JP2010231315A - Information providing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide appropriate information reflecting user's intention. <P>SOLUTION: On the basis of the moving amounts of an arm part 30 to be detected by an arm part moving amount detection system 36 when the arm part 30 moves in order to point an object (picture or the like) and the position and direction (rotation) of an information providing robot on a global coordinate system to be detected by a robot position detection system 24, vectors in a direction pointed by the hand of the arm 30 and the hand position (vector start point) are calculated on the global coordinate system, and on the basis of the calculation result and the position coordinate data of the object, an object specification part 56 specifies the object pointed by the hand of the arm part 30, and an information providing part 58 provides the information of the specified object to the user. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an information providing apparatus, and more particularly to an information providing apparatus that provides information on an object placed in a space.

  Recently, devices such as audio guides have been used as tools for selectively providing information on exhibits such as paintings, sculptures, and murals to visitors in museums, historical buildings, and the like. This audio guide generally provides information on exhibits corresponding to numbers manually entered by the user.

  However, in art museums, there are many parts that should be explained in one piece of work such as wall paintings, ceiling paintings, wall sculptures, etc., when there are many exhibits on one space or wall. There is a case. In such a case, the portion to which the information (information number) is assigned becomes unclear, and there is a possibility that an input error of the number occurs.

  On the other hand, recently, a technology has been proposed in which an RFID (Radio Frequency Identification) or the like is installed in the vicinity of an exhibit, and when the visitor detects that the exhibit has approached the exhibit, it automatically explains the exhibit. (For example, refer patent document 1 etc.).

  In addition, a technique for performing guidance according to a route created in advance by a guidance robot has been proposed (see, for example, Patent Document 2).

JP 2004-348243 A JP 2008-003860 A

  However, in the above-mentioned Patent Document 1, when the number of exhibits is large, it is difficult to determine which explanation is being given, and it is possible for the visitor to designate an exhibit that the visitor wants to receive explanation from. Can not.

  In addition, in the above-mentioned Patent Document 2, if you are interested in another object while receiving guidance along the route, you cannot specify the object you are interested in separately. poor.

  Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide an information providing apparatus capable of providing appropriate information reflecting the user's intention.

  An information providing apparatus described in this specification includes an apparatus main body arranged in a space in which a coordinate system is set, an apparatus main body detection system that detects a position and an orientation of the apparatus main body on the coordinate system, and the device An indication mechanism provided in the main body and used to point to an object existing in the space; a movement amount detection system that detects a movement amount that the indication mechanism has moved to point to the object; the movement amount; Based on the detection result by the apparatus main body detection system, a vector in the direction indicated by the pointing mechanism on the coordinate system, a position information calculation unit that calculates a start point of the vector, a calculation result by the position information calculation unit, and Based on the coordinates of an object arranged in the space, an object specifying unit for specifying the object pointed to by the pointing mechanism, and information on the object specified by the object specifying unit are provided. An information providing unit that is an information providing apparatus comprising a.

  According to this, when the user moves the pointing mechanism and points to the object, the position information calculation unit moves the moving amount of the pointing mechanism and the position of the apparatus main body on the coordinate system detected by the apparatus main body detection system. And the direction, and the direction vector indicated by the pointing mechanism on the coordinate system and the start point of the vector are calculated based on the calculation result and the coordinates of the object arranged in the space. Identifies the object pointed to by the pointing mechanism. Therefore, when the information providing unit provides information on the object specified as described above, it is possible to provide appropriate information reflecting the user's intention. In this case, since there is no need to provide a transmitter for position detection around the device, the equipment investment is reduced, and the space (for example, art museums, museums, historic buildings, etc.) is aesthetically pleasing. The decrease can be suppressed.

  The information providing apparatus described in the present specification has an effect of providing appropriate information reflecting the user's intention.

It is a perspective view showing roughly the composition of the information service robot concerning one embodiment. It is a block diagram of the control system of an information provision robot. It is a figure which shows arrangement | positioning of the object (a painting, a sculpture, etc.) in the room 1 where an information provision robot is installed. It is a figure which shows the tree structure of the information used for description of a room, a picture, etc. It is a flowchart which shows the process of a control apparatus. It is a figure which shows an example of the window containing the manual mode button, description start button, zoom level setting button, etc. which are displayed on a display. It is a flowchart which shows the specific process of step S36 (processing subroutine at the time of zoom level non-input). It is a figure which shows a zoom level calculation table. It is a flowchart which shows the specific process of step S42 (target selection process subroutine). It is a figure which shows the example of a display which displays a some description object on a display.

  Hereinafter, an embodiment of an information providing apparatus will be described in detail with reference to FIGS. FIG. 1 is a perspective view of an information providing robot 100 as an information providing apparatus. FIG. 2 shows a block diagram of a control system of the information providing robot 100. The information providing robot 100 is a robot that provides visitors with information on exhibits such as paintings, sculptures, and murals in museums, historical buildings, and the like.

  As shown in FIG. 1, the information providing robot 100 includes a robot body unit 10, a moving unit 20 that moves the robot body unit 10 in a two-dimensional plane, and an arm unit as an instruction mechanism attached to the robot body unit 10. 30. The robot main body 10 and the moving unit 20 of the present embodiment constitute an apparatus main body.

  The robot body 10 includes a head 10a and a body 10b. The body unit 10b is provided with a display 12 as a display unit and a speaker 14. The display 12 has a user instruction input unit 16 (see FIG. 2) that is a touch panel.

  The moving unit 20 has a two-dimensional moving system 22 (see FIG. 2) including a plurality of wheels (tires and the like). The moving unit 20 also has a robot position detection system 24 (see FIG. 2) as an apparatus main body detection system for detecting the position and orientation (rotation) in the two-dimensional plane (in the XY plane). . The robot position detection system 24 includes an XY detection unit that detects the amount of movement of the moving unit 20 in the two-dimensional plane (XY plane), and a rotation detection that detects the orientation (θz rotation) of the moving unit 20 in the two-dimensional plane. And a portion. The XY detection unit includes, for example, a rotary encoder that detects the rotation speed of each wheel of the two-dimensional movement system 22, and the rotation detection unit includes, for example, a gyro sensor. The robot position detection system 24 may include a position correction unit that captures a peripheral image and appropriately corrects the position of the moving unit 20 based on the imaging result.

  In FIG. 1, the arm part 30 has three movable parts 32a, 32b, and 32c. The movable parts 32a to 32c are driven by an arm drive system 34 (see FIG. 2) including a motor or the like. In addition, the arm part 30 is provided with an arm part movement amount detection system 36 (see FIG. 2) that detects the movement amounts of the movable parts 32a to 32b. The arm movement amount detection system 36 includes, for example, a rotary encoder provided in each of the movable portions 32a to 32c, and detects the movement amount of each of the movable portions 32a to 32c or the movement angle of the movable portion (joint).

  A camera 38 such as a CCD (Charge Coupled Device) is provided at the tip (hand) of the arm 30. An image photographed by the camera 38 is displayed on the display 12.

  The control device 50 in FIG. 2 controls the respective units of the information providing robot 100 in an integrated manner, and includes a drive control unit 52, a position information calculation unit 54, an object specifying unit 56, and an information providing unit 58. .

  The drive control unit 52 controls the movement of the arm unit 30 and the moving unit 20 of the information providing robot 100, that is, the driving of the arm unit driving system 34 and the two-dimensional moving system 22 based on the control program. Further, when an instruction of “manual mode” is issued from the user (visitor or the like) via the user instruction input unit (touch panel) 16, the drive control unit 52 turns off the servo of the arm drive system 34. Thereby, a user (visitor etc.) comes to be able to move the arm part 30 easily.

  The position information calculation unit 54 calculates the direction (vector) indicated by the hand by general forward kinematics calculation using the detection result by the arm movement amount detection system 36 and the detection result by the robot position detection system 24. .

  The object specifying unit 56 includes a direction (vector) indicated by the hand calculated by the position information calculating unit 54 and a space where the information providing robot 100 exists (for example, a room of an art museum, a museum, a historical building, or the like). Based on the arrangement data (positional coordinate data) of existing objects (such as paintings, sculptures, and murals), the object indicated by the hand is specified. The object position coordinate data is stored in the database 60.

  The information providing unit 58 outputs information on an object (painting, sculpture, mural, etc.) indicated by the hand of the information providing robot 100 from the speaker 14 via the voice synthesis unit 64 or from the display 12 via the screen display unit 62. Or output. Note that object information is stored in the database 60.

  Next, data stored in the database 60 (object position coordinate data and object information) will be described with reference to FIGS.

  FIG. 3 is a diagram showing the arrangement of objects (such as paintings and sculptures) in the room 1 where the information providing robot 100 is installed. As shown in FIG. 3, for example, paintings 1 to 6 are provided on the wall surface 1 in the room 1, the wall surface 2 has a mural (having explanation parts part <b> 1 and part <b> 2), and the wall surface 3 includes There is a mural (having explanation part part1), a ceiling picture (having explanation parts part1 to part3) is present on the ceiling, and a sculpture 1 is provided on the floor surface. The wall surface 3 is provided with an entrance of the room 2. The three-dimensional shape information such as the positions of these paintings, murals and sculptures, the range of the entire room 1 and the position of the entrance of the room 2 can be expressed as coordinate values on the global coordinate system (XYZ) shown in FIG. . These coordinate values are stored in the database 60 as object position coordinate data. Note that the range of the entire room 2 and the positions of the pictures displayed in the room 2 can also be expressed as coordinate values on the global coordinate system, so these coordinate values are also used as object position coordinate data. Stored in the database 60.

  FIG. 4 shows a tree structure of information used for explaining a room, a picture, and the like. As shown in FIG. 4, data such as corridor 1 exists below the data of the building (museum etc.), and room 1, room 2, accessible from corridor 1, entrance of room 1, and room 2 are below that. Data such as entrances exist. In FIG. 4, the zoom level “0” is set for the data of room 1 and room 2 (large data). The data (explanatory information) at the zoom level “0” is, for example, audio information such as “This room is a room where the works of painters of the xx era” are collected, and image information related thereto.

  Further, as shown in FIG. 4, the data subdivided into each room, that is, ceiling image data, wall surface 1 data, wall surface 2 data, wall surface 3 data, room 2 entrance data, etc. Is present. In FIG. 4, the zoom level of these data is set to “1”. The data (explanatory information) at the zoom level “1” is, for example, audio information such as “the paintings arranged on this wall are works of painter xx” and image information related thereto.

  Further, subordinate data such as explanation parts part1, part2, paintings 1, 2, and sculpture 1 exist below the zoom level “1” data. In FIG. 4, the zoom level of these further subdivided data is set to “2”. Note that the data (explanatory information) at the zoom level “2” is, for example, audio information such as “the name of this work is XX, the content of which is the content of”, and image information related thereto.

  Note that all the data (description information) enclosed by the square in FIG. 4 need not be prepared. In the present embodiment, for example, data indicated by hatching in FIG. 4 is not prepared.

  The database 60 for storing data as shown in FIGS. 3 and 4 may be provided in the information providing robot 100 or in a server connected through a communication line or the like.

  Next, the operation and processing of the information providing robot 100 in the present embodiment will be described along the flowcharts of FIGS. 5, 7, and 9 and with reference to other drawings as appropriate.

  FIG. 5 shows the process of the control device 50 in a flowchart. As a premise of the processing of FIG. 5, it is assumed that the global coordinate system shown in FIG. 3 is predetermined, and the position coordinate data of the object and the information of the object shown in FIG. The initial position of the information providing robot 100 in the global coordinate system is determined in advance such as the position of a charging station that charges the information providing robot 100.

  Further, it is assumed that a window 68 including a manual mode button, an explanation start button, a zoom level setting button, and the like is displayed on the display 12 as shown in FIG.

  First, in step S <b> 10 of FIG. 5, the position information calculation unit 54 of the control device 50 acquires the self position based on the detection result by the robot position detection system 24. The self-position acquired here is mainly used to detect where the information providing robot 100 is currently in the zoom level “0”, that is, in which room. .

  Next, in step S12, the information providing unit 58 of the control device 50 determines whether or not a manual mode instruction is issued by the user from the user instruction input unit 16, that is, whether or not the manual mode button is pressed by the user. . When judgment here is denied, it transfers to step S14. In step S14, the information providing unit 58 executes (or continues) the explanation at the zoom level “0”. That is, when the information providing robot 100 is present in the room 1, the explanation information of the room 1 is provided to the user via the speaker 14 and the display 12.

  On the other hand, if the determination in step S12 is affirmed, the process proceeds to step S16, and the drive control unit 52 turns off the servo of the arm unit 30. Thus, when the servo of the arm part 30 is turned off, the arm part 30 is in a suspended state, and the user can move the arm part 30 relatively easily. In this state, the user can move the arm portion 30 so that his / her hand is directed to an object (such as a painting) to be explained. Note that the information providing unit 58 may prompt the user to move the arm unit 30 via the speaker 14 or the display 12 when the servo is turned off. Further, after the servo of the arm unit 30 is turned off, the information providing unit 58 starts shooting with the camera 38 provided at the tip (hand) of the arm unit 30 and displays the captured image on the display 12. To. Thereby, the user can confirm the object indicated by the hand of the information providing robot 100 from the image displayed on the display 12. The user presses the explanation start button (see FIG. 6) via the user instruction input unit 16 when confirming that the hand of the information providing robot 100 is pointed at the object to be explained.

  In the next step S18, the drive control unit 52 waits until an explanation start instruction is issued from the user, that is, until the explanation start button is pressed. If the determination in step S18 is affirmed, the drive control unit 52 turns on the servo of the arm unit 30 in step S20. By this servo-ON operation, the state of the arm portion 30 at the time when the explanation start instruction is issued, that is, when the explanation start button is pressed, can be maintained.

  In the next step S <b> 22, the position information calculation unit 54 acquires the self position based on the detection result by the robot position detection system 24. In FIG. 3, the self position is shown as (x0, y0, 0, θz).

  Next, in step S24, the position information calculation unit 54 detects the self position (x0, y0, 0, θz) acquired in step S22 and the detection result by the arm movement amount detection system 36, that is, each movable part of the arm 30. Hand position coordinates (x1, y1, z1) are calculated based on the movement amounts of the units 32a to 32c. In addition, the position information calculation unit 54 also calculates the direction (vector (x1 ′, y1 ′, z1 ′)) toward the hand, and the position coordinates (x1, y1, z1) of the hand and the vector (x1 ′). , Y1 ′, z1 ′), the half line L shown in FIG. 3 is acquired.

  Next, in step S26, the information providing unit 58 determines whether any zoom level (1 or 2) is input (selected) from the user within a predetermined time. That is, whether or not the user wants to know detailed information such as a picture (zoom level 2) or more detailed information (zoom level 1) is input within a predetermined time. Determine whether.

  If the determination here is affirmed, the process proceeds to step S28, and the information providing unit 58 sets the input zoom level. Here, as an example, it is assumed that “2” is input as the zoom level. In step S30, the object specifying unit 56 searches for an object having an intersection with the half line L (specifically, an object included in the set zoom level (zoom level “2”)). Note that when the information providing robot 100 is present in the room 1, it is impossible to point to an object in another room. Therefore, when searching for an object, only the object in the room 1 is set as a search target.

  Next, in step S32, the object specifying unit 56 determines whether there is an object having an intersection with the half line L, that is, whether there is an object to be explained. If the determination here is negative, there is no explanation information, so in step S34, the information providing unit 58 provides this to the user via the speaker 14 or the display 12, and the process proceeds to step S44. . Note that the case where there is no explanation object means that the information exists as shown by hatching in FIG. 4 even when the object does not intersect with any of the zoom level objects for which the half line L is set. Including the case of an object that does not.

  On the other hand, if the determination in step S32 is affirmative, the process proceeds to step S38.

  If the determination in step S26 is negative, that is, if the zoom level is not input within a predetermined time, the process proceeds to step S36 (processing subroutine when no zoom level is input).

  In this subroutine, the processing of FIG. 7 is executed. First, in step S110 of FIG. 7, the information providing unit 58 sets the zoom level to “1”. Next, in step S112, the object specifying unit 56 searches for an object (or a wall or floor of a room) having an intersection with the half line L at the zoom level “1”, and the distance between the searched object and the information providing robot 100. Is calculated. Next, in step S114, the information providing unit 58 determines whether the distance calculated in step S112 is equal to or less than a certain value. In this embodiment, 3 (m) shown in the zoom level calculation table of FIG. 8 is adopted as the constant value. If the determination here is affirmative, the process proceeds to step S116, and the zoom level is raised based on the zoom level calculation table of FIG. Here, the zoom level is incremented by 1 based on FIG. That is, the zoom level is set to “2”.

  On the other hand, if the determination in step S114 is negative, the process proceeds to step S118.

  In step S118, the object specifying unit 56 determines whether or not there is an object that intersects the half line L at the zoom level that is currently set, that is, whether or not an explanation target exists. If the determination here is negative, in step S120, the information providing unit 58 decreases the zoom level by one, and in the next step S122, determines whether or not the zoom level has become zero. If the determination here is negative, that is, if the zoom level is 1 or more, the process proceeds to step S118, where it is determined whether there is an explanation target at the new zoom level. On the other hand, if the determination in step S122 is affirmed, the information providing unit 58 provides the user with no explanation information via the speaker 14 or the display 12, and the process proceeds to step S44 in FIG.

  On the other hand, if the determination in step S118 is affirmed, the process proceeds to step S38 in FIG.

  In step S38 of FIG. 5, the object specifying unit 56 determines whether there are a plurality of explanation targets. Here, the case where there are a plurality of explanation objects means a case where there are two or more objects intersecting with the half line L, for example, a case where the picture 4 is pointed through the sculpture 1 in FIG. If the determination here is negative, that is, if there is only one explanation object, the information providing unit 58 sends information about the explanation object to the user via the speaker 14 or the display 12 in step S40. After that, the process proceeds to step S44 in FIG. Note that an image prepared in advance may be displayed on the display 12 or a zoom image of an image taken by the camera 38 may be displayed. On the other hand, if there are a plurality of explanation targets, the determination in step S38 is affirmed, and the process proceeds to step S42 (target selection processing subroutine).

  In step S42 (subject selection processing subroutine), the processing of FIG. 9 is executed. First, in step S <b> 130 of FIG. 9, the information providing unit 58 displays a plurality of objects on the display 12 in order of increasing distance. For example, as shown in FIG. 10, a window 70 is displayed on the display 12, and a plurality of objects (here, the sculpture 1 and the painting 4) are displayed in that window 70 in order from the side closest to the information providing robot 100.

  Next, in step S132 of FIG. 9, it is determined whether or not any of a plurality of objects has been selected by the user within a predetermined time. If the determination here is affirmed, the process proceeds to step S134, where the information providing unit 58 provides the user with an explanation regarding the selected object via the speaker 14 or the display 12, and the step of FIG. The process proceeds to S44. On the other hand, if the determination in step S132 is negative, in step S136, the information providing unit 58 sends information about the object (here, engraving 1) that is closest to the user via the speaker 14 or the display 12. The process proceeds to step S44 in FIG. In steps S134 and S136, image information prepared in advance may be displayed on the display 12, or a zoom image of an image captured by the camera 38 may be displayed.

  After that, in step S44 of FIG. 5, the drive control unit 52 determines whether or not an instruction for the manual mode is issued from the user. If the determination is affirmative, the process returns to step S16, and a new one is received from the user. Provides information on the object pointed to.

  On the other hand, if the determination in step S44 is negative, the position information calculation unit 54 acquires the self position based on the detection result of the robot position detection system 24 in step S46. Then, the position information calculation unit 54 determines whether or not the information providing robot 100 has moved through the room based on the self position (step S48). If the determination here is negative, the process returns to step S44. If the determination is positive, the process determination in steps S12 to S48 is repeated, thereby providing information in a new room.

  As described above in detail, according to the present embodiment, when the user moves the arm unit 30 and points to an object, the movement amount of the arm unit 30 detected by the arm unit movement amount detection system 36 and the robot Based on the position and orientation (rotation) of the information providing robot 100 on the global coordinate system detected by the position detection system 24, the vector and the hand position (start point of the vector) in the direction indicated by the hand of the arm unit 30 are globally determined. Based on the calculation result and the position coordinate data of the object, the object specifying unit 56 specifies the object that the hand of the arm unit 30 points to. Therefore, by providing the information on the object specified as described above by the information providing unit 58, it is possible to provide appropriate information reflecting the user's intention. In this case, since there is no need to provide a transmitter for position detection around the information providing robot 100, the equipment investment is reduced, and a decrease in the aesthetics of a space (for example, a museum) due to the provision of the transmitter is suppressed. can do.

  Further, according to the present embodiment, as shown in FIG. 4, the database 60 holds information on an object (such as a painting) in a tree structure corresponding to the degree of detail. Can be searched and provided.

  Further, according to the present embodiment, when the user does not select the zoom level, the information providing unit 58 calculates the distance between the position of the information providing robot 100 and the object, and according to the calculated distance, Since the level of detail of the information to be provided is changed (steps S114 and S116), information with an appropriate level of detail can be automatically selected and provided to the user.

  Further, according to the present embodiment, the degree of detail of the information provided by the information providing unit 58 can be determined based on the input from the user (step S28), so that appropriate information according to the user's request is provided. Is possible.

  In addition, when there are a plurality of objects (explanation targets) specified by the object specifying unit 56, the information providing unit 58 displays information (window 70) for selecting one of the plurality of description targets on the display 12. From this point, it is possible to provide appropriate information according to the user's request. In addition, when the user does not select any of the plurality of explanation objects within a predetermined time, the information of the explanation object that is the closest to the distance is provided to the user, so that the information that the user is pointing to has a relatively high probability. Can be provided to the user.

  In the present embodiment, since the object pointed by the hand of the arm unit 30 is imaged by the camera and the imaged result is displayed on the display 12, the user accurately recognizes the position pointed to by the arm unit 30. It is possible.

  In the above embodiment, the case where the object information has a tree structure as shown in FIG. 4 is described. However, the present invention is not limited to this, and the tree structure may not be adopted. In this case, for example, information can be summarized for each category of an exhibit (painting, sculpture, mural, etc.).

  In the above embodiment, the case where the object pointed by the hand of the arm unit 30 is displayed on the display 12 to allow the user to recognize the position pointed to by the arm unit 30 has been described. It is not limited. For example, an instruction mechanism such as a laser pointer may be provided at the hand of the arm unit 30 and the user may recognize the position pointed to by the arm unit 30 based on the irradiation position of the laser pointer.

  In the above-described embodiment, the case where the user directly moves the arm unit 30 and points to the object has been described. However, the present invention is not limited to this, and a controller for driving the arm unit 30 is prepared. The arm part 30 may be operated by the user. This controller may be displayed on a touch panel provided on the display 12. Moreover, the target to be moved by the user is not limited to the arm portion 30 but may be the head portion 10a. In this case, the same processing as in the above embodiment can be performed by providing an instruction mechanism such as a camera or a laser pointer on the head 10a.

  In the above-described embodiment, the case where the user instruction input unit 16 is a touch panel has been described. However, the present invention is not limited thereto. For example, an operation button is provided on the arm unit 30 or the robot body unit 10, and It may be employed as the input unit 16. Further, a microphone for voice recognition may be provided in the robot body 10 or the like, and the microphone may be employed as the user instruction input unit 16.

  In the above embodiment, the case where the arm portion 30 has three movable portions and the rotary encoder is used to detect the movement amount of the movable portion has been described. However, the present invention is not limited to this. That is, the number of movable parts is arbitrary, and a detector other than the rotary encoder may be used for detecting the amount of movement of the movable parts.

  In the above embodiment, the case where the zoom level has three levels of “0”, “1”, and “2” has been described. However, the present invention is not limited to this. You may increase it. For example, in the case of the example shown in FIG. 4, the painting may be further subdivided and each subdivided portion may be set to the zoom level “3”.

  Note that it is not necessary to execute all the processes (flowcharts) described in the above embodiment. For example, when there are a plurality of explanation targets, the explanation target information closest to the information providing robot 100 may be automatically provided without executing the flowchart (subroutine) of FIG. Also, if there is no sculpture in the room, there is no situation where a plurality of explanation objects are selected, so step S38 and step S42 may be omitted.

  In FIG. 1, the camera 38 (or laser pointer) is provided on one of the two arm portions 30. However, the present invention is not limited to this, and the camera (or laser pointer) is provided on both arm portions 30. It may be provided. In this case, by using the arm 30 on the side moved by the user for processing (detection of the pointing direction), it is possible to provide the user with information on the object pointed to by the moved arm.

  In the embodiment described above, for example, when the actual object cannot be viewed due to renting or repairing, the fact may be displayed at the position where the actual object is originally installed. In this case, by pointing the display to that effect with the hand of the arm 30, information on an object that cannot be seen can be provided to the user via the speaker 14 or the display 12.

  In the above embodiment, the case where the information providing apparatus is a humanoid robot as shown in FIG. 1 has been described. However, the present invention is not limited to this, and the information providing apparatus may have other shapes.

  In the above-described embodiment, the case where the information providing robot 100 is a robot that provides information on exhibits such as paintings, sculptures, and murals to visitors in art museums, museums, historical buildings, and the like has been described. However, it is not limited to this. For example, the information providing robot 100 can be used in various situations where the user needs to provide object information, such as product descriptions in a supermarket.

  The above-described embodiment is an example of a preferred embodiment of the present invention. However, the present invention is not limited to this, and various modifications can be made without departing from the scope of the present invention.

10 Robot body (part of the device body)
12 Display (display part)
20 Moving part (part of the device body)
24 Robot position detection system (device main body detection system)
30 arms (instruction mechanism)
36 Arm movement amount detection system (movement amount detection system)
54 position information calculation unit 56 object specifying unit 58 information providing unit 60 database 100 information providing robot (information providing device)

Claims (7)

A device body arranged in a space in which a coordinate system is set;
An apparatus main body detection system for detecting the position and orientation of the apparatus main body on the coordinate system;
An instruction mechanism provided in the apparatus main body and used to point to an object existing in the space;
A moving amount detection system for detecting a moving amount moved by the pointing mechanism to point to an object;
Based on the amount of movement and the detection result by the apparatus main body detection system, a position information calculation unit that calculates a vector in the direction indicated by the pointing mechanism on the coordinate system, and a start point of the vector;
An object specifying unit for specifying the object pointed to by the pointing mechanism based on the calculation result by the position information calculating unit and the coordinates of the object arranged in the space;
An information providing apparatus comprising: an information providing unit that provides information on the object specified by the object specifying unit. The information providing unit acquires information on the object from a database,
The information providing apparatus according to claim 1, wherein the database stores information on the object in a tree structure corresponding to a degree of detail. The information providing unit calculates a distance between the position of the apparatus main body and the object specified by the object specifying unit;
The information providing apparatus according to claim 2, wherein a degree of detail of information to be provided is changed according to the calculated distance.   The information providing apparatus according to claim 2, wherein the degree of detail of the information provided by the information providing unit is determined based on an input from a user. When there are a plurality of objects specified by the object specifying unit,
5. The information providing apparatus according to claim 1, wherein the information providing unit displays information for selecting any of the plurality of identified objects. When there are a plurality of objects specified by the object specifying unit,
The information providing unit calculates a distance between the apparatus main body and each of the specified plurality of objects, and selects an object that provides information based on the distance. The information providing apparatus according to any one of the above.   The information providing apparatus according to claim 1, further comprising a display unit that displays a direction indicated by the instruction mechanism.

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