JP2022091043A - Onsite user guidance system and onsite user guidance method - Google Patents

Abstract

To allow directions for access routes including vertical access to be properly provided onsite.SOLUTION: In guiding a user to a destination in a facility in which horizontal and vertical paths can be taken, the invention includes: an access route information collection unit 113 which collects information on access routes in the facility; a user information identification unit 112 which collects information on users; and an access route determination unit 114 which, when an instruction specifying the destination is provided by the user, determines an access route to the destination which is suitable for the user's ability to travel identified by the user information identification unit 112, using the access route information collected by the access route information collection unit 113.SELECTED DRAWING: Figure 1

Description

The present invention relates to an in-facility user guidance system and an in-facility user guidance method.

In recent years, IoT (Internet of Things) technology, which connects all devices to the Internet and provides various services, is becoming widespread. As the number of devices connected to the Internet increases rapidly, technological development of robot systems that provide various services to humans using communication is being carried out.

For example, Patent Document 1 describes a technique for estimating a self-position of a moving object moving in a limited space by referring to an object detected during the movement and map data.
By applying the moving object described in Patent Document 1 to a guiding robot that autonomously moves in a facility (such as in a building), the guiding robot moves in the facility while grasping its own position in the facility. , It becomes possible to guide the user of the facility to the destination position. For example, by applying it to a large-scale building such as an airport or a large shopping center, it becomes possible to appropriately guide facility users to their destination.

Re-table 2013/076829 Gazette

When the guidance robot autonomously moves to guide the user in the facility, it is necessary for the guidance robot itself to find the optimum route to the destination instructed by the facility user and to guide the user on the optimum route. Here, when considering movement within a facility such as a building, it is necessary to move vertically across floors depending on the destination, and it is assumed that the guidance robot itself moves on an elevator such as an elevator. ..

When searching for the optimum route to the destination including an elevator such as an elevator, if the guidance robot cannot get on the elevator, the route to the destination cannot be guided. In addition, even if the user himself / herself cannot get on the elevator due to a handicapped person or an elderly person, he / she will be guided to an inappropriate route. Furthermore, if a specific elevator in the facility is congested, or if the elevator is out of service due to inspections, etc., route guidance using that elevator may not be appropriate.
As described above, when providing route guidance in a facility such as a building, there are various problems different from searching for the shortest route between two points on a map outdoors.

An object of the present invention is to provide an in-facility user guidance system and an in-facility user guidance method capable of appropriately performing route guidance including vertical movement in a facility.

In order to solve the above problems, for example, the configuration described in the claims is adopted.
The present application includes a plurality of means for solving the above-mentioned problems. For example, as an in-facility user guidance system, a user is set as a destination in a facility that can be moved horizontally and vertically. Applies to guides.
As an example, the in-facility user guidance system has a route information collection unit that collects route information in the facility, a user information recognition unit that collects information about users, and a destination designation by the user. At that time, it is provided with a route determination unit that determines a route to a destination suitable for the user's mobility recognized by the user information recognition unit based on the route information collected by the route information collection unit.

According to the present invention, when a guiding device such as a robot guides a user on a route to a destination, it can guide the optimum movement route based on the difficulty of the user's movement. It will be possible.
Issues, configurations and effects other than those described above will be clarified by the following description of the embodiments.

It is a figure which shows the example of the whole structure of the control system by the example of one Embodiment of this invention. It is a figure which shows the arrangement example of the robot etc. of each floor in a building by one Embodiment of this invention. It is a figure which shows the configuration example of the robot control server by the example of one Embodiment of this invention. It is a figure which shows the configuration example of the robot by one Embodiment of this invention. It is a figure which shows the example of the data structure managed by the robot control server by the example of one Embodiment of this invention. It is a figure which shows the example of the data structure managed by the robot by one Embodiment of this invention. It is a flowchart which shows the example of the service control processing by the example of one Embodiment of this invention. It is a flowchart which shows the example of the user information recognition processing by the example of one Embodiment of this invention. It is a flowchart which shows the example of the route information collection processing by the example of one Embodiment of this invention. It is a flowchart which shows the example of the route determination processing by one Embodiment of this invention. It is a flowchart which shows the example of the route information correction processing by the example of one Embodiment of this invention. It is a flowchart which shows the example of the alternative route guidance selection process by the example of one Embodiment of this invention. It is a flowchart which shows the example of the robot control processing by the example of one Embodiment of this invention.

Hereinafter, the in-facility user guidance system of an embodiment of the present invention (hereinafter referred to as “this example”) will be described with reference to the attached drawings.

[System configuration]
FIG. 1 shows an example of the configuration of the in-facility user guidance system of this example.
The in-facility user guidance system shown in FIG. 1 includes a robot control server 10 that controls a guidance service, and a plurality of (N) robots 40-1, 40-2, which are devices for providing the service.・, 40-N, and a plurality of external devices 50-1, 50-2, ..., 50-N, which are devices used for movement inside and outside the facility, and a plurality of devices for sensing in the space. It consists of 60-1, 60-2, ..., 60-N sensors.

Here, the guidance services provided by the robots 40-1 to 40-N are linked with, for example, a service for interacting with the user, a service for guiding the user to a target place while interacting with the user, a signage, and the like, and the robot. There is a speech service that unilaterally sends information to an unspecified number of audiences with the motion of.

The robots 40-1 to 40-N are information processing devices for providing services to users, and are configured as so-called autonomous mobile robots capable of autonomous movement. However, the robots 40-1 to 40-N may be information processing devices that are installed at fixed positions and cannot move autonomously. Further, the robots 40-1 to 40-N are not limited to autonomously movable robots having a general form imitating the form of a so-called human or animal, and are information processing devices capable of guiding as described in this example. If so, various forms are applicable.

External devices 50-1 to 50-N are devices used for movement inside and outside the facility, such as automatic doors and elevators such as elevators and escalators.
The sensors 60-1 to 60-N are devices for performing sensing in space, such as a camera, a temperature sensor, and a motion sensor.
The robots 40-1 to 40-N, the external devices 50-1 to 50-N, and the sensors 60-1 to 60-N may be one or more depending on the scale of the installed equipment (building). It is to be installed. In the following description, the robot 40, the external device 50, and the sensor 60 are simply referred to without distinguishing between the plurality.

The operation management center 100 and the service base 110 are connected by a network 20. Further, the robot 40, the external device 50, and the sensor 60 in the service base 110 are connected by a local area network (LAN) 30. The service base 110 corresponds to an area in the facility (building) where the robot 40 guides the user.
As the connection method of the premises LAN 30, for example, a wired LAN, a wireless LAN, a short-distance wireless or the like can be applied, and a plurality of connection methods may be used in combination.

[Example of facility where the system is operated]
FIG. 2 shows an arrangement example of each device in the facility (building).
FIG. 2A shows the plane of the first floor 110-1 of the facility, and FIG. 2B shows the plane of each floor 110-N (Nth floor) other than the first floor.

Rooms R11, R12, and R13 are arranged on the first floor 110-1. Further, on the 1st floor 110-1, an elevator 11 as an elevator that moves to another floor is installed, and a camera 12 that monitors an elevator hall or the like is attached. A robot 40 that can move autonomously is prepared in the vicinity of the reception stand 13 such as the entrance of a building. Further, infrared sensors 14 and 15 are arranged at a plurality of places, and the presence of a person or a robot can be detected.

Rooms R91, R92, R93, and R94 are arranged on each floor 110-N other than the first floor. Further, on each floor 110-N, an elevator 11 as an elevator that moves to another floor is installed, and a camera 16 that monitors an elevator hall or the like is attached. Further, infrared sensors 17 and 18 are arranged at a plurality of places, and the presence of a person or a robot can be detected.
The elevator 11 corresponds to the external device 50 shown in FIG. The cameras 12, 16 and the infrared sensors 14, 15, 17, and 18 correspond to the sensors 60 shown in FIG.

[Robot control server configuration]
FIG. 3 is a diagram showing an example of the configuration of the robot control server 10.
The processing content of the robot control server 10 is stored in the auxiliary storage device 104 of a general computer in the form of a program (software). Then, the CPU (Central Processing Unit) 102 expands the program read from the auxiliary storage device 104 on the memory 101 and executes the process. The robot control server 10 communicates with other servers, service devices, and robots via the network I / F 105.

The I / O (input / output interface) 103 is a user interface for a user to input an instruction to the robot control server 10 and present a program execution result or the like to the user. An input / output device (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) is connected to the I / O 103. Further, the I / O 103 may be a user interface provided by a management terminal connected via a network.

The CPU 102 is a processor that executes a program stored in the memory 101. The memory 101 includes a ROM (Read Only Memory) which is a non-volatile storage element and a RAM (Random Access Memory) which is a volatile storage element. An immutable program (for example, BIOS: Basic Input Output System) or the like is stored in the ROM. The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and the RAM is temporarily stored with a program stored in the auxiliary storage device 104 and data used when executing the program. Will be done.

Various processing programs executed by the CPU 102 are stored in the memory 101 of this example. Each of these programs functions as a service control unit 111, a user information recognition unit 112, a route information collection unit 113, a route determination unit 114, a route information correction unit 115, and an alternative route guidance selection unit 116.
The service control unit 111 gives an operation instruction based on the service to the robot 40. Specifically, the robot's speaker plays a voice, executes a motion, and gives an instruction to move to a specific place.

The user information recognition unit 112 analyzes text data or text data input from a device capable of inputting text data (for example, a signage, a tablet, an externally connected terminal, etc.). Further, the user information recognition unit 112 receives the voice data input to the microphone of the robot 40 from the robot 40 and analyzes it.
Further, the user information recognition unit 112 receives the image data input to the camera of the robot 40 from the robot 40. Then, the user information recognition unit 112 determines whether or not a person exists in front of the robot 40, estimates the age, gender, emotion, etc. of the person, and other data acquired from the sensor 60 installed in the space. Recognize users based on. The user information recognition unit 112 performs a process of recognizing the movement ability of the user, particularly the ability of vertical movement (that is, movement to another floor) such as availability of an elevator. The details of the process in which the user information recognition unit 112 recognizes the movement ability of the user will be described later.

The route information collecting unit 113 has information on route candidates to the destination, the state of the external device (external equipment) 50 installed in the route, and the route such as the degree of congestion of the route, according to the destination of the user. Collect information.
The route determination unit 114 determines the route to the destination to be guided from the information of the robot 40 and the user information collected by the user information recognition unit 112 from the route candidates collected by the route information collection unit 113. do.

In the route information correction unit 115, the robot 40 uses the user when the state such as the degree of congestion of the route changes or is predicted to change while moving along the route determined by the route determination unit 114. Change the route to guide.
The alternative route guidance selection unit 116 has a function of performing guidance on behalf of another robot when the robot 40 cannot execute guidance, a function of switching to guidance without movement, a function of notifying that guidance cannot be performed, and the like. Provides an alternative route guidance selection function.

Further, the memory 101 has a service information database 121, a robot information database 122, a user information database 123, a route information database 124, a robot state information database 125, and an external device information database 126. The configuration of each of these databases 121 to 125 will be described with reference to FIG. In the drawings, the database is abbreviated as DB.

The auxiliary storage device 104 is a large-capacity, non-volatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). Further, the auxiliary storage device 104 stores a program executed by the CPU 102 and data used when the program is executed.

That is, the program to function as each processing unit 111 to 115 in the memory 101 is read from the auxiliary storage device 104, loaded into the memory 101, and executed by the CPU 102. The robot control server 10 is a computer system physically configured on one computer, or logically or physically configured on a plurality of computers.
The program stored in the memory 101 may be operated by a separate thread on the same computer, or may be operated on a virtual computer constructed by a plurality of physical computer resources.

Further, the robot control server 10 and other devices may be housed in one physical or logical computer. Note that all or part of the processing realized by executing the program may be realized by dedicated hardware (for example, Field-Programmable Gate Array).

[Robot configuration]
FIG. 4 shows an example of the configuration of the robot 40.
The processing content of the robot 40 is stored in the auxiliary storage device 404 of a general computer in the form of a program (software), and the CPU (Central Processing Unit) 402 expands the program read from the auxiliary storage device 404 on the memory 401. And execute.
The robot 40 communicates with other devices via the communication I / F405. Further, the robot 40 includes a mechanism unit 406, which is a mechanism part of the robot such as a head, an arm, and a leg, a mechanism control unit 407 that controls the mechanism unit, a speaker 408 that emits sound, a microphone 409 that collects sound, and a light emitting unit. It includes a 410 and a camera sensor 420, which is a camera for position measurement.

The I / O (input / output interface) 403 is a user interface for the user to input an instruction to the robot 40 and present the execution result of the program to the user. An input / output device (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) is connected to the I / O 403. The I / O 403 may be a user interface provided by a management terminal connected via a network.

The CPU 402 is a processor that executes a program stored in the memory 401. The memory 401 includes a ROM (Read Only Memory) which is a non-volatile storage element and a RAM (Random Access Memory) which is a volatile storage element. An immutable program (for example, BIOS: Basic Input Output System) or the like is stored in the ROM. The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and the RAM is temporarily stored with a program stored in the auxiliary storage device 404 and data used when executing the program. Will be done.

The memory 401 stores a robot control unit 411 that functions as a robot control program. The robot control unit 411 receives an instruction from the service control unit 111 of the robot control server 10, has a function of reproducing voice from the speaker 408, a function of controlling the mechanism unit 406 to execute a motion, and moves the robot 40 to a specific place. It has a function of causing the light emitting unit 410 to emit light with an instructed light emitting pattern.

The auxiliary storage device 404 is a large-capacity, non-volatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). Further, the auxiliary storage device 404 stores a program executed by the CPU 402 and data used when the program is executed. That is, the program stored in the auxiliary storage device 404 is read out, loaded into the memory 401, and executed by the CPU 402.

Similar to the robot control server 10, the computer system of the robot 40 is a computer system physically configured on one computer, or logically or physically configured on a plurality of computers. The program stored in the memory 401 may be operated by a separate thread on the same computer, or may be operated on a virtual computer built on a plurality of physical computer resources. Further, it is the same as the robot control server 10 in that each part of the robot 40 may realize all or a part of the processing realized by executing the program by hardware (for example, Field-Programmable Gate Array).

[Data structure of each database of robot control server]
FIG. 5 shows the data structure of each database existing in the memory 101 of the robot control server 10.
The service information database 121 is a database that manages the service contents provided by the robot 40 to the user. The service information database 121 has a service identifier, a service parameter, a robot identifier, and an external device identifier.
Here, the service identifier is an identifier that uniquely identifies the service. Service parameters define the functions of the robot required to execute the service, the type of service, the importance of the service, and the like. Further, the robot identifier identifies the robot 40, and the external device identifier uniquely identifies the external device 50 for acquiring information.

Further, although not shown in FIG. 5, the service information database 121 defines an alternative scenario for providing an alternative service when the service cannot be provided normally due to the execution order of the services or some kind of failure. Scenario data is also included.

The robot information database 122 is a database that manages information on the robot 40. The robot information database 122 has a robot identifier, a base identifier, a base map, X coordinates, Y coordinates, and robot parameters 1 to N.

The robot identifier is an identifier for uniquely identifying the robot 40. The base identifier and the base map are identifiers and maps indicating the bases on which the robot 40 is operated. The X coordinate and the Y coordinate indicate the current position of the robot 40. Robot parameters 1 to N are parameters indicating the ability of the robot.
For example, the robot parameters include whether the robot 40 can move, if it can move, what is the moving speed, whether it can hold an object, whether it can get into an elevator such as an elevator, whether it can open a door, or a staircase. Contains information about the robot's capabilities, such as whether it is available.

The user information database 123 is a database that manages information on users who use the robot 40. The user information database 123 has a user identifier, X and Y coordinates representing the current position of the user, and user parameters 1 to N.
The user identifier is an identifier for uniquely identifying a user. User parameters 1 to N are parameters indicating the age, physique, physical characteristics such as the presence or absence of a wheelchair or a cane, and the like. These user parameters indicate for each user the ability to move whether or not elevators, escalators, and other elevators can be used and whether or not stairs can be used. Specifically, in the case of a wheelchair user, it is shown that only the elevator can be used and the escalator cannot be used when moving in the vertical direction. Information such as the age of the user and the use of the cane also indicates that the route should avoid escalators and stairs as much as possible when the corresponding user moves in the vertical direction.

The route information database 124 is a database that manages routes corresponding to map information for the robot 40 to move. The route information database 124 has a route identifier, a route type, X and Y coordinates of the route, route parameters 1 to N, and obstacle parameters 1 to N.
The route identifier is an identifier for uniquely identifying the route on which the robot 40 travels. The route identification represents the type of a route such as a road or a slope, and the route parameters 1 to N are parameters indicating a threshold value of the congestion degree of the passage set for each route and whether or not a sensor is installed. Obstacle parameters 1 to N are parameters indicating obstacles such as doors and stairs existing on the route.

The robot state information database 125 is a database that manages the current state of the robot. The robot state information database 125 has a robot identifier, a base identifier, a base map, X and Y coordinates of the robot 40, a running service identifier, and a service state.
The robot identifier is an identifier for uniquely identifying the robot. The base identifier and the base map indicate the base on which the robot 40 is operated and the map thereof. The running service identifier is an identifier indicating the service being executed by the robot 40, and the service state indicates the state (state) of the service being executed by the robot.

The external device information database 126 is a database that manages the state of an external device 50 such as an elevator such as an elevator or an escalator or an automatic door. The external device information database 126 includes an external device identifier, an external device parameter, an external device status, an alternative function identifier, and a service contract identifier.
The external device parameters indicate parameters such as the number of people and the size of the external device 50 that can be boarded, the functions of the robot required for use, and the characteristics of the user. The external device status indicates the usage status of the external device and the presence / absence of a failure.

[Data structure of robot database]
FIG. 6 shows the data structure of the database existing in the memory 401 of the robot 40.
The robot motion information database 421 is a database for defining the motion of the robot.
The robot operation information database 421 has a robot identifier, a base identifier, a base map, X and Y coordinates, a running service identifier, and a service state.
The robot identifier is an identifier for uniquely identifying the robot, and the base identifier and the base map uniquely identify the base on which the robot operates. The X coordinate and the Y coordinate indicate the current location of the robot, and the running service identifier is an identifier indicating the service being executed by the robot 40. The service state indicates an operation that defines movement, utterance, action, light emission, etc. of the robot 40, or which state is currently in the service content in which the robot 40 is instructed by the robot control server 10.

[Flow of processing executed by the robot control server]
FIG. 7 is a flowchart showing an example of the service control process executed by the robot control server 10.
The service control process is a process executed by the service control unit 111 of the robot control server 10. Specifically, the service control unit 111 first acquires the utterance content and gesture content of the user by using the camera and microphone of the robot 40 or the sensor 60 installed in the space, and the user according to the content. The purpose of use of the robot 40 is acquired (step S11). Next, the service control unit 111 determines whether or not the user's purpose of use is a service that involves movement (step S12).

If the service does not involve movement in step S12 (NO in step S12), the service control unit 111 transmits a control instruction to the robot 40 according to the scenario of the service information database 121 (step S20), and ends the process.
If the service involves movement in step S12 (YES in step S12), the user information recognition process (described in FIG. 8) is executed (step S13), and then the route information analysis process (described in FIG. 9). ) (Step S14), and further a route determination process (described in FIG. 10) is executed (step S15).

Next, the service control unit 111 determines whether or not the determined route can be guided by the robot 40 (step S16). That is, the service control unit 111 autonomously moves on the route determined by the robot 40 and determines whether or not the destination can be reached. Specifically, the service control unit 111 determines whether there is an elevator on which the robot 40 cannot ride in the middle of the route, or whether there is an obstacle when the robot 40 moves in the middle of the route.

If the robot 40 cannot guide the determined route in step S16 (NO in step S16), the service control unit 111 executes an alternative route guidance selection process (described in FIG. 12) (step S17), and ends the process. do.
If the robot can guide the robot (YES in step S16), the service control unit 111 transmits a control instruction to the robot (step S18). Then, while the robot is moving, the service control unit 111 repeats the route information correction process (described in FIG. 11) (step S19), and ends the process.

FIG. 8 is a flowchart showing an example of the user information recognition process in step S13 of FIG.
The user information recognition process is a process executed by the user information recognition unit 112 of the robot control server 10.
First, the user information recognition unit 112 of the robot control server 10 acquires and uses the utterance content and gesture content of the user by using a sensor such as a camera or a microphone of the robot 40 or a sensor 60 installed in the space. Acquire the identifier of the person (step S21). Next, the user information recognition unit 112 refers to the user information database 123 (step S22), and determines whether or not the acquired user identifier exists (step S23).

If the user's identifier exists in step S23 (YES in step S23), the robot control server 10 acquires the information of the corresponding identifier from the user information database 123, recognizes the ability to move, and shows FIG. The user information recognition process in step S13 is terminated.
If the user's identifier does not exist in step S23 (NO in step S23), the user information recognition unit 112 acquires the user's information (step S24).
The process of acquiring user information here includes, for example, the use of sensors such as the camera and microphone of the robot 40, or the use of sensors 60 installed in the space, operations using a touch panel, communication such as conversations and gestures, IC cards and faces. Calling of registrant information by authentication, acquisition processing by pre-registered application, etc. are performed.

Then, the robot control server 10 analyzes the characteristics (user type) such as gender, age, physical characteristics such as the presence or absence of a wheelchair or a cane, and the number of users (user type) from the acquired user information (step S25). The process of recognizing the user's mobility is terminated.

FIG. 9 is a flowchart showing an example of the route information acquisition process and the route information analysis process in step S14 of FIG. 7.
The route information acquisition process and the route information analysis process are processes executed by the route information collection unit 113 of the robot control server 10.
Specifically, first, the route information collecting unit 113 of the robot control server 10 acquires a route candidate to the destination from the current position of the robot 40 and the user, the destination of the user, and map information (route information). (Step S31). Next, the robot control server 10 refers to the map information database and acquires obstacle information such as doors, stairs, elevators, and shelves on the route candidate (step S32).

Next, the route information collecting unit 113 of the robot control server 10 acquires information on the sensor on the route candidate and the sensor installed in the passage adjacent to the route candidate (step S33). Then, the route information collecting unit 113 acquires and analyzes the current state and future situation of the passage on the route candidate and the adjacent passage (step S34). In this step S34, for example, the congestion degree of the passage on the route candidate, the obstacle information such as being closed, the congestion degree and position of the elevator such as an elevator or an escalator, and the obstacle information such as during an emergency stop are acquired, and the passage of the route candidate is acquired. And the current and future conditions of the passages adjacent to the route candidates are analyzed.

FIG. 10 is a flowchart showing an example of the route determination process.
The route determination process is a process executed by the route determination unit 114 of the robot control server 10. Specifically, the route determination unit 114 of the robot control server 10 determines whether or not the user can reach the destination (step S41). Here, the route determination unit 114 has the route on the route candidate, the status of the device, and the user acquired in the user information recognition process (FIG. 7) for each route candidate acquired in the route information analysis process (FIG. 9). Refer to the user information database based on the characteristics of, and determine whether or not the user can reach the destination.

An example of specifically determining whether or not it is reachable in step S41 is shown below.
・ If the movement spans more than a certain number of floors, it is judged that the movement on the stairs is not possible. If the user has a lot of luggage, lower the upper limit of the number of floors. Also, if it is judged that the user is an old man or a child depending on the age of the user, the upper limit of the number of floors is similarly lowered.
・ If it is difficult to move on the stairs, such as when you have a wheelchair, stroller, or cane, it is judged that you cannot move on the stairs. However, if there is a slope, it is acceptable.
・ If you have a wheelchair or stroller, it is judged that you cannot move on the escalator.
・ If the elevator is crowded, select the stairs instead of the elevator. If there is an escalator in addition to the stairs, select the escalator.
・ If the road is crowded more than a certain amount and there is another road, it will not be possible to move.
・ If there are multiple users and children, choose to move by elevator or escalator instead of stairs.
・ If the number of users exceeds a certain number relative to the number of elevators, it is judged that it is not possible to move by elevator.

Next, the route determination unit 114 of the robot control server 10 refers to the robot information database 122 and determines whether or not the robot 40 can reach the destination (step S42).
The route determination unit 114 executes determination of whether the user can pass the route in step S41 and determination of whether the robot 40 can pass the route in step S42 for all the locations on the route candidate.
Then, the route determination unit 114 determines whether or not there is a candidate route for which all are YES in the determination in steps S41 and S42 (step S43).

A specific example of determining that the robot 40 cannot reach (there is no route candidate) in step S43 is shown below.
-When the robot 40 cannot move abilities, or when the robot 40 itself determines that it cannot move on the elevator, escalator, or stairs.
・ When the number of passages and elevators on the travel route is more than a certain number.
-When the role of the robot 40 is given an immovable role such as reception.
-When the charge amount of the robot 40 is less than a certain amount.

If there are route candidates that are all YES in step S43 (YES in step S43), the robot control server 10 selects a route that can reach the destination in the shortest time from the route candidates (step S44), and performs processing. finish.
If there are no route candidates that are all YES in step S43 (NO in step S43), the robot control server 10 executes the alternative route guidance selection process (FIG. 12) (step S45), and ends the process.

FIG. 11 is a flowchart showing an example of the route information correction process.
The route information correction process is a process executed by the route information correction unit 115 of the robot control server 10. Specifically, the route information correction unit 115 of the robot control server 10 uses a sensor such as a camera or a microphone of the robot 40 or a sensor 60 installed in the space to determine the degree of congestion of the passage and the device on the route candidate. It is acquired and it is determined whether or not it exceeds the predetermined threshold value 1 (step S51). The threshold value 1 in step S51 may be determined for each passage and device.

Then, in step S51, when the congestion degree of the passage on the route candidate and the device does not exceed the threshold value 1 (NO in step S51), the route information correction unit 115 ends the route information correction process.

Further, in step S51, when the degree of congestion of the passage or device on the route candidate exceeds the threshold value 1 (YES in step S51), the route information correction unit 115 is used for the passage or device (elevator or the like) on the route candidate. It is determined whether there is an obstacle (step S52).
If there is no failure in step S52 (NO in step S52), the route information correction unit 115 ends the route information correction process.

If there is a failure in step S52 (YES in step S52), the route information correction unit 115 of the robot control server 10 determines whether or not there is another route that can be selected (step S53). If there is another route that can be selected in step S53 (YES in step S53), the robot control server 10 selects the route closest to the current location to the destination among the other routes (step S54). , Ends the route information correction process.

If there is no other route that can be selected in step S53 (NO in step S53), the route information correction unit 115 executes the alternative route guidance selection process (FIG. 12) (step S55), and ends the process. ..

FIG. 12 is a flowchart showing an example of the alternative route guidance selection process.
The alternative route guidance selection process is a process executed by the alternative route guidance selection unit 116 of the robot control server 10. Specifically, the alternative route guidance selection unit 116 of the robot control server 10 refers to the robot state information database 125 (step S61), and determines whether or not there is another usable robot 40 (step S62). ..

If there is no other available robot in step S62 (NO in step S62), the alternative route guidance selection unit 116 refers to the service information database 121 (step S67), and according to the scenario, the alternative scenario is the robot 40. (Step S68). Then, the alternative route guidance selection unit 116 updates the robot information database 122 according to the transmission result in step S68 (step S69), and ends the process.

An example of an alternative scenario is shown below.
・ If you cannot get guidance by moving, use a motion such as speaking from a speaker or pointing at the information of the route ahead, such as "Please take the elevator at the right turn and go up to the 3rd floor". Instructions are executed.
-If there is a screen display device such as a digital signage or monitor, display map information on the screen or display a video taken with the camera in advance, and explain the specific movement method along with the screen movement and voice.

If there is another available robot in step S62 (YES in step S62), the robot control server 10 determines whether or not there is a path that can be moved by the other robot (step S63).
If there is no path that can be moved by another robot in step S63 (NO in step S63), the robot control server 10 performs the processes of steps S67 to S69 and ends the entire process.

Further, when there is a route that can be moved by another robot in step S63 (YES in step S63), the alternative route guidance selection unit 116 of the robot control server 10 determines whether or not the route can reach the destination by the user. (Step S64). That is, the alternative route guidance selection unit 116 determines whether or not there is an obstacle on the route that the user cannot pass.
If the user cannot reach the destination in step S64 (NO in step S64), the alternative route guidance selection unit 116 performs the processes of steps S67 to S69 and ends the entire process.

When it is determined in step S64 that the user can reach the destination (YES in step S64), the alternative route guidance selection unit 116 of the robot control server 10 instructs another available robot 40 to change guidance. (Step S65), updates the robot status information database 125 according to the transmission result (step S66), and ends the process.

[Flow of processing executed by the robot]
FIG. 13 is a flowchart showing an example of robot control processing.
The robot control process is a process executed by the robot control unit 411 of the robot 40. Specifically, first, the robot 40 receives robot control information from the robot control server 10 (step S71). Then, the robot 40 refers to the robot motion information database 421 (step S72), and executes actions for user guidance such as movement, utterance, gesture, and light emission according to the motion registered in the robot motion information database 421 (step S72). Step S73).

According to the in-facility user guidance system of the present embodiment described above, when the robot 40 guides the route to the destination in the facility, the route to the destination suitable for the difficulty of the user's movement. Will be able to guide you.
Specifically, in the case of wheelchair users and elderly people who cannot use the stairs because the destination is on another floor that moves vertically, even if the shortest route is the route using the stairs, an elevator such as an elevator The route using is guided. Further, when the robot 40 autonomously moves and guides, the robot 40 itself guides the optimum route after considering whether or not the robot 40 itself can move by using the stairs or the elevator.

Further, if the robot 40 itself cannot move to another floor using stairs or an elevator, an alternative route guidance such as taking over the route guidance to another robot 40 is searched for, and the alternative route guidance is selected to guide the robot 40. become able to. If the other robot 40 cannot guide the robot 40, the robot 40 can guide the route to the destination by voice or display instead of moving and guiding the robot 40.
In addition, as this alternative route guidance, even if you guide the robot 40 to a place where it can move (for example, to the elevator hall) and when you reach that place, you can instruct "Please go to the XX floor by elevator" by voice or display. good. Further, when the passenger gets off the corresponding floor by the elevator, the guidance may be handed over to another robot 40.

<Modification example>
The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations.

Further, in the above-described embodiment, each component is divided into separate sections, but they are not unrelated to each other, and one is a modification of a part or all of the other, details, and the like. There is a relationship such as supplementary explanation.
In addition, the number of elements (including the number, numerical value, quantity, range, etc.) is limited to a specific number unless otherwise specified or clearly limited to a specific number in principle. It is not a thing, and may be more than or less than the specified number described.
Furthermore, it goes without saying that each component (including element steps and the like) is not necessarily essential unless it is explicitly stated or it is considered to be clearly essential in principle.

Further, in a block diagram such as FIG. 1, control lines and information lines show only those considered necessary for explanation, and do not necessarily show all control lines and information lines in the product. In practice, it can be considered that almost all configurations are interconnected. Further, in the flowcharts shown in FIGS. 7 to 13, a plurality of processes may be executed at the same time or the process order may be changed as long as the processing results are not affected.

Further, in the above-described embodiment, the robot 40 is configured as a robot capable of autonomous movement, but some or all the robots included in the system may be robots having a fixed installation position. In this case, the robot whose installation position is fixed may perform guidance by voice dialogue with the user or display on the screen.
A robot whose installation position is fixed does not have to have a shape generally called a robot. For example, information processing such as a tablet terminal installed at a reception desk of a facility or a smartphone owned by a facility user himself / herself. You may use a terminal.

Further, in the above-described embodiment, the robot control server 10 searches for a route and a search for an alternative function, and the robot 40 guides the route according to an instruction from the robot control server 10. On the other hand, the robot 40 may incorporate some or all of the functions performed by the robot control server 10 so that the robot 40 independently guides the user's route.

10 ... Robot control server, 11 ... Elevator, 12 ... Camera, 13 ... Reception desk, 14 ... Infrared sensor, 16 ... Camera, 17 ... Infrared sensor, 20 ... Network, 30 ... On-site LAN, 40 ... Robot, 50 ... External device , 60 ... sensor, 100 ... operation management center, 101 ... memory, 102 ... CPU, 103 ... I / O, 104 ... auxiliary storage device, 110 ... service base, 111 ... service control unit, 112 ... user information recognition unit, 113 ... Route information collection unit, 113 ... Route information analysis unit, 114 ... Route determination unit, 115 ... Route information correction unit, 116 ... Alternative route guidance selection unit, 121 ... Service information database, 122 ... Robot information database, 122 ... Robot Information table, 123 ... User information database, 123 ... User information table, 124 ... Route information database, 125 ... Robot status information database, 126 ... External device information database, 401 ... Memory, 402 ... CPU, 402 ... Auxiliary storage device , 403 ... I / O, 404 ... Auxiliary storage device, 406 ... Mechanism unit, 407 ... Mechanism control unit, 408 ... Speaker, 409 ... Mike, 410 ... Light emitting unit, 411 ... Robot control unit, 420 ... Camera sensor, 421 ... Robot motion information database

Claims (8)

An in-facility user guidance system that guides users to their destination within a facility that can move horizontally and vertically.
The route information collection unit that collects route information in the facility,
The user information recognition unit that collects information about the user,
When the destination is specified by the user, the route information collected by the route information collecting unit is the route to the destination corresponding to the movement ability of the user recognized by the user information recognition unit. In-facility user guidance system equipped with a route determination unit that determines based on. The in-facility user guidance system according to claim 1, wherein the user's mobility includes information indicating whether or not an elevator that moves vertically in the facility can be used. The in-facility user guidance system according to claim 2, further comprising an autonomous mobile robot that autonomously moves along a route determined by the route determination unit and guides the user to a designated destination. The in-facility user guidance system according to claim 3, wherein when the route determination unit determines a route to a destination, the information indicating whether or not the autonomous mobile robot can use the elevator is referred to. Further, when the route determination unit determines that the elevator in the route to the destination cannot be used by the autonomous mobile robot, an alternative route guidance selection unit that selects a route guidance alternative to the route guidance by the autonomous mobile robot. The in-facility user guidance system according to claim 4. The facility according to claim 5, wherein the alternative route guidance selection unit takes over the guidance of the route to the designated destination to an autonomous mobile robot different from the autonomous mobile robot when the elevator cannot be used by the autonomous mobile robot. Internal user guidance system. Further, any one of claims 1 to 6 is provided with a route information correction unit that acquires at least one of congestion information in the facility and failure information of the route in the facility and corrects the route determined by the route determination unit. Described in-facility user guidance system. An in-facility user guidance method in which an autonomous mobile robot or an information processing terminal guides a user to a destination in a facility that can move horizontally and vertically.
The route information collection process in which the control server that controls the autonomous mobile robot or the information processing terminal collects the route information in the facility.
User information recognition processing in which the control server collects information about the user,
When the destination is specified by the user, the route to the destination corresponding to the movement ability of the user recognized by the control server by the user information recognition process is obtained by the route information collection process. An in-facility user guidance method including a route determination process that determines using the collected route information and guides the user to the autonomous mobile robot or an information processing terminal.

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