JP2021174328A - Pilot-guide robot controller and control method - Google Patents

Abstract

To provide a pilot-guide robot apparatus capable of pleasantly and efficiently piloting or guiding a person to be guided according to an environmental situation of a venue in a facility where many visitors (persons to be guided) come, such as, a museum, art gallery, or any of various event sites.SOLUTION: An imaging device that images an own ambient environmental condition and a projector placed on a pan-tilt actuator are mounted on a robot capable of autonomously moving. A combination of a moving action of the robot (selection of a pilot-guide course) and a projecting action using the projector (magnification, reduction, or size retention of a projection image) is selected and determined according to the ambient environmental situation obtained by the imaging device, whereby piloting and guiding is performed with the positional relationship among an exhibit, the robot, and a person to be guided controlled.SELECTED DRAWING: Figure 13

Description

The present invention is a lead capable of autonomous movement in which guidance services are performed on behalf of a guide in facilities visited by many visitors (hereinafter, may be referred to as guided persons) such as museums, art galleries, and various event venues. Regarding the control device and control method of the guide robot (hereinafter, may be abbreviated as robot), in detail, an image pickup device that images the surrounding environment state of the robot on the robot and a projector mounted on the pan-tilt actuator ( Hereinafter, a projector may be abbreviated), and the robot's moving behavior and the projection projection behavior for explanation to the guided person by the projector (hereinafter, projection behavior) according to the surrounding environment state obtained by the imaging device. The control device and control method of the leading guidance robot for realizing comfortable and efficient leading guidance for the guided person by controlling in combination with the above-mentioned robot. The movement behavior is a combination of movement in a direction parallel to the exhibit (hereinafter, may be referred to as a traveling direction) and in a direction perpendicular to the exhibit (hereinafter, may be referred to as a distance direction). The projection behavior of the above may be referred to as a standard size image, an enlarged size image, or a reduced size image (hereinafter, each of them is referred to as a standard image, an enlarged image, and a reduced image) whose size is set in advance. ), Which is a control device and a control method for a leading guide robot.

From the viewpoint of improving work efficiency and service, leading guidance work on behalf of guides at facilities visited by many visitors such as museums, art galleries, and various event venues (hereinafter, may be abbreviated as venues). There is growing interest in robots that perform the above, and several methods have been proposed.
These conventional methods assume that the guided person follows the robot and moves, but in the actual venue, the guided person overtakes the robot, invades a position that interferes with the movement of the robot, and so on. Since problems have arisen and it is necessary to make announcements such as alerting from the robot each time, there is a problem from the viewpoint of comfortable and efficient guidance.

According to Patent Document 1, when an anthropomorphic humanoid robot placed at a venue or the like leads an unspecified number of guided persons and guides them to a destination, they move in a backward direction. The method of doing so is disclosed.
It has the feature that it is possible to guide while attracting the attention of the guided person, and it is easy for other visitors to join while moving, but the robot itself is based on the congestion state of the guidance route etc. The means for positively controlling the behavior of the guided person by the combination of the movement behavior of the robot and the projection behavior of the projector is not disclosed, and when another visitor or the like invades on the robot movement route. Is worried about whether or not he can perform comfortable and efficient leading guidance actions.

Patent Document 2 discloses a method in which a leading guidance robot arranged at a venue or the like guides leading at a speed corresponding to the walking speed of the guided person specified by face recognition technology or the like.
It has the feature of being able to provide detailed guidance according to the walking condition of the guided person, but many guided persons with different walking conditions take into consideration the congestion state of the guidance route and the behavior of other visitors. I'm worried about whether or not I can lead the way comfortably and efficiently.

According to Patent Document 3, a leading guidance robot located at a venue or the like first selects and determines a guidance route having a long explainable time and a short travel distance, and once the guidance is started, it does not stop as much as possible and is a human being. A method of guiding while maintaining a walking speed is disclosed.
It has the feature that efficient guidance can be provided by preventing children from interrupting when the robot stops, but the robot is constant due to the invasion of other visitors on the robot movement route. There is a possibility that moving at the speed of the above will break down, and there is no indication of how to deal with it, so there is concern about whether or not it will be possible to guide the leader comfortably and efficiently.

In Non-Patent Document 1, an imaging device that captures an image of its own surrounding environment state on a robot capable of autonomous movement and a projector mounted on a pan-tilt actuator are installed, and according to the surrounding environment state obtained by the imaging device. A method is disclosed that enables comfortable leading guidance in the direction of travel by combining the movement action of the robot in the direction of travel and the projection action of selecting the projection position on the projector. No study has been made on a leading guidance system that takes into account the movement toward.

Japanese Patent Application Laid-Open No. 2011-000656 Japanese Patent Application Laid-Open No. 2003-340764 JP-A-2018-144118

A.Tamai, T.Ikeda, and S.Iwaki, "A Method for Guiding a Person Combining Robot Movement and Projection", in Proc.IEEE / RSJ Int.Conf. On Intelligent Robots and Systems (IROS), 2019, pp. 1265-1270

The present invention has been made in view of the above circumstances, and provides comfortable and efficient leading guidance according to the environmental conditions in the venue in facilities visited by many visitors such as museums, art galleries, and various event venues. It is an object of the present invention to provide a control device and a control method of a leading guidance robot that enables it.

The inventor, etc. aims to develop a leading guidance robot that enables comfortable and efficient leading guidance according to the environmental conditions in the venue at facilities visited by many visitors such as museums, art galleries, and various event venues. As a result, we studied the effects of the moving behavior of the leading guidance robot and the projection behavior of the projector for explaining the exhibits on the behavior of the guided person.
As a result of diligent research, as a new finding, the combination of the moving behavior of the leading guidance robot and the projection behavior of the projector affects the behavior of the guided person. When the projection screen is reduced and the robot changes its course in the direction of approaching the exhibit, the guided person follows the robot and changes its course in the direction of approaching the exhibit (hereinafter, abbreviated as Knowledge A). There is.) 2. Even if the robot changes its course and moves in the direction closer to the exhibit while keeping the size of the projected image, the guided person does not follow the robot and moves while keeping the distance from the current exhibit (hereinafter). , It may be abbreviated as Finding B.) 3. When the projected image is reduced and the robot moves in a course that maintains the current distance from the exhibit, the guided person does not follow the robot and moves by changing the course in the direction closer to the exhibit (hereinafter, knowledge). It may be abbreviated as C.) 4. When the robot moves in a course that keeps the current distance from the exhibit while keeping the size of the projected image, the guided person follows the robot and moves while keeping the current course (hereinafter abbreviated as Knowledge D). There is.) 5. When the projected image is enlarged and the robot moves in a course that keeps the current distance from the exhibit, the guided person does not follow the robot and moves by changing the course in the direction away from the exhibit (hereinafter, knowledge). It may be abbreviated as E), 6. When the projected image is enlarged and the robot changes its course in the direction away from the exhibit and moves, the guided person follows the robot and changes its course in the direction away from the exhibit (hereinafter, Knowledge F). It may be abbreviated as.), Confirmed.

An object of the present invention is to provide a control device and a control method for a leading guidance robot utilizing the new findings A to F.

The control device for the leading guidance robot of the present invention for achieving such an object is installed on a peripheral environment imaging unit installed on the robot that images the surrounding environment state of the robot itself and on a pan-tilt actuator mounted on the robot. The action selection decision unit and the action selection decision unit that select and determine the combination of the robot's own movement action and the projection projection action for explanation to the guided person by the projector from the surrounding environment state imaged by the projector and the surrounding environment imaging unit. It is characterized by having a control unit for controlling the movement behavior of the robot capable of autonomous movement based on the decision of the unit and the projection projection behavior for explanation to the guided person by the projector.

The movement behavior of the leading guide robot determined by the action selection determination unit is 1. 2. Move a course that maintains a distance from the preset exhibit (hereinafter, may be abbreviated as the standard course). 2. Move a course that is closer than the preset distance from the exhibit (hereinafter, may be abbreviated as a proximity course). It may be one of moving in a course farther than a preset distance from the exhibit (hereinafter, may be abbreviated as a remote course).

The projection action of the explanatory projection to the guided person by the projector determined by the action selection determination unit is 1. 2. Project a standard image of a preset size. 2. Project a reduced image that is a reduced image of a preset size. It may be one of projecting an enlarged image obtained by enlarging an image having a preset size.

In the control method of the leading guidance robot of the present invention for achieving such an object, the surrounding environment imaging unit mounted on the robot images its own surrounding environment state, and the action selection is determined based on the obtained surrounding environment state. The unit selects and determines the combination of the robot's own movement behavior and the projection projection behavior for explanation to the guided person on the projector, and based on the decision result in the action selection determination unit, the control unit uses the robot's movement behavior and the projector. It is characterized by controlling the projection behavior of.

In order to control the positional relationship between the exhibit and the robot and the guided person during the guidance action by the robot, the action selection decision unit combines the movement action of the robot and the projection action by the projector. 2. The robot moves in a close path with the reduced image projected (hereinafter, may be abbreviated as method 1). 3. The robot moves in the standard course with the standard image projected (hereinafter, it may be abbreviated as method 2). 4. The robot moves in a remote path with the enlarged image projected (hereinafter, may be abbreviated as method 3). 4. The robot moves in the standard course while the reduced image is projected (hereinafter, it may be abbreviated as method 4). 6. The robot moves in the standard course with the enlarged image projected (hereinafter, may be abbreviated as method 5). In the state where the standard image is projected, the robot moves in a close path (hereinafter, may be abbreviated as method 6). In the state where the standard image is projected, the robot moves in a remote path (hereinafter, may be abbreviated as method 7). In the state where the reduced image is projected, the robot moves in a remote path (hereinafter, may be abbreviated as method 8). The robot may move in a close path in a state where the enlarged image is projected (hereinafter, may be abbreviated as method 9), and one of them may be selected.

In method 1, the surrounding environment state obtained by the surrounding environment imaging unit is obstructed by the action selection determination unit in the standard course, and there are other visitors, etc., and both the robot and the guided person move to the proximity course. It may be selected when it is judged that the explanation in the above-mentioned state is appropriate.

In method 2, the surrounding environment state obtained by the surrounding environment imaging unit is determined by the action selection determination unit, so that there are no other visitors or the like that obstruct the standard course, and both the robot and the guided person take the standard course. It may be selected when it is judged that it is good to proceed and continue the explanation.

In the method 3, the surrounding environment state obtained by the surrounding environment imaging unit is obstructed by the action selection determination unit in the standard course, and there are other visitors, etc., and both the robot and the guided person move to the remote course. It may be selected when it is judged that the explanation in the above-mentioned state is appropriate.

In method 4, the surrounding environment state obtained by the surrounding environment imaging unit is determined by the action selection determination unit, and the robot holds a standard course in order to secure the next movement route, and only the guided person can view the exhibition in detail. Therefore, it may be selected when it is judged that the explanation in the state of being moved to the proximity course is appropriate.

In the method 5, the surrounding environment state obtained by the surrounding environment imaging unit is changed to the remote route first by the action selection determination unit so that the robot holds the standard course and guides only the guided person to the next guidance route. It may be selected when it is judged that the explanation in the moved state is appropriate.

In the method 6, the surrounding environment state obtained by the surrounding environment imaging unit is kept in the standard course suitable for viewing the exhibit by the action selection determination unit, and the robot first secures the movement route. It may be selected when it is judged that the explanation in the state of moving to the proximity course is appropriate.

In the method 7, the surrounding environment state obtained by the surrounding environment imaging unit is kept in the standard course suitable for viewing the exhibition by the action selection determination unit, and the robot first secures the movement route. It may be selected when it is judged that the explanation in the state of moving to a remote course is appropriate.

In the method 8, the surrounding environment state obtained by the surrounding environment imaging unit is moved by the action selection determination unit to the guided person for detailed viewing of the exhibition, and the robot secures the movement route. It may be selected when it is judged that the explanation in the state of moving to the remote course first is appropriate.

In the method 9, the surrounding environment state obtained by the surrounding environment imaging unit is moved to a remote path where the guided person can view the entire exhibition by the action selection determination unit, and the robot first secures the moving route. It may be selected when it is judged that the explanation in the state of moving to the proximity course is appropriate.

It should be noted that the switching between methods 1 and 9 during the leading guidance action is performed at the time when the explanation of the exhibit starts, when the explanation of the current exhibit ends, or at the surrounding environment imaging unit, other visitors or obstacles on the guidance path. It is possible to carry out at the timing such as when an object is detected.

In addition, the sizes of the standard image, enlarged image, and reduced image, and the distance between the standard course, the near course, and the remote course from the exhibits are predetermined values in consideration of the contents of the exhibition explanation, the size of the venue, and the like. Of course, it can be set to.

In the explanation so far, the method of actively projecting the standard image, the enlarged image, and the reduced image by using the function built in the projector has been taken into consideration, but the image size projected from the projector is kept constant. Enlargement of the image obtained as a result of the robot moving away from the exhibit and diverting to a remote course, reduction of the image obtained as a result of the robot approaching the exhibit and diverting to a closer course, etc. Of course, passive image enlargement and reduction effects can also be used.

The robot guides the guided person according to a map of the venue to be guided and a predetermined guidance route, and during the guidance guidance, one of the above methods 1 to 9 is selected and predetermined. Explain the exhibits. It goes without saying that it is necessary to set and guide the guidance destination point, guidance route, etc. for the movement / running control of the robot, but in the conventional technology such as the method using GPS and the method using the guidance line. It is possible to deal with it, and the explanation of the specific device and method for that is omitted.

Further, the projection position for the guided person can be changed by adjusting the pan angle and tilt angle of the pan-tilt actuator on which the projector is mounted, and the detailed method for controlling the projection position will not be described.

According to the present invention, when a robot is made to perform guidance work on behalf of a human in a facility visited by many visitors such as a museum, an art museum, and various event venues, the movement behavior of the robot and the projection behavior by a projector are combined. By minimizing explicit instructions using voices and gestures, it is possible to provide guidance that controls the positional relationship between the exhibit, the robot, and the person being guided, providing comfortable and efficient guidance. Can be provided.

It is a figure which shows an example of the Embodiment of this invention. It is a figure which shows the structure of the control device of this invention. It is a figure which shows the outline of the knowledge A to the knowledge F which is the basis of this invention, A is the knowledge A, B is the knowledge B, C is the knowledge C, D is the knowledge D, E is the knowledge E, F. Shows finding F. It is a figure which shows the method 1 of this invention. It is a figure which shows the method 2 of this invention. It is a figure which shows the method 3 of this invention. It is a figure which shows the method 4 of this invention. It is a figure which shows the method 5 of this invention. It is a figure which shows the method 6 of this invention. It is a figure which shows the method 7 of this invention. It is a figure which shows the method 8 of this invention. It is a figure which shows the method 9 of this invention. It is a figure which shows the control procedure of the movement behavior and the projection behavior in this invention. It is a figure which shows the environment at the time of performing an experiment in an Example. It is a figure which shows the outline of the robot, the pan-tilt actuator, the projector, and the image pickup apparatus which can move autonomously used in an Example. It is a figure which shows an example of the photograph to be explained in an Example. It is a figure which shows an example of the projected explanatory text in an Example.

Hereinafter, the control device and the control method of the leading guide robot of the present invention will be described with reference to the drawings.
In the figure, similar elements may be given the same number and description may be omitted.

FIG. 1 shows a leading guidance situation by the leading guiding robot of the present invention. The leading guiding robot 1 capable of autonomous movement is in a stopped state, and the projection 3 is projected onto the guided person 2 staying at a predetermined position. It shows the situation that presents.

FIG. 2 shows the configuration of the leading guidance robot control device of the present invention, where 4 is a peripheral environment imaging unit installed on the robot 1 for measuring the peripheral environment state of the robot, and 5 is on the robot 1. A pan-tilt actuator that can adjust the pan-tilt angle and tilt angle mounted on the robot, 6 is a projector installed on the pan-tilt actuator 5 that can adjust the enlargement / reduction of the projection image, and 7 is a robot. It is a robot drive device built in 1. Reference numeral 8 denotes an action selection determination unit that selects and determines which of the methods 1 to 9 the next exhibit should be guided from the image captured by the surrounding environment imaging unit 4, and 9 is an action selection determination unit 8. This is a control unit for controlling the movement behavior of the robot 1 and the projection behavior of the projector 6 based on the method determined in.
The control unit 9 sends a control signal for the pan angle and tilt angle determined by the position where the projection 3 is displayed to the pan / tilt actuator 5, and the size of the projection image (that is, the projection action) to the projector 6. ) Is transmitted, and a control signal for adjusting the amount of movement (that is, movement behavior) of the robot 1 in the direction away from the traveling direction of the robot 1 is transmitted to the robot driving device 7.
In FIG. 2, the action selection determination unit 8 and the control unit 9 are shown as separate components, but it goes without saying that these can be incorporated into one computer, for example.

FIG. 3 is a diagram showing an outline of findings A to F, which are the basis of the present invention. FIG. 3A shows the finding A that when the robot changes its course to the proximity course while the reduced image is projected, the guided person changes the course to the proximity course and moves following the robot, and FIG. 3B shows the standard. FIG. 3C shows the robot in a state where a reduced image is projected, based on the finding B that the guided person does not follow the robot and moves in the standard course even if the robot changes its course to a close course while the image is projected. 3D shows the finding C that when the robot moves the standard course, the guided person does not follow the robot and changes the course to the proximity course. FIG. 3D shows that the guided person is guided when the robot moves the standard course while the standard image is projected. Based on the finding D that a person follows a robot and moves in a standard course, FIG. 3E shows that when the robot moves in the standard course while a magnified image is projected, the guided person does not follow the robot and moves in a remote course. FIG. 3F shows the finding F that when the robot moves the remote course while the enlarged image is projected, the guided person follows the robot and changes the course to the remote course. ..

4 to 12 show methods 1 to 9 for controlling the positional relationship between the exhibit, the robot, and the guided person during the guidance action by the robot, which are obtained from the findings A to F shown in FIG. It is a figure which shows.
FIG. 4 shows a method 1 in which a robot guides a guided person to a proximity course by changing the course to a proximity course and moving in a state where a reduced image is projected based on the knowledge A.
FIG. 5 shows a method 2 in which the robot guides the guided person in the standard course by moving the standard course in a state where the standard image is projected based on the knowledge D.
FIG. 6 shows a method 3 in which a robot guides a guided person to a remote course by changing the course to a remote course and moving in a state where an enlarged image is projected based on the knowledge F.
FIG. 7 shows a method 4 in which the robot guides the guided person to a close course by moving the standard course in a state where a reduced image is projected based on the knowledge C.
FIG. 8 shows a method 5 in which the robot guides the guided person to a remote course by moving the standard course in a state where the enlarged image is projected based on the finding E.
FIG. 9 shows a method 6 in which the guided person is left in the standard course by moving the robot in the proximity course in a state where the standard image is projected based on the knowledge B.
FIG. 10 shows a method 7 in which the robot moves a remote course in a state where a standard image is projected based on the knowledge B and the knowledge D, so that the guided person is left in the standard course.
FIG. 11 shows a method 8 in which the robot guides the guided person to a close course by moving the robot in a remote course while projecting a reduced image based on the knowledge C.
FIG. 12 shows a method 9 in which a robot guides a guided person to a remote course by moving a nearby course in a state where an enlarged image is projected based on the finding E.

FIG. 13 shows an outline of the control method of the leading guide robot of the present invention.
Step 1: Initial setting Read the map of the venue to be guided, the predetermined guidance route, guidance information, etc., and set the predetermined standard image and standard course.
Step 2: Start leading guidance Start leading guidance.
Step 3: Understanding the state of the surrounding environment Timing such as when the explanation of the exhibit starts, when the explanation of the current exhibit ends, or when the surrounding environment imaging unit detects other visitors or obstacles in the guidance path. Then, the surrounding environment imaging unit 4 grasps the surrounding environment state.
When there are other visitors or obstacles in all of the standard course, the near course, and the remote course, an announcement or the like asking for "opening the course" is made, and step 3 is repeated.
Step 4: Selection determination of the leading guidance method 1 to 9 in the action selection determination unit 8 If the surrounding environment condition is that there are no other visitors or obstacles in at least one of the standard course, the near course, and the remote course, Based on the surrounding environment state grasped by the surrounding environment imaging unit 4, the action selection determination unit 8 should explain the next exhibit in a manner in which the guided person follows the robot, or the robot sets the standard course. Should it be carried out by moving and moving the guided person away from the robot, or should the guided person move the standard course and carry out by moving the robot away from the guided person, or both the robot and the guided person should be carried out from the standard course. Should it be carried out by a method of moving away from the robot, should be carried out by a method in which the guided person follows the robot (method 2), should be carried out by a remote course (method 3), or close proximity Whether it should be done in the course (method 1), if the guided person is kept away from the robot, the robot should move away from the robot (method 4), or the robot should move away from the robot (method 5). If the robot and the guided person move away from the standard course, the robot will move away from the standard course (method 6) or the remote course (method 7). (Method 8), or the robot moves the proximity path and the guided person moves the remote path (method 9). When a plurality of methods can be selected in the surrounding environment state, the selection can be determined by setting the priority of the methods in advance.
Step 5: Determination and transmission of control signals by the control unit 9 Control to the robot drive device 7, the pan-tilt actuator 5, and the projector 6 based on the robot movement behavior and the projector projection behavior selected and determined in step 4. Determine the signal, send it out, and explain the exhibits.
Step 6: Judgment of end / continuation of guidance Each time the explanation of the current exhibit is completed, it is judged whether or not there is an exhibit to be explained continuously, and if there is no exhibit to be explained, the lead guidance is finished. Then, if there is an exhibit to be explained continuously, return to step 3 and continue the leading guidance.

Hereinafter, the "experiment on the influence of the moving behavior of the leading guide robot and the projection behavior on the projector on the behavior of the guided person" conducted by the inventors and the like will be described.

Seven men and women between the ages of 21 and 22 (hereinafter sometimes referred to as subjects) participated in the experiment. The environment when the experiment was performed is shown in FIG. A passage with a width of 3 m was created, and two screens with a height of about 1.6 m and a width of about 2.7 m were installed at a position about 0.2 m away from the floor on the right side of the passage in the direction of robot travel. A partition was placed on the left side of the passage in the direction of travel to create a wall. A picture of an animal was pasted on the screen at a height of about 1.2 m from the floor for explanation, and the explanation was projected under the picture by a projector.
FIG. 15 shows an outline of the robot, pan-tilt actuator, and projector used in the experiment. The pan-tilt actuator (TrackLabs Biclops PT) is placed on a small mobile robot (T-frog i-Cart mini) for indoor and outdoor use. ) Is installed, and the projector (PT6316L manufactured by aigo) is configured to control the projection direction. In addition, an imaging device (Hokuyo Electric Co., Ltd., range sensor UTM-30LX) is mounted, and the self-position is estimated by collating with a map in the environment acquired in advance. Sebastian Thrun et al, “Probabilistic Robotics,” MIT Press method was used to obtain a map of the environment by a robot and to estimate the self-position.

The combination of the robot's movement action and the projection action on the projector consists of four types of basic guidance actions (Condition 1: The robot changes course from the standard course to the proximity course while reducing the projection screen, and moves, Condition 2: Projection image. The robot moves from the standard course to the proximity course while keeping the size of, Condition 3: The robot moves while keeping the standard course while reducing the projected image, Condition 4: The size of the projected image remains the same The robot also moves while maintaining the standard course), and the movement of the subject was investigated.

The evaluation of the experiment was performed by recording the movement of the subject accompanying the movement behavior of the robot and measuring the distance that the subject moves in the direction away from the projection surface from the start to the end of the guidance by the robot. In addition, in order to confirm whether or not the subject was viewing the projected image, a simple three-choice question regarding the projected content was asked after each guidance.

The experiment proceeded in the following procedure in the environment shown in FIG. The subject was instructed to receive guidance because the guidance robot explained the explanation of the photograph attached to the wall by projection using a projector. At this time, he did not instruct him to follow the robot. He also told them that the experiment would be conducted four times, and that each time the guidance was completed, a simple question would be asked about the projected content. After receiving the explanation of the experiment, the subjects experienced the guidance by the robot in advance in order to get used to the guidance robot.
After the subject stood in the initial position, the robot started guiding. The robot first went straight for a distance of 10 m to the front of the image to be explained, started projecting the explanation of the still image in the middle of the straight line, and moved while projecting. The size of the projected projected image was 100 cm wide x 75 cm long for the standard size and 39 cm wide x 30 cm long for the reduced size. FIG. 16 shows an example of a photograph to be explained, and FIG. 17 shows an example of an explanatory text of a still image. The robot performed a guiding action under one condition while moving to the front of the photograph to be explained. After each guidance under one condition, I filled out a three-choice question about the projected content and a questionnaire. The order of the four conditions 1 to 4 was changed for each subject.

As a result of the experiment, when the robot started to move forward along the corridor, all the subjects followed and moved. When the robot continues to guide the robot under four conditions, the subject moves back and forth between the start and end of the robot guidance as a criterion for judging the subject's behavior as following and staying at the robot or the projection surface. Evaluation was made based on the distance traveled. It was judged that the person had moved when he / she moved in the direction of the projection plane at a distance of 40 cm or more, which is about the stride length when walking slowly.
In condition 1, when the robot changes course from the standard course to the proximity course and moves while reducing the projection screen, 5 subjects approach the projection surface following the robot and 2 subjects go straight. , Many subjects showed the behavior of following the robot and receiving the exhibit guidance.
In condition 2, when the robot changes course from the standard course to the proximity course and moves while keeping the size of the projected image, one subject follows the robot and six subjects go straight, and many subjects , The behavior of looking at the exhibit guide while moving the standard course without following the preceding movement of the robot was shown.
In condition 3, when the robot moves while maintaining the standard course while reducing the projected image, there are 4 subjects who approach the projection surface and 3 subjects who follow the robot and go straight, and the behavior depends on the subject. The result was divided, but the result was that there were relatively many subjects who approached the projection plane.
In condition 4, when the size of the projected image remains the same and the robot also moves while maintaining the standard course, seven subjects followed the robot and went straight, and no subject approached the projection surface.

Comparing condition 1 and condition 2, the robot moves on the same path and approaches the projection plane, whereas the change in the size of the image on the projection plane is different. Due to this difference in conditions, many subjects approached the projection plane under condition 1, whereas many subjects did not approach the projection plane under condition 2, resulting in a large difference in movement in the direction away from the projection plane.
Further, when the condition 3 and the condition 4 are compared, the robot travels straight on the same path, but the change in the size of the image on the projection surface is different. Due to this difference in conditions, a slightly larger number of subjects approached the projection plane under condition 3, whereas all subjects did not approach the projection plane under condition 4, resulting in a large difference in movement in the direction away from the projection plane. became.

From the above-mentioned conditions 1 to 4 and the results thereof, the following findings A to F regarding the influence of the robot's moving behavior and the projection behavior on the projector on the moving behavior of the guided person can be obtained.
Knowledge A to Knowledge D are findings directly obtained from the results of this experiment, and Knowledge E and Knowledge F indicate that the guided person changes the distance from the exhibit depending on the size of the projected image. This is a finding that can be inferred from the findings A to D.
Knowledge A: When the projection screen is reduced and the robot changes its course in the direction of approaching the exhibit, the guided person follows the robot and changes its course in the direction of approaching the exhibit.
Knowledge B: Even if the robot changes its course and moves in the direction closer to the exhibit while keeping the size of the projected image, the guided person does not follow the robot and moves while keeping the distance from the current exhibit. do.
Knowledge C: When the projected image is reduced and the robot moves in a course that maintains the current distance from the exhibit, the guided person does not follow the robot, but changes the course in the direction closer to the exhibit and moves.
Knowledge D: When the robot moves in a course that keeps the current distance from the exhibit while keeping the size of the projected image, the guided person follows the robot and moves while keeping the current course.
Finding E: When the robot moves in a course that keeps the current distance from the exhibit by enlarging the projected image, the guided person does not follow the robot, but changes the course in the direction away from the exhibit and moves.
Knowledge F: When the robot changes its course in the direction away from the exhibit by enlarging the projected image and moves, the guided person follows the robot and changes its course in the direction away from the exhibit.

According to the embodiment of the present invention, in a facility visited by many visitors such as a museum, an art museum, and various event venues, when the robot is made to perform the leading guidance work on behalf of the guide, the robot's moving behavior and the projector are used. By combining the projection behaviors of the above, it is possible to perform guidance that controls the positional relationship between the exhibit, the robot, and the guided person by minimizing explicit instructions using voices and gestures, making it comfortable and efficient. Guidance can be provided.

1 Leading guidance robot 2 Guided person 3 Projection 4 Surrounding environment imaging unit 5 Projector 6 Pan-tilt actuator 7 Robot drive device 8 Action selection determination unit 9 Control unit

Claims (6)

In a leading guidance robot capable of autonomous movement that performs guidance work to a guided person on behalf of a guide, a peripheral environment imaging unit that images the surrounding environment state of the leading guidance robot itself installed on the leading guidance robot. , The moving behavior of the leading guidance robot itself from the projector installed on the pan-tilt actuator mounted on the leading guidance robot and the surrounding environment state imaged by the peripheral environment imaging unit, and the guided by the projector. The action selection determination unit that determines the combination of projection actions of the projection for explanation to the person, and the movement action of the leading guidance robot and the projection action by the projector are controlled based on the selection decision result in the action selection decision unit. A control device for a leading guidance robot, which comprises a control unit for The movement behavior of the leading guide robot itself, which is determined by the action selection determination unit, is 1. 2. Move in a standard course that keeps a distance from the preset exhibits. 2. Change the course and move in the direction where the distance from the preset exhibit is small. The control device for a leading guidance robot according to claim 1, wherein the robot moves by changing its course in a direction in which a distance from a preset exhibit is large. The projection action of the explanatory projection to the guided person by the projector determined by the action selection determination unit is 1. 2. Project an image of a preset size. 2. Project a reduced image of a preset size image. The control device for a leading guidance robot according to claim 1, wherein an enlarged image of an image having a preset size is projected. In a leading guidance robot capable of autonomous movement that performs guidance work to a guided person on behalf of a guide, the surrounding environment imaging unit installed on the leading guidance robot images the surrounding environment state of the leading guidance robot itself. Based on the obtained surrounding environment state, the action selection determination unit selects and determines a combination of the movement action of the leading guide robot itself and the projection action by the projector, and based on the selection decision result in the action selection determination unit. A control method for a leading guidance robot, wherein the control unit controls the movement behavior of the leading guidance robot itself and the projection behavior of the projector. The action selection determination unit sets the combination of the movement action of the leading guide robot itself and the projection action by the projector. A method in which the projection screen of the projector is reduced from a preset size, and the robot moves by changing its course in a direction in which the distance from the preset exhibit is small. 2. A method in which the projected image by the projector is kept at a preset size, and the robot moves while maintaining a distance from a preset exhibit. 3. A method in which the projection screen of the projector is enlarged beyond a preset size, and the robot moves by changing its course in a direction in which the distance from the preset exhibit is large. A method in which the projection screen of the projector is reduced from a preset size, and the robot moves while maintaining a distance from a preset exhibit. 6. A method in which the projection screen of the projector is enlarged beyond a preset size, and the robot moves while maintaining a distance from a preset exhibit. 6. A method in which the projected image by the projector is kept at a preset size, and the robot moves by changing its course in a direction in which the distance from the preset exhibit is small. A method in which the projected image by the projector is kept at a preset size, and the robot moves by changing its course in a direction in which the distance from the preset exhibit is large. A method in which the projection screen of the projector is reduced from a preset size, and the robot moves by changing its course in a direction in which the distance from the preset exhibit is large. One of the methods 9 in which the projection screen of the projector is enlarged from a preset size, and the robot moves by changing its course in a direction in which the distance from the preset exhibit is small. The method for controlling a leading guidance robot according to claim 4, wherein the robot is selected. The switching between the methods 1 and 9 is performed at the start of the explanation of the exhibit, at the time of starting the movement to the next exhibit to be explained, or at the peripheral environment imaging unit on the guide path to other visitors or obstacles. The method for controlling a leading guidance robot according to claim 5, wherein the method is performed when the above is detected.

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