JP2010046780A - Route guiding robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guiding robot capable of not only facilitating a person to understand but also preventing generation of wasteful time for changing a direction of the robot by turning its body and the energy consumption. <P>SOLUTION: The route guiding robot, when guiding a person along a route to a destination, determines whether or not the route to the destination is complicated and the difficulty level (S25, S31) is high. When the difficulty level is not high (flag H: off), the robot guides the person by explaining the route by indicating a direction using its arm and voice as the person is able to understand the route easily. When the difficulty level is high (flag H: on), the robot guides the person by explaining the route by adding indication of the direction using a direction of the robot body for assisting the person in understanding along with the directional indication using the arm and voice of the robot. Therefore, when the route to be guided is not complicated, the directional indication using the direction of the robot body is skipped, meanwhile when the route is complicated, the directional indication using the direction of the robot body is employed, so that the robot can not only facilitate the person to understand the route but also prevent generation of wasteful time and energy consumption due to change of direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a road guidance robot, and more particularly, to a road guidance robot that guides a route to a human destination using voice and body movement.

An example of this type of road guidance robot is disclosed in Patent Document 1. The road guidance robot disclosed in Patent Document 1 constitutes a road guidance system together with a liquid crystal display and the like. This route guidance robot is arranged in the vicinity of the liquid crystal display, and makes it possible for a person approaching the liquid crystal display to refer to a map displayed on the liquid crystal display and to route the user to a desired destination. Explain and guide. The road guidance robot transmits a route to a human using a voice output, a direction instruction by an arm, and a direction instruction by a body direction at the time of road guidance.
JP 2007-265329 A [G08G 1/005, B25J 13/00, G09B 29/00, G09B 29/10]

  As described above, the road guidance robot of Patent Document 1 turns to change the direction of the body in order to indicate to the human the direction of travel or the direction of bending depending on the direction of the body. However, since it takes time for the road guidance robot to turn and change the direction of the body, in the road guidance robot of Patent Document 1, humans must spend wasted time while the road guidance robot turns the body. There wasn't. Further, since the turn of the body of the road guidance robot requires a relatively large amount of electric energy, the energy consumption of the road guidance robot has been expedited. However, if the direction instruction according to the direction of the body is omitted, there arises a problem that it becomes difficult for a human to understand the explanation of the route by the robot.

  Therefore, a main object of the present invention is to provide a novel road guidance robot.

  In addition, another object of the present invention is to provide a road guide robot capable of both facilitating understanding by humans and generating unnecessary waiting time for changing the body direction by turning and preventing energy consumption. That is.

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

  A first invention is a route guidance robot for guiding a route to a human destination using voice and body movements by arms and bodies, and destination information acquisition means for acquiring destination information indicating the destination, Current location information acquisition means for acquiring current location information indicating its current location, map information storage means for storing map information of a target area for route guidance, destination information acquired by destination information acquisition means, acquired by current location information acquisition means Determining means for specifying the route from the current position to the destination based on the current location information and the map information stored in the map information storage means, and determining whether the route specified by the specifying means is complicated Means for guiding the route using the direction instruction by the arm and sound when the route is determined not to be complicated by the means and the determination unit, and the determination unit Therefore when the path is determined to be complex, the arm direction indicated by the direction indication by orientation of the body, and a second guide means for guiding a route with a voice, a road guide robot.

  According to the first invention, the route guidance robot (10) guides a route to a destination to a human by using voice and physical movement by an arm and a body. In the route guidance robot, the destination information acquisition means (56, 72, 62, S5) acquires destination information indicating the destination, and the current location information acquisition means (56, 72, 62, S11) Get current location information. Then, the map information storage means (88) stores the map information of the target area for the route guidance. Further, the specifying means (62, S13) determines from the current location based on the destination information acquired by the destination information acquiring means, the current location information acquired by the current location information acquiring means, and the map information stored in the map information storage means. The route to the destination is specified, and the judging means (62, S25, S31) judges whether the route specified by the specifying means is complicated. Further, when the first guiding means (62) determines that the route is not complicated by the determining means, the first guiding means (62) guides the route using the direction instruction by the arm and the voice, and the second guiding means (62) is determined by the determining means. When it is determined that the route is complicated, guidance is provided for guiding the route using a direction instruction by an arm, a direction instruction by a body direction, and voice.

  According to the first invention, when the route to be guided is not complicated, the direction instruction according to the direction of the body is omitted, and when the route to be guided is complicated, the direction according to the direction of the body is indicated. Therefore, it is possible to achieve both easy understanding of guidance by humans, generation of wasted time associated with a change in body orientation, and prevention of wasted energy consumption.

  The second invention is an invention subordinate to the first invention, and the judging means judges whether or not the route is complicated based on the number of corners in the route.

  In the second invention, since the judging means judges whether or not the route is complicated based on the number of corners in the route, when the number of corners is large and it is difficult for humans to understand the explanation of the route. The direction of the body can be indicated to facilitate understanding.

  The third invention is an invention subordinate to the first invention and the second invention, and the determination means determines whether or not the route is complicated based on the presence or absence of a floor movement in the route.

  In the third invention, the judging means judges whether or not the route is complicated based on the presence / absence of the floor movement in the route. Therefore, there is a movement of the floor using an elevator or a staircase, and the person explains the route. If it is difficult to understand, the direction can be indicated by the direction of the body to facilitate understanding.

  The fourth invention is an invention dependent on any one of the first to third inventions, and the first guiding means indicates the direction of bending by the arm when guiding the direction of bending by voice.

  According to the fourth aspect of the invention, the first guiding means indicates the direction of bending by the arm when guiding the direction of bending by voice, so that unnecessary waiting time and energy consumption by changing the direction of the body are reduced. Can be prevented.

  The fifth invention is an invention dependent on any one of the first to fourth inventions, wherein the second guiding means is a direction of bending by the body direction and arm when guiding the direction of bending by voice. Indicates.

  According to the fifth invention, the second guiding means indicates the direction of the body and the direction of bending by the arm when guiding the direction of bending by voice, so that the human can easily understand the direction of bending.

  A sixth invention is an invention dependent on any one of the first to fifth inventions, wherein the first guiding means guides the direction of the destination by voice, and the direction of the destination by the arm. Point to.

  According to the sixth aspect of the invention, the first guiding means indicates the direction of the destination with the arm when guiding the direction of the destination by voice. Energy consumption can be prevented.

  The seventh invention is an invention subordinate to any one of the first to sixth inventions, wherein the second guiding means uses the direction of the body and the arm when guiding the direction of the destination by voice. Indicates the direction of the destination.

  According to the seventh invention, the second guide means indicates the direction of the destination by the body direction and the arm when guiding the direction of the destination by voice, so that a human can easily understand the direction of the destination. can do.

  According to the present invention, it is possible to achieve both facilitation of understanding by humans and prevention of wasteful time generation and energy consumption associated with the change of the body direction of the road guidance robot.

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

  Referring to FIG. 1, a route guidance robot (hereinafter simply referred to as “robot”) 10 which is an example of an embodiment of the present invention is mainly intended to execute communication with a communication target such as a human being. Interaction-oriented. The robot 10 explains and guides a route to a desired destination to a human using voice and physical movements by arms and body.

  For example, the robot 10 is arranged in a place where an unfamiliar person exists in the place such as an underground mall or an event venue, and provides a road guidance service to a person who seeks road guidance.

  FIG. 1 is a front view showing the appearance of the robot 10, and the hardware configuration of the robot 10 will be described with reference to FIG. The robot 10 includes a carriage 20, and two wheels 22 and one slave wheel 24 for moving the robot 10 autonomously are provided on the lower surface of the carriage 20. The two wheels 22 are independently driven by a wheel motor 26 (see FIG. 2), and the carriage 20, that is, the robot 10 can be moved in any direction, front, back, left, and right. You can change the direction. The slave wheel 24 is an auxiliary wheel that assists the wheel 22. As described above, the robot 10 can move in the arranged space.

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

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

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

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

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

  As described above, the robot 10 has the arms including the upper arms 40R and 40L, the elbow joints 42R and 42L, and the forearms 44R and 44L. Can do. Hereinafter, the upper arms 40R and 40L, the elbow joints 42R and 42L, and the forearms 44R and 44L may be simply referred to as arms.

  Although not shown, the front surface of the carriage 20, the parts corresponding to the shoulder including the shoulder joints 38R and 38L, the upper arms 40R and 40L, the forearms 44R and 44L, and the spheres 46R and 46L are each provided with a contact sensor (FIG. 2). 48) is provided. The contact sensor 48 on the front surface of the carriage 20 detects contact of a person or another obstacle with the carriage 20. Therefore, if there is contact with an obstacle while the robot 10 is moving, it can be detected, and the driving of the wheel 22 can be immediately stopped to suddenly stop the movement of the robot 10. The other contact sensors 48 mainly detect whether or not a human has touched each part of the robot 10. The installation position of the contact sensor 48 is not limited to these, and may be provided at an appropriate position (chest, abdomen, side, back, waist, etc.).

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

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

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

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

  FIG. 2 is a block diagram showing an electrical configuration of the robot 10. With reference to FIG. 2, the robot 10 includes a CPU 62 for controlling the whole. The CPU 62 is also called a microcomputer or a processor, and is connected to the memory 66, the motor control board 68, the sensor input / output board 70, and the audio input / output board 72 via the bus 64.

  Although not shown, the memory 66 includes a ROM, an HDD, and a RAM. In the ROM and HDD, a main control program for the robot 10 is stored in advance, and a guidance program for explaining and guiding a route to a destination by utterance by voice output and body movement by an arm or body, and an external computer A communication program for transmitting and receiving necessary information to and from is recorded.

  The ROM and HDD store a behavior module, which is a collection of data for executing voice output by the robot 10 and body movements by arms and bodies, for each action. This behavior module includes voice data if it is a behavior module that speaks speech, and controls each motor if it is a behavior module that involves physical movement such as moving an arm or changing the direction of the body. Motor control data to be included. In addition, the action module of the action accompanied by the physical motion includes one that includes angle data about the motor and one that captures the angle data as an argument each time. The RAM is used as a work memory or a buffer memory.

  The motor control board 68 is configured by, for example, a DSP, and controls driving of motors of the axes such as the arms, the neck joint 50, and the eyeball unit 58. That is, the motor control board 68 receives the control data from the CPU 62, and controls two motors for controlling the respective angles of the two axes of the right eyeball portion 58R (collectively referred to as “right eyeball motor” in FIG. 2) 74. Control the rotation angle. Similarly, the motor control board 68 receives control data from the CPU 62, and controls two angles of the two axes of the left eyeball unit 58L (in FIG. 2, collectively referred to as “left eyeball motor”). The rotation angle of 76 is controlled.

  The motor control board 68 receives control data from the CPU 62, and includes three motors for controlling the angles of the three orthogonal axes of the right shoulder joint 38R and one motor for controlling the angle of the right elbow joint 42R. The rotation angles of a total of four motors 78 (collectively referred to as “right arm motor” in FIG. 2) 78 are adjusted. Similarly, the motor control board 68 receives control data from the CPU 62 and includes three motors for controlling the angles of the three orthogonal axes of the left shoulder joint 38L and one motor for controlling the angle of the left elbow joint 42L. The rotation angles of a total of four motors (collectively referred to as “left arm motor” in FIG. 2) 80 are adjusted.

  Further, the motor control board 68 receives the control data from the CPU 62, and controls three motors for controlling the angles of the three orthogonal axes of the neck joint 50 (in FIG. 2, collectively referred to as “head motors”). The rotation angle of 82 is controlled. Furthermore, the motor control board 68 receives the control data from the CPU 62 and controls the rotation angle of two motors 26 (hereinafter collectively referred to as “wheel motors”) 26 that drive the wheels 22.

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

  Similarly, the sensor input / output board 70 is also configured by a DSP, and takes in signals from each sensor and gives them to the CPU 62. That is, data relating to the reflection time from each of the infrared distance sensors 30 is input to the CPU 62 through the sensor input / output board 70. Further, a video signal from the omnidirectional camera 34 is input to the CPU 62 after being subjected to predetermined processing by the sensor input / output board 70 as necessary. Similarly, the video signal from the eye camera 60 is also input to the CPU 62. Further, signals from the plurality of contact sensors described above (collectively referred to as “contact sensors 48” in FIG. 2) are provided to the CPU 62 via the sensor input / output board 70.

  Similarly, the voice input / output board 72 is also configured by a DSP, and a voice or voice according to voice synthesis data provided from the CPU 62 is output from the speaker 54. Further, the voice input from the microphone 56 is taken into the CPU 62 via the voice input / output board 72.

  The CPU 62 is connected to the communication LAN board 84 via the bus 64. The communication LAN board 84 is constituted by a DSP, gives transmission data sent from the CPU 62 to the wireless communication device 86, and transmits the transmission data from the wireless communication device 86 to an external computer via a network such as a wireless LAN. . The communication LAN board 84 receives data via the wireless communication device 86 and gives the received data to the CPU 62. That is, the communication LAN board 84 and the wireless communication device 86 allow the robot 10 to perform wireless communication with an external computer or the like.

  Further, the CPU 62 is connected to a map information database (hereinafter referred to as “map information DB”) 88 via the bus 64. The map information DB 88 is a database that stores information related to maps including map data in the environment necessary for the robot 10 to identify a route from the current location to a destination desired by a human and guide the route. is there. The map information DB 88 stores information necessary for specifying the shortest route from the current location to the destination using an existing route search algorithm such as the Dijkstra method or the Warshall Floyd method. The map information DB 88 also stores information for specifying the direction of the passage (road) included in the shortest route specified by the route search algorithm, and information on landmarks serving as landmarks on the route. The CPU 62 refers to the map information DB 88 based on the current location information and the destination information, and includes a path (road), a turning angle, a turning angle (direction), and a turning direction included in the shortest route to the destination. A list of landmarks and floor moving means can be obtained. This list is called a “route list”. It should be noted that the angle (direction) at which the turn is made can be specified from the respective directions of the two passages (roads) on the route connected by the turn, for example.

  FIG. 3 shows, for example, a map of an event venue where the robot 10 provides route guidance. The shortest route from the current location S to the destination G is shown. In the case of the conditions shown in FIG. 3, the path list is “L1C1α1LM1 + L2C2α2LM2 + L3Gα3”. Here, “Li (i is a natural number; the same shall apply hereinafter)” is a passage (road), “Ci” is a turning angle, “αi” is a turning angle (direction), “LMi” is a landmark, and “G” is a destination. Each is shown. Note that “αi” (here, “α3”) following the destination “G” like “L3Gα3” indicates the direction (angle) in which the destination exists in the traveling direction.

  In the case of the conditions as shown in FIG. 4, the path list is “L1C1α1LM1 + L2C2α2LM2 + L3C3α3LM3 + L4C4α4LM4 + L5C5α5LM5 + L6Gα6”.

  Further, in the case of the conditions as shown in FIGS. 5A and 5B, the route list is “L1C1α1LM1 + L2C2α2LM2 + L3E3α3 + L4C4α4LM4 + L5Gα5”. Here, “Ei” indicates an elevator. Note that “αi” (here “α3”) following the elevator “Ei” (here “E3”) as in “L3E3α3” indicates a change in the direction in the elevator. In the examples of FIGS. 5A and 5B, the entrance and exit of the elevator are the same and the direction is reversed in the elevator, so “αi” is “180 °”. However, there are special elevators whose doors open as exits depending on the floor to be stopped. In such a case, “αi” varies depending on the floor to be stopped.

  By the way, when the robot 10 explains the route from the present location to the destination based on such a route list, the robot 10 turns to turn the body by driving the two wheels 22 in opposite directions. By changing it, it is possible to show the person the direction of the body and the direction of turning at the corner. However, the action of turning and changing the direction of the body takes time and makes humans wait and requires a lot of electrical energy. Therefore, it is better to refrain as much as possible from turning and changing the direction of the body. However, if the operation of instructing the direction according to the direction of the body is omitted, it becomes difficult for a human to recognize the direction of travel or the direction of turning at a corner.

  Therefore, when the route guided by the robot 10 is simple and the degree of difficulty is low, the operation of instructing the direction according to the direction of the body is omitted, and when the route is complicated and the degree of difficulty is high, the operation of instructing the direction according to the direction of the body. Execute. For example, as in the route list shown in FIG. 3, when the number of corners “Ci” included in the route to be guided is less than 5, the route is simple and the difficulty level is low. In the case where the number of corners “Ci” included in the route to be guided is five or more as in the route list in the case of the route, it is assumed that the route is complicated and the degree of difficulty is high.

  Further, even when the number of corners “Ci” is less than 5, the elevator “Ei” is included in the route to be guided as in the route list shown in FIGS. 5A and 5B. When moving on the floor, the route is complicated and the difficulty level is high. By doing so, it is possible to perform the operation of turning and changing the direction of the body only when necessary, and omit it as much as possible.

  Next, processing executed by the CPU 62 when the robot 10 provides route guidance will be described using the flowcharts shown in FIGS. The CPU 62 executes the processing of the flowcharts shown in FIGS. 6 to 11 based on a predetermined program stored in the memory 66. In the following description, each element constituting the route list such as “Li” and “Ci” in the above-described route list is referred to as “item”.

  First, in step S1, the CPU 62 determines whether or not there is a person around. As described above, since the robot 10 stores the map data of the environment in which the robot 10 is arranged in the map information DB 88, the robot 10 grasps the position of obstacles such as walls, pillars, and figurines existing in the environment. Yes. Therefore, for example, when an object that does not exist in the map data is detected based on the detection result of the infrared distance sensor 30, it is possible to recognize a person existing around the user by regarding it as a person.

  However, the method for detecting a person is not limited to this, and a laser range finder or an ultrasonic distance sensor may be provided instead of or together with the infrared distance sensor 30 to detect a person using these. It may be. Further, it is not necessary to detect a human by a sensor provided in the robot 10 itself. For example, a human is detected by a sensor such as a floor sensor or a ceiling camera installed in an environment managed by an external computer, and the detection result is output to the external computer. May be provided to the robot 10. In addition to this, an appropriate method can be adopted as a method for detecting a human.

  If the CPU 62 determines in step S1 that a human is present in the surroundings (step S1: YES), then the CPU 62 determines whether or not the human being present (detected) in step S3 needs route guidance. The reason for confirming whether or not the route guidance is necessary is that not all detected humans need the route guidance.

  For example, the robot 10 asks a person “Do you need road guidance?” And determines whether or not the person needs road guidance by recognizing a human reply to the question. For the utterance of “Do you need route guidance?”, The action module corresponding to “Do you need route guidance?” Is read from the memory 66, and the voice synthesis data extracted from the read action module is input to the voice / This is performed by outputting from the speaker 54 via the output boat 72. Each utterance in the following is performed in the same manner. Further, for example, when the person touches the shoulder of the robot 10 in response to saying “Please touch my shoulder when guidance is required,” and the person touches the shoulder of the robot 10 accordingly, that is, the shoulder contact sensor 48. When is turned on, it may be determined that the person needs route guidance.

  If it is determined that the detected person needs route guidance (step S3: YES), then the CPU 62 acquires destination information from the person in step S5. For example, the user asks the person about the destination by saying "Where do you want to go?", And obtains the destination information by recognizing the voice that the person has answered.

  Next, in step S7, it is determined whether or not the destination information acquired in step 5 exists in the map information DB 88. If it is determined that the destination information does not exist in the map information DB 88 (step S7: NO), in step S9, “You cannot guide” is spoken and the head is lowered. That is, since the route to the destination is not known and the route guidance service cannot be provided, the fact is notified to a human being. At this time, the behavior module for the operation of lowering the head is read from the memory 66, and based on the motor control data and the angle data about the head motor 82 included in the behavior module that has been read out, Control the angle.

  On the other hand, if it is determined that the destination information is present in the map information DB 88 (step S7: YES), the CPU 62 acquires information on its current location in step S11. As described above, the robot 10 stores map data in the environment in which it is placed in the map information DB 88 in advance, and performs autonomous movement with reference to this map data. In other words, the robot 10 currently knows at which point and in which direction the robot 10 is currently facing, for example, on the basis of information of sensors built in or arranged in the environment. Therefore, the CPU 62 of the robot 10 can acquire current location information and current orientation information with reference to the map data and sensor information.

  When the destination information and the current location information are acquired, the CPU 62 creates the above-described route list using the map information DB 88 based on the destination information and the current location information in step S13. As described above, an existing route search algorithm such as the Warshall Floyd method or the Dijkstra method is used to create the route list. The creation of the route list is not necessarily executed by the robot 10. For example, a route list may be generated by an external computer, and the route list may be given to the robot 10 from the external computer. Therefore, the map information DB 88 may also be provided in an external computer or the like.

  When the route list is created, the CPU 62 evaluates the difficulty level of the route in step S15, and performs route guidance based on the evaluation of the difficulty level of the route and the route list in step S17.

  Specifically, the process of evaluating the difficulty level of the route is executed according to the process shown in the flowchart of FIG. First, the CPU 62 sets the flag H to an off state in step S21, sets the flag E to an off state in step S23, and initializes each flag. The flag H is a flag indicating whether or not the route to be guided based on the route list is complex and evaluated as having a high difficulty level, and is set to an on state when it is evaluated as being complicated and having a high difficulty level. . The flag E is a flag indicating whether or not an elevator exists in the route to be guided based on the route list, that is, whether or not floor movement is performed. When the elevator exists (when floor movement is performed). Is set to ON. In this embodiment, the floor is moved by using an elevator, but the floor may be moved by using stairs.

  Next, the CPU 62 determines whether an elevator exists on the route to be guided. That is, it is determined whether or not the item “Ei” is included in the route list. If it is determined that there is an elevator on the route (step S25: YES), the flag E is set to an on state in step S27, and the flag H is set to an on state in step S29.

  On the other hand, if it is determined that there is no elevator on the route (step S25: NO), it is determined in step S31 whether there are five or more corners on the route. That is, it is determined whether five or more items of “Ci” are included in the route list. If it is determined that there are five or more corners on the route (step S31: YES), the flag H is turned on in step S29. On the other hand, if it is determined that there are not five or more corners (step S31: NO), the process of evaluating the difficulty level of the route is terminated and the process returns.

  Further, the route guidance processing is specifically executed according to the processing shown in the flowcharts of FIGS. First, in step S41, the CPU 62 determines whether or not the flag E is in an on state, that is, whether or not an elevator exists on the route and floor movement is involved. If it is determined in step S41 that there is an elevator on the route (step S41: YES), the CPU 62 indicates in step S43, for example, “Destination is in order to indicate that the destination is on a different floor from the floor where the current location is. It ’s on the second floor. ” On the other hand, if it is determined that there is no elevator on the route (step S41: NO), step S43 is skipped.

  In step S45, the route guidance is started by saying "To get there", and in step S47, the value of the pointer p is initialized to "1". The pointer p is used to point to items included in the route list in order. The head item of the route list is always “L1” indicating a passage (road).

  In step S49, information on the direction of the passage “L1” is obtained by referring to the passage of “L1” which is the first item indicated by the pointer p in the map information DB 88, and the progress specified based on this information. Change the direction of the body of the robot 10 in the direction. At this time, the behavior module for changing the direction of the body is read from the memory 66, and the motor control data for the wheel motor 26 included in the behavior module and the angle data given as an argument are transmitted to the motor control board 68. The wheel 22 is controlled so that the body of the robot 10 turns. The angle data as an argument is determined based on the angle from the current direction calculated from the current direction of the robot 10 and the direction of the path “L1” to the direction of the path “L1”. In this step S49, the robot 10 is turned to turn the body in the traveling direction regardless of the evaluation result of the difficulty level of the route, that is, regardless of the state of the flag H.

  Next, in step S51, it is determined whether or not the p-th item pointed to by the pointer p in the route list is the passage “Li”. If it is determined that the p-th item is not the passage “Li” (step S51: NO), error processing is performed in step S67. In the error processing in step S67, the program counter is initialized by saying "An error has occurred. The program is initialized" and the process returns to step S1.

  On the other hand, if it is determined that the p-th item is the passage “Li” (step S51: YES), in step S52, information on the passage of “Li”, which is the p-th item indicated by the pointer p in the map information DB 88. , Information on the direction of the passage “Li” is acquired, and the traveling direction specified based on this information is indicated by, for example, the right arm. At this time, the behavior module for pointing the direction with the right arm is read from the memory 66, and the motor control data about the motor for controlling the right shoulder joint 38R included in the behavior module and the angle data given as an argument are obtained from the motor control board. Control is performed so that the direction is indicated by the right arm. The angle data as an argument is determined based on the angle from the current arm direction calculated from the current arm direction and the direction of the passage “Li” to the direction of the passage “Li”. In step S53, the value of the pointer p is incremented by “1”.

  Next, in step S55, the CPU 62 determines whether or not the p-th item pointed to by the pointer p in the current route list is the turning corner “Ci”. If it is determined that the p-th item is the turning angle “Ci” (step S55: YES), the value of the pointer p is incremented by “1” in step S57, and the pointer p is pointed to in step S71 of FIG. It is determined whether or not the p-th item is an angle “αi” indicating a turning angle.

  If it is determined in step S71 that the angle is not “αi” (step S71: NO), error processing as described above is performed in step S67 of FIG. On the other hand, when it is determined that the angle is “αi” (step S71: YES), “Please proceed in this direction to the corner” is uttered in step S75. The map information DB 88 stores the information about the turning angle corresponding to the turning angle “Ci” determined in the previous step S55. Here, according to the information of the setting, “go this direction to the crossroads” Or “Please proceed in this direction to the T-junction”.

  Next, the CPU 62 utters “when it comes to a corner” in step S77, and whether or not the flag H is in an on state in step S79, that is, whether or not the difficulty level is evaluated as high in the evaluation of the difficulty level of the route. Determine whether.

  If it is determined that the flag H is in an on state, that is, the degree of difficulty of the route is high (step S79: YES), an angle (direction) of turning at a turning angle based on the angle “αi” pointed to by the pointer p in step S71. And turn the robot 10 in that direction to point the body. At this time, the behavior module for changing the direction of the body is read from the memory 66, and the motor control data for the wheel motor 26 included in the behavior module and the angle data given as an argument are transmitted to the motor control board 68. The wheel 22 is controlled so that the body of the robot 10 turns. Note that the angle data given as an argument is determined based on the angle “αi” pointed to by the pointer p in step S71.

  Here, the angle “αi” is, for example, a clockwise angle with respect to the front of the robot 10, and when turning to the right at the turning angle “Ci”, the angle “αi” is “90 °” and turns to the left. In this case, the angle “αi” is “270 °”. In addition, the angle “αi” is “0 °” when traveling straight on a crossroad.

  Next, in step S83, the front side of the robot 10 in the direction in which the body of the robot 10 is currently facing, that is, the direction of bending, is pointed with the right arm. At this time, the behavior module for pointing the direction with the right arm is read from the memory 66, and the motor control data about the motor for controlling the right shoulder joint 38R included in the behavior module and the angle data given as an argument are obtained from the motor control board. Control is performed so that the direction is indicated by the right arm. The angle data as the argument is given by a value set in advance so that the arm points to the front of the robot 10.

  On the other hand, if it is determined in step S79 that the flag H is not in the ON state, that is, the degree of difficulty of the route is not high (step S79: NO), in step S85, the turning angle is determined based on the angle “αi” pointed to by the pointer p. The turning angle (direction) is specified, and the direction is indicated with the right arm. At this time, the behavior module for pointing the direction with the right arm is read from the memory 66, and the motor control data about the motor for controlling the right shoulder joint 38R included in the behavior module and the angle data given as an argument are obtained from the motor control board. Control is performed so that the direction is indicated by the right arm. Note that the angle data as an argument is determined based on the angle “αi” pointed to by the pointer p in step S71.

  In step S87, the value of the pointer p is incremented by “1”. In step S89, it is determined whether or not the p-th item pointed to by the pointer p in the route list is the landmark “LMi”.

  If it is determined that the p-th item is a landmark (step S89: YES), for example, “Please turn right to see a red signboard” is spoken in step S91. An example of this utterance is a case where the landmark determined in step S89 is a “red signboard” and the angle “αi” determined in step S71 is “90 °”. If the angle “αi” is “270 °”, say “Please turn left where you can see the red signboard”, and if the angle “αi” is “0 °”, you can see “Red signboard”. Go straight ahead. " In step S93, the value of the pointer p is incremented by “1”, and the process returns to step S51 in FIG.

  On the other hand, when it is determined in step 89 that the p-th item is not a landmark (step S89: NO), in step S95, for example, "Please turn right" is spoken. An example of this utterance is a case where the angle “αi” determined in step S71 is “90 °”. When the angle “αi” is “270 °”, say “Please turn left”, and when the angle “αi” is “0 °”, “Please go straight ahead” Speak. And it returns to step S51 of FIG.

  Returning to step S55 of FIG. 8, if it is determined that the p-th item of the route list currently pointed to by the pointer p is not the turning corner “Ci” (step S55: NO), the p-th item is the elevator “ It is determined whether it is “Ei”. If it is determined that the p-th item is an elevator (step S59: YES), the value of the pointer p is incremented by "1".

  Next, in step S101 in FIG. 10, it is determined whether or not the p-th item of the route list currently pointed to by the pointer p is an angle “αi”. If it is determined that the p-th item is not the angle “αi” (step S101: NO), the error processing as described above is executed in step S67 of FIG.

  On the other hand, if it is determined that the p-th item is the angle “αi” (step S101: YES), for example, “Please get on the elevator in front and aim for the second floor” is uttered. Then, based on “αi” determined in step S101, the direction of the body is changed by “αi” in step S107, and in step S109, for example, “Please get off the elevator when arriving at the second floor” is uttered.

  At this time, the behavior module for changing the direction of the body is read from the memory 66, and the motor control data for the wheel motor 26 included in the behavior module and the angle data given as an argument are transmitted to the motor control board 68. The wheel 22 is controlled so that the body of the robot 10 turns. The angle data given as an argument is determined based on the angle “αi” pointed to by the pointer p in step S101.

  If the exit door when exiting the elevator is different from the entrance door when entering the elevator, in step 109, for example, “When you arrive on the second floor, enter the entrance door when entering the elevator. Please get out of the elevator from the door on the right. " Here, it can be determined from the value of “αi” determined in step S101 that the exit door is on the right side of the entrance door, for example.

  In step S111, the value of the pointer p is incremented by “1”, and the process returns to step S51 in FIG.

  Returning to step S59 of FIG. 8, if it is determined that the p-th item is not the elevator “Ei” (step S59: NO), it is determined in step S63 whether the p-th item is the destination “G”. To do. If it is determined that the p-th item is not the destination “G” (step S63: NO), the error processing as described above is executed in step S67.

  On the other hand, if it is determined that the p-th item is the destination “G” (step S63: YES), the value of the pointer p is incremented by “1” in step S65.

  Next, in step S121 in FIG. 11, it is determined whether or not the p-th item pointed by the pointer p in the route list is an angle “αi”. If it is determined that the p-th item is not the angle “αi” (step S121: NO), the error processing as described above is executed in step S67 of FIG.

  On the other hand, when it is determined that the p-th item is the angle “αi” (step S121: YES), “Please go straight to the destination in this direction” is uttered in step S125.

  In step S127, it is determined whether or not the flag H is in an on state, that is, whether or not the difficulty of the route is high. If it is determined that the flag H is on (step S127: YES), in step S129, the direction in which the destination is located is determined based on the angle “αi” determined in step S121, and the robot 10 is turned in that direction. Turn your body.

  At this time, the behavior module for changing the body orientation is read from the memory 66, and the motor control data for the wheel motor 26 included in the behavior module and the angle data given as an argument are transmitted to the motor control board 68. The wheel 22 is controlled so that the body of the robot 10 turns. Note that the angle data given as an argument is determined based on the angle “αi” pointed to by the pointer p in step S121.

  In step S131, the direction of the destination, that is, the front of the robot 10 is pointed with the right arm. At this time, the behavior module for pointing the direction with the right arm is read from the memory 66, and the motor control data about the motor for controlling the right shoulder joint 38R included in the behavior module and the angle data given as an argument are obtained from the motor control board. Control is performed so that the direction is indicated by the right arm. The angle data as the argument is given by a value set in advance so that the arm points to the front of the robot 10.

  On the other hand, if it is determined in step S127 that the flag H is not in the ON state (step S127: NO), the direction where the destination is located is determined based on the angle “αi” determined in step S121, and the direction is indicated by the right arm. At this time, the behavior module for pointing the direction with the right arm is read from the memory 66, and the motor control data about the motor for controlling the right shoulder joint 38R included in the behavior module and the angle data given as an argument are obtained from the motor control board. Control is performed so that the direction is indicated by the right arm. The angle data given as an argument is determined based on the angle “αi” pointed to by the pointer p in step S121.

  In step S135, for example, “the destination is on the left side” is uttered. An example of this utterance is when the angle “αi” determined in step S121 is “270 °”. When the angle “αi” is “90 °”, “the destination is on the right side” is spoken, and when the angle “αi” is “0 °”, “the destination is in front”. After step S135, the process returns to end the route guidance process.

  As described above, when the robot 10 of this embodiment guides the route to the destination to a human, the robot 10 determines whether the route to the destination is complicated and the difficulty level is high. And if the difficulty is not high, humans can easily understand the explanation of the route, so explain and guide the route with direction instructions and voice by arm, and if the difficulty is high, understand the human In order to assist, the direction instruction by the arm and the voice are added to the direction instruction by the body direction to explain the route and guide.

  In this way, the direction of the body direction is instructed only when necessary to assist human understanding, thereby facilitating understanding of the path by the human and changing the body direction by turning the robot 10. It is possible to achieve both unnecessary waiting time and prevention of energy consumption.

It is the illustration figure which looked at the external appearance of the road guidance robot of this invention from the front. It is a block diagram which shows the electrical structure of the route guidance robot shown in FIG. It is an illustration figure which shows an example of the path | route which a road guidance robot guides. It is an illustration figure which shows an example of the path | route which a road guidance robot guides. It is an illustration figure which shows an example of the path | route which a road guidance robot guides. It is a flowchart which shows an example of the whole process of CPU shown in FIG. 2 of a route guidance robot. It is a flowchart which shows an example of the process of determination of the difficulty of the route of CPU shown in FIG. 2 of a route guidance robot. It is a flowchart which shows an example of the process of the route guidance of CPU shown in FIG. 2 of a route guidance robot. It is a flowchart which shows an example of the process of the route guidance of CPU shown in FIG. 2 of a route guidance robot. It is a flowchart which shows an example of the process of the route guidance of CPU shown in FIG. 2 of a route guidance robot. It is a flowchart which shows an example of the process of the route guidance of CPU shown in FIG. 2 of a route guidance robot.

Explanation of symbols

10 ... Robot guidance robot
62 ... CPU
88 ... Map information database (Map information DB)

Claims (7)

A route guidance robot that guides a route to a human destination using voice and physical movements by arms and body,
Destination information acquisition means for acquiring destination information indicating the destination;
Current location information acquisition means for acquiring current location information indicating its current location;
Map information storage means for storing map information of the target area of the route guidance;
A route from the current location to the destination is identified based on the destination information acquired by the destination information acquisition unit, the current location information acquired by the current location information acquisition unit, and the map information stored in the map information storage unit Specific means to
Determining means for determining whether the route specified by the specifying means is complicated;
When it is determined that the route is not complicated by the determining unit, the route is determined to be complicated by the first guiding unit that guides the route using a direction instruction by an arm and a voice, and the determining unit. In this case, a road guidance robot comprising second guidance means for guiding the route using a direction instruction by an arm, a direction instruction by a body direction, and a voice.   The route guidance robot according to claim 1, wherein the determination unit determines whether or not the route is complicated based on the number of corners in the route.   The route guidance robot according to claim 1 or 2, wherein the determination unit determines whether or not the route is complicated based on presence or absence of floor movement in the route.   The road guide robot according to any one of claims 1 to 3, wherein the first guide means indicates a direction of bending by an arm when guiding the direction of bending by voice.   The road guidance robot according to any one of claims 1 to 4, wherein the second guide means indicates a direction of the body and a direction of bending by the arm when guiding the direction of bending by voice.   The road guidance robot according to any one of claims 1 to 5, wherein the first guide means indicates the direction of the destination with an arm when guiding the direction of the destination by voice.   The route guidance robot according to any one of claims 1 to 6, wherein the second guide means indicates the direction of the destination by a body direction and an arm when guiding the direction of the destination by voice.

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