JP2018121322A - Communication control method, communication controller, telepresence robot, and communication control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a communication control method capable of connecting a communication source communication device used by a user of the communication source, and a communication destination communication device appropriate for a communication destination user, among multiple communication destination communication devices, in a communicable manner, under an environment where multiple users of communication destination move.SOLUTION: A cloud server 3 receives user determination data and communication device identification information, transmitted from multiple telepresence robots 1a-1n, generates user identification information based on user determination data, stores vicinity information associating the user identification information and communication device identification information for identifying the communication destination communication device closest to a user, based on the user determination data and the communication device identification information, in a vicinity information DB35, and upon receiving a communication request command including the user identification information of the communication destination user from a communication device 4, connects a telepresence robot associated with the user identification information of the communication destination user and the communication device 4, in a communicable manner, with reference to the vicinity information DB35.SELECTED DRAWING: Figure 1

Description

  The present disclosure includes a communication source communication device used by a communication source user, a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user, a communication source communication device, and a plurality of communication A communication control method for a communication system including a communication control device for controlling communication of a destination communication device, the communication control device, a telepresence robot including the communication control device, and a communication control program for a computer functioning as the communication control device For example, the present invention relates to a telepresence that provides a communication source user with a sense of presence as if they are facing a remote communication destination user on the spot.

  In recent years, with the development of artificial intelligence, a communication source user has started communication such as conversation with a communication destination user using a robot. For example, in Patent Document 1, when a user A inputs a voice and a physical motion associated therewith to the robot, the robot creates a message including the voice and the physical motion, and the message is a message to the remote user C. Then, the communication system which transmits a message to the other robot of a remote place, and reproduces the audio | voice and body motion which are contained in the recorded message is disclosed. In this patent document 1, since not only voice but also body movement is reproduced, it is said that natural communication can be achieved through a robot.

JP 2004-230479 A

  However, in the above-described conventional technology, when a plurality of users move around or a plurality of robots move around in a remote place to be a communication destination, a conversation or the like is made to a user to be a communication destination among the plurality of users. No consideration has been given to how to determine a robot to send a message from among a plurality of robots. For this reason, in an environment where a plurality of communication destination users or the like move, further improvement is required for a method of determining a communication destination communication device used by a communication destination user among a plurality of communication destination communication devices. It was.

  The present disclosure has been made to solve the above-described problem. In an environment in which a plurality of communication destination users move, a communication source communication device used by a communication source user and a plurality of communication destination communication devices It is an object of the present invention to provide a communication control method, a communication control device, a telepresence robot, and a communication control program capable of communicably connecting to a communication destination communication device suitable for a communication destination user. .

  A communication control method according to an aspect of the present disclosure includes a communication source communication device used by a communication source user, a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user, and A communication control method for a communication system comprising a communication control device for controlling communication of the communication source communication device and the plurality of communication destination communication devices, wherein each of the plurality of communication destination communication devices User determination data for determining a user located in the vicinity of the device and communication device identification information for identifying the communication destination communication device are transmitted to the communication control device, and the communication control device stores a proximity information storage unit. The communication control device receives the user determination data and the communication device identification information from each of the plurality of communication destination communication devices, and is in the vicinity of the communication destination communication device based on the user determination data User identification information for identifying the user who is located and identifying the determined user is generated, and the user identification information and the user identified by the user identification information are identified based on the user determination data and the communication device identification information. Proximity information that associates communication device identification information that identifies the nearest communication destination communication device is created and stored in the proximity information storage unit, and the communication source communication device is configured to store the user identification information of the communication destination user. When the communication control command is received, the communication control device refers to the proximity information in the proximity information storage unit, and receives the communication request command. The communication destination communication device identified by the communication device identification information associated with the user identification information and the communication source communication device are communicably connected.

  According to the present disclosure, in an environment where a plurality of communication destination users move, a communication source communication device used by the communication source user and a communication destination suitable for the communication destination user among the plurality of communication destination communication devices. A communication device can be communicably connected.

2 is a block diagram illustrating an example of a configuration of a communication system according to Embodiment 1 of the present disclosure. FIG. It is a schematic diagram which shows an example of the utilization condition of the communication system shown in FIG. It is a sequence diagram which shows an example of the communication control process by the communication system shown in FIG. It is a schematic diagram for demonstrating an example of the management process of the vicinity information of the cloud server shown in FIG. It is a flowchart which shows an example of the neighborhood information update process by the cloud server shown in FIG. It is a figure which shows an example of neighborhood information in case the telepresence robot shown in FIG. 1 manages neighborhood information. It is a figure which shows an example of the neighborhood information after an update in case the telepresence robot shown in FIG. 1 manages neighborhood information. It is a flowchart which shows an example of the communication connection process by the cloud server shown in FIG. It is a block diagram which shows an example of a structure of the communication system which concerns on Embodiment 2 of this indication. It is a figure which shows an example of the communication history information memorize | stored in communication history DB shown in FIG. It is a sequence diagram which shows an example of the communication control process by the communication system shown in FIG. It is a block diagram which shows an example of a structure of the communication system which concerns on Embodiment 3 of this indication. It is a schematic diagram which shows an example of the arrangement | positioning state of the telepresence robot shown in FIG. It is a sequence diagram which shows an example of the communication control process by the communication system shown in FIG. It is a block diagram which shows an example of a structure of the communication system which concerns on Embodiment 4 of this indication. It is a schematic diagram which shows an example of the arrangement | positioning state of the telepresence robot shown in FIG. It is a sequence diagram which shows an example of the communication control process by the communication system shown in FIG.

(Knowledge that became the basis of this disclosure)
In recent years, the robot's ability to communicate with humans has improved day by day, and telepresence robots have been developed that incorporate videoconferencing technology, remote control technology, and the like into autonomous mobile robots. Telepresence robots have a presence that has never existed as a user of a communication source by walking in various places at remote locations or making calls with a communication destination user. It is possible to realize good communication while giving to people, and it has begun to spread in telecommuting, various events, offices, educational sites, etc.

  Here, in the communication system described in Patent Document 1, it is assumed that there are a plurality of communication robots in a remote place, and fixed destination information indicating which robot is connected to access a certain person is managed. ing. Therefore, the user of the communication source does not need to be aware of the location of the user who is the communication destination.

  However, in the communication system described in Patent Document 1, since the destination information is fixedly managed, the communication robot specified by the destination information may not be a communication robot suitable for the user as the communication destination. In other words, in the real world, both the user and the robot move around, so the robot that is fixedly assigned to the user that is the communication destination may be far away from the user that is the communication destination, and is fixedly assigned. A robot does not always remain an optimal robot that permanently accesses a user as a communication destination.

  Therefore, assuming an office environment in which a large number of telepresence robots and a large number of persons (users) coexist, if a person in a remote location wants to access a person in the environment, a large number of users move around, Since the telepresence robot moves around, it becomes a problem which one of the many telepresence robots is connected to which telepresence robot is most efficient.

  Here, when a person serving as a communication source accesses a person serving as a communication destination, in order to appropriately select a telepresence robot to be connected, it is necessary to continuously update the destination information described above.

  For example, a dialogue system (communication system) is constructed from a plurality of telepresence robots (destination communication devices), a communication source communication device, and a communication control device that manages neighborhood information and performs dialogue connection. , It makes it possible to grasp the neighborhood information of which telepresence robot is closest to the person to be communicated with. At this time, among the plurality of telepresence robots, the telepresence robot that has finally recognized the person to be communicated with by the video device (for example, camera) is stored in the database of nearby information as the telepresence robot that is most accessible to the person. sign up.

  In this way, the telepresence robot that last recognized the person to be the communication destination is updated as the telepresence robot that is most accessible to the person to be the communication destination, and the neighborhood information is sequentially updated. By determining the telepresence robot, it is possible to determine the telepresence robot closest to the person to be the communication destination as the communication destination communication device.

  Based on the above knowledge, the inventors of the present invention how to determine a communication destination communication device used by a user as a communication destination from among a plurality of communication destination communication devices in an environment where a plurality of communication destination users move. The present disclosure has been completed as a result of intensive studies as to whether it should be determined.

  A communication control method according to an aspect of the present disclosure includes a communication source communication device used by a communication source user, a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user, and A communication control method for a communication system comprising a communication control device for controlling communication of the communication source communication device and the plurality of communication destination communication devices, wherein each of the plurality of communication destination communication devices User determination data for determining a user located in the vicinity of the device and communication device identification information for identifying the communication destination communication device are transmitted to the communication control device, and the communication control device stores a proximity information storage unit. The communication control device receives the user determination data and the communication device identification information from each of the plurality of communication destination communication devices, and is in the vicinity of the communication destination communication device based on the user determination data User identification information for identifying the user who is located and identifying the determined user is generated, and the user identification information and the user identified by the user identification information are identified based on the user determination data and the communication device identification information. Proximity information that associates communication device identification information that identifies the nearest communication destination communication device is created and stored in the proximity information storage unit, and the communication source communication device is configured to store the user identification information of the communication destination user. When the communication control command is received, the communication control device refers to the proximity information in the proximity information storage unit, and receives the communication request command. The communication destination communication device identified by the communication device identification information associated with the user identification information and the communication source communication device are communicably connected.

  With such a configuration, each of the plurality of communication destination communication devices includes user determination data for determining a user located in the vicinity of the communication destination communication device, and communication device identification information for identifying the communication destination communication device. The communication control device receives the user determination data and the communication device identification information from each of the plurality of communication destination communication devices, and the user located in the vicinity of the communication destination communication device based on the user determination data And generating user identification information for identifying the determined user, and based on the user determination data and the communication device identification information, the user identification information and the communication destination closest to the user identified by the user identification information Proximity information that associates communication device identification information that identifies a communication device is created and stored in the proximity information storage unit. Therefore, the proximity information that associates the user identification information with the communication device identification information that identifies the communication destination communication device closest to the user identified by the user identification information is obtained from the plurality of communication destination communication devices as user determination data and Neighbor information that is updated sequentially in response to transmission of the communication device identification information and identifies the closest communication destination communication device for each user can be created.

  Here, when the communication source communication device transmits a communication request command including the user identification information of the user of the communication destination to the communication control device, the communication control device receives the communication request command, and the neighborhood information in the neighborhood information storage unit The communication destination communication device identified by the communication device identification information associated with the user identification information of the communication destination user and the communication source communication device are communicably connected. The communication source communication device used by the user and the communication destination communication device closest to the communication destination user can be communicably connected. As a result, in an environment where a plurality of communication destination users move, a communication source communication device used by the communication source user, and a communication destination communication device suitable for the communication destination user from among the plurality of communication destination communication devices, Can be connected in a communicable manner.

  Each of the plurality of communication destination communication devices transmits image data of a user located in the vicinity of the communication destination communication device and communication device identification information for identifying the communication destination communication device to the communication control device. The communication control device further includes, for each of a plurality of users, a reference data storage unit that stores reference face image data representing a face of the user in association with the user identification information for identifying the user. The communication control device receives the image data and the communication device identification information from each of the plurality of communication destination communication devices, extracts face image data representing a user's face from the image data, and the face image By comparing the data and a plurality of reference face image data stored in the reference data storage unit, a user included in the image data is determined, and the user before the determined user is determined. The user identification information associated with the reference face image data is read from the reference data storage unit and transmitted as the neighborhood information together with the user identification information with the latest acquisition time of the image data and the image data. The communication device identification information may be associated with and stored in the neighborhood information storage unit.

  With such a configuration, each of the plurality of communication destination communication devices controls communication of image data obtained by photographing a user located in the vicinity of the communication destination communication device and communication device identification information for identifying the communication destination communication device. The communication control device receives the image data and the communication device identification information from each of the plurality of communication destination communication devices, extracts the face image data representing the user's face from the image data, and transmits the face image data and the reference A user included in the image data is determined by comparing with a plurality of reference face image data stored in the data storage unit, and user identification information associated with the determined reference face image data of the user is used as a reference The user identification information that is read from the data storage unit and has the latest image data acquisition time and the communication device identification information that is transmitted together with the image data are paired as proximity information. Since it is stored in the proximity information storage unit, when the user can make a determination using the face image data extracted from the image data, it is close to the user identification information and communication device identification information with the latest acquisition time of the image data Information can be updated, and proximity information that identifies the closest communication destination communication device for each user can be created.

  The communication control device extracts a face image region representing a user's face from the face image data when the same user is determined from a plurality of image data transmitted from the plurality of communication destination communication devices within a predetermined period. Then, by comparing the face image data having the largest area of the face image region with the plurality of reference face image data, the user is determined from the face image data having the largest area of the face image region, and the determined user The user identification information associated with the reference face image data is read from the reference data storage unit, and the reference data storage unit for the face image data having the largest area of the face image region as the neighborhood information The communication apparatus for identifying the communication destination communication apparatus that has transmitted the user identification information read from the face image data and the face image data having the largest area of the face image area. It may be stored in the vicinity of the information storage unit in association with identification information.

  With such a configuration, when the same user is determined from a plurality of image data transmitted within a predetermined period from a plurality of communication destination communication devices, a face image region representing the user's face is extracted from the face image data, By comparing the face image data having the largest area of the face image area with the plurality of reference face image data, the user is determined from the face image data having the largest area of the face image area, and the determined reference face image data of the user User identification information associated with the user identification information read from the reference data storage unit for the face image data having the largest area of the face image region, and the face image region Since the communication device identification information for identifying the communication destination communication device that transmitted the face image data having the largest area is associated and stored in the neighborhood information storage unit, Even when a plurality of communication destination communication devices detect the same user, the communication destination communication device that has transmitted the face image data having the largest face image area, that is, the one communication destination communication device closest to the user is specified. Neighbor information can be created.

  When a plurality of users are determined from the image data, the communication control device extracts face image data representing each face of the plurality of users, and each of the face image data and the plurality of reference face image data To determine a plurality of users included in the image data, and read a plurality of user identification information associated with the determined reference face image data of the plurality of users from the reference data storage unit For each of the plurality of users, as the proximity information, the user identification information with the latest acquisition time of the image data is associated with the communication device identification information transmitted together with the image data in the vicinity. You may make it memorize | store in an information storage part.

  With such a configuration, when a plurality of users are determined from the image data of one communication control device, face image data representing each face of the plurality of users is extracted, and each of the face image data and a plurality of reference faces are extracted. A plurality of users included in the image data are determined by comparing with the image data, and a plurality of user identification information associated with the determined reference face image data of the plurality of users is read from the reference data storage unit, For each of a plurality of users, as neighborhood information, user identification information with the latest image data acquisition time and communication device identification information transmitted together with the image data are stored in the neighborhood information storage unit in association with each other. Therefore, even when there are a plurality of users around one communication control device, it is possible to create neighborhood information that identifies the closest communication destination communication device for each user.

  Each of the plurality of communication destination communication devices includes voice data obtained by collecting a voice of a user located in the vicinity of the communication destination communication device, and communication device identification information for identifying the communication destination communication device. And the communication control device stores, for each of a plurality of users, reference voice data representing the voice of the user and the user identification information for identifying the user in association with each other. The communication control device receives the voice data and the communication device identification information from each of the plurality of communication destination communication devices, and stores a plurality of references stored in the voice data and the reference data storage unit. The user who made the sound is determined by comparing with the sound data, and the user identification information associated with the reference sound data of the determined user is used as the base. Read from the data storage unit, and store the user identification information with the latest acquisition time of the voice data and the communication device identification information transmitted together with the voice data in the vicinity information storage unit as the vicinity information in association with each other You may make it do.

  With such a configuration, each of the plurality of communication destination communication devices includes voice data obtained by collecting user's voice located in the vicinity of the communication destination communication device, and communication device identification information for identifying the communication destination communication device. The communication control device receives the voice data and the communication device identification information from each of the plurality of communication destination communication devices, and the plurality of reference voice data stored in the voice data and the reference data storage unit And the user identification information associated with the determined reference voice data of the determined user is read from the reference data storage unit, and the acquisition time of the voice data is determined as the neighborhood information. Since the latest user identification information and the communication device identification information transmitted together with the voice data are stored in the neighborhood information storage unit in association with each other, the voice data is used. When the user can determine, the neighborhood information can be updated to the user identification information and the communication device identification information with the newest acquisition time of the voice data, and the neighborhood information specifying the nearest communication destination communication device for each user is obtained. Can be created.

  When the same user is determined from a plurality of audio data transmitted from the plurality of communication destination communication devices within a predetermined period, the communication control device uses the audio data to transmit the audio data to the communication destination communication device. Sound source position is detected, and the sound source position closest to the communication destination communication apparatus is compared with the plurality of reference sound data, so that the sound source position is the closest to the communication destination communication apparatus. A user is determined, and the user identification information associated with the determined reference voice data of the determined user is read from the reference data storage unit, and the sound source position closest to the communication destination communication device is used as the proximity information. The user identification information read from the reference data storage unit with respect to the data, and the audio data whose sound source position is closest to the communication destination communication device. It may be stored in the vicinity of the information storage unit in association with the communication device identification information for identifying the communication destination communication apparatus that has transmitted the data.

  With such a configuration, when the same user is determined from a plurality of audio data transmitted from a plurality of communication destination communication devices within a predetermined period, the sound source position of the audio data with respect to the communication destination communication device is determined using the audio data. By detecting and comparing the sound data whose sound source position is closest to the communication destination communication apparatus and a plurality of reference sound data, the user of the sound data whose sound source position is closest to the communication destination communication apparatus is determined, and the determined user's User identification information associated with the reference voice data is read from the reference data storage unit, and as the proximity information, the user identification information read from the reference data storage unit with respect to the voice data whose sound source position is closest to the communication destination communication device; The communication source identification information for identifying the communication destination communication device that transmitted the sound data whose sound source position is closest to the communication destination communication device is associated with the proximity information. Since it is stored in the storage unit, even when a plurality of communication destination communication devices detect the same user, the communication destination communication device that has transmitted the sound with the closest sound source position, that is, the one communication destination communication closest to the user Neighbor information that identifies the device can be created.

  Each of the plurality of communication destination communication devices receives a beacon signal including user identification information for identifying the user from a transmitter possessed by the user located in the vicinity of the communication destination communication device, and the radio wave of the received beacon signal Strength information indicating strength, the user identification information, and communication device identification information for identifying the communication destination communication device are transmitted to the communication control device, and the communication control device transmits each of the plurality of communication destination communication devices. The strength information, the user identification information, and the communication device identification information are received from the user identification information and the communication device identification information transmitted together with the strength information having the highest radio wave strength of the beacon signal as the neighborhood information. May be stored in the neighborhood information storage unit.

  With such a configuration, each of the plurality of communication destination communication devices receives and receives a beacon signal including user identification information for identifying the user from a transmitter owned by a user located in the vicinity of the communication destination communication device. The communication control device transmits strength information indicating the radio field strength of the beacon signal, the received user identification information, and communication device identification information for identifying the communication destination communication device to the communication control device. Intensity information, user identification information and communication device identification information are received from each of the devices, and as the neighborhood information, the user identification information and the communication device identification information transmitted together with the strength information with the highest radio wave intensity of the beacon signal are stored in the neighborhood information storage unit Stored in the communication destination communication device that transmitted the strength information with the highest radio field strength of the beacon signal, that is, the communication destination closest to the user. It is possible to create a neighbor information for identifying the device for each user.

  Each of the plurality of communication destination communication devices is configured to be movable, the communication control device further includes a communication history storage unit, and the communication control device includes the communication source communication device and the communication destination communication device. As the communication history information, the user identification information for identifying the user of the communication destination that has communicated using the communication destination communication device, and time information indicating the time at which the user of the communication destination has used the communication destination communication device. The communication history is stored in the communication history storage unit, the communication history information in the communication history storage unit is referred to, the communication destination user whose communication frequency is higher than a predetermined value is specified, and the specified communication destination At least one of the plurality of communication destination communication devices may be arranged near the user.

  With such a configuration, as communication history information between the communication source communication device and the communication destination communication device, user identification information for identifying a communication destination user who has communicated using the communication destination communication device, and the communication destination user can communicate with the communication destination. Time information indicating the time when the communication device is used is associated and stored in the communication history storage unit, and the communication history information in the communication history storage unit is referenced to identify a communication destination user whose communication frequency is higher than a predetermined value. Since at least one of the plurality of communication destination communication devices is arranged in the vicinity of the specified communication destination user, the communication destination user that is frequently accessed uses a communication destination communication device located in the vicinity. Thus, communication with the communication source communication device can be easily performed.

  The communication control device refers to the communication history information in the communication history storage unit, identifies a time zone in which the communication frequency of the communication destination user is higher than a predetermined value, and includes the communication destination user in the time zone. At least one of the plurality of communication destination communication devices may be arranged in the vicinity.

  With such a configuration, referring to the communication history information in the communication history storage unit, a time zone in which the communication frequency of the communication destination user is higher than a predetermined value is specified, and a plurality of times are set near the communication destination user in the specified time zone Since at least one of the communication destination communication devices is arranged, a communication destination user who is frequently accessed uses a communication destination communication device located in the vicinity in a time zone where frequent access is performed. Communication with the communication source communication device can be easily performed.

  The communication destination user includes a plurality of communication destination users, each of the plurality of communication destination communication devices is configured to be movable, and the communication control device is configured to position each of the plurality of communication destination users. User position information indicating the position of each of the plurality of communication destination communication devices, and the plurality of communication destination communication devices are acquired based on the user position information and the device position information. The plurality of communication destination communication devices may be moved so as to be distributed to the communication destination users.

  With such a configuration, user position information indicating the position of each of a plurality of communication destination users and apparatus position information indicating the position of each of a plurality of communication destination communication apparatuses are acquired, and the acquired user position information and apparatus position information are acquired. Since the plurality of communication destination communication devices are moved so that the plurality of communication destination communication devices are distributed with respect to the plurality of communication destination users, each of the plurality of communication destination users By using the communication destination communication device located closest, communication with the communication source communication device can be easily performed, and a plurality of communication destination communication devices can be used efficiently.

  In the communication control device, an uncommunication device that is not communicating with the communication source communication device among the plurality of communication destination communication devices is not communicating with the communication source communication device among the plurality of communication destination users. You may make it move the said non-communication apparatus so that it may be distributed with respect to a user.

  With this configuration, an uncommunication device that is not communicating with a communication source communication device among a plurality of communication destination communication devices is a non-communication user that is not communicating with a communication source communication device among a plurality of communication destination users. Since the non-communication device is moved so as to be distributed, the non-communication user can easily communicate with the communication source communication device by using the communication destination communication device located closest to the non-communication user. The non-communication device can be used efficiently.

  Each of the plurality of communication destination communication devices includes a telepresence robot for transmitting a message of the communication source user to the communication destination user, and the telepresence robot includes the user determination data and the communication device identification. You may make it provide the communication part which transmits information to the said communication control apparatus, the autonomous movement part for autonomously moving, and the presentation part which presents the said communication origin user's message to the said communication destination user.

  With such a configuration, in an environment where a plurality of telepresence robots move as well as a plurality of users, a communication source communication device used by a communication source user and a communication destination user among the plurality of telepresence robots. Can be connected to a telepresence robot closest to the device.

  A communication control method according to another aspect of the present disclosure includes a communication source communication device used by a communication source user, and a plurality of communication destinations that can be used by the communication destination user to communicate with the communication source user. A communication control method for a communication system, comprising: a communication device; and a communication control device that controls communication between the communication source communication device and the plurality of communication destination communication devices, wherein each of the plurality of communication destination communication devices is a mobile device. The communication control device includes a communication history storage unit, and the communication control device uses the communication destination communication device as communication history information between the communication source communication device and the communication destination communication device. User identification information for identifying the communication destination user who communicated and time information indicating the time when the communication destination user used the communication destination communication device are associated with each other and stored in the communication history storage unit, and the communication Wear Referring to the communication history information in the storage unit, the communication destination user whose communication frequency is higher than a predetermined value is specified, and at least one of the plurality of communication destination communication devices in the vicinity of the specified communication destination user Place.

  With such a configuration, as communication history information between the communication source communication device and the communication destination communication device, user identification information for identifying a communication destination user who has communicated using the communication destination communication device, and the communication destination user can communicate with the communication destination. Time information indicating the time when the communication device is used is associated and stored in the communication history storage unit, and the communication history information in the communication history storage unit is referenced to identify a communication destination user whose communication frequency is higher than a predetermined value. Since at least one of the plurality of communication destination communication devices is arranged in the vicinity of the specified communication destination user, the communication destination user that is frequently accessed uses a communication destination communication device located in the vicinity. Thus, communication with the communication source communication device can be easily performed.

  A communication control method according to another aspect of the present disclosure includes a communication source communication device used by a communication source user, and a plurality of communication destinations that can be used by the communication destination user to communicate with the communication source user. A communication control method for a communication system, comprising: a communication device; and a communication control device that controls communication of the communication source communication device and the plurality of communication destination communication devices, wherein the communication destination user Each of the plurality of communication destination communication devices includes a user, and the communication control device includes user position information indicating a position of each of the plurality of communication destination users and the plurality of communication destination communication. Device location information indicating each location of the device is acquired, and the plurality of communication destination communication devices are distributed to the plurality of communication destination users based on the user location information and the device location information. As Serial moving the plurality of communication destination communication device.

  With such a configuration, user position information indicating the position of each of a plurality of communication destination users and apparatus position information indicating the position of each of a plurality of communication destination communication apparatuses are acquired, and the acquired user position information and apparatus position information are acquired. Since the plurality of communication destination communication devices are moved so that the plurality of communication destination communication devices are distributed with respect to the plurality of communication destination users, each of the plurality of communication destination users By using the communication destination communication device located closest, communication with the communication source communication device can be easily performed, and a plurality of communication destination communication devices can be used efficiently.

  In addition, the present disclosure can be realized not only as a communication control method that executes the above-described characteristic processing, but also communication control including a characteristic configuration corresponding to the characteristic processing included in the communication control method. It can also be realized as a device. The telepresence robot may include some or all of the components of the communication control device of the present disclosure. Furthermore, the present invention can also be realized as a computer program that causes a computer to execute characteristic processing included in the communication control method of the present disclosure. Therefore, also in the following other aspects, the same effect as the above communication control method can be obtained.

  A communication control device according to another aspect of the present disclosure includes a communication source communication device used by a communication source user and a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user. A communication control device for controlling communication with the communication destination communication device, wherein user determination data for determining a user located in the vicinity of the communication destination communication device from each of the plurality of communication destination communication devices, and the communication destination communication device A communication unit that receives the communication device identification information for identifying the user, and a determination for determining a user located in the vicinity of the communication destination communication device based on the user determination data and generating user identification information for identifying the determined user Communication device for identifying a communication destination communication device closest to the user identified by the user identification information and the user identification information based on the user identification data and the communication device identification information. A management unit that creates neighborhood information in association with identification information; a neighborhood information storage unit that stores the neighborhood information; and a communication request command that includes the user identification information of the communication destination user from the communication source communication device. The communication destination identified by the communication device identification information associated with the user identification information of the user of the communication destination with reference to the proximity information of the proximity information storage unit when received by the communication unit A connection unit configured to connect the communication device and the communication source communication device in a communicable manner.

  Further, a communication control device according to another aspect of the present disclosure is configured to be movable with a communication source communication device used by a communication source user, and used for a communication destination user to communicate with the communication source user. A communication control device that controls communication with a plurality of possible communication destination communication devices, wherein communication is performed using the communication destination communication device as communication history information between the communication source communication device and the communication destination communication device. A communication history storage unit for storing user identification information for identifying a communication destination user and time information indicating a time when the communication destination user uses the communication destination communication device in association with each other; and Referring to the communication history information, a communication history analysis unit that identifies a user of the communication destination whose communication frequency is higher than a predetermined value, and at least of the plurality of communication destination communication devices in the vicinity of the identified user of the communication destination And a position control unit to place the One.

  In addition, a communication control device according to another aspect of the present disclosure is configured to be movable with a communication source communication device used by a communication source user, and a plurality of communication destination users communicate with the communication source user. A communication control device that controls communication with a plurality of communication destination communication devices that can be used for each of the plurality of communication destination communication devices, and user position information indicating a position of each of the plurality of communication destination users and each of the plurality of communication destination communication devices The plurality of communication destination communication devices are distributed to the plurality of communication destination users based on the acquisition unit that acquires the device position information indicating the position, the user position information, and the device position information. A position management unit that moves the plurality of communication destination communication devices.

  A telepresence robot according to another aspect of the present disclosure is a telepresence robot for transmitting a communication source user message to a communication destination user, and the communication control device described above and an autonomous movement unit for autonomous movement And a presentation unit that presents the message of the communication source user to the user of the communication destination.

  The communication unit may transmit the updated neighborhood information to another telepresence robot when the neighborhood information stored in the neighborhood information storage unit is updated.

  With this configuration, when the neighborhood information stored in the neighborhood information storage unit is updated, the updated neighborhood information is transmitted to other telepresence robots, so that multiple telepresence robots have the same neighborhood information. Can be managed.

  A communication control program according to another aspect of the present disclosure includes a communication source communication device used by a communication source user and a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user. A communication control program for causing a computer to function as a communication control device that controls communication with a user, the computer being located in the vicinity of the communication destination communication device from each of the plurality of communication destination communication devices Receiving user determination data and communication device identification information for identifying the communication destination communication device, determining a user located in the vicinity of the communication destination communication device based on the user determination data, and determining And generating user identification information for identifying the user, and based on the user determination data and the communication device identification information, the user identification information and the user identification information The proximity information associated with the communication device identification information that identifies the communication destination communication device closest to the user identified is created and stored in the proximity information storage unit, and the communication source user's communication destination user When the communication request command including the user identification information is received, the communication device identification information associated with the user identification information of the user of the communication destination is referred to with reference to the proximity information in the proximity information storage unit A process of connecting the identified communication destination communication device and the communication source communication device to be communicable is executed.

  A communication control program according to another aspect of the present disclosure is configured to be movable with a communication source communication device used by a communication source user, and used for a communication destination user to communicate with the communication source user. A communication control program for causing a computer to function as a communication control device that controls communication with a plurality of communication destination communication devices capable of communicating between the communication source communication device and the communication destination communication device. As the history information, user identification information for identifying a user of the communication destination that has communicated using the communication destination communication device is associated with time information indicating a time at which the user of the communication destination has used the communication destination communication device. The communication history storage unit, and by referring to the communication history information in the communication history storage unit, the communication destination user whose communication frequency is higher than a predetermined value is specified, and the specified Positioning at least one of the plurality of communication destination communication device in the vicinity of the signal destination user, to execute the process.

  A communication control program according to another aspect of the present disclosure is configured to be movable with a communication source communication device used by a communication source user, and a plurality of communication destination users communicate with the communication source user. A communication control program for causing a computer to function as a communication control device that controls communication with a plurality of communication destination communication devices that can be used in a computer, wherein each position of the plurality of communication destination users is placed on the computer. User position information to be displayed and device position information indicating the position of each of the plurality of communication destination communication devices are acquired, and the plurality of communication destination communication devices are configured to perform communication based on the user position information and the device position information. A process of moving the plurality of communication destination communication devices so as to be distributed with respect to the previous user is executed.

  Needless to say, such a computer program can be distributed via a computer-readable non-transitory recording medium such as a CD-ROM or a communication network such as the Internet.

  Note that each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements. In all the embodiments, the contents can be combined.

  Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a block diagram illustrating an example of a configuration of a communication system according to Embodiment 1 of the present disclosure. The communication system shown in FIG. 1 includes a plurality of telepresence robots 1a to 1n (hereinafter also referred to as telepresence robot 1), a cloud server 3, and a communication device 4.

  The telepresence robot 1 is an example of a plurality of communication destination communication devices that are arranged in a remote office or the like away from a communication source user and can be used by the communication destination user to communicate with the communication source user. The telepresence robot 1 is an autonomous mobile robot incorporating video conference technology, remote operation technology, and the like. As a part of a communication source user, the telepresence robot 1 moves in various places in a remote place or communicates with a communication destination user. The communication source user's message is transmitted to the communication destination user.

  Note that the communication destination communication device is not particularly limited to the telepresence robot described above, and can be variously modified. For example, a fixed communication robot that does not autonomously run, a personal computer installed in a predetermined location, and artificial intelligence Other communication-destination communication devices such as an on-board speaker and an automobile that can run autonomously without a human being performing a driving operation may be used.

  The cloud server 3 includes, for example, a processor, a memory, a communication device, an external storage device, and the like, and is connected to the plurality of telepresence robots 1a to 1n and the communication device 4 via a wired or wireless communication line (not shown). It is connected so that it can communicate. The cloud server 3 is an example of a communication control device that controls communication between the communication device 4 and the plurality of telepresence robots 1a to 1n. The communication control device is not particularly limited to the cloud server 3, and the telepresence robot executes the function of the cloud server 3, or executes the function of the cloud server 3 using a communication terminal such as a smartphone, a tablet, or a personal computer. Various changes, such as, are possible.

  The communication device 4 is an example of a communication source communication device that is composed of, for example, a tablet and is used in a remote office or the like away from a communication destination user and used by a communication source user. Note that the communication device 4 is not particularly limited to the above example, and uses a plurality of communication devices, other communication terminals such as a smartphone and a personal computer, or a telepresence configured similarly to the telepresence robot 1. Various modifications such as using a robot are possible.

  FIG. 2 is a schematic diagram illustrating an example of a usage state of the communication system illustrated in FIG. 1. For example, it is assumed that a user S1 in an office in Tokyo wants to telepresence to a user R1 in an office in Osaka using the communication device 4.

  As shown in FIG. 2, the office in Osaka includes not only the user R1 but also many other users R2 to R6, and a plurality of telepresence robots 1a to 1d are in a standby state, and the users R1 to R6 are in a standby state. The telepresence robots 1a to 1d are moving as appropriate. Further, the plurality of telepresence robots 1a to 1d connect a substantially columnar autonomous moving unit for autonomous movement, a tablet-like presenting unit for performing telepresence to the user, and an autonomous moving unit and the presenting unit. It is comprised from the connection part etc. which do.

  Here, in the example shown in FIG. 2, the telepresence robot closest to the user R1 is the telepresence robot 1d, and the cloud server 3 communicates with the communication device 4 and the telepresence robot 1d through communication control processing described later. Connect as possible. The telepresence robot 1d searches for the user R1 and runs by itself, or moves based on the input of the user S1, and approaches the user R1. In this state, the user S1 in the Tokyo office sends a message or the like input by using the communication device 4 to the telepresence robot 1d, and the telepresence robot 1d sends the user R1 in the Osaka office to the user in the Tokyo office. Tell S1's message etc.

  Referring again to FIG. 1, the telepresence robot 1 includes a camera 11, a video acquisition unit 12, a microphone 13, a voice acquisition unit 14, a touch panel 15, an operation information acquisition unit 16, a communication unit 17, a drive control unit 18, and a motor. 19, a video playback unit 20, a display 21, an audio playback unit 22, and a speaker 23. The cloud server 3 includes a communication unit 31, a person determination unit 32, a user DB (database) 33, a neighborhood information management unit 34, a neighborhood information DB (database) 35, a time information acquisition unit 36, and a dialog connection processing unit 37. The communication device 4 includes a communication unit 41, an operation unit 42, a display unit 43, and a photographing unit 44.

  The camera 11 of the telepresence robot 1 is composed of, for example, an omnidirectional camera capable of acquiring omnidirectional images, and images all users located in the vicinity of the telepresence robot 1 at regular intervals or at predetermined intervals. The captured image data is output to the video acquisition unit 12 as user determination data for determining a user located in the vicinity of. The camera 11 is not particularly limited to the above example, and various modifications such as using a photographing device that acquires an image in all directions while moving a camera capable of photographing in one direction are possible.

  The video acquisition unit 12 outputs the image data acquired from the camera 11 to the communication unit 17. Specifically, when the telepresence robot 1 is performing a telepresence operation, the video acquisition unit 12 outputs image data obtained by photographing a communication destination user who is a target of the telepresence operation to the communication unit 17 for communication. The unit 17 outputs image data obtained by photographing the communication destination user to the cloud server 3.

  In addition, when the telepresence robot 1 is not performing the telepresence operation, is in a standby state, and is moving as appropriate, the video acquisition unit 12 displays the omnidirectional image data of the telepresence robot 1 (the telepresence robot 1 Neighboring image data obtained by photographing the neighborhood within a range of 360 degrees) and robot identification information (communication device identification information) for identifying the telepresence robot 1 stored in advance in an internal memory (not shown) in the communication unit 17. Output. The communication unit 17 outputs the neighborhood image data and the robot identification information to the cloud server 3.

  The camera 11 and the video acquisition unit 12 are not particularly limited to the above example, and various modifications are possible. For example, when other data is used as the user determination data, functions necessary for the telepresence operation A camera having only the above and a video acquisition unit may be used.

  The microphone 13 is composed of, for example, two or more omnidirectional microphones, collects all user sounds located in the vicinity of the telepresence robot 1 at regular intervals or at a predetermined interval, and is located in the vicinity of the telepresence robot 1. The collected sound data is output to the sound acquisition unit 14 as user determination data for determining the user to perform.

  The voice acquisition unit 14 outputs the voice data acquired from the microphone 13 to the communication unit 17. Specifically, when the telepresence robot 1 is performing the telepresence operation, the voice acquisition unit 14 outputs the voice data obtained by collecting the voice of the communication destination user who is the target of the telepresence operation to the communication unit 17. Then, the communication unit 17 outputs the voice data obtained by collecting the voices of the communication destination users to the cloud server 3.

  Further, when the telepresence robot 1 is not performing the telepresence operation, is in a standby state, moves as appropriate, and uses the voice data as user determination data, the voice acquisition unit 14 is omnidirectional in the telepresence robot 1. Voice data (neighboring sound collection data obtained by collecting the vicinity of the telepresence robot 1 within a range of 360 degrees) and robot identification information (communication) for identifying the telepresence robot 1 stored in advance in an internal memory (not shown) Device identification information) is output to the communication unit 17. The communication unit 17 outputs the nearby voice data and the robot identification information to the cloud server 3.

  Note that the microphone 13 and the voice acquisition unit 14 are not particularly limited to the above example, and various modifications are possible. For example, when other data is used as the user determination data, a function necessary for the telepresence operation is used. You may use the microphone and audio | voice acquisition part which have only.

  When the telepresence robot 1 performs a telepresence operation, the touch panel 15 is used for a communication destination user to input various operation information and the like, and outputs various operation information and the like to the operation information acquisition unit 16.

  The operation information acquisition unit 16 outputs the operation information acquired from the touch panel 15 to the communication unit 17. Specifically, when the telepresence robot 1 is performing a telepresence operation, the operation information acquisition unit 16 transmits operation information related to the telepresence operation via the communication unit 17 to the drive control unit 18, the video reproduction unit 20, The telepresence robot 1 performs a telepresence operation corresponding to the operation information.

  When the telepresence robot 1 is used as a communication source communication device (for example, the communication device 4) used by the communication source user, the operation information acquisition unit 16 functions as a connection request acquisition unit, and the communication source user. When the communication request including the user identification information of the communication destination user is input using the touch panel 15, the operation information acquisition unit 16 creates a communication request command including the user identification information of the communication destination user and sends it to the communication unit 17. The communication unit 17 outputs the communication request command to the cloud server 3.

  The drive control unit 18 controls the rotation of the motor 19. The motor 19 drives drive wheels (not shown) according to the control of the drive control unit 18 to move or stop the telepresence robot 1. The drive control unit 18 and the motor 19 correspond to an example of an autonomous moving unit for autonomously moving the telepresence robot.

  The video reproduction unit 20 outputs a video signal obtained by reproducing the video data of the communication source user acquired from the communication device 4 or the cloud server 3 via the communication unit 17 to the display 21. The display 21 displays an image of the communication source user. The video reproduction unit 20 and the display 21 correspond to an example of a presentation unit that presents a communication source user's message to the communication destination user.

  The audio reproduction unit 22 outputs an audio signal obtained by reproducing the audio data of the communication source user acquired from the communication device 4 or the cloud server 3 via the communication unit 17 to the speaker 23. The speaker 23 reproduces the voice of the communication source user. The audio reproduction unit 22 and the speaker 23 correspond to an example of a presentation unit that presents a communication source user message to the communication destination user.

  The communication unit 31 of the cloud server 3 communicates with the plurality of telepresence robots 1 a to 1 n and the communication device 4. For example, the communication unit 31 receives the nearby image data and the robot identification information transmitted from the plurality of telepresence robots 1a to 1n, outputs the nearby image data to the person determination unit 32, and receives the nearby image data and the robot identification information. The information is output to the neighborhood information management unit 34.

  For each of a plurality of users (for example, all users in the Osaka office shown in FIG. 2), the user DB 33 includes reference face image data representing the user's face, and user identification information for identifying the user. Are associated with each other and stored in advance.

  The person determination unit 32 extracts face image data representing the user's face from the nearby image data, and compares the face image data with a plurality of reference face image data stored in the user DB 33 to obtain the nearby image data. The user included is determined, the user identification information associated with the determined reference face image data of the user is read from the user DB 33, and the user identification information of the user determined as a person is output to the proximity information management unit.

  The neighborhood information management unit 34 acquires the acquisition time of the neighborhood image data as the final discovery time from the time information acquisition unit 36, the final discovery time, the user identification information output from the person determination unit 32, and the user identification information The robot identification information transmitted together with the neighborhood image data used for creation is associated with each other and stored in the neighborhood information DB 35 as neighborhood information. Therefore, since the neighborhood information DB 35 stores, as the neighborhood information, the user identification information with the latest acquisition time of the neighborhood image data and the robot identification information transmitted together with the neighborhood image data in association with each other. The user identification information of the user and the robot identification information for identifying the telepresence robot 1 closest to the user are stored together with the last discovery time.

  Further, the neighborhood information management unit 34 determines whether or not the same user has been identified from a plurality of neighborhood image data transmitted from a plurality of telepresence robots 1a to 1n within a predetermined period (for example, substantially the same time). To do. Specifically, the proximity information management unit 34 is notified of a plurality of pieces of user identification information of the same user within a predetermined period from the person determination unit 32, and the robot identification information corresponding to each user identification information is different. When the same user is determined from a plurality of neighboring image data transmitted from the presence robots 1a to 1n within a predetermined period, the person determination unit 32 is instructed to perform person determination again.

  The person determination unit 32 extracts a face image area representing the user's face from all face image data of the same user, and compares the face image data having the largest area of the face image area with a plurality of reference face image data. Thus, the user is determined from the face image data having the largest area of the face image region, and the user identification information associated with the determined reference face image data of the user is read from the user DB 33 and output to the proximity information management unit 34. To do. Here, various methods can be used for the face image region extraction processing. For example, the person determination unit 32 has W as the width of a rectangle circumscribing the face from the face image data and H as the height. By comparing the areas W × H, the face image data having the largest area of the face image region can be determined.

  The neighborhood information management unit 34 obtains the acquisition time of the neighborhood image data obtained by extracting the face image data having the largest area of the face image area from the time information acquisition unit 36 as the last discovery time, and obtains the last discovery time and the person determination unit 32. The user identification information for the face image data having the largest area of the face image area output from the user is associated with the one robot identification information transmitted together with the neighboring image data used to create the user identification information. And stored in the neighborhood information DB 35 as neighborhood information.

  Therefore, when the same user is determined from a plurality of neighborhood image data transmitted from the telepresence robots 1a to 1n within a predetermined period, the neighborhood information DB 35 stores the face having the largest area of the face image region as the neighborhood information. Since one piece of user identification information for image data and one piece of robot identification information transmitted together with the neighborhood image data used to create the user identification information are stored in association with each other, User identification information and one robot identification information for identifying the telepresence robot 1 closest to the user are stored together with the last discovery time.

  In addition, when a plurality of users are determined from one neighboring image data, the person determination unit 32 extracts face image data representing each face of the plurality of users, and each of the face image data and a plurality of reference face images A plurality of users included in the image data in the vicinity are determined by comparing with the data, and a plurality of user identification information associated with the determined reference face image data of the plurality of users is read from the user DB 33 and the vicinity The data is output to the information management unit 34.

  The neighborhood information management unit 34 obtains the above-mentioned neighborhood image data acquisition time as the last discovery time from the time information acquisition unit 36 and outputs the last discovery time and the person determination unit 32 to each of a plurality of users. The proximity information DB 35 stores a plurality of pieces of neighborhood information in which the user identification information is associated with the robot identification information transmitted together with the neighborhood image data used to create the user identification information. Therefore, in the neighborhood information DB 35, for each of a plurality of users, as the neighborhood information, the user identification information with the latest acquisition time of the neighborhood image data is associated with the robot identification information transmitted together with the neighborhood image data. Since it is stored, the user identification information of a plurality of users determined as persons and the robot identification information for identifying the telepresence robot 1 closest to each user are stored together with the last discovery time.

  Moreover, when using said audio | voice data as user determination data, user DB33 represents the said user's audio | voice with respect to each of several users (for example, all the users in the office of Osaka shown in FIG. 2). The reference voice data and user identification information for identifying the user may be stored in advance in association with each other. In this case, the person determination unit 32 compares the voice data received via the communication unit 31 with a plurality of reference voice data stored in the user DB 33 (for example, by speaker verification using a voice print). The user who made the voice is determined, the user identification information associated with the determined reference voice data of the user is read out from the user DB 33, and the user identification information of the user determined as a person is output to the neighborhood information management unit 34. .

  The neighborhood information management unit 34 acquires the acquisition time of the voice data from the time information acquisition unit 36 as the last discovery time, creates the final discovery time, the user identification information output from the person determination unit 32, and the user identification information. The robot identification information transmitted together with the voice data used in the above is associated with each other and stored in the neighborhood information DB 35 as neighborhood information. Therefore, the neighborhood information DB 35 stores, as the neighborhood information, the user identification information with the latest acquisition time of the voice data and the robot identification information transmitted together with the voice data in association with each other. User identification information and robot identification information for identifying the telepresence robot 1 closest to the user are stored together with the last discovery time.

  In addition, the neighborhood information management unit 34 determines whether or not the same user has been identified from voice data transmitted from a plurality of telepresence robots 1a to 1n within a predetermined period (for example, substantially the same time). May be. The proximity information management unit 34 is notified of a plurality of user identification information of the same user within a predetermined period from the person determination unit 32, and the robot identification information corresponding to each user identification information is different, that is, the telepresence robots 1a to 1n. When the same user is determined from a plurality of audio data transmitted within a predetermined period of time, the person determination unit 32 is instructed to perform person determination again.

  The person determination unit 32 detects the sound source position of each sound data with respect to the telepresence robot 1 using all the sound data determined by the same user, and the sound data whose sound source position is closest to the telepresence robot 1 and a plurality of sound data. By comparing with the reference voice data, the user of the voice data whose sound source position is closest to the telepresence robot 1 is determined, and the user identification information associated with the determined reference voice data of the user is read from the user DB 33. The information is output to the neighborhood information management unit 34. Here, various methods can be used for the process of estimating the sound source position using a plurality of microphones, for example, utilizing the time difference required for the arrival of sound waves between a plurality of acquired sound data. A TDOA (Time Difference Of Arrival) method or the like can be used.

  The proximity information management unit 34 acquires the acquisition time of the voice data whose sound source position is closest to the telepresence robot 1 as the final discovery time from the time information acquisition unit 36, and outputs the final discovery time and the person determination unit 32. One user identification information for the voice data whose sound source position is closest to the telepresence robot 1 and one robot identification information transmitted together with the voice data used to create the user identification information are associated with each other as neighborhood information. Store in the information DB 35.

  Therefore, when the same user is determined from a plurality of audio data transmitted within a predetermined period from the telepresence robots 1a to 1n, the sound source position is closest to the telepresence robot 1 as the proximity information in the proximity information DB 35. One user identification information for voice data and one robot identification information transmitted together with the voice data used to create the user identification information are stored in association with each other. The identification information and one robot identification information for identifying the telepresence robot 1 closest to the user are stored together with the last discovery time.

  The user determination data is not particularly limited to the above example, and other data may be used as long as the telepresence robot 1 closest to the user can be specified. For example, each communication unit 17 of the plurality of telepresence robots 1a to 1n receives a beacon signal including user identification information for identifying the user from a transmitter (not shown) owned by the user located in the vicinity of the telepresence robot 1a to 1n. In addition, intensity information indicating the radio field intensity of the received beacon signal, user identification information, and robot identification information for identifying the telepresence robot may be transmitted to the cloud server 3.

  In this case, the communication unit 31 of the cloud server 3 receives strength information, user identification information, and robot identification information from each of the plurality of telepresence robots 1a to 1n. The proximity information management unit 34 acquires the acquisition time of the user identification information and the robot identification information transmitted together with the strength information with the highest radio wave intensity of the beacon signal from the time information acquisition unit 36 as the final discovery time, The intensity information with the highest radio wave intensity of the beacon signal, the user identification information, and the robot identification information are associated with each other and stored in the vicinity information DB 35 as the vicinity information.

  Therefore, in the neighborhood information DB 35, as the neighborhood information, the user identification information having the latest acquisition time such as the strength information with the highest radio wave intensity of the beacon signal is associated with the robot identification information transmitted together with the user identification information. Since it is stored, the user identification information of the user who is determined to be a person and the robot identification information for identifying the telepresence robot 1 closest to the user are stored together with the last discovery time.

  The communication unit 41 of the communication device 4 communicates with the cloud server 3 (and / or the plurality of telepresence robots 1a to 1n). The communication unit 41 uses the telepresence robot 1 used by the communication destination user via the cloud server 3 (or directly), image data obtained by capturing the communication destination user, and audio data obtained by collecting the voice of the communication destination user. Are received and output to the display unit 43.

  The operation unit 42 includes, for example, a touch panel, and is used for a communication source user to input various operation information for telepresence (for example, dialogue with a communication destination user).

  The display unit 43 includes a display and / or a speaker that can reproduce images and / or sounds. The display unit 43 collects, via the communication unit 41, image data obtained by capturing the communication destination user from the telepresence robot 1 or the cloud server 3 used by the communication destination user and the voice of the communication destination user. Data or the like is input, and an image of a communication destination user is displayed, or a voice of a communication destination user is reproduced.

  The photographing unit 44 is constituted by, for example, a camera and / or a microphone. The image capturing unit 44 captures the communication source user at all times or at predetermined intervals, and the image data obtained by capturing the communication source user and the voice data collected from the communication source user via the communication unit 41 are stored in the cloud server. 3 or the telepresence robot 1 used by the communication destination user.

  When the communication source user inputs a communication request including the user identification information of the communication destination user using the operation unit 42, the operation unit 42 creates a communication request command including the user identification information of the communication destination user. The communication unit 17 transmits a communication request command to the cloud server 3.

  The communication unit 31 of the cloud server 3 receives the communication request command and outputs it to the dialog connection processing unit 37. When the dialog connection processing unit 37 receives the communication request command, the dialog connection processing unit 37 refers to the proximity information in the proximity information DB 35 and is identified by the robot identification information associated with the user identification information of the communication destination user. 1 and the communication device 4 are communicably connected. Therefore, the communication device 4 can communicate with the telepresence robot 1 closest to the communication destination user, and the communication source user uses the telepresence robot 1 closest to the communication destination user. Telepresence can be done.

  Next, communication control processing by the communication system configured as described above will be described. FIG. 3 is a sequence diagram showing an example of communication control processing by the communication system shown in FIG. In the following processing, an example in which neighborhood image data is used as user determination data will be described.

  First, each of the plurality of telepresence robots 1a to 1n always captures nearby image data obtained by photographing the neighborhood in a range of 360 degrees or at predetermined intervals, and sends the neighborhood image data and its own robot identification information to the cloud server 3. Transmit (step S11).

  Next, the cloud server 3 receives the neighborhood image data and the robot identification information transmitted from the plurality of telepresence robots 1a to 1n, and the person determination unit 32 of the cloud server 3 extracts the face image data from the neighborhood image data. Then, by comparing the face image data with a plurality of reference face image data stored in the user DB 33, a user included in the neighborhood image data is determined, and the user is associated with the determined reference face image data of the user. The acquired user identification information is acquired from the user DB 33 and output to the neighborhood information management unit 34 (step S12).

  Next, the neighborhood information management unit 34 obtains the acquisition time of the neighborhood image data as the final discovery time from the time information acquisition unit 36, the final discovery time, the user identification information output from the person determination unit 32, and the user Neighborhood information that associates the robot identification information transmitted together with the neighborhood image data used to create the identification information is sequentially registered in the neighborhood information DB 35, and the latest neighborhood information is managed for each user who has made a person determination (step S13). ).

  Here, the neighborhood information management process (step S13) will be specifically described. FIG. 4 is a schematic diagram for explaining an example of the management process of the neighborhood information of the cloud server 3 shown in FIG. For example, as shown in the upper left side of FIG. 4, when the user R1 is moving in the direction of the arrow, the telepresence robot 1a moves in the direction of the user R1 and is further away from the telepresence robot 1a. Assume that a certain telepresence robot 1b is also moving in the direction of the user R1.

  Here, at time 16:00, when the user R1 is not photographed in the vicinity image data of the telepresence robot 1b and the user R1 is photographed in the vicinity image data of the telepresence robot 1a, the telepresence robot 1a. Transmits the nearby image data including the user R1 and its robot identification information “A” to the cloud server 3. The person determination unit 32 of the cloud server 3 determines the user R1 from the vicinity image data of the telepresence robot 1a, and outputs the determined user identification information “X” of the user R1 to the vicinity information management unit 34.

  At this time, as shown in the upper right side of FIG. 4, the proximity information management unit 34 includes the user identification information “X” of the user R1, the robot identification information “A” closest to the user R1, and the last discovery time “16: The neighborhood information associated with “00” is registered in the neighborhood information DB 35.

  Next, as shown in the lower left side of FIG. 4, at time “16:05”, the telepresence robot 1a passes by the user R1 and moves away from the user R1 in the direction of travel of the arrow. The user R1 is not photographed in the vicinity image data of 1a. On the other hand, when the telepresence robot 1b and the user R1 move in the direction of the arrow and approach both, the user R1 is photographed in the vicinity image data of the telepresence robot 1b.

  Therefore, the telepresence robot 1b transmits the nearby image data including the user R1 and its own robot identification information “B” to the cloud server 3. The person determination unit 32 of the cloud server 3 determines the user R1 from the vicinity image data of the telepresence robot 1b, and outputs the determined user identification information “X” of the user R1 to the vicinity information management unit 34.

  At this time, as shown in the lower right side of FIG. 4, the neighborhood information management unit 34 has the user identification information “X” of the user R1, the robot identification information “B” closest to the user R1, and the last discovery time “16: The neighborhood information associated with “05” is registered in the neighborhood information DB 35, and the neighborhood information of the user R1 is updated. As described above, the neighborhood information management unit 34 updates the neighborhood information DB 35 with the neighborhood information having the latest last discovery time for each user determined to be a person, and obtains the robot identification information of the telepresence robot 1 that is closest to each user determined to be a person. sign up.

  Referring to FIG. 3 again, when the communication source user inputs a communication request including the user identification information of the communication destination user using the operation unit 42 of the communication device 4, the operation unit 42 A communication request command including user identification information is created and output to the communication unit 41, and the communication unit 17 transmits the communication request command to the cloud server 3 (step S14).

  Next, the communication unit 31 of the cloud server 3 receives the communication request command and outputs it to the dialog connection processing unit 37. The dialog connection processing unit 37 refers to the proximity information in the proximity information DB 35, and communicates with the communication destination user. The robot identification information associated with the user identification information is read, and the telepresence robot 1 closest to the communication destination user is specified (step S15).

  Next, the dialog connection processing unit 37 connects the identified telepresence robot 1 and the communication device 4 so that they can communicate with each other (step S16).

  Next, the dialog connection processing unit 37 transmits the message of the communication source user from the communication device 4 to the telepresence robot 1 closest to the communication destination user, and the communication destination user from the telepresence robot 1 A message or the like is transmitted to the communication device 4, and telepresence is realized between the communication source user and the communication destination user using the communication device 4 and the telepresence robot 1 (step S17). In this way, it is possible to provide the communication source user with a sense of reality as if they are facing a remote communication destination user on the spot.

  Next, the neighborhood information update process by the cloud server 3 in the communication control process by the communication system will be described in more detail. FIG. 5 is a flowchart showing an example of neighborhood information update processing by the cloud server shown in FIG.

  First, the communication unit 31 of the cloud server 3 receives the neighborhood image data and robot identification information transmitted from the plurality of telepresence robots 1a to 1n (step S21).

  Next, the person determination unit 32 extracts face image data from the neighborhood image data, and compares the face image data with a plurality of reference face image data stored in the user DB 33, thereby being included in the neighborhood image data. The user is determined, user identification information associated with the determined reference face image data of the user is acquired from the user DB 33 and output to the proximity information management unit 34 (step S22).

  Next, the neighborhood information management unit 34 obtains the acquisition time of the neighborhood image data as the final discovery time from the time information acquisition unit 36, the final discovery time, the user identification information output from the person determination unit 32, and the user Proximity information is created by associating the robot identification information transmitted together with the neighborhood image data used to create the identification information (step S23).

  Next, the neighborhood information management unit 34 confirms the plurality of neighborhood information created within a predetermined period, determines whether or not the same user is determined from the plurality of neighborhood image data (step S24), and the same user Is not determined (NO in step S24), the process proceeds to step S27.

  On the other hand, when the same user is determined (YES in step S24), the neighborhood information management unit 34 instructs the person determination unit 32 to perform re-person determination based on the maximum face image area, and the person determination unit 32 By extracting a face image area representing the user's face from all face image data of the user and comparing the face image data having the largest area of the face image area with a plurality of reference face image data, the area of the face image area The user is determined from the face image data having the largest value, and the user identification information associated with the determined reference face image data of the user is acquired from the user DB 33 and output to the proximity information management unit 34 (step S25).

  Next, the neighborhood information management unit 34 obtains the acquisition time of the neighborhood image data as the final discovery time from the time information acquisition unit 36, the final discovery time, the user identification information output from the person determination unit 32, and the user Proximity information based on the maximum face image region in which the robot identification information transmitted together with the proximity image data used to create the identification information is associated is created (step S26).

  Next, the neighborhood information management unit 34 registers the created neighborhood information in the neighborhood information DB 35 and updates the neighborhood information DB 35 (step S27). Thereafter, the processes in and after step S21 are repeated, and the latest neighborhood information is managed for each user who is determined to be a person. The user identification information of the user who is determined as a person and the robot identification information for identifying the telepresence robot 1 closest to the user Are stored together with the last discovery time.

  Here, each of the plurality of telepresence robots 1a to 1n shown in FIG. 1 includes a person determination unit 32, a user DB 33, a neighborhood information management unit 34, a neighborhood information DB 35, a time information acquisition unit 36, and a dialog connection process of the cloud server 3. The neighborhood information update process in the case where the unit 37 is provided and also functions as a communication control device that manages neighborhood information will be described. In this case, each of the plurality of telepresence robots 1a to 1n handles neighborhood information when each of the telepresence robots 1 is provided with the neighborhood information management unit 34 as a synchronization process in addition to the processes of steps S21 to S27. The process is executed as follows.

  For example, each telepresence robot 1 has a list of robot identification information of other telepresence robots and stores it in a predetermined storage area, for example, the neighborhood information DB 35.

  FIG. 6 is a diagram showing an example of neighborhood information when the telepresence robot 1 shown in FIG. 1 manages neighborhood information, and FIG. 7 shows a case where the telepresence robot 1 shown in FIG. 1 manages neighborhood information. It is a figure which shows an example of the neighborhood information after an update.

  As shown in FIG. 6, each piece of user identification information, closest robot identification information, and face area information is stored in the proximity information DB 35 together with its last update time (final discovery time) as the proximity information. A synchronized flag indicating whether or not all the telepresence robots in the vicinity are synchronized with each other is stored, and a synchronized flag is set at the time of update. In the example illustrated in FIG. 6, for example, the user identification information “Z”, the closest robot identification information “C”, the face area “40”, and the last discovery time “16:03” are associated with each other. The information synchronization flag is not set.

  In the above state, for example, the telepresence robot 1 with the robot identification information “A” detects the face area “70” of the user with the user identification information “Z” at the time “16:10”. In this case, since the time “16:10” is newer than the last discovery time “16:03” in FIG. 6 and the face area is large, the telepresence robot 1 having the robot identification information “A” as shown in FIG. The neighborhood information of the user identification information “Z” in the neighborhood information DB 35 is updated, and “1” is set to the synchronized flag, and the synchronized flag is set.

  Next, the dialog connection processing unit 37 of the telepresence robot 1 having the robot identification information “A” transmits the user identification information “Z” and the robot identification information “A” to all other telepresence robots via the communication unit 17. , Broadcast the neighborhood information of the face area “70” and the last discovery time “16:03”.

  The proximity information management unit 34 of all other telepresence robots that have received the above-mentioned proximity information refers to its own neighborhood information DB 35, and if the bit is not set in the column of the synchronized flag of the corresponding neighborhood information, The neighborhood information DB 35 is updated with the received neighborhood information. On the other hand, when a bit is set in the column of the synchronized flag, the neighborhood information management unit 34 determines whether the update is possible based on the received neighborhood information, and updates the neighborhood information DB 35 according to the determination result. .

  Specifically, the neighborhood information management unit 34 compares the face areas at the time of person determination, and when the received face information of the neighborhood information is larger, a telepresence robot that is the source of the neighborhood information, for example, robot identification Since the telepresence robot 1 with the information “A” is closer to the user with the user identification information Z, the proximity information DB 35 is updated, and in the opposite case, it is not updated.

  Next, after all the other telepresence robots have updated the data in the database, the neighborhood information update completion signal is sent to the telepresence robot that is the source of the neighborhood information, for example, the telepresence robot 1 with the robot identification information “A”. Send to. The telepresence robot 1 with the robot identification information “A” clears the synchronized flag when receiving the update signal of the neighborhood information from all other telepresence robots.

  Even if the plurality of telepresence robots 1a to 1n manage the neighborhood information by the above-described synchronization processing, if the neighborhood information stored in the neighborhood information DB 35 of one telepresence robot is updated, the updated neighborhood information is updated. Is transmitted to other telepresence robots, the plurality of telepresence robots 1a to 1n can synchronize the neighboring information, and the same neighboring information can be managed.

  Next, the communication connection process by the cloud server 3 in the communication control process by the communication system will be described in more detail. FIG. 8 is a flowchart showing an example of communication connection processing by the cloud server 3 shown in FIG.

  First, when a communication source user inputs a communication request including user identification information of a communication destination user using the operation unit 42 of the communication device 4, and the communication unit 17 transmits a communication request command to the cloud server 3, the cloud server 3 receives the communication request command and outputs it to the dialog connection processing unit 37 (step S31).

  Next, the dialogue connection processing unit 37 refers to the proximity information in the proximity information DB 35, reads out the robot identification information associated with the user identification information of the communication destination user, and finds the telepresence closest to the communication destination user. The robot 1 is specified (step S32).

  Next, the dialog connection processing unit 37 connects the identified telepresence robot 1 and the communication device 4 so that they can communicate (step S33).

  Next, the dialog connection processing unit 37 transmits the message of the communication source user from the communication device 4 to the telepresence robot 1 closest to the communication destination user, and the communication destination user from the telepresence robot 1 By transmitting a message or the like to the communication device 4, telepresence is realized between the communication source user and the communication destination user using the communication device 4 and the telepresence robot 1 (step S34).

  With the above processing, in the present embodiment, not only a plurality of users but also a plurality of telepresence robots 1a to 1n move, and the communication device 4 used by the communication source user and the plurality of telepresence robots The telepresence robot closest to the communication destination user is communicably connected from among 1a to 1n, and the presence as if the communication source user and the communication destination user face each other on the spot. Good telepresence can be achieved while realizing.

(Embodiment 2)
FIG. 9 is a block diagram illustrating an exemplary configuration of a communication system according to Embodiment 2 of the present disclosure. The communication system shown in FIG. 9 is different from the communication system shown in FIG. 1 in that a plurality of mobile terminals 5a to 5m (hereinafter also referred to as mobile terminals 5) possessed by a plurality of communication destination users are added, and the cloud server 3 However, the cloud server 3a includes a user position management unit 61, a user position DB (database) 62, a communication history analysis unit 63, a communication history DB (database) 64, and a robot position control unit 65. Since the other points are the same as those of the communication system shown in FIG. 1, the same parts are denoted by the same reference numerals, and detailed description thereof is omitted.

  In Embodiment 1 described above, the communication device 4 used by the communication source user and the telepresence robot closest to the communication destination user among the plurality of telepresence robots 1a to 1n are communicably connected. In the present embodiment, in addition to the above processing, based on the communication history between the communication device 4 and the plurality of telepresence robots 1a to 1n, a user who is frequently accessed is specified from a plurality of communication destination users. In the vicinity of the user, at least one telepresence robot among the plurality of telepresence robots 1a to 1n is arranged to facilitate the telepresence of the user.

  The cloud server 3a is not particularly limited to the above example. For example, the person determination unit 32, the user DB 33, the neighborhood information management unit 34, the neighborhood information DB 35, and the time information acquisition unit 36 are omitted, and the communication device 4 is omitted. And a plurality of telepresence robots 1a to 1n based on communication histories, a user who is frequently accessed from among a plurality of communication destination users is identified, and a plurality of telepresence robots 1a to 1n are located in the vicinity of the user. At least one telepresence robot may be arranged from the inside.

  Each of the mobile terminals 5a to 5m is configured by, for example, a smartphone and includes at least a position detection unit 51 and a communication unit 52. The position detection unit 51 detects user position information indicating the current position of a communication destination user who possesses the mobile terminal 5, and the communication unit 52 cloud-detects the detected user position information together with user identification information of the communication destination user. Send to server 3a.

  For example, a plurality of Wi-Fi (registered trademark) base stations or beacon transmitters are installed in an office in Osaka, and the position detection unit 51 uses the Wi-Fi (registered trademark) positioning method or the beacon positioning method to -The difference in the intensity of radio waves from the Fi (registered trademark) base station or the beacon transmitter is calculated, and the current position of the user of the communication destination carrying the mobile terminal 5 is estimated. Note that the method of detecting the current position of the user at the communication destination is not particularly limited to the above example. For example, an acceleration sensor, a magnetic sensor, an angular velocity sensor, or the like included in the smartphone of the user at the communication destination is used. A pedestrian self-contained navigation that estimates the direction and amount of movement of the user, and a transmitter (protocol and frequency) that is the same method as GPS (Global Positioning System) is installed indoors, and the GPS reception function of existing smartphones is used indoors. The IMES (Indoor Messaging System) positioning method that seamlessly measures the location of the user of the communication destination between the mobile phone and the outdoors, receives the ultrasonic waves generated from the speakers installed indoors with a smartphone, and estimates the location of the user of the communication destination Other methods such as a sound wave positioning method may be used.

  The communication unit 31 of the cloud server 3a receives user position information and user identification information indicating the current position of each user of the communication destination transmitted from the mobile terminals 5a to 5m and outputs the user position information and user identification information to the user position management unit 61. The user position management unit 61 stores user position information and user identification information in the user position DB 62.

  Here, in the present embodiment, the operation unit 42 of the communication device 4 receives a communication request command including user identification information of a communication source user who communicates using the communication device 4 and user identification information of a communication destination user. It creates and outputs to the communication part 41, and the communication part 17 transmits a communication request command to the cloud server 3a.

  When the telepresence robot 1 and the communication device 4 are communicably connected, the dialogue connection processing unit 37 communicates with the telepresence robot 1 as communication history information between the telepresence robot 1 and the communication device 4. The communication history analysis unit 63 receives the user identification information of the user, the time information indicating the time when the communication destination user started using the telepresence robot 1, and the user identification information of the communication source user who communicated using the communication device 4. Output. The communication history analysis unit 63 stores communication history information in the communication history DB 64.

  FIG. 10 is a diagram showing an example of communication history information stored in the communication history DB 64 shown in FIG. As shown in FIG. 10, in the communication history DB 64, as communication history information, time information is stored in the time column indicating the communication start time, and user identification information of the communication source user is stored in the communication source user identification information column. The user identification information of the communication destination user is stored in the communication destination user identification information column. For example, when the communication source user of the communication source user identification information “a” starts communication with the communication destination user of the communication destination user identification information “X” from “10:20”, the time “10:20” The communication source user identification information “a” and the communication destination user identification information “X” are stored in the communication history DB 64 in association with each other.

  Note that the time information is not particularly limited to the use start time described above, and various changes such as specifying the use time zone using the use start time and the use end time or using only the use end time are possible. .

  The communication history analysis unit 63 refers to the communication history information in the communication history DB 64, identifies a communication destination user whose communication frequency is higher than a predetermined value as a person accessed frequently, and specifies the user of the identified communication destination user. The identification information is output to the robot position controller 65. For example, the communication history analysis unit 63 specifies the top several people with the highest communication frequency as the person who is accessed frequently, specifies the person with the highest communication frequency as the person accessed with high frequency, or within a predetermined period. For example, a person whose number of communications is greater than or equal to a predetermined number is specified as a person who is frequently accessed.

  In the case of the example shown in FIG. 10, since the communication destination user of the user identification information “X” is accessed most frequently, the communication history analysis unit 63 increases the communication destination user of the user identification information “X”. Identifies as a person accessed by frequency.

  Further, the communication history analysis unit 63 refers to the communication history information in the communication history DB 64, identifies a time zone in which the communication frequency of the communication destination user is higher than a predetermined value, and communicates the time zone information indicating the identified time zone. You may make it output to the robot position control part 65 with the user identification information of the user of a communication destination whose frequency is higher than a predetermined value. For example, the communication history analysis unit 63 divides the communication time into morning and afternoon, identifies the top several people with the highest communication frequency in the morning or afternoon, or specifies the highest frequency of communication in the morning or afternoon. A high person is identified as a person who is frequently accessed, or a person whose number of communication in the morning or afternoon is a predetermined number or more is identified as a person who is frequently accessed.

  In the case of the example shown in FIG. 10, the communication destination user of the user identification information “X” has the highest communication frequency in the morning, so the communication history analysis unit 63 selects the communication destination user of the user identification information “X”. While specifying as a person who is frequently accessed, “AM” is specified as a time zone in which the communication frequency of the communication destination user is higher than a predetermined value. The time zone classification is not particularly limited to the above example. For example, various types such as specifying a person with the highest communication frequency or a person with the highest communication frequency as the person who is frequently accessed every hour. Can be changed.

  The robot position control unit 65 uses the user position management unit 61 to read out user position information indicating the current position of the communication destination user specified by the communication history analysis unit 63 from the user position DB 62. The robot position control unit 65 uses the communication unit 31 to issue a movement command for moving at least one telepresence robot among the telepresence robots 1a to 1n in the vicinity of the identified communication destination user. Send to robot.

  Specifically, the robot position control unit 65 refers to the proximity information DB 35 by using the proximity information management unit 34 and determines whether there is a telepresence robot in the vicinity of the identified communication destination user, for example, within a certain distance. Determine whether. When there is no telepresence robot within a certain distance, the robot position control unit 65 identifies the telepresence robot closest to the identified communication destination user, and uses the communication unit 31 to identify the identified communication destination user. A movement command for moving to the vicinity is transmitted to the specified telepresence robot.

  In this case, the telepresence robot that has received the movement command moves to the vicinity of the specified communication destination user, for example, to a distance of 1 m or less, and then maintains the distance to the specified communication destination user. To track. Therefore, a telepresence robot in a communicable state is arranged as much as possible on the side of a person who is frequently accessed, and even if a telepresence robot near the person who is often accessed is used, another telepresence robot is used. The presence robot is placed in the vicinity of a person who is often accessed.

  When the time zone is specified, the robot position control unit 65 uses the communication unit 31 to place at least one of the telepresence robots 1a to 1n in the vicinity of the communication destination user in the specified time zone. A movement command for moving the telepresence robot is transmitted to the telepresence robot.

  In this case, the telepresence robot that has received the movement command moves to the vicinity of the user of the communication destination, for example, within a distance of 1 m within the specified time zone, and then specifies the specified communication destination while maintaining the distance. Track users for a specified time period. Therefore, a telepresence robot in a communicable state was arranged as much as possible in the morning on the side of a person who was often accessed in the morning, and a telepresence robot near the person who was often accessed was used. Even in the morning, another telepresence robot is placed in the morning near a person who is often accessed.

  FIG. 11 is a sequence diagram illustrating an example of communication control processing by the communication system illustrated in FIG. 9.

  First, the position detection unit 51 of each of the plurality of mobile terminals 5a to 5m detects the user position information of each user of the communication destination at all times or at a predetermined interval, and the communication unit 52 detects the user position information of each user of the communication destination. And user identification information is transmitted to the cloud server 3a (step S41).

  Next, the communication unit 31 of the cloud server 3a receives the user location information and user identification information of each user of the communication destination transmitted from the mobile terminals 5a to 5m, and outputs the received user location information and user identification information to the user location management unit 61. The unit 61 stores the user position information and user identification information of each user of the communication destination in the user position DB 62 (step S42).

  Next, similarly to the cloud server 3, the cloud server 3a executes the communication control process shown in FIG. 3, and the dialog connection processing unit 37 connects the communication destination telepresence robot 1 and the communication device 4 so that they can communicate with each other. Then, the message of the communication source user from the communication device 4 is transmitted to the telepresence robot 1 closest to the communication destination user, and the message of the communication destination user from the telepresence robot 1 is transmitted to the communication device 4. Then, using the communication device 4 and the telepresence robot 1, telepresence is realized between the communication source user and the communication destination user (step S43).

  Next, the dialog connection processing unit 37 uses the user identification information of the communication destination user communicated using the telepresence robot 1 as the communication history information between the telepresence robot 1 and the communication device 4, and the communication destination user receives the telepresence information. The time information indicating the time when the robot 1 is started to be used and the user identification information of the communication source user who communicated using the communication device 4 are output to the communication history analysis unit 63. The communication history analysis unit 63 outputs the communication history information. Store in the communication history DB 64 (step S44).

  Next, the communication history analysis unit 63 refers to the communication history information in the communication history DB 64, specifies a user of a communication destination whose communication frequency is higher than a predetermined value as a person who is talking frequently, and specifies the specified communication destination The user identification information of the user is output to the robot position controller 65 (step S45).

  Next, the robot position control unit 65 uses the proximity information management unit 34 and the proximity information DB 35 to determine whether or not there is a telepresence robot within a certain distance of the identified communication destination user (step S46). If the telepresence robot is within a certain distance of the identified communication destination user (YES in step S46), the process ends.

  On the other hand, when there is no telepresence robot within a certain distance of the specified communication destination user (NO in step S46), the robot position control unit 65 uses the proximity information management unit 34 and the proximity information DB 35 to specify The telepresence robot closest to the communication destination user is specified (step S47).

  Next, using the communication unit 31, the robot position control unit 65 transmits a movement command for moving to the vicinity of the specified communication destination user to the specified telepresence robot (step S48).

  Next, the telepresence robot receives the movement command from the communication unit 31, moves to the vicinity of the specified communication destination user, and then tracks the specified communication destination user while maintaining the distance. (Step S49). In FIG. 11, for ease of illustration, each process is illustrated as being executed once. However, the present invention is not particularly limited to this example, and each process is appropriately executed a plurality of times to obtain the latest communication history. Based on this, a telepresence robot may be arranged near a person who is talking frequently.

  Through the above processing, in the present embodiment, not only a plurality of users but also a plurality of telepresence robots 1a to 1n move in an environment where the communication source user 4 and the plurality of telepresence robots 1a are used by the communication source user. As the communication history information with ˜1n, user identification information for identifying a communication destination user who communicates using the telepresence robot is associated with time information indicating the time when the communication destination user uses the telepresence robot. The communication history DB 64 is stored, the communication history information of the communication history DB 64 is referred to, a communication destination user whose communication frequency is higher than a predetermined value is specified, and a plurality of telepresence robots 1 a to 1-are located near the specified communication destination user. Since at least one telepresence robot of 1n is arranged, the user of the communication destination accessed frequently Can use the telepresence robot located near performs telepresence the communication device 4 of the communication source user easily.

(Embodiment 3)
FIG. 12 is a block diagram illustrating an exemplary configuration of a communication system according to Embodiment 3 of the present disclosure. The communication system shown in FIG. 12 is different from the communication system shown in FIG. 1 in that a plurality of portable terminals 5a to 5m possessed by a plurality of communication destination users are added, and the cloud server 3 further includes a user location management unit 61. , The user position DB 62, the robot position management unit 66, and the cloud server 3b including the robot position DB (database) 67, and the telepresence robots 1a to 1n further include the position detection unit 24. 1n '(hereinafter also referred to as telepresence robot 1'), and the other points are the same as those in the communication system shown in FIG. Description is omitted.

  In Embodiment 1 described above, the communication device 4 used by the communication source user and the telepresence robot closest to the communication destination user among the plurality of telepresence robots 1a to 1n are communicably connected. In this embodiment, in addition to the above processing, the positions of all telepresence robots 1a ′ to 1n ′ and the positions of all communication destination users are monitored, and according to the positions of all communication destination users. By automatically adjusting the positions of all the telepresence robots 1a ′ to 1n ′ and preventing the single presence of the telepresence robots 1a ′ to 1n ′, the telepresence of the communication destination user is facilitated.

  The cloud server 3b is not particularly limited to the above example. For example, the person determination unit 32, the user DB 33, the neighborhood information management unit 34, the neighborhood information DB 35, and the time information acquisition unit 36 are omitted, and The positions of the presence robots 1a ′ to 1n ′ and the positions of all communication destination users are monitored, and the positions of the telepresence robots 1a ′ to 1n ′ are automatically adjusted according to the positions of the communication destination users. It may be.

  Each of the portable terminals 5a to 5m includes a position detection unit 51 and a communication unit 52, is configured in the same manner as in the second embodiment, and operates similarly.

  The communication unit 31 of the cloud server 3b receives user position information and user identification information indicating the current position of each user at the communication destination transmitted from the mobile terminals 5a to 5m and outputs the user position information and user identification information to the user position management unit 61. The user position management unit 61 stores user position information and user identification information in the user position DB 62.

  The position detection unit 24 of the telepresence robots 1a ′ to 1n ′ is configured in the same manner as the position detection unit 51, and detects robot position information (device position information) indicating the current position of each telepresence robot 1a ′ to 1n ′. The communication unit 17 transmits the detected robot position information to the cloud server 3b together with the robot identification information.

  For example, a plurality of Wi-Fi (registered trademark) base stations or beacon transmitters are installed in an office in Osaka, and the position detection unit 24 uses Wi-Fi (registered trademark) positioning method or beacon positioning method to -The difference in the intensity of the radio wave from the Fi (registered trademark) base station or the beacon transmitter is calculated, and the current positions of the telepresence robots 1a 'to 1n' are estimated. The method of detecting the current position of the telepresence robots 1a ′ to 1n ′ is not particularly limited to the above example, and for example, the telepresence robots 1a ′ to 1n ′ using an acceleration sensor, a magnetic sensor, an angular velocity sensor, or the like. A self-sustained navigation method for estimating the direction and amount of movement of the GPS, a transmitter of the same system (protocol and frequency) as GPS is installed indoors, and the existing GPS reception function is diverted to use indoor and outdoor telepresence robots 1a′˜ IMES positioning method that seamlessly measures the position of 1n ′, ultrasonic wave generation method that receives ultrasonic waves generated from indoor speakers with a microphone 13 and estimates the positions of the telepresence robots 1a ′ to 1n ′, etc. Other methods may be used.

  The communication unit 31 of the cloud server 3b receives the robot position information and the robot identification information indicating the current positions of the telepresence robots 1a ′ to 1n ′ transmitted from the telepresence robots 1a ′ to 1n ′, and manages the robot position. The data is output to the unit 66. The robot position management unit 66 stores the robot position information and the robot identification information in the robot position DB 67.

  The robot position management unit 66 reads user position information from the user position DB 62 via the user position management unit 61 and also reads robot position information from the robot position DB 67. Based on the user position information and the robot position information, the robot position management unit 66 determines an arrangement in which the plurality of telepresence robots 1a 'to 1n' are evenly distributed to a plurality of communication destination users. The robot position management unit 66 uses the communication unit 31 to distribute the telepresence robots 1a ′ to 1n ′ so that the plurality of telepresence robots 1a ′ to 1n ′ are distributed to a plurality of communication destination users. Is transmitted to the telepresence robots 1a ′ to 1n ′.

  Specifically, the robot position management unit 66 calculates an arrangement that minimizes the sum of the distances between each user of the communication destination and the telepresence robot closest to the user, and each user of the communication destination and the telepresence robot The distance between 1a ′ and 1n ′ is optimized.

  When the space where the communication destination user is located extends over a plurality of rooms or when an obstacle exists even in a wide space, the robot position management unit 66 starts the current position of the telepresence robot, and performs communication. Route planning when the current location of each previous user is the goal is performed using the following method, and each telepresence robot is moved to a position where the sum of the routes traveled by each telepresence robot is minimized. You may do it. For example, Masafumi Uchida, “Shortest Path Planning for Mobile Robots”, Denki Theory C, Vol. 115, No. 9, 1995, p. 1079-1085 or Chen Ken, Saburo, “A new map model for indoor mobile robot path planning with emphasis on update efficiency”, Journal of the Robotics Society of Japan, Vol. 10, no. 1, 1992, p89-98 etc. can be used. A map of the floor of the space where the user of the communication destination is located is stored in advance in the robot position DB 67.

  FIG. 13 is a schematic diagram illustrating an example of an arrangement state of the telepresence robots 1a ′ to 1n ′ illustrated in FIG. 12. For example, it is assumed that six users R1 to R6 and three telepresence robots 1a 'to 1c' are in an office in Osaka as a communication destination. In this case, before the movement command is transmitted, as shown on the left side of FIG. 13, three telepresence robots 1a ′ to 1c ′ are distributed to six users R1 to R6 located in a distributed manner. Is concentrated. At this time, when the cloud server 3b transmits the above movement command to the two telepresence robots 1b ′ and 1c ′, the two telepresence robots 1b ′ and 1c ′ are illustrated as shown on the right side of FIG. The three telepresence robots 1a ′ to 1c ′ are arranged at positions dispersed with respect to the six users R1 to R6.

  FIG. 14 is a sequence diagram showing an example of communication control processing by the communication system shown in FIG.

  First, the position detection unit 51 of each of the plurality of mobile terminals 5a to 5m detects the user position information of each user of the communication destination at all times or at a predetermined interval, and the communication unit 52 detects the user position information of each user of the communication destination. And user identification information is transmitted to the cloud server 3b (step S51).

  Next, the communication unit 31 of the cloud server 3b receives the user location information and the user identification information of each communication destination user transmitted from the mobile terminals 5a to 5m, and outputs the received user location information and user identification information to the user location management unit 61. The unit 61 stores the user position information and user identification information of each communication destination user in the user position DB 62 (step S52).

  Next, the position detection unit 24 of each of the plurality of telepresence robots 1a ′ to 1n ′ detects the robot position information of each of the telepresence robots 1a ′ to 1n ′ at all times or at a predetermined interval. The robot position information and the robot identification information of the telepresence robots 1a ′ to 1n ′ are transmitted to the cloud server 3b (step S53).

  Next, the communication unit 31 of the cloud server 3b receives the robot position information and the robot identification information transmitted from the telepresence robots 1a ′ to 1n ′ and outputs them to the robot position management unit 66. The robot position management unit 66 Then, the robot position information and the robot identification information of each of the telepresence robots 1a ′ to 1n ′ are stored in the robot position DB 67 (step S54).

  Next, the robot position management unit 66 reads the user position information from the user position DB 62 via the user position management unit 61 and also reads the robot position information from the robot position DB 67. The current distance from the near telepresence robot is calculated (step S55).

  Next, the robot position management unit 66 calculates an arrangement that minimizes the sum of the distances between each user of the communication destination and the telepresence robot closest to the user, and The distance is optimized (step S56).

  Next, the robot position management unit 66 uses the communication unit 31 to place the telepresence robot 1a so as to minimize the sum of the distances between each communication destination user and the telepresence robot closest to the user. A movement command for moving “˜1n” is transmitted to the telepresence robots 1a′˜1n ′ (step S57).

  Next, the telepresence robots 1a 'to 1n' receive the movement command from the communication unit 31 and move to the position indicated by the movement command (step S58). Accordingly, a plurality of telepresence robots 1a 'to 1n' are arranged in a distributed state with respect to a plurality of communication destination users. In FIG. 14, for ease of illustration, each process is illustrated as being executed once. However, the present invention is not particularly limited to this example, and each process is appropriately executed a plurality of times, thereby providing a plurality of telepresence robots. 1a ′ to 1n ′ may be always distributed with respect to the latest position of each user of the communication destination.

  Through the above processing, in the present embodiment, in the present embodiment, not only a plurality of users but also a plurality of telepresence robots 1a ′ to 1n ′ are moved, and user position information indicating the respective positions of a plurality of communication destination users And the robot position information indicating the position of each of the plurality of telepresence robots 1a ′ to 1n ′, and based on the received user position information and robot position information, the plurality of telepresence robots 1a ′ to 1n ′ Since the plurality of telepresence robots 1a ′ to 1n ′ are moved so as to be distributed with respect to the communication destination users, each of the plurality of communication destination users is located closest to the telepresence robot. Can be easily communicated with the communication device 4 of the communication source user, and the plurality of telepresence robots 1a ′ to 1n ′ can be efficiently used. It can be used for.

(Embodiment 4)
FIG. 15 is a block diagram illustrating an exemplary configuration of a communication system according to Embodiment 4 of the present disclosure. The communication system shown in FIG. 15 is different from the communication system shown in FIG. 12 in that the cloud server 3b is further changed to a cloud server 3c including a communication state management unit 68 and a communication state DB (database) 69. Since the other points are the same as those of the communication system shown in FIG. 12, the same parts are denoted by the same reference numerals and detailed description thereof is omitted.

  In the third embodiment, the positions of all the telepresence robots 1a ′ to 1n ′ and the positions of all the communication destination users are monitored, and all the telepresence presences are determined according to the positions of all the communication destination users. Although the positions of the robots 1a ′ to 1n ′ are automatically adjusted, in this embodiment, the positions of all the telepresence robots 1a ′ to 1n ′ and the positions of all the communication destination users are monitored. An uncommitted telepresence robot (other than the telepresence robot in communication state) is identified according to the position of the uncommunication user at the communication destination other than the user who is using the telepresence robot in communication state. Automatically adjusts the position of the non-communication device) and prevents the telecom presence of non-communication telepresence robots. To facilitate the Presence.

  The cloud server 3c is not particularly limited to the above example. For example, the person determination unit 32, the user DB 33, the neighborhood information management unit 34, the neighborhood information DB 35, and the time information acquisition unit 36 are omitted, and all the television servers 3c are omitted. While monitoring the positions of the presence robots 1a ′ to 1n ′ and the positions of all communication destination users, the telepresence robot in communication state is specified, and communication other than the user who is using the telepresence robot in communication state Depending on the position of the previous non-communication user, the position of the non-communication telepresence robot other than the telepresence robot in communication may be automatically adjusted.

  When the telepresence robot 1 and the communication device 4 are communicably connected to each other, the dialog connection processing unit 37 sets the communication state between the telepresence robot 1 and the communication device 4 as a communication state of the telepresence robot 1 used for communication. Communication state information including identification information and user identification information of a communication destination user who is communicating using the telepresence robot 1 is output to the communication state management unit 68. The communication state management unit 68 stores the current communication state information in the communication state DB 69 and updates the communication state.

  The communication state management unit 68 refers to the communication state information in the communication state DB 69, identifies the telepresence robot in the communication state among all the telepresence robots 1a ′ to 1n ′, and determines the telepresence robot in the communication state. The robot identification information and the user identification information of the communication destination user using the telepresence robot are output to the robot position management unit 66.

  The robot position management unit 66 excludes the telepresence robot in communication and the communication destination user using the telepresence robot, and reads the user position information from the user position DB 62 via the user position management unit 61. At the same time, the robot position information is read from the robot position DB 67. Based on the user position information of the communication destination user using the telepresence robot in communication and the user position information and robot position information excluding the robot position information of the telepresence robot, the robot position management unit 66 Determine an arrangement in which communication telepresence robots are evenly distributed to non-communication users. The robot position management unit 66 uses the communication unit 31 to issue a movement command for moving the non-communication telepresence robot so that the non-communication telepresence robots are distributed to non-communication users. Send to the presence robot.

  FIG. 16 is a schematic diagram illustrating an example of an arrangement state of the telepresence robots 1a ′ to 1n ′ illustrated in FIG. 15. For example, it is assumed that six users R1 to R6 and three telepresence robots 1a 'to 1c' are in an office in Osaka as a communication destination. In this case, before the movement command is transmitted, as shown on the left side of FIG. 16, the three telepresence robots 1a ′ to 1c ′ are distributed to the six users R1 to R6 located in a distributed manner. Are distributed. At this time, when the user R4 starts telepresence using the telepresence robot 1c ′, the cloud server 3b excludes the user R4 and the telepresence robot 1c, and the two telepresence robots 1a ′ and 1b ′ have 5 The movement command is transmitted to the two telepresence robots 1a ′ and 1b ′ so as to be distributed to the human users R1 to R3, R4, and R6. As a result, as shown on the right side of FIG. 16, the two telepresence robots 1a ′ and 1b ′ move as illustrated, and the two telepresence robots 1a ′ and 1b ′ move to the five users R1 to R3. , R4, R6 are arranged at distributed positions.

  FIG. 17 is a sequence diagram illustrating an example of communication control processing by the communication system illustrated in FIG.

  First, in the communication control process shown in FIG. 17, the processes of steps S51 to S54 are executed as in the communication control process shown in FIG.

  Next, as with the cloud server 3, the cloud server 3c executes the communication control process shown in FIG. 3, and the dialog connection processing unit 37 connects the communication destination telepresence robot 1 and the communication device 4 so that they can communicate with each other. Then, the message of the communication source user from the communication device 4 is transmitted to the telepresence robot 1 closest to the communication destination user, and the message of the communication destination user from the telepresence robot 1 is transmitted to the communication device 4. Then, using the communication device 4 and the telepresence robot 1, telepresence is realized between the communication source user and the communication destination user (step S61).

  Next, the dialogue connection processing unit 37 communicates using the telepresence robot 1 used for communication as the communication state between the telepresence robot 1 and the communication device 4, and the telepresence robot 1. The communication state information including the user identification information of the communication destination user is output to the communication state management unit 68, and the communication state management unit 68 stores the current communication state information in the communication state DB 69 and updates the communication state. (Step S62).

  Next, the communication state management unit 68 refers to the communication state information in the communication state DB 69, identifies the telepresence robot in the communication state, identifies the robot identification information of the telepresence robot in the communication state, and the telepresence robot. The user identification information of the communication destination user in use is output to the robot position management unit 66, and the robot position management unit 66 is in communication with the telepresence robot and the communication destination user using the telepresence robot. , The user position information and the robot position information are read, and the current distance between each non-communication user of the communication destination and the unused telepresence robot closest to the user is calculated (step S63).

  Next, the robot position management unit 66 calculates an arrangement for minimizing the sum of the distances between each non-communication user of the communication destination and the unused telepresence robot closest to the user, The distance with the presence robot is optimized (step S64).

  Next, the robot position management unit 66 uses the communication unit 31 to issue a movement command for moving the non-communication telepresence robot so that the non-communication telepresence robots are distributed with respect to the non-communication users. It transmits to the uncommunication telepresence robot (step S65).

  Next, the non-communication telepresence robot receives the movement command from the communication unit 31 and moves to the position indicated by the movement command (step S66). Accordingly, a plurality of non-communication telepresence robots are arranged in a distributed state with respect to a plurality of non-communication users of communication destinations. In FIG. 17, for ease of illustration, each process is illustrated as being executed once. However, the present invention is not particularly limited to this example. The presence robot may always be distributed to the latest position of each non-communication user of the communication destination.

  With the above processing, in the present embodiment, not only a plurality of users but also an environment in which a plurality of telepresence robots 1a ′ to 1n ′ move, the communication device 4 among the plurality of telepresence robots 1a ′ to 1n ′. The non-communication telepresence robot is moved so that the non-communication telepresence robot that is not communicating with the non-communication user who is not communicating with the communication device 4 among a plurality of communication destination users is distributed. Therefore, a non-communication user can easily communicate with the communication device 4 by using the nearest non-communication telepresence robot and can use the non-communication telepresence robot efficiently. .

  Although the communication system according to one aspect of the present disclosure has been described based on the above embodiment, the present disclosure is not limited to the above embodiment. Unless it deviates from the gist of the present disclosure, forms in which various modifications conceived by those skilled in the art have been made in the present embodiment or a combination of components in different embodiments are also included in the scope of the present disclosure. It is.

  A communication control method, a communication control device, a telepresence robot, and a communication control program according to the present disclosure include a communication source communication device used by a communication source user and a plurality of communication destination users in an environment where a plurality of communication destination users move. The communication destination communication device suitable for the communication destination user can be communicably connected from the communication destination communication devices, so that the communication source user and the remote communication destination user can be connected on the spot. This is useful for telepresence that provides a sense of presence as if they are facing each other.

1a to 1n, 1a 'to 1n' Telepresence robot 3, 3a to 3c Cloud server 4 Communication device 5a to 5m Mobile terminal 11 Camera 12 Video acquisition unit 13 Microphone 14 Voice acquisition unit 15 Touch panel 16 Operation information acquisition unit 17 Communication unit 18 Drive control unit 19 Motor 20 Video playback unit 21 Display 22 Audio playback unit 23 Speaker 24 Position detection unit 31 Communication unit 32 Person determination unit 33 User DB (database)
34 Neighborhood Information Management Unit 35 Neighborhood Information DB (Database)
36 Time information acquisition unit 37 Dialog connection processing unit 41 Communication unit 42 Operation unit 43 Display unit 44 Imaging unit 61 User location management unit 62 User location DB (database)
63 Communication History Analysis Unit 64 Communication History DB (Database)
65 Robot position control unit 66 Robot position management unit 67 Robot position DB (database)
68 Communication state management unit 69 Communication state DB (database)

Claims (16)

A communication source communication device used by a communication source user, a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user, the communication source communication device, and the plurality of communication destinations A communication control method for a communication system comprising a communication control device for controlling communication of a communication device,
Each of the plurality of communication destination communication devices includes user determination data for determining a user located in the vicinity of the communication destination communication device and communication device identification information for identifying the communication destination communication device. To
The communication control device includes a neighborhood information storage unit,
The communication control device includes:
Receiving the user determination data and the communication device identification information from each of the plurality of communication destination communication devices,
Determining a user located in the vicinity of the communication destination communication device based on the user determination data, generating user identification information for identifying the determined user;
Neighborhood information that associates the user identification information with communication device identification information that identifies a communication destination communication device closest to the user identified by the user identification information based on the user determination data and the communication device identification information. And store it in the neighborhood information storage unit,
The communication source communication device transmits a communication request command including the user identification information of the user of the communication destination to the communication control device,
When the communication control device receives the communication request command, the communication control device refers to the proximity information in the proximity information storage unit and associates the communication device identification information with the user identification information of the user of the communication destination The communication destination communication device identified by the communication source communication device and the communication source communication device are communicably connected.
Communication control method. Each of the plurality of communication destination communication devices transmits image data of a user located in the vicinity of the communication destination communication device and communication device identification information for identifying the communication destination communication device to the communication control device. ,
The communication control device further includes a reference data storage unit that stores, for each of a plurality of users, reference face image data representing the user's face and the user identification information for identifying the user in association with each other. ,
The communication control device includes:
Receiving the image data and the communication device identification information from each of the plurality of communication destination communication devices;
Face image data representing a user's face is extracted from the image data, and is included in the image data by comparing the face image data with a plurality of reference face image data stored in the reference data storage unit. A user is determined, and the user identification information associated with the determined reference face image data of the determined user is read from the reference data storage unit,
As the neighborhood information, the user identification information with the latest acquisition time of the image data and the communication device identification information transmitted together with the image data are associated and stored in the neighborhood information storage unit.
The communication control method according to claim 1. The communication control device includes:
When the same user is determined from a plurality of image data transmitted from the plurality of communication destination communication devices within a predetermined period, a face image area representing a user's face is extracted from the face image data, and the face image area The face image data having the largest area is compared with the plurality of reference face image data to determine the user from the face image data having the largest area of the face image area, and the reference face image data of the determined user Reading the user identification information associated with the reference data storage unit,
As the proximity information, the user identification information read from the reference data storage unit for the face image data having the largest area of the face image region and the face image data having the largest area of the face image region are transmitted. Storing the communication device identification information identifying the communication destination communication device in association with the proximity information storage unit;
The communication control method according to claim 2. The communication control device includes:
When a plurality of users are determined from the image data, by extracting face image data representing the faces of the plurality of users and comparing each of the face image data and the plurality of reference face image data Determining a plurality of users included in the image data, and reading a plurality of user identification information associated with the reference face image data of the determined plurality of users from the reference data storage unit,
For each of the plurality of users, as the neighborhood information, the neighborhood information is associated with the user identification information having the latest acquisition time of the image data and the communication device identification information transmitted together with the image data. Memorize in memory
The communication control method according to claim 2 or 3. Each of the plurality of communication destination communication devices includes voice data obtained by collecting a voice of a user located in the vicinity of the communication destination communication device, and communication device identification information for identifying the communication destination communication device. To
The communication control device further includes, for each of a plurality of users, a reference data storage unit that stores reference sound data representing the sound of the user in association with the user identification information for identifying the user,
The communication control device includes:
Receiving the voice data and the communication device identification information from each of the plurality of communication destination communication devices;
By comparing the voice data with a plurality of reference voice data stored in the reference data storage unit, a user who has emitted the voice is determined, and is associated with the determined reference voice data of the user. Reading the user identification information from the reference data storage unit,
As the neighborhood information, the user identification information with the latest acquisition time of the voice data and the communication device identification information transmitted together with the voice data are associated and stored in the neighborhood information storage unit.
The communication control method according to claim 1. The communication control device includes:
When the same user is determined from a plurality of audio data transmitted from the plurality of communication destination communication devices within a predetermined period, a sound source position of the audio data with respect to the communication destination communication device is detected using the audio data. Determining the user of the voice data whose sound source position is closest to the communication destination communication device by comparing the sound data closest to the communication destination communication device and the plurality of reference audio data, Reading out the user identification information associated with the reference voice data of the user from the reference data storage unit,
As the proximity information, the user identification information read from the reference data storage unit with respect to audio data whose sound source position is closest to the communication destination communication device, and audio data whose sound source position is closest to the communication destination communication device The communication device identification information for identifying the communication destination communication device that transmitted the message is associated and stored in the neighborhood information storage unit.
The communication control method according to claim 5. Each of the plurality of communication destination communication devices receives a beacon signal including user identification information for identifying the user from a transmitter possessed by the user located in the vicinity of the communication destination communication device, and the radio wave of the received beacon signal Transmitting strength information indicating strength, the user identification information, and communication device identification information for identifying the communication destination communication device to the communication control device;
The communication control device includes:
Receiving the strength information, the user identification information and the communication device identification information from each of the plurality of communication destination communication devices;
Storing the user identification information and the communication device identification information transmitted together with the intensity information having the highest radio field intensity of the beacon signal in the vicinity information storage unit as the vicinity information;
The communication control method according to claim 1. Each of the plurality of communication destination communication devices is configured to be movable,
The communication control device further includes a communication history storage unit,
The communication control device includes:
As communication history information between the communication source communication device and the communication destination communication device, the user identification information for identifying the communication destination user who has communicated using the communication destination communication device, and the communication destination user communicates with the communication destination information. Stores in the communication history storage unit in association with time information indicating the time of use of the destination communication device,
With reference to the communication history information in the communication history storage unit, the communication destination user whose communication frequency is higher than a predetermined value is specified,
Arranging at least one of the plurality of communication destination communication devices in the vicinity of the identified communication destination user;
The communication control method according to claim 1. The communication control device refers to the communication history information in the communication history storage unit, identifies a time zone in which the communication frequency of the communication destination user is higher than a predetermined value, and includes the communication destination user in the time zone. Arranging at least one of the plurality of communication destination communication devices in the vicinity,
The communication control method according to claim 8. The communication destination user includes a plurality of communication destination users,
Each of the plurality of communication destination communication devices is configured to be movable,
The communication control device includes:
Obtaining user position information indicating the position of each of the plurality of communication destination users and apparatus position information indicating the position of each of the plurality of communication destination communication apparatuses;
Moving the plurality of communication destination communication devices based on the user position information and the device position information so that the plurality of communication destination communication devices are distributed to the plurality of communication destination users;
The communication control method according to claim 1. In the communication control device, an uncommunication device that is not communicating with the communication source communication device among the plurality of communication destination communication devices is not communicating with the communication source communication device among the plurality of communication destination users. Moving the non-communication device to be distributed to users;
The communication control method according to claim 10. Each of the plurality of communication destination communication devices includes a telepresence robot for transmitting a message of the communication source user to the communication destination user.
The telepresence robot is
A communication unit that transmits the user determination data and the communication device identification information to the communication control device;
An autonomous mobile unit for autonomous movement;
A presentation unit that presents the message of the communication source user to the user of the communication destination,
The communication control method according to claim 1. A communication control device that controls communication between a communication source communication device used by a communication source user and a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user,
A communication unit that receives user determination data for determining a user located in the vicinity of the communication destination communication device from each of the plurality of communication destination communication devices, and communication device identification information for identifying the communication destination communication device When,
A determination unit that determines a user located in the vicinity of the communication destination communication device based on the user determination data, and generates user identification information for identifying the determined user;
Neighborhood information that associates the user identification information with communication device identification information that identifies a communication destination communication device closest to the user identified by the user identification information based on the user determination data and the communication device identification information. The management department to create
A neighborhood information storage unit for storing the neighborhood information;
When the communication unit receives a communication request command including the user identification information of the communication destination user from the communication source communication device, the communication unit user refers to the proximity information in the proximity information storage unit and A connection unit that connects the communication destination communication device identified by the communication device identification information associated with the user identification information and the communication source communication device in a communicable manner;
Communication control device. A telepresence robot for transmitting a message of a communication source user to a communication destination user,
A communication control device according to claim 13;
An autonomous mobile unit for autonomous movement;
A presentation unit that presents the message of the communication source user to the user of the communication destination,
Telepresence robot. The communication unit, when the neighborhood information stored in the neighborhood information storage unit is updated, transmits the updated neighborhood information to another telepresence robot.
The telepresence robot according to claim 14. A communication control device that controls communication between a communication source communication device used by a communication source user and a plurality of communication destination communication devices that can be used by a communication destination user to communicate with the communication source user. A communication control program for functioning,
In the computer,
Receiving user determination data for determining a user located in the vicinity of the communication destination communication device from each of the plurality of communication destination communication devices, and communication device identification information for identifying the communication destination communication device;
Determining a user located in the vicinity of the communication destination communication device based on the user determination data, generating user identification information for identifying the determined user;
Neighborhood information that associates the user identification information with communication device identification information that identifies a communication destination communication device closest to the user identified by the user identification information based on the user determination data and the communication device identification information. Is stored in the neighborhood information storage unit,
When the communication request command including the user identification information of the communication destination user is received from the communication source communication device, the user identification information of the communication destination user is referred to by referring to the proximity information in the proximity information storage unit The communication destination communication device identified by the communication device identification information associated with the communication destination communication device and the communication source communication device are communicably connected.
A communication control program that executes processing.

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