there is at a newspaper It is intended to provide been taking the newspaper that the service subject 42 ₃ from the shelf 46 was specified, also, when the service subject 42 ₃ out of the airport lounge to catch the plane, from the service subject 42 or admit it by the request, the robot 1 has to carry the luggage storage 44 luggage 43 ₂ of the service subject 42 ₃ to the outlet. The service provided by the robot 1 can be supported by the server 50 including the database 51 by referring to the action determination associated with the service of the robot 1 and past data.

  Although the example shown in FIG. 1 is an airport lounge, as described above, for example, it is installed in a house of an elderly person living alone, and the room is cleaned, the physical condition of the resident is managed, or the resident is away from the house. It may be a life support type that is closely related to human life, such as indoor safety confirmation. In the above description, the database is also given to the robot 1. However, the database is not given to the robot 1, and when the data search is necessary, a signal is sent to the server 50 to search the database 51, and only the result is obtained. Of course, it may be sent.

  FIG. 2 is a front view of an example of a robot that performs a service for moving an object according to the present invention. 1 is a robot body used in the present invention, 2 is its head, 3 is a fish-eye lens and an ultra-wide-angle lens, A first imaging device capable of capturing an azimuth, 4 is a microphone for picking up human voice, 5 is provided with an imaging device inside, and for example, a second imaging device capable of imaging a visual field of about 60 degrees in front of the robot. An eye equipped with an imaging device, 6 is a chest, 7 is a speaker provided on the chest 6, 8 is an image display, and this image display also includes a touch panel, for example, so that the service target person 42 can touch the necessary information. You may make it selectable. Reference numeral 9 denotes an arm portion, and 10 denotes a portion corresponding to a human hand provided at the tip of the arm portion 9. The hand 10 holds a small object such as a cup or a mobile phone, and holds a handle portion such as a bag. It can be carried with it, and can be used to hold a large object by protruding the arm 9 forward. 11 is an ultrasonic obstacle sensor for detecting obstacles or people in front of the robot, 12 is a torso, 13 is a laser obstacle sensor for detecting obstacles or people in front of the robot, Reference numeral 14 denotes left and right traveling wheels mounted on the body 12, and reference numeral 15 denotes a laser pointer or projector that is held or attached to the hand 10 so that a specific position can be indicated.

  This robot 1 is a general person having a head 2 having imaging devices 3 and 5 instead of vision and hearing, a microphone 4, and the like, a chest 6, a trunk (cart) 12, and left and right arms 9. Type (humanoid type) robot, the neck joint between the head 2 and the chest 6, the shoulder joint between the chest 6 and the arm 9, the elbow joint in the arm 9, the wrist joint, etc. The traveling wheel 14 can be steered and traveled by a driving mechanism (not shown), and is configured to autonomously move in the work space by battery driving. The first imaging device 3 recognizes its own position coordinates, the second imaging device provided in the two eyes 5 recognizes an object in front, the ultrasonic obstacle sensor 11, the laser obstacle Sensor 13 detects obstacles and people ahead. It can be.

  The robot 1 is provided with a data input / output device as indicated by 20 in FIG. 3, a CPU (computer) not shown in the control unit (data processing device) 21, and other self-position recognition unit 22. , Pointing point recognition unit 23, voice recognition unit 24, neck / arm / hand motion recognition unit 25, body direction recognition unit 26, database 27, neck joint drive unit 28, wrist joint drive unit 29, arm joint drive unit 30 and a vehicle drive unit 31 and the like.

  The database 27 includes service object 42, data for identifying service objects such as baggage 43 associated with the service object 42, service for providing drinks and food provided in each service area, service for providing newspapers, and the like. The data of known information of the object that is irrelevant to the service target, such as the shape, location, carrying method, tidying location, etc. Confirmation item data for confirming what information is missing among the information such as the moving location, and what device is suitable for acquiring the missing data corresponding to each confirmation item Related data such as are stored. Also, for example, at home, the service contents that the family requested in the past are memorized, and when a service request with the same contents is received, the data is referred to and answered, or the airport lounge has been requested in the past. For example, services can be performed.

  As described in detail in, for example, Patent Document 1, the robot 1 has a function of talking while recognizing the voice of the service target by various built-in sensors, as well as the action of the service target. You may have the function to watch over, assist a service subject's action, or act with a service subject. That is, the driving wheel 31 is driven by the vehicle drive unit 31 to move the torso 12 to the front of the face or body of the person to be serviced, and the head 2 and eyes (second imaging device) at this front position. 5 is directed toward the eyes of the service target person so that the conversation can be performed while seeing the eyes of the service target person. From the service target person, the robot 1 stands in front of him and further Since the conversation is performed while watching, a more friendly conversation is established than before.

  The configuration of the robot 1 is merely an example. As described above, the robot 1 is not provided with the database, but the database 51 is searched through the server 50 and only the result is sent. The apparatus 3 or the second imaging device (eyes) 5 may not be provided, and the above-described operation may be performed based on signals from the imaging devices installed on the ceiling, wall, table, or the like instead. Of course.

  FIG. 4 is a flowchart of a method for acquiring information necessary for a service for moving an object according to the present invention. In the following, the present invention will be described by taking the airport lounge shown in FIG. 1 as an example, but other areas such as homes and restaurants are considered as areas for providing services for moving objects by the robot 1. It is obvious that they can be similarly constructed.

  In FIG. 4, when the process starts in step S41, in which service area the robot 1 is currently in is confirmed in step S42. This confirmation may be performed by, for example, sending information on the current service area from the server 50 to the robot 1, automatically recognizing the robot 1 itself, or instructing the administrator of the robot 1.

As described above, for example, when the service person 42 appears at the reception 40 of the airport lounge and is requested to put the baggage 43 with the RF-ID tag and put it in the luggage storage area 44, the reception person 41 receives the service person. The information of the RF-ID tag attached to 42 and the baggage 43 is wirelessly transmitted to the server 50, for example, the information of the service subject 42 and the baggage 43 is stored in the database 51, and further sent to the robot 1 to be sent to the robot 1 Is stored in the database 27. The service subject 42 is moved from the position shown in 42 ₁ as position to 42 ₂ luggage storage 44, after placing as shown luggage 43 43 ₂ luggage storage 44, such as ashtray 47 to move to a certain position is put table 48, seated as shown by 42 _3.

  Then, the robot 1 watching the situation recognizes that the service target person 42 is seated, or the service target person 42 uses a wireless call button or the like used when calling a store clerk in a restaurant or the like, for example. By calling 1, the robot 1 recognizes and approaches the service target person 42 in step S43. This operation is based on a captured image captured by the top camera (first imaging device) 3, the front camera (second imaging device) 5, or an imaging device installed on a ceiling or a wall (not shown). The position recognition unit 22 confirms the self position, recognizes the service target person 42 based on the captured image of the service target person 42 captured by the front camera (second imaging device) 5, and detects the ultrasonic obstacle sensor 11. The distance is calculated by the laser obstacle sensor 13 or the like, and the driving wheel 31 is driven by the vehicle drive unit 31 to move in the direction, so that the face of the service person 42 or the front of the body, or the service person If 42 is sitting, the body 12 is positioned next to it.

  Then, in the next step S44, the robot 1 talks to the service subject 42 or makes a service request to the robot 1 itself. For example, the robot 1 speaks, for example, “Let's bring a drink or food” or “There is a newspaper” through the speaker 7, and the service target 42 says “I want to drink coffee”, The response to “I want to read a newspaper” or the like is acquired by the microphone 4 and recognized by the voice recognition unit 24 provided in the control unit 21. At this time, as described above, there may be a conversation in which the robot 1 cannot recognize what the service object is, such as “Take it with me” or “I want to drink something”.

  Then, if the robot 1 understands the contents of the request in step S45, the service person 42 makes an objection to the utterance in the manner described above, "I'm coffee" or "I have a newspaper". If not, it is determined that the content of the request has been understood, and the process proceeds to the next step S47. However, if the service subject 42 says “No, I want to drink juice”, it is necessary to proceed to step S46 and reconfirm the request. Further, when the service target person 42 says “I want to drink something” or “Please bring that” before the robot 1, “I want to drink” in the words spoken by the service target person 42. Understand that the service request was made in the part of “Take it in”.

  And if the robot 1 understands the contents of the request by reconfirmation, it speaks by the above-mentioned method “It is a juice”, and if the service target 42 does not object to it, it understands the contents of the request As a result, the process proceeds to the next step S47. However, if, for example, the service target person 42 does not speak a language that the robot 1 can understand because of a foreigner or the like, and the robot 1 cannot understand the utterance or the contents related to the request of the service target person 42 even by this reconfirmation, It is assumed that the request in the language of 42 cannot be understood, and it proceeds to the next step S47 assuming that there is only a service request.

  If the contents of the service request can be understood in this way, or if the process proceeds to step S47 forcibly, confirmation items for confirming information necessary for service execution are acquired from the database 27. This is so-called 5W1H, and “who” has already been determined in step S42. Therefore, a moving object, b location, c moving method, d when and e where shown in FIG. In the next step S48, it is confirmed whether or not the acquired information is sufficient for each of these confirmation items.

  For example, in the case of a simple service request such as “I want to drink juice” as in the present case, since the moving object is juice, it is first shown in the database 27 of the robot 1 using juice as a keyword, or FIG. The database 51 is searched and data regarding juice is obtained. In this case, the juice is contained in a glass on a shelf 45 where food is placed, which can be gripped and moved by the robot 1 and is usually carried to the table 48 where the service target 42 is located. Is in the database 27, the moving object a is juice according to the acquired confirmation item, b is the shelf 45 where drinks and food are placed, and c moving method is that the robot 1 itself uses a glass containing juice. D. When the service target 42 says “I want to drink”, now e becomes the table 48. Therefore, in this case, since all the information has been gathered, the process proceeds to step S52, and a service of “bringing juice” on the shelf 45 where drinks and food are placed is performed.

  In addition, for example, when the service target person 42 says “I want to drink something” or “bring it” as described above, there is a conversation in which the robot 1 cannot recognize what the service object is. In this case, first, the moving object a is unknown, and therefore the location of b, the method of moving c, e is unknown everywhere, and when d, “I want to drink” or “Please bring” Can be recognized.

  As described above, when the request content alone does not provide sufficient information necessary to execute the request, the process proceeds to step S49, and a device including a dialog suitable for collecting information in the information deficient item is selected. This is acquired by conversation using the speaker 7 or the microphone 4 provided in the robot 1 for each of the above-mentioned a moving object, b location, c moving method, d when and where e. If it is difficult, the pointer 49 is displayed on the image display 8 provided on the chest 6 of the robot 1 in a menu format, sequentially indicated by a cursor including a method for inverting characters, and acquired by this, or a pointer 49 using a laser or the like (FIG. 1) and the location and time are acquired by selecting a device for acquiring information, such as displaying a map or a clock on the image display 8.

  For example, when the service target person 42 says “I want to drink something” or “bring it” as described above, the robot 1 cannot recognize what the service object is. The conversation is selected as the device, and in the next step S50, the questions “What do you want to take care of” and “What do you want to bring?” Are answered, and “I want to have coffee” , “Newspaper” and other answers are returned, “Do you want to have coffee?”, “Do you want to have a newspaper”, etc., and confirm that the service target 42 responded “Yes,” etc. If no objection is made, the moving object a is determined as “coffee” or “newspaper”.

  Next, the database 27 of the robot 1 or the database 51 shown in FIG. 1 is searched using these “coffee” and “newspaper” as keywords, and data relating to “coffee” and “newspaper” is acquired. In step S51, it is determined whether or not all the information has been obtained. In this case, "coffee" is in a glass or cup on a shelf 45 where drinks and food are placed, and "newspaper" is a newspaper. If there is information in the database 27 such that the robot 1 can hold and move it, and usually it is carried to the table 48 where the service target 42 is located, etc. According to the acquired confirmation items, a moving object is coffee or a newspaper, b is a shelf 45 where drinks and food are placed, or a shelf 46 where newspapers are placed. D. When the service target 42 says “I want to drink” or “Please bring it”, where e is now the table 48. Therefore, in this case as well, all the information has been gathered, so the process proceeds to step S52, where a service of “bring coffee” on the shelf 45 where drinks and food are placed and a newspaper are placed. A service “put a newspaper” on a shelf 46 is implemented.

  Further, for example, it is assumed that the service target person 42 makes a request to the robot 1 to “take the baggage 43” placed by the service target person 42 from the luggage storage area 44 in order to get on an airplane. In this case, since it is understood that the moving object is “baggage 43”, when the database 27 is searched, when the RF-ID tag is attached to the baggage 43, the robot 1 attaches it to the service target person 42 and the baggage 43 from the server 50. Since the received RF-ID tag data is sent to the robot 1, information such as the location of b, the movement method of c, the time of d, where to e, etc. is found as described above. 43 can be brought from the luggage storage 44. However, if the service target person 42 puts it in the luggage storage 44 or other place without attaching the RF-ID tag, the robot 1 can recognize that it is the baggage 43, but the data is stored in the database 27. Since there is no place, it is unclear how to place it and whether it can be carried by the robot 1 or not.

  For this reason, the robot 1 cannot respond to the request of the service subject 42 unless these pieces of information are known, and therefore it is confirmed in step S48 that the information on the b location and the c moving method is insufficient. In step S49, a device including a dialog suitable for information collection in the information shortage item is selected.

  For example, in this case, the baggage 43 brought by the service target person 42 and placed in the luggage storage 44 is a case where it is difficult to recognize the moving object because the language of the service target person 42 is a foreign language. A pointer 49 using a laser or the like for indicating the baggage 43 is selected and provided to the service target 42, or a map of the airport lounge is displayed on the image display 8 for indicating the position. select.

For example, the light emitting unit and a laser pointer with an embedded magnet with case, LED or the like, for example, two positions on the service subject 42 for instructing the luggage 43 ₂ placed in luggage storage 44 of FIG. 1 by using a laser pointer 49 such as to provide a 49, so ask them to instruct the baggage 43 ₂ placed in the luggage storage 44. On the other hand, the robot 1 side detects light from the light emitting means or a magnet embedded with a magnetic sensor from a captured image captured by the front camera (second imaging device) 5 shown in FIG. The direction indicated by the laser pointer 49 is detected.

  Then, the robot 1 rotates the body and neck according to the body direction recognized by the body direction recognition unit 26 shown in FIG. 3 or the neck direction recognized by the neck / arm / hand motion recognition unit 25. Alternatively, the direction in which the laser pointer 49 is pointed to if it is moved is calculated, and the driving wheel 31 or the neck shaft is driven by the vehicle drive unit 31 or the neck joint drive unit 28, and the direction in which the laser pointer 49 or the like points The body 12 and the head 2 are faced to each other.

  Then, the captured image captured by the front camera (second imaging device) 5 is sent to the indication point recognition unit 23 to detect the light spot generated at the position indicated by the laser pointer 49, and the recognized laser pointer 49 indicates. Based on the position and the self-position recognized by the self-position recognition unit 22, the direction in which the laser pointer 15 that the robot 1 has on the arm unit 9 should be directed is calculated. An instruction is given to the motion recognition unit 25, the arm joint drive unit 30, the wrist joint drive unit 29, and the like.

The laser pointer 15 therefore the robot 1 side, such as luggage 43 ₂ are pointed out with service subject 42 is a laser pointer 49, since now light spot is caused by the laser pointer 15 of the robot 1 side, the front camera (second the designated point recognition unit 23 from the captured image by the imaging device) 5 has captured the detected light spot by the laser pointer 15 of the robot 1 side, after adjusting to correctly luggage 43 ₂ are pointed, the robot 1 is a speaker 7 Make a voice such as "Is this?"

  Therefore, the service subject 42 determines whether or not the position indicated by the light spot by the laser pointer 15 on the robot 1 side is acceptable, and if possible, it is a voice. If this is difficult, for example, whether or not the pointing position is correct, the robot 1 side The position of the light spot by the laser pointer 15 is moved in the left, right, up and down directions so that the position indicated by the human can be instructed using, for example, a remote controller.

  If this determination is “No”, if it is possible to give a voice instruction, for example, “right 50 mm” or simply “right” is indicated. If this is difficult, the above-described remote control is used and the determination is “No”. Instructing that the position of the light spot by the laser pointer 15 on the robot 1 side is moved to the right and the position to be pointed to by the service subject 42 is given.

Then, the instruction and the position of the light spot by the laser pointer 15 of the robot 1 side, and the service subject 42 detects the relative position between the position of such luggage 43 ₂ are pointed out by using a laser pointer 49, relative movement Is calculated, the position of the light spot by the laser pointer 15 on the robot 1 side is moved, and the laser pointer 15 on the robot 1 side is projected again. This operation is continued until the service subject 42 says “Yes”, and when it becomes Yes, it is transmitted by voice or remote control, and the self-position recognition unit 22 acquires the self-position recognition and the indicated coordinates, and recognizes the baggage 43. That is why.

  Returning to the flowchart of FIG. 4 again, in the next step S51, it is confirmed whether or not all the information has been obtained. If not, the process returns to step S50 again and the same processing is repeated. Proceeds to step S52 where the service is implemented and ends.

  In this way, the information required to execute the service request contents from the service target person 42 is confirmed one by one by the confirmation item data stored in the database 27 in advance, and the missing information is acquired. By acquiring with a suitable device, service implementation information can be acquired quickly and reliably, and a service according to the preference of the service target person can be provided.

  The above is a method for acquiring information necessary for a service for moving an object according to the present invention. Of the processes shown in FIG. FIG. 5 is a flowchart showing details of the process up to 2 in the circle. Further, in FIG. 5, steps S50a, 50b, 50c, 50d, steps S55a, 55b, 55c, FIG. 6 shows the details of 55d.

  First, in FIG. 5, steps S47a, 47b, 47c, 47d, and 47e are the respective confirmation items acquired in step S47 of FIG. 4 in order to confirm information necessary for service execution from step S47a. , 48b, 48c, 48d, and 48e are judgments on whether or not the acquired information performed in step S48 of FIG. 4 is sufficient. Steps S49a, 49b, 49c, 49d, and 49e are selection of a device including a dialog suitable for information collection in the information shortage item in step S49 of FIG.

  That is, in step S47a, in order to confirm the moving object a, it is determined whether the acquired information is sufficient in step S48a, and a suitable device is selected from the dialog, menu, laser pointer 49, etc. in step S49a. . Actually, however, since the moving object a is not known by the robot 1 or not understood by the contents of the request of the service subject 42, if it is determined in step S48a that the acquired information is not sufficient, the dialogue Depending on the device, there are many cases where it is not known, so select another device.

  This is shown in FIG. 6A. In step S60a, it is determined whether or not the moving object has been found by dialogue. As shown in step S61a, for example, in correspondence with a foreigner in the lounge, It is determined that it is optimal to present the menu, or that it is better to have the laser pointer 49 indicate at home. Then, as shown in step S55a of FIGS. 5 and 6, for example, when a moving object is found, an airport lounge usually knows where it is located, how to move c, and where e. Similarly, at home, if it is an item registered in the database 27, the location of b and the movement method of c can be known.

  In step S47b for confirming where the next b is located, it is determined whether the information already acquired in step S48b is sufficient. In step S49b, in addition to the dialog, the laser pointer 49, and the menu, the map or ID tag is most suitable. A device is selected. Then, as shown in FIG. 6B, in step S60b, it is determined whether or not the moving object has been found by dialogue. In step S61b, for example, in a place where the robot 1 is present such as a lounge or home, The laser pointer 49 is used if the robot 1 or the service subject 42 can see it, and if it is any other place, a map is displayed on the image display 8 described above. Further, when the service target person 42 attaches an RF-ID tag to the baggage 43, a method using an RF-ID tag may be used.

  Then, as shown in step S55b of FIG. 5 and FIG. 6B, for example, if the moving object a and the location of b are known, the airport lounge usually knows how to move c and where e. There are cases where it is sufficient to confirm, and at home, if it is an object registered in the database 27, the c moving method can be known, so there may be a case where it is sufficient to confirm when and where e.

  In step S47c for confirming the c moving method, it is determined whether the acquired information is sufficient in step S48c. In step S49c, the most suitable device is selected from the dialog and menu. Then, as shown in FIG. 6C, it is determined in step S60c whether or not the movement method has been determined by dialogue. In step S61c, for example, whether the moving object can be held and moved by the robot 1 in both the lounge and the home. Check whether it is displayed on the menu.

  That is, as shown in step S55c of FIG. 6C, for example, a service object having a size that is too small to be gripped by the robot is prepared by, for example, preparing a dedicated container for transportation, or a soft and large object. Confirms whether it can be carried by using a menu or the like. Similarly, in the menu, if the moving object is heavy and cannot be carried by the robot alone, a cart or the like is specified.

  Further, in step S47d for confirming when d, it is determined whether the acquired information is sufficient in step S48d. In step S49d, the most suitable device is selected from the dialog and the watch, as shown in FIG. Thus, in step S60d, it is determined whether or not the moving object has been found by dialogue. In step S61d, for example, both the lounge and the home display a clock on the image display 8 to confirm when to move. The last e is omitted because it is the same as the B location described above.

  In the above description, the case where all the moving objects are carried by the robot 1 has been described as an example. However, for example, the ashtray 47 or the like is provided with wheels driven by a motor for self-propelling and a battery for driving the motor. It may be possible to move to the service target person 42 by operating the robot 1.

  By doing in this way, the information required to execute the service request contents from the service target person 42 is stored in the database 27 in advance, who requests, what is the moving object, and where the b location is c movement The method confirms each item according to the confirmation item data such as when and where e, and obtains the necessary information quickly and reliably by acquiring the missing information with a device suitable for the acquisition. The service according to the preference of the service target person 42 can be provided.

  According to the present invention, it is possible to reliably acquire information necessary for service by a robot for a customer in a service area, so that the robot can be effectively used at home or a place where a service is provided.

It is the figure which showed lounges, such as an airport, as an example of the object area which implements the service which moves an object. It is a front view of an example of the robot which implements the service which moves the object which becomes this invention. It is a control block diagram of a robot. It is a flowchart of the acquisition method of the information required for the service which moves the object which becomes this invention. It is a detailed flowchart from confirmation item acquisition to information collection among the acquisition methods of the information required for the service which moves the object which becomes this invention. It is the flowchart which showed the method of the device selection in each confirmation item, and the other confirmation item which becomes clear simultaneously when confirming the confirmation item by each.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot 2 Head 3 1st imaging device 4 Microphone 5 2nd imaging device (eye)
6 Chest 7 Speaker 8 Image Display 9 Arm 10 Hand 11 Ultrasonic Obstacle Sensor 12 Body 13 Laser Obstacle Sensor 14 Traveling Wheel 15 Laser Pointer or Projector 40 Reception 41 Receptionist 42 Service Subject 43 Baggage 44 Luggage storage 45 Shelf with drinks and food 46 Shelf with newspaper 47 Ashtray 48 Table 50 Server 51 Database

Claims (11)

Humanoid robots are placed in service areas including homes,
The robot includes an object gripping unit, an autonomous moving unit, and a conversation unit with a service target person, and transmits information necessary for performing the object moving service requested by the service target by the robot. The method of obtaining by
In order to acquire data related to service objects in the service area in the database, confirmation items for confirming the presence / absence of information necessary for implementing the object movement service, and information confirmed to be absent by the confirmation items Store data about the device used for
A first step of acquiring a service request from the service target person using the conversation means, a second step of acquiring the confirmation item stored in the database, and the confirmation acquired in the second step For each item, it is determined whether there is sufficient information from the service request content acquired in the first step and the data related to the service object stored in the database searchable by the request content. If the service is not sufficient, the third step for confirming what information is not available, and the information that has not been confirmed in the third step are acquired as the information that has been confirmed to be absent. Performing a fourth step of obtaining using the device used for data and the data relating to the device stored in the database;
A method for obtaining information necessary for a service for moving an object by a robot, characterized in that the information necessary for the requested object movement service is obtained.   The service object is divided into an object associated with the service object and an object unrelated to the service object, and all the information necessary for performing the service is associated with the service object. 2. The method for obtaining information necessary for a service for moving an object by a robot according to claim 1, wherein data and location associated with the service subject are stored in the database.   The confirmation item to be acquired in the second step is a service object, a location of the service object, a moving means, a moving time, and a moving place. The object by the robot according to claim 1 or 2, How to get information needed for moving services.   Search the data related to the service object in the database with the information obtained in the fourth step, and reconfirm whether there is still no information confirmed in the third step based on the search result. 4. If necessary, perform the fourth step for information that does not exist, and if there is, perform a service. 4. A service necessary for moving an object by a robot according to claim 1 How to get information.   The device for acquiring information not used in the fourth step includes a conversation means, a menu displayed on an item selection means including a display device or a touch panel, a means for pointing an object with light, and the display device or touch panel. 5. The method for acquiring information necessary for a service for moving an object by a robot according to claim 1, wherein the device is any one of a device including a clock or a map displayed on the item selection means.   The device for acquiring no information used in the fourth step tries whether or not acquisition by conversation is possible, and if it cannot be acquired by the trial, item selection means including a menu or a touch panel, or an object by light 6. A robot necessary for a service for moving an object by a robot according to claim 1, wherein a clock is used for selecting the time period and a map is used for selecting a moving place. How to get information. Humanoid robots and service objects are placed in service areas including homes,
The robot comprises an object gripping means, an autonomous moving means, a conversation means with a service target person, and a display device provided with a display device or a touch panel, and the object requested by the service target person by the robot An object movement service system that acquires information necessary for performing a movement service of a robot by a robot and moves an object,
In order to acquire data related to service objects in the service area in the database, confirmation items for confirming the presence / absence of information necessary for implementing the object movement service, and information confirmed to be absent by the confirmation items Data about the device used for
By causing the robot to acquire a service request from a service target person using the conversation means, and using the acquired service request content and data related to the service target stored in the database searchable by the request content, data The processing device determines whether or not there is information for each of the confirmation items. If all the necessary information is present, the service is performed by the robot, and if there is not, the information is confirmed and the information is obtained. Using the robot device and data related to the device to obtain information that is not available to the robot,
A robot-based object movement service system that obtains information necessary for a requested object movement service and moves the object.   The service object is an object associated with the service object and an object irrelevant to the service object, and the object unrelated to the service object includes all of the information necessary for performing the service with the service object. 8. The object movement service system using a robot according to claim 7, wherein the associated object stores data associated with a service person and location data stored in the database.   9. The object movement service system by a robot according to claim 8, wherein an RF-ID (Radio Frequency Identification) tag is attached to an object associated with the service target person.   The non-information acquisition device is any of a device including a conversation means, a menu displayed on a display device or a touch panel, a means for pointing an object with light, and a clock or a map displayed on the display device or the touch panel. The object movement service system using a robot according to claim 7, wherein the object movement service system is provided.   The object movement by the robot according to claim 7, wherein a container that can be grasped by the object grasping means in the robot by putting the service object into the service object moving means is prepared. Service system.

Images