JP4896550B2 - Information management system - Google Patents

Description

  The present invention relates to a system for managing information provided to a user using a robot having communication ability.

In order to improve advertising effectiveness, a technology has been proposed in which a robot having an autonomous movement function is moved to an area where there are many humans, advertising information is distributed to the robot, and displayed to surrounding people through the information display device. (For example, refer to Patent Document 1).
JP 2003-0505559 A paragraphs 0002-0006

  However, when the desired information is provided to individual users rather than an unspecified number of people using the above technique, the number of robots is often smaller than the number of users. However, there is a possibility that the demand for information by the user cannot be kept up. For example, when one robot provides information to a plurality of users, each user must wait until information is provided from the robot.

  Further, when information is provided to a larger number of users, the time required for each user to contact information displayed by the information display device of the robot is shortened. In this case, the user cannot obtain satisfactory information, and feels dissatisfied with the information providing service using the robot.

  Therefore, an object of the present invention is to provide an information management system capable of providing information to the user in an appropriate form using a robot from the viewpoint of making the user feel highly satisfied.

An information management system of the present invention for solving the above problem is a system for managing information provided to a user using a robot on which a microphone is mounted, and the user obtained through the microphone by the robot audio data is estimated by being analyzed according to speech recognition techniques, a request for information as speech contents of the user is recognized on the basis of the communication with the robot, and database information in response to the request An information processing terminal satisfying the requirement that new information can be output is specified from among a plurality of information processing terminals having a first processing unit and an information output function, and the specified information processing the communication with the terminal, the retrieval information by the first processor causes output to the designated information processing terminal, the robot G The position of the robot measured by the S function is received via the network, and the position of each information processing terminal is read from the storage unit of the system, or the position of the information processing terminal measured by the GPS function of each information processing terminal After receiving the position of each information processing terminal, the interval between the robot and each information processing terminal is determined based on the position of the robot and the position of each information processing terminal, or stored in the storage unit. A second processing unit that determines an interval between the robot and each of the information processing terminals based on a movement path of the robot in the global map, and the robot determined by the second processing unit and the designated information processing terminal And the robot's behavior so that the distance between the robot and the designated information processing terminal is reduced. Controlled and characterized in that it comprises a third processing unit for moving the robot.

  According to the information management system of the present invention, the information according to the user's request recognized by the communication ability of the robot is in a state in which new information can be output among a plurality of information processing terminals having an information output function. It can be provided to the user through the information processing terminal. Here, “output” information by the information processing terminal means that information is output in a form that allows the user to grasp through the five senses such as visual sense and auditory sense, such as outputting information in the form of video, audio, or a combination thereof. Means to output.

  Thus, for example, the first user can obtain information from the first designated information processing terminal through communication with the robot, and the second user can immediately obtain information from the second through communication with the robot. Can be obtained from the designated information processing terminal. For this reason, the time for which each user contacts information required through the information processing terminal is not limited. In addition, while the first user is in contact with the information through the information processing terminal, each user can quickly obtain information as long as other users do not have to wait to obtain the information from the same information processing terminal. it can.

Furthermore, it is possible to inform the user from which information processing terminal the information can be obtained through the behavior of the robot that guides the user to the place where the designated information processing terminal is located. Thereby, it is possible to make each user feel the kindness of the information providing service using the robot and the high satisfaction.

  Therefore, according to the information management system of the present invention, information can be provided to the user in an appropriate form using a robot from the viewpoint of making the user feel highly satisfied.

  Note that “recognition” of information by a robot or a processing unit that is a component of the present invention means that the processing unit reads information from a storage device such as a memory or a hard disk, retrieves information from a database, Concepts encompassing all information processing to realize a state where information can be used as needed, such as receiving information from equipment, measuring, setting, determining, determining, estimating, and calculating information It is.

The second processing unit, from among the plurality of information processing terminals, information having an information output function according to the type of the retrieval information corresponding to the request or the request of the user recognized by the first processing unit It is preferable to specify a processing terminal.

According to the information management system having the configuration, the information is provided to the user through an information processing terminal having an appropriate information output function in view of the type (content) of the information requested by the user or provided to the user. can do.

The second processing unit, recognizing the type of a task corresponding to the type of the retrieval information corresponding to the request or the request of the user recognized by the first processing unit, of the plurality of information processing terminals from within, it is preferable to specify the type of information processing terminal according to the type of the task.

According to the information management system having the above configuration , appropriate information output in view of a task (for example, question and answer, information provision of a specific genre, etc.) according to the type of information (content) requested by the user or provided to the user This information can be provided to this user through an information processing terminal having a function.

The second processing unit recognizes the designation of the information processing terminal by the user according to communication with the robot, it is preferable to specify the information processing terminal in accordance with the specification.

According to the information management system having the configuration , information can be provided to the user through the information processing terminal designated by the user.

It is preferable that the second processing unit preferentially designates an information processing terminal having a short distance from the robot among the plurality of information processing terminals .

According to the information management system of the said structure , it is suppressed that the distance for which a user moves to the place with a designated information processing terminal becomes long. For this reason, the effort for each user to obtain the necessary information can be reduced .

The second processing unit, according to communication with the robot Recognizing the designation of the information processing terminal by the user, of the said search information corresponding to the request or the request of recognized the user by the first processing unit Among a plurality of factors including a type, designation of an information processing terminal by the user, and an interval between the robot and each information processing terminal, an information processing terminal is preferentially or deliberately used as a factor having a higher rank Is preferably specified.

Further, the user request recognized by the first processing unit or the type of the search information corresponding to the request, the designation of the information processing terminal by the user, and the interval between the robot and each information processing terminal It is preferable that the ranking is set high.

According to the information management system of the configuration, the information processing terminal designates the factor preferentially or deliberately according to the ranking of a plurality of factors set from the viewpoint of improving the quality of the information providing service for the user. Can be done. Thereby, the user can be satisfied with the service.

While the third processor is controlling the behavior of the robot, the case where the designated information processing terminal is changed by the second processing section, the third processing unit is the pre-change by the second processing unit Recognizing the interval between the changed designated information processing terminal and the robot instead of the designated information processing terminal, and controlling the behavior of the robot to move the robot so that the interval is shortened. Is preferred .

According to the information management system configured as described above, the designated information processing terminal can be changed in accordance with a change in the situation such as the information processing terminal being able to output information from being unable to output information. Then, it is possible to promptly notify the user of the designated information processing terminal after the change.

Behavior of the third processing unit, wherein the robot so that the distance of the robot and the designated information processing terminal as a requirement that exceeds the threshold value, distance between the designated information processing terminal and the robot is reduced It is preferable to move the robot by controlling .

According to the information management system of the configuration , the robot guides the user to the place where the designated information processing terminal is located only when the distance between the robot and the designated information processing terminal is so far as to exceed the threshold. As a result, it is possible to omit the guidance when the user can quickly reach the designated information processing terminal, and to quickly provide information to the next user .

The third processing unit, it is preferable to control the behavior of the robot so as to instruct the designated information processing terminal to the robot.

According to the information management system configured as described above, by causing the robot to instruct the designated information processing terminal, it is possible to allow the user to grasp which information processing terminal from among the plurality of information processing terminals can obtain information. . “Instructions” by the robot include moving the body of the robot to point to the designated information processing terminal, guiding the location of the designated information processing terminal by voice such as “Left terminal” output from the robot, All the behaviors for allowing the user to identify the terminal through the five senses such as the visual sense and the auditory sense are included, such as light irradiation to the designated information processing terminal.

The third processing unit, it is preferable to control the behavior of the robot so as to instruct the designated information processing terminal to the robot on condition that the distance between said robot the designated information processing terminal is below a threshold .

According to the information management system having the configuration , the robot can be instructed to designate the designated information processing terminal after the distance between the robot and the designated information processing terminal is close to a threshold value or less. That is, it is possible to notify the user from which information processing terminal information can be obtained at an appropriate timing in view of the interval between the robot and the designated information processing terminal.

The information management system of the present invention is estimated based on the user's facial expression estimated based on imaging data obtained by the robot through a camera mounted on the robot, or acoustic data obtained through the microphone. The user's utterance content received from the robot, and by matching the facial expression or the utterance content with a plurality of facial expressions or voice patterns stored in the storage device in association with the behavior classification, fourth processing unit further includes a determining the behavior classification of the user after the contact with the information output from the specified information processing terminal, wherein the first processing section, has been of the user recognized by the fourth processing unit new information different from the information retrieved from the database as needed based on the behavior classification, the second processing unit, the first processing It is preferable to output a new search information by parts to the designated information processing terminal.

According to the information management system of the configuration , for example, as a user behavior category, a category in which a user is highly likely to be satisfied with information and a category in which a user is not likely to be satisfied with information are defined. If there is, it is selected whether to continue outputting information or to change the output information according to the difference in the category. Thereby, the user's satisfaction with the information output through the designated information processing terminal can be improved.

The information management system of the present invention is estimated based on the user's facial expression estimated based on imaging data obtained by the robot through a camera mounted on the robot, or acoustic data obtained through the microphone. The user's utterance content received from the robot, and by matching the facial expression or the utterance content with a plurality of facial expressions or voice patterns stored in the storage device in association with the behavior classification, fourth processing unit further includes a determining the behavior classification of the user after the contact with the information output from the specified information processing terminal, the third processing section, has been of the user recognized by the fourth processing unit it is preferable to different behavior of the robot according to different behavior classification.

According to the information management system of the configuration , for example, as a user behavior category, a category in which a user is highly likely to be satisfied with information and a category in which a user is not likely to be satisfied with information are defined. If it is, the robot can behave appropriately according to the difference in the category. Thereby, it is possible to improve the user's satisfaction with the information providing service by this system.

  An embodiment of an information management system of the present invention will be described with reference to the drawings. First, a configuration example of the information management system of the present invention will be described with reference to FIG. 1 and FIG.

  The information management system 10 shown in FIG. 1 includes one or a plurality of server computers that can communicate with each of the database 102, the robot 20, and the information processing terminal 30 via a network such as the Internet or a LAN. .

  The information management system 10 includes a first processing unit 11, a second processing unit 12, a third processing unit 13, and a fourth processing unit 14. The processing units 11 to 14 include a CPU, a memory such as a ROM and a RAM, a signal input circuit, a signal output circuit, and the like as hardware, and software stored in a memory, a hard disk, and the like to give the CPU various functions. It is comprised by.

The first processing unit 11 recognizes a request regarding user information recognized by the robot 20 through communication with the user through communication with the robot 20 and searches the database 102 for information corresponding to the request. The database 102 manages various information (contents).

  The second processing unit 12 specifies the information processing terminal 30 that satisfies the requirement that new information can be output from among the plurality of information processing terminals 30 having the information output function. Further, the second processing unit 12 causes the designated information processing terminal 30 to output search information from the first processing unit 11 through communication with the designated information processing terminal 30.

  The third processing unit 13 controls the behavior of the robot 20 through communication with the robot 20. More specifically, the third processing unit 13 controls the behavior of the robot 20 in order to inform the user of the designated information processing terminal 30 by the second processing unit 12 through communication with the robot 20.

  The fourth processing unit 14 recognizes the behavior classification of the user after contacting the information output from the designated information processing terminal 30 through communication with the robot 20.

  The robot 20 is a humanoid-type legged autonomous mobile robot as shown in FIG. The robot 20 includes a head P1 provided above the upper body part P0, two arm parts P2 extending from both upper sides of the upper body part P0, and 2 extended from the lower part of the upper body part P0. And two leg portions P3. The robot 20 is capable of rotating and bending / extending movement of a body part in a plurality of joint mechanisms.

  The robot 20 includes a pair of left and right CCD cameras (imaging devices) 202 that are disposed on the head P1 and images the front of the head P1, a microphone 204, a speaker 206, and a control system 200.

  The control system 200 is stored in one or a plurality of computers (configured by a CPU, ROM, RAM, I / O, etc.) as hardware arranged at appropriate locations of the robot 20, and stored in the memory. And software that gives various functions to the computer.

  The control system 200 includes an image recognition unit 210, a voice processing unit 220, an action planning unit 230, and an exercise control unit 240. The control system 200 transmits / receives information to / from the information management system 10 via a network using a communication device (not shown) configured by an antenna or the like. In addition, the control system 200 measures the current position, moving direction, and the like of the robot 20 by using a GPS or a gyro sensor (not shown).

  The image recognition unit 210 includes an image processing unit 211, a user recognition unit 212, and a behavior recognition unit 213. The image processing unit 211 executes image processing such as gray scale processing and binarization processing of images captured by the pair of cameras 202. The user recognition unit 212 recognizes the presence of the user based on the image processing result by the image processing unit 211, and recognizes the user's gender, age, who the user is, and the like as necessary. The behavior recognition unit 213 recognizes whether or not the user is a questioner, a change in the facial expression of the user, a gesture of the user, and the like based on the image processing result by the image processing unit 211.

  The voice processing unit 220 includes a voice recognition unit 221 and a voice synthesis unit 222. The voice recognition unit 221 recognizes the content of the user's utterance according to the acoustic data output from the microphone 204. In addition, when the recognition of the user's utterance content based on the acoustic data is executed by the first processing unit, the voice recognition unit 221 may be omitted. The voice synthesizer 222 synthesizes voice so as to constitute a designated utterance and causes the speaker 206 to output voice corresponding to the utterance.

  The action planning unit 230 includes a user response instruction unit 231, a movement / motion planning unit 232, a line-of-sight instruction unit 233, an arm operation instruction unit 234, and a leg operation instruction unit 235. The user response instruction unit 231 sets the response operation of the robot 20 to the user based on the user behavior recognized by the behavior recognition unit 213, the user utterance content recognized by the voice recognition unit 221, and the instruction signal Is output.

  The movement / motion planning unit 232 reads a global map or a local map from an external or internal database, and creates a movement plan (represented by a movement path) of the robot 20 based on the map. In addition, the movement / motion planning unit 232 is configured to control the motion of the robot 20 (a gesture based on the motion of the head P1 or the arm P2, or a walking by the leg P3) based on the response motion instruction signal output from the user response unit 231. Create a plan.

  The line-of-sight instruction unit 233 operates the head P1 based on the response operation instruction signal output from the user response unit 231 or the movement / motion plan created by the movement / motion planning unit 232, and the operation of the camera 202 (light Axis direction change) instruction signal is output. The arm operation instruction unit 234 outputs an operation instruction signal of the arm part P2 based on the movement / motion plan created by the movement / motion planning unit 232 and the like. The leg motion instruction unit 235 outputs a motion instruction signal for the leg P3 based on the movement / motion plan created by the movement / motion planning unit 232 and the like.

  The motion control unit 240 includes a camera / neck control unit 241, an arm control unit 242, and a leg control unit 243. The camera / neck control unit 241 controls the operation of the head P1 and the drive mechanism unit of the camera 202 in accordance with the operation instruction signal output from the line-of-sight instruction unit 233. The arm control unit 242 controls the operation of the drive mechanism unit of the arm unit P2 in accordance with the operation instruction signal output from the arm operation instruction unit 234. The leg control unit 243 controls the operation of the drive mechanism unit of the leg part P3, and thus the walking speed and the traveling direction of the robot 20, according to the operation instruction signal output from the leg operation instruction unit 235.

  The robot 20 has a communication capability with the user. That is, the robot 20 can sense the user's intention by capturing the user's behavior with the CCD camera 202 and collecting the user's voice with the microphone 204. Further, the robot 20 can convey information (information obtained from the server 10 and the intention of the robot 20) to the user by the movement of the arm portion P2 and the like and the sound output from the speaker 206. As a more detailed configuration of the robot 20, the configuration disclosed in Japanese Patent Publication No. 03/090982 can be adopted, and further description thereof is omitted.

  The information processing terminal 30 includes a personal computer, a mobile phone, a PDA, and the like, and includes one or both of an image display unit and a sound output unit, and has a function of outputting various information by image, sound, or a combination thereof. is doing.

  Functions of the information management system 10 using the robot 20 having the above-described configuration will be described with reference to FIGS.

  First, the first processing unit 11 executes “first processing” (S11 in FIG. 3). Specifically, the first processing unit 11 recognizes the user's “request for information” based on communication with the robot 20 (S111 in FIG. 3).

  As shown in FIG. 5, consider a case where the first user speaks the question “What is ●●” to the robot 20. In this case, the control system 200 of the robot 20 analyzes the first user's voice data obtained through the microphone 204 and recognizes that the first user requests information related to “●●”. A known speech recognition method such as a hidden Markov model method is employed for processing the speech data. The control system 200 outputs sound such as “●●?” Through the speaker 206 as shown in FIG. 5 in order to confirm the suitability of this recognition as necessary.

  Then, the first processing unit 11 searches the database 102 for information according to the user's request, that is, information (contents) related to “●●” in the above example using “●●” as a keyword (FIG. 3 / S112).

  In addition, the second processing unit 12 executes “second processing” (S12 in FIG. 3). Specifically, the second processing unit 12 determines whether or not new information can be output for each of the plurality of information processing terminals 30 (S121 in FIG. 3). Further, the second processing unit 12 recognizes the type (content category) of the search information obtained by the first processing unit 11 (FIG. 3 / S122). Furthermore, the 2nd process part 12 recognizes the distance from the robot 20 of each information processing terminal 30 (FIG. 3 / S123).

  The position of the robot 20 is obtained by transmitting the position measured by the GPS function of the robot 20 to the server via the network. The fixed position of the information processing terminal 30 is associated with a terminal identifier for identifying the information processing terminal 30 (not shown; configured with a memory such as a ROM or a RAM, an HDD, or the like). It is obtained by reading the position information (map information) stored in. Further, the position of the information processing terminal 30 whose position changes, such as a mobile phone, is obtained by transmitting the position measured by the GPS function of the information processing terminal 30 to the server via the network.

  Note that the distance may be recognized (measured) based on the movement path of the robot 20 in the global map stored in the storage unit. As shown in FIG. 4A, the global map is a node (a point on the route indicated by a broken line in FIG. 4C) or the name (identification number) of the location of the information processing terminal 30, X It is expressed by the coordinates, the Y coordinate, the name of the node that can move along the route from the node, and the name of the nearest node of each information processing terminal 30.

  For example, according to this global map, the node “001” has the X and Y coordinates of “100” and “200”, respectively, and follows the path indicated by the broken line in FIG. And “003” are expressed as being movable. Further, according to this global map, the terminal “201” has both X and Y coordinates “200”, and the nearest node is the node “001” as shown in FIG. 4C. Is expressed.

  Further, each state of the information processing terminal 30 is expressed by its name, IP address, and information output availability (Status) as shown in FIG. 4B. For example, it is expressed that the terminal “201” has an IP address “111.222... 111” and can output new information.

  Further, it is determined that the second processing unit 12 is in a state in which information can be output, has an information output function corresponding to the information type, and has the information processing terminal 30 at the shortest distance from the robot 20. Specify (S124 in FIG. 3). Here, the information output function of the information processing terminal 30 is specified by the type of information that can be output (sound, image, etc.), the level of image density, and the like. For example, when the content includes a high-quality image, the image processing terminal 30 having a specification capable of outputting a high-quality image can be designated. Further, when the content includes an image and sound, an information processing terminal 30 that can output both the image and the sound can be designated.

  Note that the second processing unit 12 may recognize the type of task according to the user's request or search information, and specify the type of information processing terminal 30 according to the type of task. Then, the second processing unit 12 causes the designated information processing terminal 30 to output search information from the first processing unit 11 through communication with the designated information processing terminal 30 (FIG. 3 / S125).

  Further, the third processing unit 13 executes “third processing” (S13 in FIG. 3). Specifically, the third processing unit 13 recognizes the distance d between the robot 20 and the designated information processing terminal 30 by the second processing unit 12 (S131 in FIG. 3). Note that the distance d may be recognized (measured) based on the movement path of the robot 20 in the global map stored in the storage unit. Then, the third processing unit 13 determines whether the distance d is equal to or less than the threshold ε (FIG. 3 / S132).

  If the distance d is less than or equal to the threshold ε (FIG. 3 / S132... YES), the third processing unit 13 controls the operation of the robot 20 by communicating with the robot 20 and instructs the designated information processing terminal 30. (FIG. 3 / S133). For example, as shown in FIG. 6, the front and right hands of the head P <b> 1 of the robot 20 are directed to the designated information processing terminal 30 and sound such as “please see that terminal” is output through the speaker 206.

  On the other hand, when the distance d exceeds the threshold ε (FIG. 3 / S132... NO), the third processing unit 13 moves the robot 20 so as to approach the designated information processing terminal 30 (FIG. 3 / S134). Thereby, the user is guided to a place where the designated information processing terminal 30 is located. For example, as shown in FIG. 7, the robot 20 is caused to walk and a sound such as “Guide to the terminal, please click here” is output through the speaker 206.

  Although the information processing terminal 30 shown in FIG. 7 is near the robot 20, information is being output to other users. For this reason, it is determined that the information cannot be output and is not designated (see FIG. 3 / S124), the robot 20 does not instruct the information processing terminal 30. Then, when the robot 20 approaches the designated information processing terminal 30, the designated information processing terminal 30 can be designated by the robot 20 as described above (see FIG. 6).

  Subsequently, the fourth processing unit 14 executes “fourth processing” (S14 in FIG. 3). Specifically, the fourth processing unit 14 recognizes the behavior classification of the user in contact with the information output from the designated information processing terminal 30 through communication with the robot 20 (S141 in FIG. 3).

  For example, as shown in FIG. 8, the robot 20 is caused to output a voice such as “please see here” while directing the front of the head P <b> 1 to the designated information processing terminal 30. Subsequently, as shown in FIG. 9, the robot 20 is caused to output a sound such as “How are you?” While making the front face of the head P <b> 1 face the first user. At this time, the robot 20 is caused to recognize the user's facial expression based on the imaging data of the CCD camera 202, and the user's speech content (voice) is recognized based on the acoustic data obtained by the microphone 204, or the user's facial expression and speech content. Recognize both.

  Moreover, the 4th process part 14 determines whether this user is satisfied with information based on a user's behavior classification (FIG. 3 / S142). For example, by matching the user's facial expression or voice with a plurality of patterns stored in the storage device, either the behavior category “user is satisfied” or the behavior category “user is not satisfied” Is determined.

  If it is determined that the behavior classification is “the user is satisfied” (FIG. 3 / S142... YES), the series of processing ends. Thereafter, as shown in FIG. 10, for example, the third processing unit 13 causes the robot 20 to output a voice such as “please see slowly” toward the first user, and to move away from the place. 20 is moved.

  Also, as shown in FIG. 11, when the second user asks the robot 20 the question “I want to hear about XX”, the robot 20 outputs a voice such as “I ’m XX”. The first to fourth processes are newly executed for the second user (FIG. 3 / S11 to S14).

  On the other hand, when it is determined that the behavior classification is “the user is not satisfied” (FIG. 3 / S142... NO), the first processing unit 11 searches the database 102 for other information (FIG. 3 / S112). The second processing unit 12 outputs new search information to the same designated information processing terminal 30 (FIG. 3 / S125), and the user's behavior classification is re-established through the operation of the robot 20 as shown in FIG. Determination is made (FIG. 3 / S141).

  According to the information management system 10 of the present invention that exhibits the above function, information according to a user request recognized by the communication ability of the robot 20 is new information among the plurality of information processing terminals 30 having an information output function. Can be provided to the user through the designated information processing terminal 30 that is in a state where it can be output.

  As a result, for example, the first user can obtain information from one designated information processing terminal 30 through communication with the robot 20 (see FIGS. 5 to 10), and the second user immediately Through the communication, information can be obtained from other designated information processing terminals (see FIG. 11).

  For this reason, the time for each user to contact the information required through the information processing terminal 30 is not limited. In addition, while the first user is in contact with information through the information processing terminal 30, each user can quickly obtain information as long as other users do not have to wait to obtain information from the same information processing terminal. (See FIGS. 7 and 11).

  Therefore, according to the information management system 10 of the present invention, information can be provided to the user in an appropriate form using the robot 20 from the viewpoint of making the user feel highly satisfied.

  In addition, since the robot 20 does not have (or has) the information processing terminal 30, it is possible to reduce the weight of each robot 20, thereby improving mobility and saving manufacturing costs.

  In addition, the information is provided to the user through the information processing terminal 30 having an appropriate information output function in view of the type of information requested by the user or the type of information provided to the user (content category). (FIG. 3 / S122, S124).

  When an information processing terminal 30 of a type corresponding to the type of task is specified, a task (for example, question and answer, information of a specific genre) according to the type (content) of information requested by the user or provided to the user This information can be provided to the user through the information processing terminal 30 having an appropriate information output function.

  Furthermore, the information processing terminal 30 with a short interval between the robot 20 and each information processing terminal 30 is designated preferentially (FIG. 3 / S123, S124). For this reason, it is suppressed that the distance which a user moves to the place with the designated information processing terminal 30 becomes long. For this reason, the effort for each user to obtain the necessary information can be reduced.

  In addition, it is possible to notify the user from which information processing terminal 30 the information can be obtained through the behavior of the robot 20 such as the instruction of the designated information processing terminal 30 and the guidance of the user as needed (FIG. 3 / S133). S134, FIG. 6, FIG. 7). As a result, each user can feel the kindness of the information providing service using the robot 20 and the high satisfaction.

  Further, after the distance (interval) d between the robot 20 and the designated information processing terminal 30 approaches the threshold value ε to some extent, the robot 20 can be instructed to designate the designated information processing terminal 30 (FIG. 3 / S132). , S133, FIG. 6). That is, it is possible to notify the user from which information processing terminal 30 the information can be obtained at an appropriate timing in view of the distance d.

  On the other hand, only when the distance (interval) d between the robot 20 and the designated information processing terminal 30 exceeds the threshold value ε, the robot 20 guides the user to the place where the designated information processing terminal 30 is located ( FIG. 3 / S132, S134, FIG. 7). Thereby, guidance when the user can reach the designated information processing terminal 30 can be omitted, and information can be quickly provided to the next user.

  Furthermore, the user's behavior category is either continuously output or output according to a category in which the user is likely to be satisfied with the information and a category in which the user is not likely to be satisfied with the information. Whether to change the information is selected (FIG. 3 / S142). Thereby, the user's satisfaction with the information output through the designated information processing terminal 30 can be improved.

  Note that the second processing unit 12 may identify the user through communication with the robot 20 and specify the information processing terminal 30 corresponding to the identified user. The user can be identified by a user identifier for identifying a user read by a reader (not shown) of the robot 20 from an RFID tag owned by the user, an image analysis of the user's face obtained through the CCD camera 202, or the like.

  Accordingly, by associating the user with the information processing terminal 30 owned by the user in advance, the user can obtain information through his / her information processing terminal (such as a mobile phone or a PDA) 30.

  The second processing unit 12 may recognize the designation of the information processing terminal 30 by the user through communication with the robot 20 and designate the information processing terminal 30 according to the designation. The designation of the information processing terminal 30 can be recognized by the terminal identifier read by the reader of the robot 20 from the RFID tag attached to the user or the voice analysis of the user picked up by the microphone 204.

  Thereby, information can be provided to the user through the information processing terminal 30 designated by the user.

  Further, the third processing unit 30 recognizes the positional relationship between the robot, the user, and the designated information processing terminal 30, and controls the behavior of the robot 20 to notify the designated information processing terminal 30 to the user according to this positional relationship. Also good. For example, the behavior of the robot 20 may be controlled to notify the user of the designated information processing terminal 30 on the condition that the robot 20 and the designated information processing terminal 30 are located on the opposite side with respect to the user's position.

  Since the user has a high probability that the front faces the robot 20, when the robot 20 and the designated information processing terminal 30 are on the opposite side with respect to the user's position, the probability that the designated information processing terminal 30 is behind the user. Is expensive. That is, in this case, the user may be confused as to which information processing terminal 30 the information should be obtained from. Therefore, when the user is likely to be confused about which designated information processing terminal 30 is, the user can be surely notified of the position of the designated information processing terminal 30 by controlling the behavior of the robot 20 ( (See FIG. 6).

  Further, the second processing unit 12 determines the type of user request or search information recognized by the first processing unit 11, the designation of the information processing terminal 30 by the user, the robot 20 (or user), and each information processing terminal 30. The information processing terminal 30 may be specified using a factor having a higher rank among a plurality of factors including the interval between the first and second factors with priority or weight. Further, in this case, the order may be set higher in the order of the user request or search information, the designation of the information processing terminal 30 by the user, and the interval between the robot 20 or the user and each information processing terminal 30. .

  According to the information management system of the configuration, the information processing terminal designates the factor preferentially or deliberately according to the ranking of a plurality of factors set from the viewpoint of improving the quality of the information providing service for the user. Can be done. Thereby, the user can be satisfied with the service.

  Further, when the designated information processing terminal 30 is changed by the second processing unit 12 while the third processing unit 13 is controlling the behavior of the robot 20, the third processing unit 13 is informed by the second processing unit 12. Instead of the designated information processing terminal 30 before the change, the behavior of the robot 20 may be controlled to notify the user of the designated information processing terminal 30 after the change.

  According to the information management system having the configuration, the designated information processing terminal 30 can be changed in accordance with a change in the situation such as the information processing terminal 30 being unable to output information or being able to output information. Then, it is possible to promptly notify the user of the designated information processing terminal 30 after the change. For example, in the situation shown in FIG. 11, when the information provision to the first user through the information processing terminal 30 is finished and the information processing terminal 30 becomes incapable of outputting information, the robot 20 The information processing terminal 30 can be immediately guided to the second user (see FIG. 6).

The structural example figure of the information management system of this invention. The structural example figure of the robot which cooperates with the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention. The function illustration figure of the information management system of this invention.

DESCRIPTION OF SYMBOLS 10 ... Information management system, 102 ... Database, 11 ... 1st process part, 12 ... 2nd process part, 13 ... 3rd process part, 14 ... 4th process part, 20 ... Robot, 200 ... Control system, 30 ... Information Processing terminal.

Claims (13)

A system for managing information provided to a user using a robot equipped with a microphone ,
Based on the communication with the robot, the request about the information as the utterance content of the user estimated by analyzing the voice data of the user obtained by the robot through the microphone according to a voice recognition method is recognized. And the 1st processing part which searches information according to the demand from a database,
An information processing terminal that satisfies the requirement that new information can be output is designated from among a plurality of information processing terminals having an information output function, and the first information processing terminal is communicated with the designated information processing terminal. The search information from the processing unit is output to the designated information processing terminal, the position of the robot measured by the GPS function of the robot is received via the network, and the position of each information processing terminal is stored in the system Or receiving the position of each information processing terminal measured by the GPS function of each information processing terminal, and based on the position of the robot and the position of each information processing terminal, The robot in the global map that determines the interval with each information processing terminal or is stored in the storage unit A second processing unit for determining the distance between the respective information processing terminal and the robot based on the moving path,
After recognizing the interval between the robot and the designated information processing terminal determined by the second processing unit, the behavior of the robot is controlled so that the interval between the robot and the designated information processing terminal is shortened. And a third processing unit for moving the robot . The information management system according to claim 1,
The second processing unit, from among the plurality of information processing terminals, information having an information output function according to the type of the retrieval information corresponding to the request or the request of the user recognized by the first processing unit An information management system characterized by designating a processing terminal. In the information management system according to claim 2,
The second processing unit, recognizing the type of a task corresponding to the type of the retrieval information corresponding to the request or the request of the user recognized by the first processing unit, of the plurality of information processing terminals information management system in the, characterized in that specifies the type types of the information processing terminal in accordance with of the task. The information management system according to claim 1,
Information management system, wherein the second processing unit recognizes the designation of the information processing terminal by the user according to communication with the robot, specifying the information processing terminal in accordance with the specification. The information management system according to claim 1,
The information processing system , wherein the second processing unit preferentially specifies an information processing terminal having a short interval with the robot among the plurality of information processing terminals . The information management system according to claim 1,
The second processing unit, according to communication with the robot Recognizing the designation of the information processing terminal by the user, of the said search information corresponding to the request or the request of recognized the user by the first processing unit Among a plurality of factors including a type, designation of an information processing terminal by the user, and an interval between the robot and each information processing terminal, an information processing terminal is preferentially or deliberately used as a factor having a higher rank An information management system characterized by specifying. The information management system according to claim 6 ,
In the order of the user's request recognized by the first processing unit or the type of the search information according to the request, the designation of the information processing terminal by the user, and the interval between the robot and each information processing terminal, An information management system characterized by high ranking. The information management system according to claim 1,
While the third processor is controlling the behavior of the robot, the case where the designated information processing terminal is changed by the second processing section, the third processing unit is the pre-change by the second processing unit Recognizing the interval between the changed designated information processing terminal and the robot instead of the designated information processing terminal, and controlling the behavior of the robot to move the robot so that the interval is shortened. An information management system characterized by The information management system according to claim 1 ,
Behavior of the third processing unit, wherein the robot so that the distance of the robot and the designated information processing terminal as a requirement that exceeds the threshold value, distance between the designated information processing terminal and the robot is reduced An information management system for controlling the robot to move the robot . The information management system according to claim 1,
The information processing system, wherein the third processing unit controls the behavior of the robot so that the robot instructs the designated information processing terminal. The information management system according to claim 10 ,
Wherein the third processing unit controls the behavior of the robot so as to instruct the designated information processing terminal to the robot on condition that the distance between the robot and the designated information processing terminal is below a threshold Information management system. The information management system according to claim 1,
The user's facial expression estimated based on imaging data obtained by the robot through a camera mounted on the robot or the user's utterance content estimated based on acoustic data obtained through the microphone After being received from the robot, it is output from the designated information processing terminal by matching the facial expression or utterance content with a plurality of facial expressions or speech patterns stored in the storage device in association with the behavior category. A fourth processing unit for determining a behavior classification of the user after contacting the information ,
Wherein the first processing unit retrieves the new information different from the information as required according to a fourth behavior classification of recognized the user by the processing unit from said database,
Information management system and the second processing unit, characterized in that for outputting a new search information by the first processing unit to the designated information processing terminal. The information management system according to claim 1,
The user's facial expression estimated based on imaging data obtained by the robot through a camera mounted on the robot or the user's utterance content estimated based on acoustic data obtained through the microphone After being received from the robot, it is output from the designated information processing terminal by matching the facial expression or utterance content with a plurality of facial expressions or speech patterns stored in the storage device in association with the behavior category. A fourth processing unit for determining a behavior classification of the user after contacting the information ,
Information management system the third processing unit, characterized in that for different behavior of the robot according to different behavior classification of the user recognized by the fourth processing unit.

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