JP2010120129A - System, method and program for robot cooperation - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform transfer of service from a robot to a robot considering a congestion state of a service providing area, and a priority of each user. <P>SOLUTION: The number of users not receiving a service is counted based on the latest position coordinate data of each user stored in a position information database 143 in accordance with a take-over method determination control program 132. A boundary function is calculated with a formula of the boundary function prepared in advance corresponding to service types SS1-SS3 based on the number of users and the priority m of the user U1 providing a service. Whether the calculated boundary function is f>0 or f≤0 is determined, and an "instruction method" is selected if the function is f>0, and "an attend method" is selected if it is f≤0. Besides, a take-over point is determined with different algorism when the "instruction method" is selected and when the "attend method" is selected in accordance with a take-over point determination control program 133. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a robot cooperation system, a robot cooperation method, and a program for executing a series of service flows including a plurality of services by linking a plurality of robots.

  A robot cooperation system for executing a series of service flows composed of a plurality of services by cooperation of a plurality of robots has been developed. In such a robot cooperation system, in order to execute a series of service flows, which mobile robot and which mobile robot operate in cooperation are defined in advance. For example, by synchronizing via a network, a robot cooperation system in which two predetermined mobile robots can talk to each other, or using two mobile robots to actively communicate their intentions to each other A robot cooperation system that communicates and plays catch balls has been developed.

  By the way, in order to link two mobile robots, it is necessary to determine a service takeover point. As one method for that purpose, a method has been proposed in which a takeover point is predetermined for each service and the mobile robot is moved to the takeover point in advance in consideration of the time required for the mobile robot to move to the takeover point. (For example, refer to Patent Document 1).

JP 2007-249801 A

  However, the conventional proposal takes over under uniform conditions without considering the user's attributes. For this reason, there are generally users who have important positions, such as company managers, and general users, and the importance of each user is taken into account even though the way of taking over is generally different among these users. There was a problem that it was not done.

  In addition, if only the attend method, in which the robot accompanies the user to the takeover point, is used as the takeover method, the robot will accompany the user even if there are many users requesting services near the robot. Since the service cannot be provided to the user during a certain period, there is a problem that the use efficiency of the robot is lowered.

  The present invention has been made paying attention to the above circumstances, and its purpose is to enable effective handover of services between robots in consideration of the congestion status of service providing areas and the importance of each user. Thus, an object of the present invention is to provide a robot cooperation system, a robot cooperation method, and a program that make it possible to provide services to more users while effectively using the robot.

  In order to achieve the above object, one aspect of the present invention is that a second mobile robot takes over a service provided by a first mobile robot to a specific user in a service area where a plurality of users exist. A user information memory for storing information representing at least the importance level of each of the plurality of users, and the positions of the plurality of users and the mobile robots in the service area. Each means for detecting. In addition, as a service takeover method, a first takeover method in which the first mobile robot of the takeover source indicates the second mobile robot of the takeover destination to the specific user, and the first mobile robot of the takeover source include the above And a second takeover method of taking a specific user to take over to a second mobile robot as a takeover destination. And based on the information representing the detected positions of the plurality of users and the information representing the importance of the specific user stored in the user information memory, the first takeover method and the second One of the takeover methods is selected, and the takeover control of the service between the first and second mobile robots is executed according to the selected takeover method.

  Therefore, in addition to the congestion situation of users in the service area, taking into account the importance of the specific user who is providing the service, the first takeover method for giving an instruction for takeover in a state of being separated between the robots, Then, the takeover method is selected from the second takeover methods for accompanying and guiding the user. For this reason, for example, it is possible for a user who has an important position such as a manager of a company and a general user to perform an optimum takeover in consideration of the importance.

  Further, for example, when there are many users who want to provide services around the robot, the first takeover method that gives instructions for takeover in a state where the robots are separated from each other without accompanying guidance as the takeover method Is selected. For this reason, it is possible to increase the utilization efficiency of the robot as compared with the case of using only the second takeover method of accompanying guidance.

The present invention is further characterized by comprising the following embodiments.
The first embodiment detects the positions of the first and second mobile robots where the line-of-sight index between the first and second mobile robots is minimized when the first takeover method is selected, When the first takeover point setting means for setting the detected positions as takeover points of the first and second mobile robots and the second takeover method are selected, the first and second movements are performed. A second handover point setting means for obtaining a movement obstacle index between the robots and setting a handover point at an intermediate position on the movement path between the first and second mobile robots according to the movement obstacle index; It is.

  Specifically, when the first takeover method is selected, the takeover point is set as follows. That is, first, in the service area, a first peripheral area including a position where the first mobile robot exists and a second peripheral area including a position where the second mobile robot exists are respectively set. The second peripheral area is divided into a plurality of small areas. Next, a plurality of line segments are set for each small area between the first and second peripheral areas, and on the line segments based on the information representing the detected positions of the plurality of users. The number of existing users is obtained as the above-mentioned line-of-sight index, the number of users obtained for each line segment is compared, the line segment with the smallest number of users is selected, and the small numbers located at both ends of the selected line segment are selected. The areas are set as takeover points of the first and second mobile robots, respectively.

  In this way, when using the first takeover method, the position where the number of users serving as the visibility index between the robots is minimized is set as the takeover point of each takeover source and takeover destination robot. For this reason, when the robot takes over by pointing with the robot in a state of being separated from each other, it is possible to take over by pointing at the position where the blocking user is most sparse and most effective.

  On the other hand, when using the second takeover method, the takeover point is set as follows. That is, first, a movement path area having a predetermined width is set between the first and second mobile robots, and the set movement path area is set based on the information indicating the detected positions of the plurality of users. The number of users is calculated as the movement obstacle index. Then, based on the calculated number of users, an intermediate position where the number of users from the first and second mobile robots is equal on the movement path area between the first and second mobile robots is obtained. This intermediate position is set as a takeover point.

  In this way, when the second takeover method is used, an intermediate position where the number of users from each robot on the movement path area between the robots becomes equal in consideration of the distribution situation of users existing between the robots. The takeover point is set to. That is, the takeover point of each robot is set so that the degree of obstacles that the robot receives is equal according to the degree of congestion in the movement route area. For this reason, the time required for each robot to reach the takeover point can be minimized, thereby making it possible to increase the use efficiency of the robot.

  In other words, according to the present invention, it becomes possible to take over services between robots in consideration of the congestion situation of service providing areas and the importance of each user, thereby providing services to many users while effectively using robots. A robot cooperation system, a robot cooperation method, and a program that can be provided can be provided.

Embodiments according to the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a robot cooperation system according to an embodiment of the present invention, and FIG. 2 is a perspective view showing an application example of the robot cooperation system.
For example, a plurality of users and a plurality of robots are scattered in the service area SE formed in the event venue. For simplicity of illustration, only three robots R1 to R3 are illustrated in FIG. 1, and only two robots R1 and R2 are illustrated in FIG.

  The robots R1 to R3 are connected to the connection devices C1 to C3, respectively, and the connection devices C1 to C3 can be connected to the robot cooperation server SV via the communication network NW. The communication network NW is configured by a wired LAN (Local Area Network), for example. The robots R1 to R3 and the connection devices C1 to C3 are connected via a wireless channel of a system that employs a short-range wireless data communication standard such as a wireless LAN or Bluetooth (registered trademark), for example.

  Cameras CM1 and CM2 are arranged at a place where the service area SE can be looked over, such as the ceiling of an event venue. These cameras CM1 and CM2 divide the service area SE and take images respectively, and are connected to the position detection device PD via the communication network NW.

  The position detection device PD is composed of, for example, a personal computer, and receives the image data of the service area SE captured by the cameras CM1 and CM2 via the communication network NW at a constant sampling period. Then, by performing image processing on the received image data, the positions of the users and the robots R1 to R3 in the service area SE are detected, respectively, and the coordinate data representing the detected positions is used as the robot cooperation server. In response to a request from the SV, it is transmitted to the robot cooperation server SV via the communication network NW. The positions of the users and the robots R1 to R3 are detected by performing image processing based on the template matching technique on the image data. The template matching technique detects a person by comparing captured image data with an image pattern of a person stored in advance, and is described in detail in, for example, Japanese Patent Application Laid-Open No. 9-330402.

The robot cooperation server SV is configured as follows. FIG. 3 is a block diagram showing the configuration of the hardware and software.
That is, the robot cooperation server SV includes a central processing unit (CPU) 11 composed of a microprocessor, and a program memory 13 and a data memory 14 are connected to the CPU 11 via a bus 12. An output interface (not shown) is connected.

  Under the control of the CPU 11, the communication interface 15 receives position information of each user and the robots R1 to R3 from the position detection device PD according to a communication protocol defined by the communication network NW. At the same time, control data for controlling movement and movement is transmitted to the robots R1 to R3. For example, TCP / IP (Transmission Control Protocol / Internet Protocol) is used as the communication protocol.

  An input device and an output device are connected to the input / output interface. The input device includes a keyboard and a mouse. The output device consists of a display and a printer. The input / output interface captures user information and robot information input by the system administrator or the like in the input device, and outputs the input information to the bus 12 for storage in the data memory 14 under the control of the CPU 11. Further, the input interface displays or prints out information representing the operation state of the robot using an output device in accordance with an instruction from the CPU 11. The user information and robot information can be read from an external storage medium such as a memory card via a memory interface (not shown) and stored in the data memory 14.

The data memory 14 is provided with a user information database 141, a robot information database 142, and a position information database 143 as storage units necessary for carrying out the present invention.
The user information database 141 is associated with user identification information (user ID) uniquely assigned for each user, and indicates information indicating whether the user name, the importance m of the user, and the service are provided. And information indicating the service type SS1 is stored. FIG. 7 shows an example of information stored in the user information database 141.

  The robot information database 142 stores information indicating the robot name, the function of the robot, and the operation state in association with the robot identification information (robot ID) uniquely assigned to each of the robots R1 to R3. The function of the robot includes information indicating the takeover method (takeover mode). The takeover method includes an instruction method in which the takeover source robot points the user who is providing the service to the takeover destination robot and takes over the service provision, and the takeover source robot accompanies the user who is providing the service. There is an attendant system that can take over the service by guiding to the robot. The information indicating the operating state indicates whether the service is being provided or is on standby. FIG. 8 shows an example of information stored in the robot information database 142.

  In the position information database 143, the position coordinate data of each user and each of the robots R1 to R3 in the service area SE received from the position detection device PD by the communication interface 15 at a certain time interval corresponds to the user ID and the robot ID. It is memorized. FIG. 9 shows an example of position coordinate data stored in the position information database 143. Note that FIG. 9 illustrates the case where only the latest position coordinate data is stored in association with the user ID and the robot ID, but the position coordinate data in a past fixed period is accumulated as information representing the movement history. It may be.

  The program memory 13 stores a position information collection control program 131, a takeover mode determination control program 132, a takeover point determination control program 133, and a robot control program 134 as application programs necessary for carrying out the present invention. Has been.

  The position information collection control program 131 sends a transmission request for position coordinate data from the communication interface 15 to the position detection device PD at a constant acquisition cycle, and the user and the robots R1 to R1 transmitted from the position detection device PD in response to this request. The CPU 11 is caused to execute a process of receiving the latest position coordinate data of R3 via the communication interface 15 and storing it in the position information database 143.

The takeover method determination control program 132 causes the CPU 11 to execute the following processing.
(1) When a service takeover request is generated, the service is received based on the user information stored in the user information database 141 and the latest position coordinate data of each user stored in the position information database 143. A process of counting the number of users existing in the service area SE among all the users not present.
(2) A process of reading out information representing the importance m of the user receiving the service from the user information database 141.

(3) Based on the counted number f of users and the information indicating the read importance m, the boundary is calculated in accordance with the boundary function calculation formula prepared in advance corresponding to the service types SS1 to SS3. The process of calculating a function. The formula for calculating the boundary function is expressed as follows.
Boundary function for service SS1; f = Am ²
Boundary function for service SS2; f = Bm
Boundary function for service SS3; f = Cm ^1/2
However, A, B, and C are constants determined in advance according to the service types SS1 to SS3, respectively.
(4) It is determined whether the value of the calculated boundary function is f> 0 or f ≦ 0. As a result of this determination, a process of selecting “instruction method” when f> 0 and selecting “attend method” when f ≦ 0.

The takeover point determination control program 133 causes the CPU 11 to execute the following processing.
(1) When “instruction method” is selected as the takeover method, a line-of-sight index between the takeover source robot and the takeover destination robot is obtained. As the prospect index, first, in the service area SE, a first peripheral area centered on the takeover source robot and a second peripheral area centered on the takeover destination robot are set, respectively. Each peripheral area is divided into a plurality of small areas in a mesh shape. Next, a plurality of line segments are set between the first and second peripheral areas for each small area, and the number of users existing on these line segments is counted. Then, a process of calculating the position coordinates of each robot that minimizes the counted number of users, and setting the calculated position coordinates as the takeover points of the takeover source robot and the takeover destination robot. The number of users is used as the prospect index.

  (2) When the “attend method” is selected as the takeover method, the movement path area of these robots is set between the takeover source robot and the takeover destination robot, and the robot stored in the position information database 143 Based on the position coordinate data of the user, an index that becomes an obstacle when the robot moves in the movement path area is obtained. This movement obstacle index is obtained by counting the number of users existing in the movement route area. Then, a process of finding an intermediate position in which the number of counted users is ½ in the movement area, and setting the intermediate position as a takeover point between the takeover source robot and the takeover destination robot.

The robot control program 134 causes the CPU 11 to execute the following processing.
(1) Generate movement control data for moving the takeover source robot and the takeover destination robot to the takeover points set by the takeover point determination control program 133, and send the movement control data from the communication interface 15 to each robot. Process to send.
(2) After the movement is completed, operation control data is generated for performing operations for taking over the service between the robots, such as pointing operation and handshake operation, and the operation control data is transmitted from the communication interface 15 to each robot. Processing to be performed.

Next, the operation of the system configured as described above will be described.
Here, as shown in FIG. 2, a case where the robot R1 provides a service to the specific user U1 and the robot R2 takes over the service in response to a request from the user U1 will be described as an example. .

  In the position detection device PD, the image data of the service area SE captured by the cameras CM1 and CM2 is received at a constant sampling period. Then, image processing based on the template matching technique is performed on the received image data, thereby detecting the positions of the users and the robots R1 to R3 in the service area SE.

On the other hand, the robot cooperation server SV performs the following processing. FIG. 4 is a flowchart showing the processing procedure and processing contents.
That is, the CPU 11 of the robot cooperation server SV monitors whether or not the position acquisition timing is reached in step S41. At each acquisition timing, a transmission request for position coordinate data is sent from the communication interface 15 to the position detection device PD in step S42, and the user and the robots R1 to R3 transmitted from the position detection device PD in response to this request. The latest position coordinate data is received via the communication interface 15 and stored in the position information database 143 in the data memory 14.

  In this state, it is assumed that a service takeover request is generated in response to a request from the user U1. In this case, the CPU 11 proceeds from step S43 to step S44, and first obtains the number of users not receiving the service. This is because the user information is read from the user information database 141 in the data memory 14 and the service is not received, that is, the total number of users waiting for the service is counted. And the number of users existing in the service area SE is counted.

  Subsequently, in step S45, the CPU 11 reads, from the user information database 141 in the data memory 14, information indicating the type of service currently received by the user U1 in service and information indicating the importance m of the user U1. In step S46, a boundary function formula corresponding to the service type currently received by the user U1 in service is selected, and the boundary function is calculated by substituting the read importance m in the boundary function formula. To do.

  Next, in step S47, the CPU 11 compares the calculated boundary function value with the calculated number of users waiting for service, and determines whether f> 0 or f ≦ 0. If f> 0, “instruction method” is selected as the takeover method in step S48. If f ≦ 0, “attend method” is selected as the takeover method in step S51.

For example, if the user U1 is receiving the service SS1 for the elderly, a boundary function formula corresponding to the service SS1 for the elderly is selected, and the boundary function is calculated in consideration of the importance m of the user U1. Is done. Boundary function corresponding to the time service SS1 is expressed by f = Am ^2. F1 in FIG. 10 illustrates a boundary function corresponding to the service SS1. For this reason, the calculated value of the boundary function becomes a large value even if the importance m of the user U1 is not so high, and as a result, even if the number of users f waiting for service is large, the “attend method” is easily selected.

On the other hand, when the user U1 is accustomed to participating in the event and receives the simple service SS3, the boundary function expression corresponding to the simple service SS3 is selected, and the user U1 The boundary function is calculated in consideration of the importance m. At this time, the boundary function corresponding to the service SS3 is represented by f = Cm ^1/2 . F3 in FIG. 10 illustrates a boundary function corresponding to the simple service SS3. For this reason, the calculated value of the boundary function is a relatively small value even when the importance m of the user U1 is high, and as a result, the “instruction method” is easily selected even if the number of users f waiting for service is small.

  When “instruction method” is selected as the takeover method, the CPU 11 executes a determination process of the takeover point corresponding to the instruction method in step S49 as follows. FIG. 5 is a flowchart showing the procedure and contents of the takeover point determination process, and FIG. 11 is a diagram for explaining the process.

  That is, first, in step S61, the CPU 11 virtually sets peripheral areas EA and EB having a radius K centered on the takeover source robot R1 and the takeover destination robot R2 in the service area SE as shown in FIG. These peripheral areas EA and EB are each divided into a plurality of small areas a1, a2, a3,... And b1, b2, b3,. , A3,... And b1, b2, b3,... Are calculated and stored in steps S62 and S63, respectively.

  Subsequently, in step S64, the CPU 11 virtually sets line segments for all combinations of the small areas a1, a2, a3,... And b1, b2, b3,. In step S65, the number of users positioned on the line segment is counted for each of the set line segments. The count of the number of users located on the line segment is calculated by using the user position coordinate data stored in the position information database 143 as the user existing within the range of a predetermined width with respect to the position coordinates through which the line segment passes. This is done by extracting them.

  Next, in step S66, the CPU 11 compares the number of users in each line segment. Then, one line segment having the smallest number of users is selected, and the position coordinate data of the small areas at both ends of the selected line segment are determined as the takeover points of the takeover source robot R1 and the takeover destination robot R2. For example, as shown in FIG. 11, if the number of users located on the line segment between the small areas ak and bl is the smallest, the small areas ak and bl serve as takeover points for the takeover source robot R1 and the takeover destination robot R2, respectively. It is determined.

  When the takeover point is determined, the CPU 11 proceeds to step S53, and generates movement control data for moving the takeover source robot R1 and the takeover destination robot R2 to the determined takeover point. In this movement control data, the position coordinate data of the small areas ak and bl corresponding to the determined takeover point are inserted as the coordinates of the movement destination. Then, the CPU 11 causes the movement control data to be transmitted from the communication interface 15 to the robots R1 and R2. As a result, the takeover source robot R1 moves to the small area ak designated by the movement control data while leading the user U1. The takeover destination robot R2 moves alone to the small area bl designated by the movement control data.

  When the robots R1 and R2 move to the designated small areas ak and bl, the CPU 11 generates motion control data for causing the robot R1 as a takeover source to perform a takeover operation by pointing, and this motion control data is generated. Transmission is performed from the communication interface 15 to each robot R1. As a result, the takeover source robot R1 performs a pointing operation toward the takeover destination robot. Therefore, the user U1 can recognize the transfer destination robot R2 by the pointing operation of the transfer source robot and move toward the robot R2. In parallel with the pointing instruction to the takeover source robot R1, motion control data for transmitting the takeover receiving operation to the takeover destination robot R2 is transmitted, thereby raising the hand to the takeover destination robot R2. You may make it perform operation | movement and a bowing operation | movement.

  On the other hand, when the “attend method” is selected as the takeover method, the CPU 11 executes the determination process of the takeover point corresponding to the attend method at step S52 as follows. FIG. 6 is a flowchart showing the procedure and contents of the takeover point determination process in the case of the attend method, and FIGS. 12 and 13 are diagrams used for explaining the process.

That is, first, in step S71, the CPU 11 sets a movement path area TE used when the robots R1 and R2 move for rendezvous between the takeover source robot R1 and the takeover destination robot R2. The movement route area TE is expressed as follows when the service area SE is expressed in xy coordinates.
y> (X1-X2) / (Y1-Y2) (x-X1) -Y1-Q
And y <(X1-X2) / (Y1-Y2) (x-X1) -Y1 + Q
And x> X1
And x <X2
X1 and Y1 represent the position coordinates of the takeover source robot R1, X2 and Y2 represent the position coordinates of the takeover destination robot R2, and Q represents a value that determines the width of the region. Q is set to 1 meter, for example.

  Subsequently, in step S72, the CPU 11 counts the number 2V of users who have not received a service existing in the set travel route area TE. The number of users 2V is counted by extracting users whose position coordinates are included in the movement route area TE based on the position coordinate data of each user stored in the position information database 143. Finally, in step S73, the CPU 11 obtains V that is ½ of the count value 2V of the user who does not receive the service existing in the movement route area TE, and uses this V as the takeover source robot R1 and the takeover destination robot R2. As the takeover point c.

  When the takeover point is determined, the CPU 11 proceeds to step S53, and generates movement control data for moving the takeover source robot R1 and the takeover destination robot R2 to the determined takeover point c. In the movement control data, the position coordinate data of the determined takeover point c is inserted as the position coordinate of the movement destination. Then, the CPU 11 causes the movement control data to be transmitted from the communication interface 15 to the robots R1 and R2. As a result, the takeover source robot R1 moves to the takeover point c designated by the movement control data while leading the user U1. At the same time, the takeover destination robot R2 moves toward the takeover point c designated by the movement control data.

  For example, as shown in FIG. 12, if there are a large number of users waiting for service on the side close to the takeover source robot R1 and a small number on the side close to the takeover destination robot R2, the takeover point c is As shown in FIG. 13, it is set on the side closer to the takeover source robot R1. As a result, the takeover source robot R1 can move relatively slowly with the user U1 in the crowd, while the takeover destination robot R2 can move through a sparse area at a relatively high speed.

  When the robots R1 and R2 move to the takeover point c, the CPU 11 generates motion control data for causing the takeover source robot R1 to take over the service for the user U1 directly. Transmission is performed from the communication interface 15 to each robot R1. As a result, the takeover source robot R1 performs an operation of inquiring about the takeover destination robot R2 with respect to the user U1 at the takeover point c by gesture. At this time, if a voice message for handover is inserted into the motion control data, the voice message for handover is loudly output from the handover source robot to the user U1 at the handover point c. Accordingly, the user U1 is directly introduced from the takeover source robot R1 to the takeover destination robot R2 at the takeover point c, and the service for the user U1 is subsequently taken over by the takeover destination robot R2.

  As described above, in this embodiment, the following measures are taken. That is, according to the takeover method determination control program 132, the number of users who are not receiving services is counted based on the latest position coordinate data of each user stored in the position information database 143. Based on the importance m of the user U1 who is providing the service, the boundary function is calculated according to the boundary function calculation formula prepared in advance corresponding to the service types SS1 to SS3. Then, it is determined whether the value of the calculated boundary function is f> 0 or f ≦ 0. When f> 0, “instruction method” is selected, and when f ≦ 0, “attendant” is selected. "Method" is selected.

  Therefore, the takeover method is selected in consideration of the congestion level of users in the service area SE and the importance m of the specific user U1 who is providing the service. For this reason, for example, it is possible for a user who has an important position such as a manager of a company and a general user to perform an optimum takeover in consideration of the importance.

  In addition, as the takeover method, there are an attend method in which the takeover source robot R1 accompanies and guides the user U1 to the takeover destination robot R2, and an instruction method in which the takeover source robot R1 instructs the takeover robot from a location away from the takeover operation by a pointing operation. It is selectively used according to the congestion situation. For this reason, for example, when there are many users who want to provide services in the vicinity of the takeover source robot R1, the instruction method is selected and the takeover is performed by pointing with the robots R1 and R2 being separated from each other. For this reason, it is possible to increase the utilization efficiency of the robot as compared with the case of using only the attendant system for accompanying guidance.

Further, in this embodiment, according to the takeover point determination control program 133, the takeover point is determined by different algorithms when the “instruction method” is selected as the takeover method and when the “attend method” is selected. I have to.
That is, first, in the case of the “instruction method”, a first peripheral area centered on the position where the takeover source robot R1 exists and a second peripheral area centered on the takeover destination robot R2 are set. Each of the first and second peripheral areas is divided into a plurality of small areas in a mesh shape, and line segments are drawn in all combinations of these small areas to count the number of users existing on these line segments. Then, the line segment that minimizes the counted number of users is selected, and the position coordinates of the small areas that are both ends of the selected line segment are set as the takeover points of the takeover source robot R1 and the takeover destination robot R2, respectively. To do.

  Therefore, when the instruction method is used as the takeover method, the position at which the number of users serving as the line-of-sight index between the robots R1 and R2 is minimized is set as the takeover point for each of the takeover source and takeover destination robots R1 and R2. The For this reason, it becomes possible to perform takeover by pointing at a position where the user who is blocking is sparse and most effective.

  On the other hand, in the case of the “attend system”, the movement path area TE of these robots R1 and R2 is set between the takeover source robot R1 and the takeover destination robot R2, and the robot stored in the position information database 143 and The number of users existing in the movement route area TE is counted based on the user position coordinate data. Then, an intermediate position where the number of counted users is halved in the movement route area TE is found, and this intermediate position is set as the takeover point c between the takeover source robot R1 and the takeover destination robot R2.

  Therefore, according to the distribution of users in the movement route area TE, the takeover points C of the robots R1 and R2 are set so that the degree of obstacles that the robot receives according to the degree of congestion when traveling through the movement route area TE is equal. As a result, the time required for each of the robots R1 and R2 to reach the takeover point c is minimized, and the use efficiency of the robot can be increased.

  The present invention is not limited to the above embodiment. For example, when determining the takeover point by the “instruction method”, the user's position coordinate data for a certain past period is accumulated in the position information database 143, and each user is based on the accumulated position coordinate data. Predict the direction and amount of movement. Then, based on the predicted movement direction and amount of movement of each user, the number of users counted for each line segment is corrected, the line segment with the smallest number of users after correction is selected, and both ends thereof are selected. The position coordinates of the small area may be used as the takeover point. In this way, it is possible to select a line segment in which the line-of-sight between the robots is most effective in consideration of the user's movement situation.

  Further, when determining the takeover point by the “attend method”, attribute information such as the age of the user U1 and the presence / absence of a walking disorder is included in the user information and stored in the user information database 141, and according to this attribute information. The optimum moving speed of the takeover source robot R1 may be determined, and the takeover point may be determined by adding this optimum moving speed to the movement obstacle index of the moving route area TE. If it does in this way, it will become possible to perform the taking over operation by attendance guidance in consideration of walking speed of user U1.

  Further, the user position detection means has a wireless tag for each user and installs a wireless tag reader at a plurality of predetermined positions in the service area SE, and the wireless tag reader uses the wireless tag reader. May be stored in the position information database 143 in association with the identification information of the wireless tag as the position data of the user as the installation position of the wireless tag reader. Moreover, you may comprise so that the function of a position detection apparatus may be accommodated in a robot cooperation server.

In addition, the configuration of the robot cooperation server, the processing procedure and processing contents of the takeover method determination control program and the takeover point determination control program can be variously modified and implemented without departing from the gist of the present invention.
In short, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

It is a figure which shows the structure of the robot cooperation system concerning one Embodiment of this invention. It is a figure which shows the operation example of the robot cooperation system shown in FIG. It is a block diagram which shows the structure of the hardware and software of the robot cooperation server which makes the core of the robot cooperation system shown in FIG. It is a flowchart which shows the process sequence and process content by the robot cooperation server shown in FIG. It is a flowchart which shows the procedure and process content of the takeover point determination process corresponding to an instruction | indication system among the flowcharts shown in FIG. It is a flowchart which shows the procedure and process content of the takeover point determination process corresponding to an attend method among the flowcharts shown in FIG. It is a figure which shows an example of the user information database provided in the robot cooperation server shown in FIG. It is a figure which shows an example of the robot information database provided in the robot cooperation server shown in FIG. It is a figure which shows an example of the positional information database provided in the robot cooperation server shown in FIG. It is a figure used for description of the taking over method determination process shown in FIG. It is a figure for demonstrating the taking over point determination process in the case of the instruction | indication system shown in FIG. It is a figure for demonstrating the taking over point determination process in the case of the attendant system shown in FIG. It is a figure for demonstrating the taking over point determination process in the case of the attendant system shown in FIG.

Explanation of symbols

  SV ... robot cooperation server, NW ... communication network, R1-R3 ... robot, C1-C3 ... connection device, PD ... position detection device, CM1, CM2 ... camera, 11 ... CPU, 12 ... bus, 13 ... program memory, 14 ... Data memory, 15 ... Communication interface, 131 ... Position information collection control program, 132 ... Takeover method determination program, 133 ... Takeover point determination control program, 134 ... Robot control program, 141 ... User information database, 142 ... Robot information database, 143: Location information database.

Claims (9)

A robot cooperation system that controls a second mobile robot to take over the service provided by the first mobile robot to a specific user in a service area where a plurality of users exist,
A user information memory for storing information representing at least the importance of each of the plurality of users;
Means for detecting the positions of the plurality of users and the mobile robots in the service area;
Based on the detected information indicating the positions of the plurality of users and the information indicating the importance level of the specific user stored in the user information memory, the first mobile robot as the takeover source determines that the specific user And a second take-over method for indicating the second mobile robot as the takeover destination, and a second take-over source mobile robot taking over the specific user and taking over the second mobile robot as the takeover destination. A robot cooperation system comprising: a takeover method determining means for selecting any one of the takeover methods as a service takeover method between the first and second mobile robots. When the first takeover method is selected by the takeover method selection means, the positions of the first and second mobile robots that minimize the line-of-sight index between the first and second mobile robots are detected. First takeover point setting means for setting each of the obtained positions as takeover points of the first and second mobile robots;
When the second takeover method is selected by the takeover method selection means, a movement obstacle index between the first and second mobile robots is obtained, and between the first and second mobile robots according to the movement obstacle index. The robot cooperation system according to claim 1, further comprising second takeover point setting means for setting a takeover point at an intermediate position on the movement path. The first takeover point setting means includes:
In the service area, a first peripheral area including a position where the first mobile robot exists and a second peripheral area including a position where the second mobile robot exists are set, respectively. Means for dividing each second peripheral area into a plurality of small areas;
A plurality of line segments are set for each small area between the first and second peripheral areas, and the users existing on the respective line segments based on the information indicating the positions of the detected plurality of users. Means for respectively determining the number as the prospect index,
The number of users determined for each line segment is compared to select the line segment that minimizes the number of users, and the small areas located at both ends of the selected line segment are respectively the first and second mobile robots. The robot cooperation system according to claim 2, further comprising means for setting the takeover point. The second takeover point setting means includes:
A movement path area having a predetermined width is set between the first and second mobile robots, and a user in the set movement path area is determined based on the information indicating the positions of the plurality of detected users. Means for calculating the number of persons as the movement disability index;
Based on the calculated number of users, an intermediate position in which the number of users from the first and second mobile robots is equal on the movement path area between the first and second mobile robots is obtained. The robot cooperation system according to claim 2, further comprising means for setting a position as a takeover point. When performing control for the second mobile robot to take over the service provided by the first mobile robot to a specific user in a service area where a plurality of users exist,
Detecting the positions of the plurality of users and the mobile robots in the service area,
Based on the information indicating the detected positions of the plurality of users and the information indicating the importance level of the specific user stored in advance, the first mobile robot as the takeover source takes over the specific user. Either the first takeover method indicating the second mobile robot or the second takeover method in which the first mobile robot as the takeover source takes over the specific user and takes over to the second mobile robot as the takeover destination. And a step of selecting one of them as a service takeover method between the first and second mobile robots. When the first takeover method is selected, the positions of the first and second mobile robots that minimize the line-of-sight index between the first and second mobile robots are detected, and the detected positions are A process of setting as takeover points for the first and second mobile robots, respectively;
When the second takeover method is selected, a movement obstacle index between the first and second mobile robots is obtained, and an intermediate point on the movement path between the first and second mobile robots is obtained according to the movement obstacle index. The robot cooperation method according to claim 5, further comprising the step of setting a takeover point at a position. The process of setting a takeover point when the first takeover method is selected,
In the service area, a first peripheral area including a position where the first mobile robot exists and a second peripheral area including a position where the second mobile robot exists are set, respectively. Dividing the second peripheral area into a plurality of small areas respectively;
A plurality of line segments are set for each small area between the first and second peripheral areas, and the users existing on the respective line segments based on the information indicating the positions of the detected plurality of users. A process of determining the number as the prospect index,
The number of users determined for each line segment is compared to select the line segment that minimizes the number of users, and the small areas located at both ends of the selected line segment are respectively the first and second mobile robots. The robot cooperation method according to claim 6, further comprising a step of setting the takeover point of the robot. The process of setting a takeover point when the second takeover method is selected,
Setting a movement path region having a predetermined width between the first and second mobile robots;
A process of calculating the number of users in the set movement route area as the movement obstacle index based on the information representing the detected positions of the plurality of users.
Based on the calculated number of users, an intermediate position in which the number of users from the first and second mobile robots is equal on the movement path area between the first and second mobile robots is obtained. The robot cooperation method according to claim 6, further comprising: setting a position as a takeover point.   The program which makes a computer perform the process of each means with which the robot cooperation system in any one of the said Claim 1 thru | or 4 is provided.

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