JP6755711B2 - Service provision system - Google Patents

Description

The present invention relates to a system that provides various services to users in public places.

Technology related to systems that provide services such as guidance to humans has been developed. For example, Patent Document 1 proposes a conversation robot that speaks by controlling the positions of the neck and eyes toward the recognized user's eyes. Further, in Patent Document 2, the nearest user is specified based on the RFID information indicated by the strongest radio wave among the radio waves transmitted from the RFID tags possessed or worn by each of the plurality of users. , A communication robot that takes a communication action suitable for a specified user has been proposed. Further, in Patent Document 3, based on the recorded contents of the intimacy database that records the intimacy with the human being of the conversation partner and the emotion of the human being determined from the content of the human conversation, the human being of the conversation partner Robots that have conversations with intimacy and emotional attitudes have been proposed.

Japanese Unexamined Patent Publication No. 2004-034274 Japanese Unexamined Patent Publication No. 2004-216513 Japanese Unexamined Patent Publication No. 2004-090109

For users of public places such as train stations and event venues, those who do not know how to buy tickets, those who do not know the route to the place they want to go, those who want to know the train operation status and event progress It includes people with various needs, such as those who want to help carry heavy baggage.

If a user in a public place has any needs, he or she can meet his or her needs by looking for an usher and asking questions or asking for help. However, the placement of ushers is generally costly. Therefore, in public places, guidance devices are often installed on behalf of some of the services provided by the usher. When there is information that a user in a public place wants to know, he / she can obtain the information by performing a necessary operation on the guidance device.

In order to obtain the help of the usher or the guide device, the user needs to find the usher or the guide device, approach the found guide or the guide device, and ask a question or operate. Such work is a burden on the user.

In view of the above background, the present invention provides a means for a user of a public place having some needs to meet his / her needs with less burden.

In order to solve the above-mentioned problems, the present invention presents attribute information indicating the attributes of the carrier of the wireless communication device by identification information transmitted from the wireless communication device in a predetermined area, and a history of past actions of the carrier. The history information indicating the above is acquired, the position information of the wireless communication device measured by the position identification device within the predetermined area is acquired, the position information of the self-propelled device performing the service operation is acquired, and the attribute information and the attribute information and Based on the history information , the necessity of service operation for the mobile phone is determined, and the self-propelled device uses the position information of the wireless communication device and the position information of the self-propelled device according to the result of the determination. As the first aspect, a service providing system for causing a service operation to be performed is provided.

According to the service providing system of the first aspect, a service satisfying the needs is provided to a person having a need (a carrier of a wireless communication device). At that time, the person who has a need does not need to find a self-propelled device and does not need to approach the self-propelled device by himself / herself.

When the service providing system of the first aspect acquires the attribute information of each carrier of the plurality of wireless communication devices in the predetermined area, the plurality of carriers based on the acquired plurality of attribute information and history information. A configuration in which a partner for service operation is selected from among them may be adopted as the second aspect.

According to the service provision system of the second aspect, when there are multiple people with needs at the same time, the service is given priority to those who are presumed to have a high need for help based on the attributes and history of those people. Will be done.

When the service providing system of the first or second aspect determines that the service operation with the carrier of the wireless communication device is necessary, the service with the carrier is set as the other party based on the attribute information and history information of the carrier. A configuration in which the content of the service operation to be performed is determined may be adopted as the third aspect.

According to the service providing system of the third aspect, a service having an appropriate content is estimated and provided based on the attributes and history of a person who has a need.

When the service providing system of any one of the first to third aspects determines that a service operation with the carrier of the wireless communication device is necessary, the service providing device is dealt with based on the position information of the wireless communication device. A configuration in which the content of the service operation to be determined is determined may be adopted as the fourth aspect.

According to the service providing system of the fourth aspect, a service having an appropriate content is estimated and provided based on the position of a person having a need.

The service providing system of any one of the first to fourth aspects acquires the position information in the predetermined area of the wireless communication device arranged in the self-propelled device measured by the position identification device, and the position information. Based on the above, a configuration in which the necessity of service operation with the carrier of the wireless communication device is determined may be adopted as the fifth aspect.

According to the service providing system of the fifth aspect, it is not necessary to provide the position identifying device for identifying the position of the self-propelled device separately from the position identifying device for identifying the position of the carrier of the wireless communication device.

The service providing system according to any one of the first to fifth aspects has location information within the predetermined area of each of a plurality of wireless communication devices arranged at different positions of the self-propelled device measured by the position identification device. The sixth aspect may be adopted, in which the above-mentioned position information is obtained and the facing direction of the self-propelled device is specified based on the position information.

According to the service providing system of the sixth aspect, the self-propelled device can provide a service to a person who has a need, and a more natural service provision is realized.

A configuration in which the service providing system according to any one of the first to sixth aspects includes the position specifying device and the self-propelled device may be adopted as the seventh aspect.

Further, a configuration in which the service providing system of any one of the first to sixth aspects is arranged in the self-propelled device may be adopted as the eighth aspect.

The figure which showed the whole structure of the service provision system which concerns on one Embodiment. The figure which showed the structure of the wireless communication apparatus which concerns on one Embodiment. The figure which illustrated the structure of the attribute table stored in the server apparatus which concerns on one Embodiment. The figure which illustrated the structure of the history table stored in the server apparatus which concerns on one Embodiment. The figure which showed the structure of the control device which concerns on one Embodiment. The figure which illustrated the structure of the condition table stored in the control device which concerns on one Embodiment. The figure which illustrated the screen displayed on the touch display of the self-propelled robot which concerns on one Embodiment.

[Embodiment]
The service providing system 1 according to the embodiment of the present invention will be described below. FIG. 1 is a diagram showing an overall configuration of the service providing system 1. The service provision system 1 provides services such as providing information to people in a predetermined area by the robot selecting a person who has a high need from those people and providing information according to the needs of the selected person. It is a system to do. The case where the service providing system 1 provides the service to the passersby passing through the railway station premises will be described below as an example.

The service providing system 1 is first arranged in the area P in the station yard, and is a self-propelled robot 11 (self-propelled) that performs an operation (service operation) of providing services such as providing guidance information to people in the area P. An example of the device) is provided. The self-propelled robot 11 includes, for example, a battery, a motor operated by electric power supplied from the battery, and wheels driven by the motor, and can be self-propelled. Further, the self-propelled robot 11 is provided with a stereo camera, and can recognize a person or an object in the front direction from an image and can identify the position of the person or the object with respect to the own device. Therefore, when the self-propelled robot 11 receives the position data indicating the position of the own device and the position of the service operation partner in the area P from the control device 14 (described later), the self-propelled robot 11 avoids the obstacle to the vicinity of the service operation partner. You can move while.

Further, the self-propelled robot 11 is provided with a touch display, displays information estimated to be required by the other party for the service operation, accepts input by the touch operation from the other party, and receives information according to the input. Can be displayed.

Further, the self-propelled robot 11 is provided with a microphone, and when a surrounding person speaks to the self-propelled robot 11, the sound can be picked up and recognized. Further, the self-propelled robot 11 is provided with a speaker, and can convey various messages by pronouncing a synthesized voice to a surrounding person (for example, a partner in service operation).

As described above, the self-propelled robot 11 performs a service operation of providing various information to the other party by displaying an image and voice. In addition to this, the self-propelled robot 11 can perform various service operations such as transporting baggage and calling station staff by telephone.

The self-propelled robot 11 performs a service operation on a service provider in accordance with an instruction indicated by instruction data transmitted from the control device 14 (described later). Therefore, the self-propelled robot 11 includes a communication unit that wirelessly performs data communication with the control device 14.

Further, the service providing system 1 includes a wireless communication device carried by each passerby in the area P. FIG. 1 illustrates a state in which there are three passers-by (an example of a carrier of a wireless communication device) in the area P, that is, a passerby A, a passerby B, and a passerby C. Hereinafter, the case where these passers-by are present in the area P will be described. The passerby A carries the wireless communication device 12A, the passerby B carries the wireless communication device 12B, and the passerby C carries the wireless communication device 12C.

Further, the service providing system 1 includes a wireless communication device 12R mounted at a predetermined position on the right side of the main body of the self-propelled robot 11 and a wireless communication device 12L mounted at a predetermined position on the left side of the self-propelled robot 11. ..

The wireless communication device 12A, the wireless communication device 12B, and the wireless communication device 12C carried by passers-by A to C, and the wireless communication device 12R and the wireless communication device 12L mounted on the self-propelled robot 11 have the same configuration. .. Hereinafter, when these wireless communication devices are not distinguished, they are collectively referred to as a wireless communication device 12.

The wireless communication device 12 measures the intensity of radio waves transmitted from each of three or more antennas arranged at predetermined positions different from each other in the area P or in the vicinity of the area P, and obtains radio wave intensity data indicating the measurement result. It is transmitted to the control device 14 (described later) together with the device ID that identifies the device. Therefore, the service providing system 1 includes three or more antennas. FIG. 1 shows three antennas arranged on the lower surface of the ceiling of the region P, that is, antenna 13-1, antenna 13-2, and antenna 13-3. Hereinafter, the service providing system 1 shall include these three antennas. When these antennas are not distinguished from each other, they are collectively referred to as an antenna 13.

Each of the antennas 13 is wiredly connected to the control device 14 and transmits radio waves of a predetermined intensity under the control of the control device 14. The radio wave transmitted from the antenna 13 indicates request data for requesting the wireless communication device 12 to measure the radio wave intensity.

FIG. 2 is a diagram showing the configuration of the wireless communication device 12. As shown in FIG. 2, the wireless communication device 12 includes a storage means 121, a receiving means 122, a radio field intensity measuring means 123, and a transmitting means 124.

The storage means 121 stores the device ID of the wireless communication device 12. The receiving means 122 receives the request data transmitted from each of the antennas 13. The radio wave intensity measuring means 123 measures the intensity at the time of receiving the radio wave indicating the request data according to the request data received by the receiving means 122. As a response to the request data received by the receiving means 122, the transmitting means 124 includes radio wave intensity data indicating the intensity of the radio wave received from each of the three antennas 13 measured by the radio wave intensity measuring means 123, and a wireless communication device. A radio wave indicating the device ID of 12 is transmitted to the control device 14.

The strength of the radio wave indicated by the radio wave strength data is used in the control device 14 to specify the position of the wireless communication device 12 in the region P. Therefore, it is desirable that the radio waves transmitted from each of the antennas 13 and received by the receiving means 122 are radio waves in a frequency band whose intensity greatly changes depending on the propagating distance. Such a frequency band is, for example, LF (Low Frequency).

On the other hand, it is desirable that the radio wave transmitted by the transmitting means 124 to the control device 14 is in a frequency band capable of transmitting and receiving data at high speed. Such a frequency band is, for example, UHF (Ultra High Frequency).

The description of the configuration of the service providing system 1 will be continued with reference to FIG. The service providing system 1 further includes a control device 14. FIG. 1 shows an example in which the control device 14 is arranged below the ceiling of the area P.

The control device 14 receives radio wave intensity data and device ID transmitted from each of the wireless communication devices 12, and uses these received data to service the self-propelled robot 11 from among the passersby in the area P. Select the operation partner and determine the content of the service to be provided to the selected partner. The control device 14 causes the self-propelled robot 11 to perform an operation (service operation) for providing the service of the determined content to the selected passerby. Specifically, the control device 14 transmits instruction data indicating a service operation instruction to the self-propelled robot 11, and the self-propelled robot 11 operates according to the instruction data transmitted from the control device 14.

Further, the service providing system 1 transmits the attribute data indicating the attributes of the passerby in the area P and the history data indicating the history of the past actions of the passerby to the control device 14 in response to the request from the control device 14. The server device 15 is provided. The server device 15 performs data communication with the control device 14 via the Internet, for example.

In order to transmit data in response to a request from the control device 14, the server device 15 associates with the device ID of the wireless communication device carried by various passersby, and associates the attribute data indicating the attributes of the passersby with the passersby. It stores historical data that shows the history of a person's past actions.

FIG. 3 is a diagram illustrating the configuration of the attribute table stored in the server device 15. The attribute table is a table that stores attribute data. Each data record of the attribute table stores data according to a passerby. The data record of the attribute table has a data field [device ID] for storing a device ID that plays a role of identification information of a passerby, and a data field [attribute] for storing attribute data indicating the attributes of a passerby.

The attribute data stored in the attribute table is, for example, the age of a passerby, the mother tongue, the necessity of assistance, and the like. These attribute data indicate, for example, information registered in advance in the server device 15 by the passerby himself / herself.

FIG. 4 is a diagram illustrating the configuration of the history table included in the history database stored in the server device 15. The history database contains a history table for each passerby. Each of the history tables is stored in association with a device ID that identifies a passerby. Each data record in the history table stores data according to the actions taken by the passerby in the past. The data record of the history table has a data field [time] that stores time data indicating the time when the passerby performed an action and a data field [history] that stores the history data indicating the history of the action performed by the passerby. Have.

The historical data stored in the data field [History] is, for example, a record when a passerby purchases a ticket using a wireless communication device, a predetermined place such as a passerby carrying a wireless communication device and a ticket gate at a station. It is the data which shows the record etc. at the time of passing through. The server device 15 continuously receives history data indicating the history of the behavior of passersby from various devices arranged in various places and communicating with the wireless communication device together with the device ID, and receives the received history data. It is stored in the history table corresponding to the received device ID in association with the time data indicating the received time.

The server device 15 receives request data indicating a transmission request for attribute data and history data from the control device 14. The request data transmitted from the control device 14 includes the device ID. The server device 15 reads the attribute data stored in association with the device ID included in the request data from the attribute table according to the request data, and stores the attribute data in association with the device ID included in the request data. Read the history table from the history database. The server device 15 transmits the read attribute data and the history table to the control device 14.

FIG. 5 is a diagram showing the configuration of the control device 14. The control device 14 having the configuration shown in FIG. 5 may be configured as a dedicated device, or may be realized by executing a process according to a program by a computer. Each of the constituent parts of the control device 14 shown in FIG. 5 will be described below.

The storage means 140 stores various data. The various data stored in the storage means 140 include an attribute table that stores attribute data related to passersby currently in the area P and a history database that stores a history table related to passersby currently in the area P. .. The attribute table and history database stored in the control device 14 are data received from the server device 15 regarding the passersby in the area P by the control device 14. Therefore, the attribute table stored in the control device 14 is a subset of the attribute table (see FIG. 3) stored in the server device 15, and the history database stored in the control device 14 is a history database stored in the server device 15 (FIG. 3). 4) is a subset.

Further, in the various data stored in the storage means 140, a condition table for storing condition data indicating conditions for estimating each attribute of the passerby in the area P from the history of the past behavior of the passerby is stored. Is included.

FIG. 6 is a diagram illustrating the configuration of the condition table stored in the storage means 140. The condition table consists of a data field [estimated attribute] that stores estimated attribute data indicating the attributes of the estimated passerby and a data field [condition] that stores the condition data indicating the conditions for estimating that the passerby has the attribute. ].

Further, the condition table is a point indicating the degree to which a passerby having the presumed attribute is likely to require the provision of the service (the control device 14 is used to select the other party to provide the service. A data field [point for partner selection] that stores data indicating (referred to as "point for partner selection") and a point (provided by the control device 14) that indicates the priority between services according to each of the estimated attributes. Since it is used to determine the content of the service, it has a data field [content determination point] for storing data indicating (referred to as "content determination point").

The description of the configuration of the control device 14 will be continued with reference to FIG. The transmission means 141 transmits request data for requesting the measurement of the radio field intensity to the wireless communication device 12 via the antenna 13, for example, every predetermined time elapses. The receiving means 142 receives the device ID and the radio field intensity data (of the three antennas 13) transmitted from each of the wireless communication devices 12 existing in the area P at that time as a response to the request data transmitted from the transmitting means 141. (Indicates the strength of the radio waves transmitted from each) is received.

The position identifying means 143 (an example of the position identifying device) is in the area P based on the intensity of the radio waves transmitted from the three antennas 13 indicated by the radio wave intensity data received by the receiving means 142 at the time of reception in the wireless communication device 12. The position of the wireless communication device 12 is specified. The position specifying means 143 specifies a distance corresponding to the radio field strength for each of the three radio field strengths indicated by the radio wave strength data. Subsequently, the position specifying means 143 identifies a spherical surface centered on the position of the antenna 13 that is the source of the radio wave and having the specified distance as the radius. Subsequently, the position specifying means 143 specifies the position of the point where the specified three spheres in contact with each of the three antennas 13 are in contact with each other.

The position of the point specified by the position specifying means 143 as described above is the position of the wireless communication device 12. The position data indicating the position of the wireless communication device 12 identified by the position specifying means 143 is stored in the storage means 140 in association with the device ID of the wireless communication device 12. In this way, the position data stored in the storage means 140 is continuously updated to indicate the current position in each area P of the wireless communication device 12.

When a passerby moves from the area P to the outside of the area P and the wireless communication device 12 carried by the passerby cannot receive the request data transmitted from the transmission means 141, the receiving means 142 receives the passerby. Does not receive radio field strength data and device ID from the wireless communication device 12 carried by the user. Therefore, the position of the wireless communication device 12 carried by the passerby who has moved out of the area P is not specified by the position specifying means 143. The device ID and old position data of the wireless communication device 12 whose position has not been specified by the position specifying means 143 are deleted from the storage means 140.

The facing direction specifying means 144 faces the self-propelled robot 11 based on the information indicated by the position data indicating the position of the wireless communication device 12R specified by the position specifying means 143 and the position data indicating the position of the wireless communication device 12L. Specify the direction. The facing direction specifying means 144 specifies, for example, an intermediate position between the position of the wireless communication device 12R and the position of the wireless communication device 12L. Subsequently, the facing direction specifying means 144 identifies a horizontal straight line that passes through the specified intermediate position and is orthogonal to the straight line passing through the position of the wireless communication device 12R and the position of the wireless communication device 12L. Subsequently, the facing direction specifying means 144 counterclockwise from the position of the wireless communication device 12R with the previously specified intermediate position as the center when the region P is viewed from above in the specified horizontal straight line. A half straight line extending 90 degrees clockwise from the position of the wireless communication device 12L in the direction of 90 degrees is specified.

As described above, the extending direction of the half straight line specified by the facing direction specifying means 144 is the facing direction of the self-propelled robot 11. The facing direction data indicating the facing direction of the self-propelled robot 11 specified by the facing direction specifying means 144 is stored in the storage means 140. In this way, the facing direction data stored in the storage means 140 is continuously updated to indicate the current facing direction of the self-propelled robot 11.

When the device ID and position data related to the new wireless communication device 12 are stored in the storage means 140, the transmission means 145 transmits the request data including the device ID to the server device 15. The receiving means 146 receives the attribute data and the history table transmitted from the server device 15 as a response to the request data transmitted from the transmitting means 145. The attribute data received by the receiving means 146 is stored in the attribute table stored in the storage means 140. Further, the history table received by the receiving means 146 is stored in the history database stored in the storage means 140.

The attribute data related to the passerby who has moved from the area P to the outside of the area P is deleted from the attribute table of the storage means 140, and the history table related to the passerby is deleted from the history database of the storage means 140.

The partner selection means 147 identifies a passerby in the area P to whom the self-propelled robot 11 performs a service operation. First, the opponent selection means 147 is based on the position data indicating the position of a passerby stored in the storage means 140, the attribute data stored in the storage means 140, and the historical data stored in the storage means 140. For each of the passersby in the area P, it is determined whether or not the passerby meets the conditions indicated by the condition data stored in the condition table (see FIG. 6). Subsequently, the opponent selection means 147 adds the opponent selection points according to the conditions determined to be applicable for each of the passersby in the area P. The opponent selection means 147 specifies the maximum value of the total value of the opponent selection points obtained by such addition. If the maximum value so specified is equal to or greater than a predetermined threshold value, the partner selection means 147 selects a passerby corresponding to the maximum value as the partner for the service operation. If the specified maximum value is less than a predetermined threshold value, the partner selection means 147 determines that none of the passersby in the area P at that time needs to provide the service, and any passerby. Do not select as a service partner.

When the maximum value of the total value of the opponent selection points is equal to or greater than a predetermined threshold value and there are a plurality of passersby corresponding to the maximum value, the opponent selection means 147 is, for example, a position stored in the storage means 140. The distance between the passersby and the self-propelled robot 11 is specified based on the data, and the passerby with the shortest specified distance is selected as the service operation partner.

The content determining means 148 determines the content of the service to be provided to the passerby when any passerby is selected as the partner of the service operation by the partner selecting means 147. The content determination means 148 specifies the maximum value among the content determination points (see FIG. 6) according to the conditions determined to be applicable by the partner selection means 147 with respect to the partner of the service operation. The content determination means 148 determines a service operation according to the content determination point indicating the specified maximum value as a service operation to be executed by the self-propelled robot 11.

When any passerby is selected as the partner of the service operation by the partner selection means 147, the instruction means 149 instructs the selected passerby to execute the service operation determined by the content determination means 148. The instruction data to be used is generated and transmitted to the self-propelled robot 11. The instruction data transmitted by the instruction means 149 to the self-propelled robot 11 includes facing direction data and position data indicating the position of the self-propelled robot 11 (intermediate position between the position of the wireless communication device 12R and the position of the wireless communication device 12L). ), Location data indicating the position of the passerby of the service operation partner, and data indicating the content of the service operation are included.

While the self-propelled robot 11 is performing a service operation on any of the passersby, the self-propelled robot 11 does not respond to the instruction data transmitted from the instruction means 149 of the control device 14 and performs the service operation performed at that time. continue. On the other hand, when the self-propelled robot 11 receives the instruction data when the service operation is not performed for any of the passersby, the self-propelled robot 11 performs the service operation according to the received instruction data.

Specifically, the self-propelled robot 11 first specifies a direction from the position of the own device indicated by the instruction data toward the position of the other party of the service operation indicated by the instruction data. Subsequently, the self-propelled robot 11 changes the facing direction of the own device from the current facing direction of the own device indicated by the instruction data to the direction toward the partner of the service operation. Subsequently, the self-propelled robot 11 recognizes the image captured by the stereo camera and captures the partner of the service operation. Subsequently, the self-propelled robot 11 moves close to the captured service operation partner. When the self-propelled robot 11 moves close to the other party of the service operation, the self-propelled robot 11 executes the service operation of the content indicated by the instruction data.

FIG. 7 is a diagram illustrating a screen displayed on the touch display of the self-propelled robot 11 in an example of a service operation performed by the self-propelled robot 11 for a passerby. The screen illustrated in FIG. 7 is, for example, a screen displayed to a passerby who is presumed to be a person who needs the assistance of a station employee, and "I want the help of the station employee" to read out the station employee. The selection item "I want you to do it)" is displayed at the top of the selection item list T on the screen. A passerby can easily know the information he / she wants to know by performing a touch operation on either the selection item included in the selection item list T or the button such as "fare" included in this screen.

For example, when a passerby selects a selection item "I want help from a station employee. (I want a station employee to come)" in the selection item list T by touch operation, the self-propelled robot 11 responds to the touch operation. For example, a station employee makes a call to a mobile phone carried by the station employee, informs the station employee who answered the call of the position of his / her device, and informs the station employee that he / she wants to come to that position.

According to the service providing system 1 described above, if there is a passerby in the area P who has a need for a service that the self-propelled robot 11 can provide, the self-propelled robot 11 passes through the passerby. Move closer to people and provide services. At that time, a passerby who has a need does not need to search for the self-propelled robot 11.

Further, the service operation executed by the self-propelled robot 11 for the passerby is a service operation having the content estimated to be optimal based on the attributes of the passerby. Therefore, the passerby can receive the service he / she desires from the self-propelled robot 11 without performing many operations on the self-propelled robot 11.

Further, when there are a plurality of passers-by in the area P who are presumed to have needs for the service of the self-propelled robot 11, the passers-by who are presumed to have the highest need for service provision among those passers-by. A person is selected.

[Modification example]
The above-described embodiment can be modified in various ways. Examples of these modifications are shown below. In addition, the above-described embodiment and the following modifications may be combined as appropriate.

(1) In the service providing system 1 described above, the control device 14 is provided as an individual device outside the self-propelled robot 11. Instead of this, a configuration in which the control device 14 is arranged in the self-propelled robot 11 may be adopted. In this modification, the control device 14 integrated in the self-propelled robot 11 performs data communication with the server device 15, selects a partner for the service operation of the self-propelled robot 11, and determines the content of the service operation. I do.

(2) In the service providing system 1 described above, the position of the self-propelled robot 11 in the area P is specified by the position specifying means 143 provided in the control device 14. Instead of this, the position of the self-propelled robot 11 may be specified by a position specifying device different from the position specifying means 143. For example, the self-propelled robot 11 may be equipped with a high-precision GNSS (Global Navigation Satellite System) unit, and the position of the self-propelled robot 11 may be specified by the GNSS unit. Further, for example, a mark indicating a reference position is attached to the floor of the area P or a wall around the area P, the self-propelled robot 11 recognizes the mark by a stereo camera, an optical sensor, or the like, and based on the recognized reference position The position of the device may be specified.

(3) In the service providing system 1 described above, the position of the wireless communication device 12 is specified based on the strength of the radio wave transmitted from the antenna 13 at the time of reception by the wireless communication device 12. Instead of this, the position of the wireless communication device 12 may be specified based on the intensity at the time of reception of the radio wave transmitted from the wireless communication device 12 at the antenna 13.

(4) In the service providing system 1 described above, the number of antennas 13 is three. The number of antennas 13 included in the service providing system 1 is not limited to three, and may be two or four or more. When the number of antennas 13 is two, the position of the wireless communication device 12 can be specified if the height of the wireless communication device 12 is assumed to be, for example, a height of 100 cm from the floor. In reality, the height of the wireless communication device 12 is not constant, so that the position of the specified wireless communication device 12 has an error, but the error is sufficient compared to the distance of a plurality of passersby who are close to each other. If it is small, the self-propelled robot 11 can capture the partner of the service operation according to the position indicated by the position data, and no inconvenience occurs.

(5) In the service providing system 1 described above, the position of the wireless communication device 12 is specified based on the strength of the radio wave transmitted from the antenna 13 at the time of reception by the wireless communication device 12. Further, in the above-described modification (3), the position of the wireless communication device 12 is specified based on the strength of the radio wave transmitted from the wireless communication device 12 at the time of reception by the antenna 13. The method of specifying the position of the wireless communication device 12 is not limited to the method based on the strength of radio waves. For example, the position of the wireless communication device 12 may be specified based on the time from the transmission time to the reception time of the radio wave transmitted and received between the wireless communication device 12 and the antenna 13. Further, for example, a large number of antennas for transmitting radio waves having a short reach to the floor of the area P are arranged in a grid pattern, and among these antennas, the position of the antenna having the maximum reception intensity of the radio wave transmitted from the wireless communication device 12. May be adopted as a mechanism for specifying the position of the wireless communication device 12.

(6) In the above description of the service providing system 1, LF is exemplified as a frequency band of radio waves used for specifying the position of the wireless communication device 12, and the self-propelled robot 11 transfers the device ID and the like to the control device 14. UHF has been exemplified as a frequency band of radio waves used for transmission. These frequency bands may be other frequency bands. Further, the frequency band of the radio wave used to specify the position of the wireless communication device 12 and the frequency band of the radio wave used by the self-propelled robot 11 to transmit the device ID and the like to the control device 14 are the same frequency band. You may.

(7) In the service providing system 1 described above, in order to improve the accuracy of the position of the wireless communication device 12 specified based on the strength of the radio waves transmitted and received between the wireless communication device 12 and the antenna 13, another sensor is used. It may be used additionally. For example, a distance image sensor may be arranged on the lower surface of the ceiling of the area P, and the position of a person or an object in the area P may be specified based on the distance image data generated by the distance image sensor. In that case, the distance image data accurately identifies which part of the area P the passerby is. Therefore, for example, the position specifying means 143 passes by matching the position specified based on the intensity of the radio waves transmitted and received between the wireless communication device 12 and the antenna 13 with the position specified based on the distance image data. The position of the person in the area P can be specified more accurately.

(8) In the service providing system 1 described above, the facing direction of the self-propelled robot 11 is specified based on the positions of the wireless communication device 12R and the wireless communication device 12L mounted on the right side and the left side of the self-propelled robot 11. .. The method of specifying the facing direction of the self-propelled robot 11 is not limited to this. For example, the self-propelled robot 11 may be provided with an azimuth sensor, and the facing direction of the self-propelled robot 11 may be specified based on the measurement result of the azimuth sensor.

(9) In the above description of the service providing system 1, when the service operation performed by the self-propelled robot 11 to a passerby is information provision, the self-propelled robot 11 provides the information by displaying the information on the touch display. Is shown as an example. The method by which the self-propelled robot 11 provides information to passersby is not limited to display, and may be voice notification.

(10) In the above description of the service providing system 1, a touch operation on the touch display of the self-propelled robot 11 is exemplified as an operation for a passerby to give an instruction to the self-propelled robot 11. The operation for the passerby to give an instruction to the self-propelled robot 11 is not limited to this, and for example, the passerby may give an instruction by speaking to the self-propelled robot 11. In this case, the self-propelled robot 11 acquires an instruction from a passerby by recognizing the voice picked up by the microphone.

(11) In the above description of the service providing system 1, the position of the wireless communication device 12 is specified by the control device 14. Instead of this, the position of the wireless communication device 12 may be specified in the wireless communication device 12.

(12) In the service providing system 1 described above, the control device 14 selects the partner of the service operation and determines the content of the service operation using the attribute data and the history data received from the server device 15. In order for the control device 14 to select a partner for the service operation and determine the content of the service operation, data acquired from a device other than the server device 15 or data generated by the own device may be used. For example, the selection of the partner of the service operation and the content of the service operation may be determined based on the position in the area P of the wireless communication device 12 specified by the control device 14 and its change with time. Further, for example, when the wireless communication device 12 stores the attribute data indicating the attribute of the carrier, the control device 14 receives the attribute data from the wireless communication device 12, and the attribute data is used for selection and service of the service operation partner. It may be used to determine the content of the operation.

(13) The procedure in which the partner selection means 147 selects the partner for the service operation and the procedure in which the content determination means 148 determines the content of the service operation are not limited to those exemplified in the above description of the service providing system 1. For example, when the control device 14 estimates the attributes of a passerby based on historical data or the like, the number of points for selecting a partner is increased or decreased according to the magnitude of the condition indicated by the condition data (see FIG. 6). Variations are possible.

(14) In the service providing system 1 described above, the number of self-propelled robots 11 is assumed to be one, but the number of self-propelled robots 11 may be plural. In this case, the control device 14 allocates a service operation for a plurality of passersby to each of the plurality of self-propelled robots 11. Further, when the area P is wide, the control device 14 and the antenna 13 may be arranged in each of the small areas in which the area P is divided. In this case, if the plurality of control devices 14 are linked to each other and the self-propelled robots 11 arranged in the respective small areas have excess or deficiency, they may be interchanged with each other.

(15) In the service providing system 1 described above, when the self-propelled robot 11 starts an operation for providing a service to a certain passerby according to the instruction data received from the control device 14, the service provision is completed and the robot is in a standby state. Until then, it is assumed that the operation for providing services to other passers-by will not be started. Instead of this, when a passerby with a higher need appears, the self-propelled robot 11 interrupts the running operation to provide a service to the passerby with a higher need. You may start the operation for. For example, if the self-propelled robot 11 is moving toward a certain passerby's position to provide a service and is called by another passerby, even if the service is started to the passerby who has been called out. Good.

1 ... Service providing system, 11 ... Self-propelled robot, 12 ... Wireless communication device, 13 ... Antenna, 14 ... Control device, 15 ... Server device, 121 ... Storage means, 122 ... Receiving means, 123 ... Radio field intensity measuring means, 124 ... Transmission means, 140 ... Storage means, 141 ... Transmission means, 142 ... Reception means, 143 ... Position identification means, 144 ... Facing direction identification means, 145 ... Transmission means, 146 ... Reception means, 147 ... Partner selection means, 148 ... Content determination means, 149 ... Instruction means

Claims (8)

Attribute information indicating the attributes of the carrier of the wireless communication device and history information indicating the history of past actions of the carrier are acquired from the identification information transmitted from the wireless communication device in the predetermined area, and the position identification device is used. A service that acquires the measured position information of the wireless communication device within the predetermined area, acquires the position information of the self-propelled device that performs the service operation, and deals with the mobile phone based on the attribute information and the history information. A service providing system that determines the necessity of operation and causes the self-propelled device to perform a service operation using the position information of the wireless communication device and the position information of the self-propelled device according to the result of the determination. When the attribute information and history information of each carrier of the plurality of wireless communication devices in the predetermined area are acquired, the service operation partner from among the plurality of carriers based on the acquired plurality of attribute information and history information. The service providing system according to claim 1. If it is determined that a service operation for a carrier of a wireless communication device is necessary, the content of the service operation for the carrier is determined based on the attribute information and history information of the carrier. Claim 1 or 2 The service provision system described in. If it is determined that a service operation with the carrier of the wireless communication device is necessary, the content of the service operation with the carrier is determined based on the location information of the wireless communication device. Any of claims 1 to 3. The service provision system described in item 1. The position information in the predetermined area of the wireless communication device arranged in the self-propelled device measured by the position identification device is acquired, and based on the position information, the service operation for the carrier of the wireless communication device is performed. The service providing system according to any one of claims 1 to 4, which determines the necessity. The position information in the predetermined area of each of the plurality of wireless communication devices arranged at different positions of the self-propelled device measured by the position specifying device is acquired, and the positive position of the self-propelled device is obtained based on the position information. The service providing system according to any one of claims 1 to 5, which specifies the opposite direction. The service providing system according to any one of claims 1 to 6, further comprising the position-identifying device and the self-propelled device. The service providing system according to any one of claims 1 to 6, which is arranged in the self-propelled device.

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