JP2011224737A - Guide robot, guide method, and program for controlling guide - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out an action of indicating a target with a proper arm, and also to reduce a data capacity.SOLUTION: A first gesture data 21 configured to adapt to a shaft configuration of a first arm 14 is stored, wherein the data prescribes at least a rotation direction and rotation of a joint mechanism for performing a first gesture which includes the action of indicating the target in accordance with output of guide information. Which the first gesture is performed with the first arm 14 or a second arm 15 is determined on the basis of a positional relation and a moving direction of an arm in the first gesture. The first gesture data 21 is reversed as a mirror image when the second arm 15 performs the first gesture.

Description

  The present invention relates to a technique for guiding exhibits and the like using a robot that operates autonomously.

  2. Description of the Related Art In recent years, techniques have been developed for guiding exhibits, products, etc. using autonomously operating robots in exhibition halls, corporate lobbies, and the like. Such a robot performs various gestures along with a guidance operation for explaining an exhibit or the like. As one of such gestures, there is a gesture that points to the exhibit with a robot arm.

  Patent Document 1 discloses a robot that presents product information, and performs an operation of identifying a customer, guiding a product suitable for the customer, and pointing to the product.

  Patent Document 2 discloses a robot that reads and guides information from an IC tag of a product, and performs the guidance while pointing to the product.

  Patent Document 3 discloses a robot that guides a person to the vicinity of the destination, guiding the person along an optimum route, and pointing to the destination at the arrival point.

  Patent Document 4 discloses a robot that changes the response according to the identification of a visitor, the degree of congestion, and the like.

  Patent Document 5 discloses a robot that explains an exhibit while moving, and moves to an optimal position from the positional relationship between the exhibit and a person.

JP 2005-293052 A JP 2007-225941 A JP 2007-260822 A JP 2008-055578 A JP 2009-285818 A

  Usually, a humanoid robot has a pair of left and right arms. For this reason, it is necessary to determine whether to perform the above pointing gesture with either the left or right arm. For example, there is an operation in which one arm is moved so as to spread outward, and finally the tip of the arm faces the direction of the exhibit. In such an operation, when the arm is a left arm, the robot needs to be positioned on the right side of the exhibit. However, the robot may not be able to move to the above position due to problems such as the movable area of the robot and surrounding obstacles. In such a case, the gesture is unnatural.

  As a method for dealing with the above-described problems, the data for defining the movement of the joint mechanism of the arm for realizing the gesture is held in a manner that matches the joint mechanism of the left and right arms, and both data are stored. There can be considered a method of properly using the robot according to the recognition result of the positional relationship between the robot and the exhibit. It is also possible to generate a suitable trajectory for the gesture in accordance with the positional relationship. However, according to these countermeasures, problems such as an increase in data capacity and an increase in load on arithmetic processing occur.

  Further, in the above Patent Documents 1 to 3, it is disclosed that the robot indicates the guidance target, but there is nothing to mention the problems related to the left and right arms as described above.

  In view of the above, an object of the present invention is to perform an operation for pointing an object on which a guidance operation is performed with an appropriate arm, and to reduce data capacity and arithmetic processing.

  One embodiment of the present invention corresponds to a moving means that autonomously moves, one of a pair of arms, a first arm portion having a plurality of joint mechanisms, and the other of the pair of arms. A second arm portion having a plurality of joint mechanisms including the same axis configuration as that of one arm portion, guidance information output means for outputting guidance information corresponding to one or a plurality of targets existing in the region, and the target A position recognizing means for recognizing a positional relationship between the robot and itself, and at least a rotation direction and a rotation amount of the joint mechanism for performing a first gesture including an operation of pointing the target in accordance with the output of the guidance information Storage means for storing first gesture data configured to match the axial configuration of the first arm unit, and the positional relationship and the movement direction of the arm unit in the first gesture And based And an operating arm determining unit that determines whether the first gesture is performed by the first arm unit or the second arm unit, and the second arm unit performs the first gesture. In this case, the data inverting means for mirror inverting the first gesture data and the first arm based on the first gesture data when the first arm unit executes the first gesture. An operation command means for controlling the second arm unit based on the first gesture data that is mirror-inverted when the second arm unit executes the first gesture. It is what you have.

  According to the above aspect, when it is desirable that the second arm unit performs the first gesture according to the positional relationship between the target and the guide robot, the first gesture data is mirror-inverted, Used to control the second arm part. Thereby, even if the gesture data suitable for the second arm portion is not held, the second arm portion can perform an operation of correctly pointing the object.

  The storage means is data defining at least a rotation direction and a rotation amount of the joint mechanism for performing a second gesture that does not include an operation of pointing to the target in accordance with the output of the guidance information, Second gesture data configured to conform to the axis configuration of the second arm unit is further stored, and the operating arm determination means is an arm unit opposite to the arm unit that performs the first gesture. Is set as an arm unit that performs the second gesture, and the data reversing unit reverses the second gesture data as a mirror image when the first arm unit performs the second gesture, and performs the operation. The command means controls the second arm unit based on the second gesture data when the second arm unit executes the second gesture, and When the arm portions of executing the second gesture, it is preferable to control the first arm portion based on the second gesture data reversed the mirror image.

  As described above, the second gesture executed by the arm portion opposite to the arm portion that performs the first gesture is also appropriately mirror-inverted to control both arm portions with one data. be able to.

  The position recognizing means recognizes the positional relationship between the person, the object, and the self existing in the area, and the moving means recognizes the person when the person and the object are within a predetermined distance. Alternatively, it is preferable that the moving arm determination unit determines an arm unit that performs the first gesture based on a positional relationship between the target and itself when approaching the target.

  As a result, in a situation where a certain person is interested in a certain object and stops, the guidance robot can be moved to the vicinity of the person and the object to explain the object.

  Further, the first gesture is an operation of moving the arm portion outward, and the operation arm determining means sets the arm portion closer to the target as the arm portion that performs the first gesture. Is preferred.

  On the contrary, when the first gesture is an operation of moving the arm part inward, the arm part far from the target may be an arm part that performs the first gesture.

  In another aspect of the present invention, there are provided means for autonomously moving in an area, means for outputting guidance information about an object existing in the area, and means for recognizing a positional relationship between the object and itself. A first arm portion corresponding to one of the pair of arms and having a plurality of joint mechanisms, and a plurality of joints corresponding to the other of the pair of arms and including the same axial configuration as the first arm portion A second arm unit having a mechanism, and means for causing the first arm unit or the second arm unit to perform a first gesture including an operation of pointing the target in accordance with the output of the guide information, Data defining at least a rotation direction and a rotation amount of the joint mechanism for executing the first gesture, the first gesture data configured to be adapted to the axial configuration of the first arm unit. Means to memorize and A guidance method using a robot having a first gesture unit or a second arm based on the positional relationship and the movement direction of the arm unit in the first gesture. A step of deciding which one to execute, a step of reversing a mirror image of the first gesture data when the second arm unit performs the first gesture, and the first arm unit When performing the first gesture, controlling the first arm unit based on the first gesture data, and when the second arm unit performs the first gesture, Controlling the second arm unit based on the first gesture data that has been mirror-inverted.

  In another aspect of the present invention, means for autonomously moving in an area, means for outputting guidance information about an object existing in the area, and means for recognizing a positional relationship between the object and itself A first arm portion corresponding to one of the pair of arms and having a plurality of joint mechanisms, and a plurality of joints corresponding to the other of the pair of arms and including the same axial configuration as the first arm portion A second arm unit having a mechanism, and means for causing the first arm unit or the second arm unit to perform a first gesture including an operation of pointing the target in accordance with the output of the guide information, Data defining at least a rotation direction and a rotation amount of the joint mechanism for executing the first gesture, the first gesture data configured to be adapted to the axial configuration of the first arm unit. The means to remember A guidance control program for controlling a robot that performs the first gesture on the computer based on the positional relationship and the movement direction of the arm in the first gesture. A process for determining which one of the second arm sections is to be executed; a process for inverting the first gesture data when the second arm section performs the first gesture; When one arm unit executes the first gesture, a process of controlling the first arm unit based on the first gesture data, and the second arm unit performs the first gesture. When executing, the second arm unit is controlled based on the first gesture data with the mirror image inverted.

  The aspect related to the guidance method and the guidance program is based on the same technical idea as the aspect related to the guidance robot.

  According to the present invention, it is possible to perform the first gesture including the operation of pointing to the target with the appropriate arm unit according to the positional relationship between the robot and the target. Further, it is sufficient to prepare one piece of gesture data suitable for one arm portion by using the first gesture data for executing the first gesture with mirror image reversal as necessary. Further, similarly to the second gesture data that does not include the operation of pointing to the object performed by the arm portion on the opposite side to the arm portion that performs the first gesture, one arm portion is appropriately mirror-reversed. It is sufficient to prepare one piece of gesture data suitable for. As a result, the data capacity stored in the storage means can be significantly reduced with only a slight load required for mirror image inversion.

  Furthermore, since it is possible to cope with a situation where a person is stopped in front of a certain target, it is possible to execute an advanced guidance operation corresponding to the interest of the visitor.

It is a figure which shows the functional structure of the guidance robot which concerns on Embodiment 1 of this invention. It is a figure which illustrates the external appearance of the guidance robot which concerns on Embodiment 1. FIG. It is a figure which illustrates the gesture accompanying the guidance action of the guidance robot shown in FIG. It is a figure which shows the axial structure of the both arms of the guide robot which concerns on Embodiment 1. FIG. It is a table | surface figure which illustrates the 1st gesture data for performing a 1st gesture. It is a table | surface figure which illustrates the 2nd gesture data for performing a 2nd gesture. It is a figure which illustrates the condition where a left arm performs a 1st gesture and a right arm performs a 2nd gesture. It is a figure which illustrates the condition where a right arm performs a 1st gesture and a left arm performs a 2nd gesture. FIG. 6 is a table showing data obtained by mirror-inversion of the first gesture data shown in FIG. 5. It is a table | surface figure which shows the data which mirror-inverted the 2nd gesture data shown in FIG. 4 is a flowchart showing a flow of guidance behavior by the guidance robot according to the first embodiment. It is a figure which shows the advantageous effect obtained by Embodiment 1. FIG. It is a figure which illustrates the condition where the guidance robot which concerns on Embodiment 2 of this invention is used. It is a figure which illustrates the condition where the guidance robot approached the person or object in the predetermined distance in the condition shown in FIG. It is a figure which shows the gesture of the guidance robot performed in the positional relationship shown in FIG. It is a figure which shows the other example of the condition where the guidance robot which concerns on Embodiment 2 is used. It is a figure which illustrates the condition where the guidance robot approached the person or object which exists in the predetermined distance in the condition shown in FIG. It is a figure which shows the gesture of the guidance robot performed in the positional relationship shown in FIG.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a functional configuration of a guide robot (hereinafter abbreviated as robot) 1 according to Embodiment 1 of the present invention. FIG. 2 illustrates the appearance of the robot 1.

  The robot 1 explains information about exhibits, products, etc. (hereinafter referred to as objects) in a region such as an exhibition hall or a corporate lobby (hereinafter referred to as guidance behavior). . The robot 1 includes a drive mechanism 11, a sensor 12, an output device 13, a left arm 14, a right arm 15, and an electronic control unit 16.

  The drive mechanism 11 autonomously moves the robot 1 under the control of the electronic control unit 16. As the drive mechanism 11, a vehicle type composed of a plurality of wheels, motors, etc., and a walking type composed of a plurality of leg manipulators, etc. are well known.

  The sensor 12 collects data for detecting the position, movement, shape characteristics, and the like of objects existing around the robot 1. As the sensor 12, various well-known techniques using ultrasonic waves, infrared rays, imaging devices, and the like can be applied. In particular, an LRF (Laser Range Finder) that measures the surrounding environment using reflection of laser light is used. Is preferred.

  The output device 13 is for transmitting explanatory information of the object to visitors, and a speaker, a display, or the like is preferable.

  The left arm 14 and the right arm 15 have a plurality of joint mechanisms, and their operations are controlled by the electronic control unit 16. Both arms 14 and 15 concerning this embodiment perform gesture accompanying the above-mentioned guidance action. FIG. 3 illustrates a gesture associated with the guidance action. In this example, the left arm 14 performs a first gesture including a motion indicating the target, and the right arm 15 performs a second gesture not including a motion indicating the target.

  FIG. 4 illustrates the shaft configuration of the arms 14 and 15. The left arm 14 has one axis L1, two axes L2, three axes L3, four axes L4, five axes L5, six axes L6, and seven axes L7 in order from the shoulder to the hand. Similarly, the right arm 15 has one axis R1, two axes R2, three axes R3, four axes R4, five axes R5, six axes R6, and seven axes R7 in order from the shoulder to the hand. The arms 14 and 15 according to the present embodiment have the same 7-axis configuration.

  FIG. 5 exemplifies first gesture data 21 for executing the first gesture. FIG. 6 exemplifies the second gesture data 22 for executing the second gesture. In each of the gesture data 21 and 22, each value (rad) described in the lower column of the first to seventh axes is the first to seventh axes when the time 0.008 (s) described in the left column is elapsed. The rotation directions and rotation amounts of L1 to L7 and R1 to R7 are shown. The first gesture data 21 is adapted to the axes L1 to L7 of the left arm 12. The second gesture data 22 is adapted to the axes R1 to R7 of the right arm 13.

  The electronic control unit 16 (see FIG. 1) includes a central processing unit, a storage device 17, an input / output device, and the like, and executes various arithmetic processes and control processes. The electronic control unit 10 according to the present embodiment functions as a guidance information output unit 30, a position recognition unit 31, an operation arm determination unit 32, a data inversion unit 33, and an operation command unit 34. In the storage device 17, the control program 20, the first gesture data 21, the second gesture data 22, the map data 23 indicating the shape of the region, the position of the object, etc., and the sound for explaining each object In addition, guidance data 24 such as text and images is stored.

  The guidance information output unit 30 extracts information corresponding to each object from the guidance data 24 and outputs the information from the output device 13 by voice, display, or the like.

  The position recognition unit 31 recognizes the positional relationship between the target and the robot 1 based on the data acquired by the sensor 12 and the map data 23. For example, by using SLAM (Simultaneously Localization and Mapping) technology based on the data acquired by the LRF and the map data 23, the position of the subject and the object can be specified.

  The operation arm determination unit 32 determines whether the left arm 14 or the right arm 15 performs the first gesture and the second gesture, respectively. This determination can be made based on the positional relationship between the object and the robot 1 and the moving direction of the arm unit in the first gesture. This moving direction in the present embodiment is a direction in which the arm is spread outward as shown in FIG.

  FIG. 7 illustrates a situation in which the left arm 14 performs the first gesture and the right arm 15 performs the second gesture. FIG. 8 illustrates a situation where the right arm 15 performs the first gesture and the left arm 14 performs the second gesture. As shown in FIG. 7, when the target 40 is on the left side of the robot 1, the left arm 14 performs the first gesture, and the right arm 15 performs the second gesture. On the other hand, as shown in FIG. 8, when the target 40 is on the right side of the robot 1, the right arm 15 performs the first gesture and the left arm 14 performs the second gesture.

  The data reversing unit 33 (see FIG. 1) mirror-inverts a value defining the movement of the rotation axes L1 to L7 of the first gesture data 21 when the right arm 15 performs the first gesture. Let That is, with respect to the first gesture by the left arm 14, the first gesture is mirror-symmetric with respect to the vertical center plane (plane A in FIGS. 7 and 8) of the robot 1 as a target plane. The value of a part of the gesture data 21 is inverted. FIG. 9 shows data 21 ′ obtained by mirror-inversion of the first gesture data 21 shown in FIG. In this example, the values are converted so that the rotation directions about the 2, 3, 5, and 7 axes are reversed. Further, when the left arm 14 performs the second gesture, the data reversing unit 33 mirrors the second gesture data 22 in the same manner as described above. FIG. 10 shows data 22 ′ obtained by mirror-inversion of the second gesture data 22 shown in FIG. Also in this example, the values are converted so that the rotation directions about the axes 2, 3, 5, and 7 are reversed.

  The operation command unit 34 (see FIG. 1) outputs a control signal generated based on the first gesture data 21 to the left arm 14 when the left arm 14 executes the first gesture. To do. When the right arm 15 executes the first gesture, the control signal generated based on the mirror-inverted first gesture data 21 ′ is output to the right arm 15. Further, when the right arm 15 executes the second gesture, the control signal generated based on the second gesture data 22 is output to the right arm 15. Furthermore, when the left arm 14 executes the second gesture, the control signal generated based on the mirror-inverted second gesture data 22 ′ is output to the left arm 14.

  FIG. 11 illustrates the flow of guidance behavior by the robot 1. First, the current position of the robot 1 is recognized by collating the data acquired by the sensor 12 with the map data 23 (S101), and the target position is recognized (S102). Next, it is determined whether the target exists on the left or right as viewed from the robot 1 (S103).

  In the step S103, when the object is on the left side (CASE 1), it is determined that the left arm 14 executes the first gesture and the right arm 15 executes the second gesture. (S104). Next, the first gesture data 21 is used as it is for the control of the left arm 14, and the second gesture data 22 is used as it is for the control of the right arm 15, and voice data corresponding to the object is used. Playback is performed (S105).

  On the other hand, when the target is on the right side (CASE 2) in step S103, the right arm 15 performs the first gesture and the left arm 14 performs the second gesture. Determine (S106). Next, the first gesture data 21 and the second gesture data 22 are respectively mirror-image converted (S107). The mirror image converted first gesture data 21 ′ is used for controlling the right arm 15, and the mirror image converted second gesture data 22 ′ is used for controlling the left arm 14. Audio data or the like corresponding to the object is reproduced (S105).

  According to the above configuration, if each of the first gesture data 21 and the second gesture data 22 is held one by one, the left arm 14 performs the first gesture and the right arm 15 The case where the second gesture is performed can also correspond to the case where the left arm 14 performs the second gesture and the right arm 15 performs the first gesture.

  FIG. 12 shows the advantageous effects obtained by the first embodiment. In the conventional storage device 100, as data for causing the arms 14 and 15 to execute the first or second gesture, left arm gesture data 101 when the target is on the left side, the target is on the left side. The right arm gesture data 102 when the object is on the right side, the left arm gesture data 103 when the object is on the right side, and the right arm gesture data 104 when the object is on the right side must be stored. . However, it is sufficient if the storage device 17 according to the present embodiment stores the first gesture data 21 and the second gesture data 22. Therefore, the data capacity can be greatly reduced.

  In the guidance operation, the second gesture can be said to be incidental. Therefore, at least if the first gesture data 21 is stored in the storage device 17 and the data reversing unit 33 generates the first gesture data 21 ′ with the mirror image reversed, the guidance operation is established. Is possible.

Embodiment 2
FIG. 13 illustrates a situation where a guide robot (hereinafter abbreviated as a robot) 51 according to Embodiment 2 of the present invention is used. The robot 51 has the same internal configuration as that of the electronic control unit 16 shown in FIG. 1, but the position recognition unit 31 and the operation command unit 34 include the following in addition to the processing according to the first embodiment. Perform the following process.

  The position recognizing unit 31 according to the second embodiment recognizes the positional relationship among the persons 52 to 54, the objects 60 to 66, and the self position of the robot 51 existing in the region. For example, by comparing the shape characteristics of the object detected by the sensor 12 with the shape characteristics of the human body registered in advance, the positions, movements, and the object 60 of the persons 52 to 54 in the region are compared. ˜66 can be recognized. And based on the said position recognition part 31 and this recognition result, it can be determined whether the said persons 52-54 and the said objects 60-66 are in a predetermined distance. In the example shown in FIG. 13, the person 52 and the object 60 are within the predetermined distance.

  The operation command unit 34 according to the second embodiment performs control to bring the robot 51 close to the person 52 or the target 60 determined to be within the predetermined distance. FIG. 14 illustrates a situation where the robot 51 approaches the person 52 or the object 60 within the predetermined distance in the situation shown in FIG.

  Then, the operating arm determination unit 32 performs the first gesture (and the second gesture) in the same manner as in the first embodiment based on the positional relationship between the target 60 and itself in the situation shown in FIG. ) Is determined. FIG. 15 shows the gesture of the robot 51 performed in the positional relationship shown in FIG. In this situation, since the target 60 is on the left side of the robot 51, the left arm 14 performs the first gesture and the right arm 15 performs the second gesture.

  FIG. 16 shows another example of the situation where the robot 51 is used. In this example, the person 55 and the object 66 are within the predetermined distance. FIG. 17 illustrates a situation where the robot 51 is close to the person 55 or the object 66 within the predetermined distance in the situation shown in FIG. FIG. 18 shows the gesture of the robot 51 performed in the positional relationship shown in FIG. In this situation, since the object 66 is on the right side of the robot 55, the right arm 15 performs the first gesture and the left arm 14 performs the second gesture.

  According to the above configuration, it is possible to execute an advanced guidance operation that takes into account the presence of visitors. For example, when a visitor is interested in a certain exhibit and stops in front of the exhibit, the robot 51 detects this situation and moves to the location of the exhibit and the visitor. It is possible to output the guide information of the exhibit. In this way, it is possible to preferentially execute the guidance operation for a specific exhibit that the visitor is interested in.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1,51 Guide robot 11 Moving mechanism 12 Sensor 13 Output device 14 Left arm 15 Right arm 16 Electronic control unit 17 Storage device 20 Control program 21 First gesture data 22 Second gesture data 23 Map data 24 Guide data 30 Guide information Output unit 31 Position recognition unit 32 Operation arm determination unit 33 Data inversion unit 34 Electronic command unit 40, 60, 61, 62, 63, 64, 65, 66 Target 52, 53, 54, 55

Claims (12)

A vehicle that moves autonomously;
A first arm portion corresponding to one of the pair of arms and having a plurality of joint mechanisms;
A second arm portion corresponding to the other of the pair of arms and having a plurality of joint mechanisms including the same axial configuration as the first arm portion;
Guidance information output means for outputting guidance information corresponding to one or more objects existing in the area;
Position recognition means for recognizing a positional relationship between the object and the self;
Data defining at least a rotation direction and a rotation amount of the joint mechanism for performing a first gesture including an operation of pointing the target in accordance with an output of the guidance information, and a shaft configuration of the first arm unit Storage means for storing first gesture data configured to conform to
Based on the positional relationship and the moving direction of the arm part in the first gesture, an operation for determining whether the first gesture is executed by the first arm part or the second arm part. Arm determination means;
Data inverting means for inverting the first gesture data when the second arm portion performs the first gesture;
When the first arm unit performs the first gesture, the first arm unit is controlled based on the first gesture data, and the second arm unit controls the first gesture. An operation command means for controlling the second arm unit based on the first gesture data that has been mirror-inverted when performing the mirror image;
A guide robot having The storage means is data defining at least a rotation direction and a rotation amount of the joint mechanism for performing a second gesture that does not include an operation of pointing to the target in accordance with the output of the guidance information, Further storing second gesture data configured to match the axis configuration of the arm portion of
The operating arm determination means sets an arm part opposite to the arm part that performs the first gesture as an arm part that performs the second gesture,
The data reversing means reverses the second gesture data as a mirror image when the first arm portion performs the second gesture.
When the second arm unit executes the second gesture, the operation command means controls the second arm unit based on the second gesture data, and the first arm unit When executing the second gesture, the first arm unit is controlled based on the mirror-inverted second gesture data.
The guide robot according to claim 1. The position recognizing means recognizes the positional relationship between the person, the object, and the self existing in the area;
The moving means is close to the person or the object when the person and the object are within a predetermined distance,
The operating arm determination means determines an arm unit that performs the first gesture based on a positional relationship between the target and the self at the time of approach.
The guidance robot according to claim 1 or 2. The first gesture is an operation of moving the arm portion outward;
The operating arm determining means sets the arm portion closer to the object as an arm portion that performs the first gesture.
The guidance robot according to any one of claims 1 to 3. Means to move autonomously within the area;
Means for outputting guidance information about an object existing in the area;
Means for recognizing a positional relationship between the object and the self;
A first arm portion corresponding to one of the pair of arms and having a plurality of joint mechanisms;
A second arm portion corresponding to the other of the pair of arms and having a plurality of joint mechanisms including the same axial configuration as the first arm portion;
Means for causing the first arm unit or the second arm unit to perform a first gesture including an operation of pointing the target in accordance with the output of the guidance information;
Data defining at least the rotation direction and the amount of rotation of the joint mechanism for executing the first gesture, the first gesture data configured to match the axial configuration of the first arm unit Means for storing
A guidance method using a robot having
Determining whether to execute the first gesture by the first arm unit or the second arm unit based on the positional relationship and the moving direction of the arm unit in the first gesture. When,
Reversing a mirror image of the first gesture data when the second arm portion performs the first gesture;
Controlling the first arm unit based on the first gesture data when the first arm unit performs the first gesture;
Controlling the second arm unit based on the mirror-inverted first gesture data when the second arm unit performs the first gesture;
A guide method. The robot is data defining at least a rotation direction and a rotation amount of the joint mechanism for performing a second gesture that does not include an operation of pointing the target in accordance with the output of the guidance information, Means for storing second gesture data configured to conform to the axial configuration of the arm portion;
Setting an arm part opposite to the arm part for performing the first gesture as an arm part for performing the second gesture;
Reversing a mirror image of the second gesture data when the first arm portion performs the second gesture;
Controlling the second arm unit based on the second gesture data when the second arm unit performs the second gesture;
When the first arm unit performs the second gesture, controlling the first arm unit based on the mirror image inverted second gesture data;
The guide method according to claim 5, further comprising: Recognizing the position of the person, the object, and the self existing in the region;
Approaching the person or the subject when the person and the subject are within a predetermined distance;
Determining an arm unit to perform the first gesture based on a positional relationship between the target and the self at the time of approach;
The guide method according to claim 5 or 6, further comprising: The first gesture is an operation of moving the arm portion outward;
The arm part closer to the object is an arm part that performs the first gesture.
The guidance method according to any one of claims 5 to 7. Means to move autonomously within the area;
Means for outputting guidance information about an object existing in the area;
Means for recognizing a positional relationship between the object and the self;
A first arm portion corresponding to one of the pair of arms and having a plurality of joint mechanisms;
A second arm portion corresponding to the other of the pair of arms and having a plurality of joint mechanisms including the same axial configuration as the first arm portion;
Means for causing the first arm unit or the second arm unit to perform a first gesture including an operation of pointing the target in accordance with the output of the guidance information;
Data defining at least the rotation direction and the amount of rotation of the joint mechanism for executing the first gesture, the first gesture data configured to match the axial configuration of the first arm unit Means for storing
A guidance control program for controlling a robot having
On the computer,
A process for determining whether to execute the first gesture by the first arm unit or the second arm unit based on the positional relationship and the moving direction of the arm unit in the first gesture. When,
When the second arm unit performs the first gesture, a process of reversing a mirror image of the first gesture data;
When the first arm unit executes the first gesture, a process of controlling the first arm unit based on the first gesture data;
When the second arm unit performs the first gesture, a process of controlling the second arm unit based on the first image data that is mirror-inverted;
Guide control program to execute The robot is data defining at least a rotation direction and a rotation amount of the joint mechanism for performing a second gesture that does not include an operation of pointing the target in accordance with the output of the guidance information, Means for storing second gesture data configured to conform to the axial configuration of the arm portion;
In the computer,
A process of setting an arm part opposite to the arm part for performing the first gesture as an arm part for performing the second gesture;
When the first arm unit performs the second gesture, a process of reversing a mirror image of the second gesture data;
A process of controlling the second arm unit based on the second gesture data when the second arm unit performs the second gesture;
When the first arm unit executes the second gesture, a process of controlling the first arm unit based on the mirror-inverted second gesture data;
The program for guidance control according to claim 9 which further executes. In the computer,
Processing for recognizing the positional relationship between the person, the object, and the robot existing in the area;
A process of bringing the robot close to the person or the object when the person and the object are within a predetermined distance;
A process of determining an arm unit that performs the first gesture based on a positional relationship between the target and the robot at the time of the approach;
The program for guidance control according to claim 9 or 10 which performs further. The first gesture is an operation of moving the arm portion outward;
The arm part closer to the object is an arm part that performs the first gesture.
The guidance program according to any one of claims 9 to 11.

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