JP6956422B2 - Guidance service system, guidance service program, guidance service method and guidance service device - Google Patents

Description

The present invention relates to a guidance service system, a guidance service program, a guidance service method and a guidance service device, and more particularly to, for example, a guidance service system, a guidance service program, a guidance service method and a guidance service device that guide a user.

An example of the background technique is disclosed in Patent Document 1. In the mobile robot system of this patent document, the mobile robot provides a reception / guidance service for visitors who enter the lobby from the doorway. Further, in this mobile robot system, the lobby can be divided into a plurality of areas in advance, and the arrival position of a visitor can be predicted. In this case, the mobile robot can perform the optimum guidance action according to the destination of the visitor.

Japanese Patent Application Laid-Open No. 2008-260107 [B25J 13/00, B25J 5/00 B25J 13/08, G06Q 50/00]

However, in the mobile robot system of Patent Document 1, the mobile robot cannot provide the guidance service to a place where the guidance service cannot be provided, that is, a visitor who goes out of the lobby. For example, if a visitor in the lobby moves out of the lobby, the mobile robot system may be able to determine that the visitor is out of the lobby, but the mobile robot is a visitor. Can only be guided to the doorway. If the visitor always needs the guidance service by the mobile robot, the user will not be able to receive the guidance service when he / she goes out of the lobby.

Therefore, a main object of the present invention is to provide a novel guidance service system, guidance service program, guidance service method and guidance service device.

Another object of the present invention is to provide a guidance service system, a guidance service program, a guidance service method, and a guidance service device capable of appropriately guiding a user.

The present invention has adopted the following configuration in order to solve the above problems. The reference numerals and supplementary explanations in parentheses indicate the correspondence with the embodiments described to assist the understanding of the present invention, and do not limit the present invention in any way.

The first invention is a guidance service system that uses robots capable of providing guidance services, and is a storage unit that stores service permissible range information including a service provisionable range capable of providing guidance services for each robot. Multiple routes are searched by the destination setting unit that sets the destination according to the user's operation, the search unit that searches for the route from the user's current position to the destination when the destination is set, and the search unit. When, the route presenting unit that presents a plurality of routes to the user so as to be selectable, the first determination unit that determines whether or not the route is selected from the plurality of routes by the user, and the first determination unit determine that the user has selected the route. when, the selected route, dividing section for dividing into a plurality of coverage according to a predetermined division rule, and on the basis of the service providing range included in the service allowable range information, the plurality of coverage divided by the dividing unit for each comprises a reservation unit for reserving the robot having the appropriate service providing coverage area, an induction service system.

In the first invention, the robots (14, 16a) of the guidance service system (10: reference reference numerals illustrating the corresponding parts in the examples; the same shall apply hereinafter) include, for example, a mobile terminal (14), a humanoid, or a humanoid. It includes a wheelchair robot (16a) and is sometimes called a universal design robot. Further, for example, a robot is arranged in each of a plurality of service ranges, and the robot can provide a guidance service to users within the service range. The storage unit (26) is, for example, a memory of the server (12), and stores service permissible range information including a range in which guidance services can be provided by each robot. The destination setting unit (20, S1) sets the destination according to the user's operation on the mobile terminal, for example. For example, the search unit (20, S5), when their destinations are set, searches the route to the destination from the current position of the user by using an external application. When a plurality of routes are searched by the search unit (20, S5), the route presentation unit (20, S17) presents the plurality of routes to the user so as to be selectable by the user. The first determination unit (20, S19) determines whether or not a route is selected from a plurality of routes by the user. When any route is selected by the user, the division unit (20, S25) divides the selected route into a plurality of service ranges according to a predetermined division rule. For example, the reservation unit (20, S31) has a corresponding service provision capability range for each of a plurality of service ranges divided by the division unit based on the service provision range included in the service tolerance information. Book a robot.

According to the first invention , since the robot guides the user within the service range on the route selected by the user, the user can be appropriately guided to the destination.

The second invention is subordinate to the first invention, and the plurality of routes include different means of transportation.

In the second aspect of the invention, as a means of transportation, for example, trains, buses, taxis, and the like ships and airplanes.

The third invention is subordinate to the second invention, and it is determined by the second judgment unit that determines whether the transportation means of the selected route needs to be arranged, and the second judgment unit that the transportation means needs to be arranged. At that time, an arrangement department for arranging transportation means will be further provided.

In the third invention, the second determination unit (20, S27) determines whether the selected route includes a movement using a limited express, for example, a taxi, an airplane, or a railroad. The arranging department (20, S29) arranges the means of transportation in advance by using, for example, an external application.

According to the third invention, when the user uses the guidance service to go to the destination, he / she does not have to perform the work of arranging the means of transportation in advance.

The fourth invention is subordinate to either the first invention or the third invention, the storage unit further stores the user attribute information indicating the user's attribute, and the service tolerance information is provided by the robot as a guidance service. The reservation unit is divided by the division unit based on the user attribute information of the user who entered the destination and the service tolerance information including the target attribute type, including the target attribute type indicating the attributes of the user that can be performed. Reserve a robot for the service range.

In the fourth invention, the attributes of the user are, for example, a foreigner, a visually impaired person, a weak walking person, an elderly person, and the like, and the user registers user attribute information indicating such an attribute in the guidance service system. In addition, the target attribute types indicating the attributes of the users who can provide the guidance service by the robot are, for example, foreigners, visually impaired persons, vulnerable persons, and elderly people. Then, the reservation unit reserves the robot for each of the divided service ranges based on such user information and service allowable range information.

According to the fourth invention, an appropriate robot can be reserved in consideration of the attributes of a user such as a foreigner, a visually impaired person, a weak walking person, and an elderly person.

The fifth invention is subordinate to either the first invention or the fourth invention, and the robot can further provide the caregiving service, and the caregiving judgment for determining whether the caregiving service by the robot is necessary. It is further equipped with a department, and when the caregiving judgment department determines that the caregiving service is necessary, it provides a guidance service to the user and a caregiving service.

In the fifth invention, the robot can further provide a caregiving service in addition to the guidance service. The caregiving determination unit (20, S21) determines whether the assisting service by the robot is necessary for the guiding user. For example, when the user desires assistance and it is determined that the assistance service is necessary, the robot provides the user with the assistance service together with the guidance service.

According to the fifth invention, since the robot assists the user when guiding the user, the user can go to the destination with peace of mind.

The sixth invention is subordinate to any one of the first invention to the fifth invention , the service tolerance information further includes the contact information of each robot, and the search unit is used to move the user from the current position to the destination. When the route cannot be searched, a re-search unit for re-searching the route using the contact information is further provided.

In the sixth invention, for example, the inquiry contact information of the robot is a URL or the like, and when the re-search unit (20, S9) cannot search the route, for example, the site indicated by the URL registered as the inquiry contact. To check if there is a robot that can handle it. Further, if there is a robot that can handle the robot, the search unit re-searches the route to the destination by using the robot, for example.

According to the sixth invention, the situation where the user cannot be guided is avoided as much as possible by enabling the re-search of the route.

The seventh invention is subordinate to either the first invention or the sixth invention, the robot corresponds to a plurality of linguistic cultures, and the robot determines the linguistic culture to be used among the plurality of linguistic cultures. It includes a decision unit, a language culture reception unit that accepts input in the language culture determined by the decision unit, and an output unit that outputs based on the language culture determined by the decision unit.

In the seventh invention, the robot corresponds to various countries, that is, a plurality of language cultures. The determination unit (30, 50) is, for example, a processor, and determines the language culture to be used among a plurality of language cultures according to, for example, a user operation. The language and culture reception unit (36, 52) is, for example, a microphone, and accepts input in the language and culture determined by the determination unit. The output unit (32, 38, 54) is, for example, a speaker, and outputs based on the language culture determined by the determination unit.

According to the seventh invention, by making the robot correspond to a plurality of language cultures, it is possible to guide people from various countries and regions to the destination as users.

The eighth invention is subordinate to either the first invention or the seventh invention, and the robot generates a generation unit that generates a content to be output to the user, and converts the content generated by the generation unit into a sign language motion. A sign language output unit that outputs a sign language operation converted by the conversion unit and the conversion unit is further included.

In the eighth invention, the generation unit (30, 50) generates the content such as a message to be output to the user, for example. The conversion unit (30, 50) converts, for example, the content of the generated message into a sign language operation. The sign language output unit (32,58) outputs the converted sign language operation.

According to the eighth invention, the robot can appropriately convey a message to a hearing-impaired person.

The ninth invention is a guidance service system that uses robots capable of providing guidance services, and provides service permissible range information including a service provision range capable of providing guidance services for each robot (14, 16a). The processor (20) of the guidance service system, which has a storage unit for storing , sets the destination according to the operation of the user. A search unit (S5) that searches for a route to the ground, a route presentation unit (S17) that presents a plurality of routes to the user so that they can be selected when a plurality of routes are searched by the search unit, and a route from a plurality of routes by the user. When the first determination unit (S19) and the first determination unit determine that the user has selected a route, the selected route is divided into a plurality of service ranges according to a predetermined division rule. Based on the division unit (S25) and the service provision range included in the service tolerance information, a robot having the corresponding service provision capability range is reserved for each of the plurality of service ranges divided by the division unit. This is a guidance service program that functions as a reservation unit (S31).

In the ninth invention as well, as in the first invention , the robot guides the user within the service range on the route selected by the user, so that the user can be appropriately guided to the destination.

The tenth invention is a guidance service system using a robot capable of providing guidance services, and provides service permissible range information including a service provision range capable of providing guidance services for each robot (14, 16a). A guidance service method in a guidance service system (10) having a storage unit (26) for storing, and a destination setting step (S1) for setting a destination according to a user's operation, when the destination is set. search step of searching a route to a destination from the current position of the user (S5), when a plurality of paths are searched in the search step, the path presenting step (S17) to be presented to selectably user a plurality of paths, When it is determined in the first determination step (S19) for determining whether or not a route is selected by the user from a plurality of routes and the user has selected a route in the first determination step, the selected route is divided according to a predetermined division rule. Based on the division step (S25) for dividing into a plurality of service ranges and the service provision range included in the service tolerance information, the corresponding service provision ability is provided for each of the plurality of service ranges divided in the division step. It is a guidance service method that executes a reservation step (S31) for reserving a robot having a range.

In the tenth invention as well, as in the first invention , the robot guides the user within the service range on the route selected by the user, so that the user can be appropriately guided to the destination.

The eleventh invention is a guidance service device that uses a robot capable of providing guidance services, and provides service permissible range information including a service provision range capable of providing guidance services for each robot (14, 16). A storage unit (26) for storing, a destination setting unit (20, S1) for setting a destination according to a user's operation, and a route from the user's current position to the destination when the destination is set are searched. When a plurality of routes are searched by the search unit (20, S5), the route presentation unit (20, S17) that presents the user with a plurality of routes that can be selected, and the user selects the route from the plurality of routes. When the first judgment unit (20, S19) and the first judgment unit determine that the user has selected a route, the selected route is divided into a plurality of service ranges according to a predetermined division rule. Based on the service provision range included in the unit (20, S25) and the service tolerance information , a robot having the corresponding service provision capability range is reserved for each of the plurality of service ranges divided by the division unit. It is a guidance service device including a reservation unit (20, S31).

In the eleventh invention as well, as in the first invention , the robot guides the user within the service range on the route selected by the user, so that the user can be appropriately guided to the destination.

According to the present invention, the user can be appropriately guided to the destination.

The above-mentioned object, other object, feature and advantage of the present invention will become more apparent from the detailed description of the following examples made with reference to the drawings.

FIG. 1 is an illustrated diagram showing an example of a configuration of a guidance service system according to an embodiment of the present invention. FIG. 2 is an illustrated diagram showing an example of the electrical configuration of the server shown in FIG. FIG. 3 is an illustrated diagram showing an example of the electrical configuration of the mobile terminal shown in FIG. FIG. 4 is an illustrated diagram showing an example of the electrical configuration of the robot shown in FIG. FIG. 5 is an illustrated diagram showing an example of the electrical configuration of the transportation means management server shown in FIG. FIG. 6 is an illustrated diagram showing an example of a memory map of the memory of the server shown in FIG. FIG. 7 is an illustrated diagram showing an example of the event queue information shown in FIG. FIG. 8 is an illustrated diagram showing an example of the user attribute information shown in FIG. FIG. 9 is an illustrated diagram showing an example of the robot information shown in FIG. FIG. 10 is an illustrated diagram showing an example of the service tolerance information shown in FIG. FIG. 11 is an illustrated diagram showing an example of a route selection screen displayed on the display device of the mobile terminal shown in FIG. 12 is an illustrated diagram showing an example of the service range information shown in FIG. 6, FIG. 12 (A) shows an example of the service range information of the route 1 shown in FIG. 11, and FIG. 12 (B) shows an example of the service range information. An example of the service range information of the route 2 is shown, and FIG. 12C shows an example of the service range information of the route 3 shown in FIG. FIG. 13 is an illustrated diagram showing another example of the service tolerance information shown in FIG. FIG. 14 is an illustrated diagram showing an example of the reservation information shown in FIG. FIG. 15 is an illustrated diagram showing another example of the service tolerance information shown in FIG. FIG. 16 is an illustrated diagram showing another example of the reservation information shown in FIG. FIG. 17 is a block diagram showing a functional configuration of a service cooperation platform (PF) realized by the operation of the processor of the server shown in FIG. FIG. 18 is a flow chart showing an example of a part of the guidance service processing of the processor of the server shown in FIG. FIG. 19 is an example of another part of the guidance service processing of the processor of the server shown in FIG. 2, and is a flow diagram following FIG. FIG. 20 is a flow chart showing an example of guidance service processing of the processor of the server shown in FIG. FIG. 21 is a flow chart showing an example of guidance processing of the robot processor shown in FIG.

With reference to FIG. 1, the guidance service system 10 of the embodiment includes a server 12, which is connected to a mobile terminal 14, a service robot 16a, an environment sensor 16b, and the like via a network 100. Further, the server 12 may communicate with a plurality of transportation means management servers 102 via the network 100. Further, the transportation means management server 102 communicates with the transportation means. The means of transportation include public transportation such as taxis, buses, railroads, ships and airplanes.

Further, the mobile terminal 14 is carried by the user, and the service robot 16a and the environment sensor 16b are arranged in each of a plurality of service ranges (first service range, second service range, ... nth service range).

In this embodiment, transportation facilities such as stations and airports and the surrounding areas such as theme parks and amusement parks are defined as "service ranges", and the service range may also be referred to as nodes. In addition, transportation means such as taxis may be included in the service range. Therefore, each service range is connected by various types of transportation, or is connected by the service range as the means of transportation. The adjacent service range can also be moved on foot.

The guidance service system 10 of this embodiment guides the user by a service robot 16a or the like within the service range in which the user is present, and has another service range (first service range) including the destination from the current service range in which the user is present (first service range). Guide the user to the nth service range). Therefore, the user is guided from the current position to the destination by the guidance service system 10.

The server 12 is sometimes referred to as a guidance service device, and controls the operation of the entire guidance service system 10. Further, the server 12 may be operated by an administrator of the guidance service system 10 (hereinafter, simply referred to as an administrator) as needed.

The mobile terminal 14 detects the current position of itself (that is, the user) based on a signal from a GPS satellite (not shown), detects the pulse and momentum of the user, and is a virtual robot (not shown) in the virtual space. ) Can be used to interact with the user.

The service robot 16a includes a humanoid robot and a wheelchair robot, and performs a guidance service and a caregiving service, which will be described later, within the service range in which the service robot 16a is arranged. The humanoid robot has a head, arms (including hands), wheels, and the like, and can autonomously move within the service range while interacting with the user with gestures. The wheelchair robot has a chair and wheels, and can autonomously move within the service range while interacting with the user while carrying the user. That is, the humanoid robot has a function of accompanying the user, and the wheelchair robot has a function of transporting the user.

The environment sensor 16b is composed of a laser range finder, an infrared sensor, an image sensor, etc., and serves as an invisible robot fixed at a predetermined position (for example, along an entrance, a passage, etc.) within the service range without being noticed by the user. Can detect (recognize the face and identify the position).

When the means of transportation is within the service range, the service robot 16a and the environment sensor 16b may not be arranged within the service range.

Further, in this embodiment, the mobile terminal 14, the service robot 16a, the environment sensor 16b, and the means of transportation may be collectively referred to as a "universal design robot". The "universal design robot" in this embodiment refers to a robot used when a human (user) acts, and a taxi, a railroad, or the like is also included in the universal design robot. Further, in the following description, the universal design robot may be simply referred to as a "robot".

FIG. 2 shows a configuration example of the server 12. With reference to FIG. 2, the server 12 includes a processor 20, an input device 22, an output device 24, a memory 26, and a communication circuit 28. The input device 22 includes a keyboard, a mouse, and the like. Therefore, the input device 22 is operated by an operator (or an administrator) to input an instruction to the processor 20 to execute information processing. Then, the output device 24 includes a display device and the like, and outputs the result of information processing by the processor 20. The memory 26 stores programs and data for causing the processor 20 to perform information processing. The communication circuit 28 connects the processor 20 to the network 100 so as to be communicable. The operator can also remotely control the service robot 16a arranged in each service range.

FIG. 3 shows a configuration example of the mobile terminal 14. With reference to FIG. 3, the mobile terminal 14 includes a processor 30, a display device 32, a touch panel 34, a microphone 36, a speaker 38, and a sensor 40.
, Memory 42, wireless communication circuit 44 and GPS circuit 46. The touch screen is composed of the display device 32 and the touch panel 34, and the processor 30 presents and inputs (selects) information to the user through the touch screen. Further, the processor 30 displays the virtual robot on the display device 32 and interacts with the user through the microphone 36 and the speaker 38. The sensor 40 includes an acceleration sensor, a gyroscope, and the like, and the processor 30 detects the user's pulse and momentum based on the output of the sensor 40.

The memory 42 stores programs and data for causing the processor 30 to perform the above processing. The wireless communication circuit 44 connects the processor 30 to the network 100 so as to be capable of wireless communication. The GPS circuit 46 receives signals from a plurality of GPS satellites, detects the current position of the mobile terminal 14 (user) based on the received signal, and outputs current position information indicating the detection result.

A key input unit (or input device) including a numeric keypad or the like may be further connected to the processor 30 of the mobile terminal 14.

FIG. 4 shows a configuration example of the service robot 16a. With reference to FIG. 4, the service robot 16a includes a processor 50, a microphone 52, a speaker 54, a sensor 56, a motor 58, a memory 60, and a wireless communication circuit 62. The processor 50 interacts with the user through the microphone 52 and the speaker 54. The sensor 56 includes an image sensor, an infrared sensor, and the like, and the processor 50 controls the motor 58 and detects a user based on the output of the sensor 56. The motor 58 drives the wheels (further arms / head in the case of a humanoid robot) under the control of the processor 50.

The memory 60 stores programs and data for causing the processor 50 to perform the above processing. The wireless communication circuit 62 connects the processor 50 to the network 100 so as to be capable of wireless communication.

Here, the mobile terminal 14 and the service robot 16a of the present embodiment correspond to a plurality of language cultures, and for example, the language culture to be used is determined according to the operation of the user. Then, the mobile terminal 14 and the service robot 16a of the present embodiment receive the language (language culture) input from the user by the microphone 36 or the microphone 52, and output the language (language culture) by the speaker 38 or the speaker 54. Further, the display device 32 of the mobile terminal 14 may be used for the output of the language. In this way, by making the universal design robot including the mobile terminal 14 and the service robot 16a compatible with a plurality of language cultures, it is possible to guide people from various countries and regions to their destinations as users. In such a case, the processor 30 of the mobile terminal 14 and the processor 50 of the service robot 16a function as a decision unit, the microphone 36 and the microphone 52 function as a language culture reception unit, and the display device 32, the speaker 38, and the speaker 54 output. Functions as a department.

Further, the mobile terminal 14 and the service robot 16a can acquire (receive) event information of an event held in the surroundings by communication using the wireless communication circuit 44 or the wireless communication circuit 62. Then, the mobile terminal 14 and the service robot 16a may determine the language culture based on the received event information. In such a case, the wireless communication circuit 44 and the wireless communication circuit 62 function as communication units.

Further, in the mobile terminal 14 and the service robot 16a, the sensor 40 or the sensor 56 may include a camera. In this case, the language culture to be used can be determined by taking (acquiring) an image of the user's face and analyzing the image. In such a case, the sensor 40 and the sensor 56 function as an image acquisition unit, and the processor 30 and the processor 5
0 functions as an image processing unit.

Then, the mobile terminal 14 and the service robot 16a may determine the language culture to be used by collecting the surrounding or user's voice by the microphone 36 or the microphone 52 and analyzing the collected voice. In such a case, the microphone 36 and the microphone 52 function as a sound collecting unit, and the processor 30 and the processor 50 function as a voice processing unit.

In this way, the universal design robot of this embodiment including the mobile terminal 14 and the service robot 16a can determine the language culture to be used based on various things such as surrounding event information, user's image and voice, and the like. You can.

Further, the mobile terminal 14 and the service robot 16a of this embodiment can also output sign language movements. Specifically, when the processor 30 of the mobile terminal 14 and the processor 50 of the service robot 16a generate the output contents, they are converted into sign language operation, and the sign language operation is performed by the arm operated by the motor 58 or the display device 32 of the mobile terminal 14. Is output. In this way, the universal design robot including the mobile terminal 14 and the service robot 16a can appropriately convey a message to the hearing impaired. In such a case, the processor 30 and the processor 50 function as a generation unit or a change unit, and the display device 32 and the motor 58 function as a sign language output unit. Further, the motor 58 of the service robot 16a functions as an operating unit.

When the display device 32 of the mobile terminal 14 outputs the sign language operation, a moving image showing the converted sign language operation is generated, and the moving image is displayed by the display device 32. In this case, the processor 50 of the mobile terminal 14 functions as a moving image generation unit, and the display device 32 functions as a display unit.

As described above, the universal design robot of the present embodiment including the mobile terminal 14 and the service robot 16a can output the sign language motion by using various objects such as a moving image and an arm operated by the motor 58.

Further, when the sign language motion is output by the humanoid robot, the arms, hands and face of the humanoid robot may have a size different from the normal body shape ratio. In this case, the sign language motion can be emphasized and output for a humanoid robot having a normal body shape ratio.

FIG. 5 shows a configuration example of the transportation management server 102. With reference to FIG. 5, the transportation means management server 102 includes a processor 80, an input device 82, an output device 84, a memory 86, and a communication circuit 88, as well as a wireless communication circuit 90, like the server 12. Since the processor 80, the input device 82, the output device 84, the memory 86, and the communication circuit 88 are substantially the same as those of the server 12, detailed description thereof will be omitted.

The wireless communication circuit 90 connects to the corresponding means of transportation so that wireless communication is possible. Then, such a transportation means management server 102 is used for grasping the operation status of the corresponding transportation means, allocating the transportation means, and reserving the seat of the transportation means.

Application software (hereinafter, "application") that provides various services is executed on the guidance service system 10 configured as described above. An example of an application to be executed is a guidance service application and a guidance service application. In addition, cooperation information is added to the guidance service application and the program corresponding to the guidance service application.

That is, the guidance service application is an application for guiding the user to the destination as described above, and can be linked with the guidance service application. In addition, the guidance service application may use an external application as needed. The guidance service application is, for example, an application that guides a user within the service range by using the service robot 16a, and can be linked with the guidance service application. For example, when the service robot 16a is reserved by the guidance service application, the guidance service application is executed.

In another embodiment, a program corresponding to the shopping support application, the migration support application, and the health monitoring application that can be linked may be executed on the guidance service system 10. In addition, the above-mentioned "shopping" refers to a purchasing behavior in which what you want to buy has already been decided and goes straight to the sales floor, and "migratory" means that you have not yet decided what you want to buy and the shopping center ( A purchasing behavior that finds what you want to buy while patrolling within the service range).

In the guidance service system 10, the processor 20 of the server 12 is mainly as shown in FIG. 17 based on the programs and data stored in the memory 26 as shown in FIGS. 6-10, 12, 14, and 16. By realizing a robot service cooperation platform (abbreviated as "PF" as appropriate) with various functions and executing processing according to the flow of FIGS. 18 to 20, a plurality of services provided by a plurality of applications can be provided. It can be provided in cooperation with the user.

FIG. 6 shows the contents of the memory 26. With reference to FIG. 6, the memory 26 includes the program area 300, the transition data area 310, and the non-transition data area 330, and the application program 302, the service cooperation program 304, and the transportation means management program 306 are stored in the program area 300. ..

The application program 302 is a program for controlling the hardware of the guidance service system 10 to provide various services to the user. Further, the application program 302 includes a guidance service program 302a corresponding to the guidance service application, a guidance service program 302b corresponding to the guidance service application, and the like. The service cooperation program 304 is a program for linking a plurality of services based on the application program 302 with each other. The transportation management program 306 is a program for arranging transportation.

The transition data area 310 stores the current position information 312, the robot state information 314, the service state information 316, the event queue information 318, the external application information 320, the output information 322, the service range information 324, and the reservation information 326.

The current position information 312 is information indicating the current position of the mobile terminal 14, that is, the user, and mainly uses the current position information output from the GPS circuit 46 of the mobile terminal 14 itself (the current position information obtained from the environment sensor 16b is substituted. Or both may be used together).

The robot status information 314 indicates the status of various robots (14, 16a) shown in FIG. 1 (for example, whether it is available (standby) or used for any service (supporting), etc.). This is the information to be shown, and the information provided by the robot itself is used.

The service status information 316 is information indicating the status of a plurality of services provided by the application, and is controlled by the service cooperation program 304 based on the event information provided by the application itself.

The event queue information 318 is used to link a plurality of services provided by the application.
The information is controlled by the service cooperation program 304, and has the contents as shown in FIG. 7, for example.

The event queue information 318 in FIG. 7 links the guidance service and the guidance service. "User input" is registered as a start condition of the guidance service, and "robot reservation" is registered as a start condition of the guidance service. In this way, when the guidance service and the guidance service are linked, the reservation of the robot by the guidance service is associated and registered.

Returning to FIG. 6, the external application information 320 is the information obtained when the guidance service program 302a uses the external application. The output information 322 is information output to the user by the user interface UI described later. For example, in this embodiment, the output information 322 is created based on the external application information 320, and the route selection screen shown in FIG. 11 is displayed based on the output information 322.

The service range information 324 is information indicating the result of dividing the route selected on the route selection screen shown in FIG. 11 into service ranges, and the contents thereof are shown in FIGS. 12 (A) to 12 (C), for example. be. The reservation information 326 is information indicating the service robot 16a reserved for each service range indicated by the service range information 324, and is shown in FIGS. 14 and 16, for example.

User attribute information 332, robot information 334, service allowable range information 336, and map information 338 are stored in the non-transition data area 330.

The user attribute information 332 is information indicating the attributes of the user, and as shown in FIG. 8, for example, the user (mobile terminal) ID (AAA, BBB, ...) And the attributes (foreigner, elderly person, visually impaired person, walking). Weak people, ...) are registered in association with each other.

The robot information 334 is information indicating the attributes, functions, and movement ranges of various service robots 16a included in the guidance service system 10 shown in FIG. 1, for example, as shown in FIG. 8, robot IDs (R1, R2, ...). , Attributes (wheelchair, humanoid, monorail, taxi, virtual, invisible, ...), function ("guidance, wheelchair, dialogue", "guidance, luggage carrying, dialogue", "movement", "guidance, dialogue", "person" "Detection", ...) and the range of movement ("O airport", "amusement park", "monorail", "within the communication range of the mobile terminal", "fixed in place within the service range", ...) are associated with each other. It is registered.

The service permissible range information 336 is information including the accompaniment / transportable range of various service robots 16a, the accompaniment / transportable number of people, the accompaniment / transport target attribute type, the contact information, and the like. For example, as shown in FIG. 10, robots (Osaka Airport South A Robot (R1), Osaka Airport South B Robot (R2), ...), Accompanied / Transportable Range (O Airport South Terminal, Amusement Park Gate, ...), Accompanying / transportable number of people (1 person, 1 person-2 people, 1-4 people, ...), Accompaniment / transport target attribute type (foreigner, weak walking, wheelchair, visually impaired person, elderly person, ...) and contact information (URL: "http: //www.a ...", "http: //www.b ...", ...) are registered in association with each other.

The map information 338 includes wide area map information covering the user's action range (a range including at least all service ranges) and detailed map information regarding the accompanying / transportable range (that is, the service range) of the service robot 16a. In the detailed map information, in addition to the arrangement of stores and sales floors within the service range, steps and obstacles that hinder the movement of the service robot 16a are also described.

Here, the operation of the guidance service system 10 will be described by giving an example when the guidance service system 10 is used by a user who is going from the O airport to the amusement park. For example, the user uses the mobile terminal 14 at the south terminal of O Airport and inputs the amusement park as the destination to the guidance service system 10. At this time, in the guidance service system 10, the guidance service application is executed according to the input of the user. Then, the guidance service application inputs the current location information 312 and the input destination into an external application capable of performing a route search, and obtains a route search result.

External applications that can perform route search include, for example, a route search application that operates on a site provided by "Ekitan (registered trademark)" and a map on the web provided by "google (registered trademark)". It is an application of "route / transfer guidance" that can be used in.

The result of the route searched by the external application is stored in the transition data area 310 as the external application information 320. Then, the output information 322 for displaying the search result of the route is created. At this time, the output information 322 is created according to the output rule.

The output rules of the embodiment include "Output rule 1: Add a railway name to the transfer station and divide it into two stations.", "Output rule 2: Transfer point (station) is accompanied by a service robot 16a or Add "caregiving walk" to indicate caregiving assistance. , "Output rule 3: For movement by" walking ", add" assisted walking "indicating assistance by the service robot 16a. And "Output Rule 4:" (Assistance) "indicating assistance for translation or interpretation is added to the station. Is included.

In this way, by providing assistance by the robot when guiding the user, the user can go to the destination with peace of mind. For example, by providing the user with translation or interpreting assistance while traveling by means of transportation, the user can determine whether guidance by a universal design robot is appropriate. Further, when it is necessary to move on foot, the service robot 16a can safely guide the user by assisting the accompaniment or transportation.

For example, there are three types of routes from the south terminal of O Airport to the amusement park, and a route selection screen including each route is shown in FIG. With reference to FIG. 11, this route selection screen is displayed based on the output information 322 created according to the output rule. In addition, each route has a selection key for selecting the route, an assistance key for selecting "caregiving" and "(caregiving)", respectively, and "caregiving" and "(caregiving)" included in the route. ) ”Is batch-selected with a batch selection key.

Route 1 indicates a route when a bus is used as a means of transportation. In Route 1, the movement from the south terminal of O Airport to the bus stop at that terminal and from the bus stop near the amusement park to the amusement park gate is by "walking". Therefore, the caregiving key corresponding to "caregiving walking" is displayed in association with the route 1.

Route 2 shows a route when a taxi is used as a means of transportation. In Route 2, the movement from the south terminal of O Airport to the terminal taxi stand and from the taxi stop near the amusement park to the amusement park gate is by "walking". Therefore, the caregiving key corresponding to "caregiving walking" is displayed in association with the route 2.

Route 3 shows a route when a railroad is used as a means of transportation. On Route 3, the transfer station is divided into two, and the movement between each station and on foot is called "caregiving walking", and "(caregiving)" is given to the station. Therefore, a plurality of "caregiving walks" and a plurality of "(caregiving)" and corresponding care keys are displayed in association with each other on the route 3.

Then, the user can receive the guidance service by any route by operating the selection key corresponding to the arbitrary route after selecting the necessity of the assistance service being guided by the assistance key or the batch selection key. .. When each key is operated, the color of the key is inverted, indicating that the key has been operated.

Subsequently, when a route is selected, the selected route is divided into service ranges, and service range information 324 is created. At this time, the route is divided into service ranges according to the division rule.

The division rule of the embodiment is "Division rule 1: Divide before and after the means of transportation.", "Division rule 2: The transfer station is divided into the ticket gate and the ticket gate to the platform.", "Division rule" 3: The service range is from the beginning of the transfer point "and" Division rule 4: Taxi movement is one service range. "

In addition, when the route is divided into service ranges, it is determined whether or not it is necessary to arrange transportation in advance. That is, it is determined whether the selected route includes travel by taxi, airplane, or rail. Then, when these are included in the route, the transportation means is arranged in advance by using the external application provided by the transportation means management server 102 corresponding to the transportation means. Therefore, the user does not have to arrange the transportation means in advance when he / she goes to the destination by using the guidance service. When arranging transportation means, the attributes of the user are referred to, and the one corresponding to the attributes is selected.

After confirming the necessity of arranging transportation, the robot is reserved. At this time, the attribute of the user who has input the destination is read from the user attribute information 332. Then, a robot of the target attribute type showing the same attribute as the user's attribute is selected based on the service allowable range information 336, and is reserved for each service range.

For example, when the route 1 is selected after the batch selection key is selected, the service range information 324 shown in FIG. 12A is created. With reference to FIG. 12 (A), the route 1 is divided into two nodes, that is, two service ranges. Specifically, it is divided into a node 11 indicating the South Terminal of O Airport and a node 12 indicating an amusement park. Then, when the universal design robot is reserved for the two service ranges of the route 1, since "foreigner" is included in the attribute of the current user (AAA), the target attribute type indicating the same attribute Must be a robot. Therefore, "O Airport South A robot (R1)" whose target attribute type is "foreigner" is reserved for node 11, and "amusement park B robot (R4)" whose target attribute type is "foreigner" is also reserved. Is reserved for node 12. That is, the service robot 16a of R1 is reserved for the node 11, the service robot 16a of R4 is reserved for the node 12, and the reservation information 326 is as shown in FIG.

Further, when the route 2 is selected after the batch selection key is selected, the service range information 324 shown in FIG. 12B is created. With reference to FIG. 12B, the route 2 is divided into three nodes, that is, three service ranges. Also, because the route includes taxi movement, taxis will be arranged as universal design robots. At this time, since the attribute of the current user (AAA) includes "foreigner", a taxi including "foreigner" in the target attribute type is arranged. Further, when the universal design robot is reserved for the three service ranges of the route 2, since "foreigner" is included in the attribute of the current user (AAA), the target attribute type indicating the same attribute Must be a robot. Therefore, "O Airport South A robot (R1)" whose elephant type is "foreigner" is reserved for node 21, and "amusement park B robot (R4)" whose target attribute type is "foreigner" is also reserved. Is reserved for node 23. Then, the already arranged "taxi A" is reserved for the node 22. That is, when the route 2 is selected, the service robot 16a of R1 is reserved for the node 21, the universal design robot of taxi A is reserved for the node 22, and the service robot 16a of R4 is reserved for the node 23. Is reserved, and the reservation information 326 becomes as shown in FIG.

Further, when the route 3 is selected after the batch selection key is selected, the service range information 324 shown in FIG. 12C is created. With reference to FIG. 12 (C), the route 3 is divided into 11 nodes, that is, 11 service ranges. Although not shown, when the universal design robot is reserved for the 11 service ranges of the route 3, 11 universal design robots are recorded in the reservation information 326 corresponding to the 11 nodes. NS.

As can be seen from the above description, the service range information 324 shown in FIGS. 12A to 12C is composed of a plurality of nodes. However, in another embodiment, the number of nodes constituting the service range information 324 may be one.

In this way, when the route is selected and the universal design robot is reserved for each service range of the route, the guidance service application is executed. When the guidance service application is executed, user information and route information are transmitted to each reserved universal design robot, and the state of each reserved universal design robot is changed to "supporting".

In addition, the universal design robot that receives the user information and the route information creates guidance information in its own service range and waits for the user at a predetermined place until the user is confirmed. For example, in the case of a humanoid robot, when a user corresponding to user information enters a predetermined range, the user is confirmed and the user is guided (accompanied) within the service range of the user. Further, in the case of a wheelchair robot, the user is confirmed when the user sits down, and the user is guided (transported) within the service range of the user. In this way, the universal design robot can start the guidance service for the user at an appropriate timing.

Then, the universal design robot that has started the guidance service guides the user from the service range in which it is placed to the next service range. In this way, since the universal design robot guides the user within each service range, the user can be appropriately guided to the destination.

In particular, in this embodiment, since a route using transportation means such as public transportation can be obtained by searching, it is possible to guide the user to various places as destinations.

Further, in the present embodiment, an appropriate reversal design robot can be reserved in consideration of the attributes of users such as elderly people and foreigners.

Here, if the search result cannot be obtained when searching for the guidance route, the route is re-searched by using the contact information of each universal design robot included in the service permissible range information 336. Specifically, the site indicated by the URL registered as the contact information is accessed, and the presence or absence of a compatible robot is confirmed. If there is a robot that can handle it, use that robot to search for the route to the destination again. As a result, if the search result of the route is obtained, the output information 322 is created by using the search result as in the case where the normal search result is obtained. By enabling the re-search of the route in this way, the situation where the user cannot be guided is avoided as much as possible.

If the search result cannot be obtained even by the re-search, or if there is no robot that can operate as a result of the inquiry, it is assumed that the route cannot be searched and the error screen is displayed on the display device 32 of the mobile terminal 14. By outputting the sound from the microphone 52 of the service robot 16a, the user is notified of the error.

Further, the user attribute information 332 may be registered before the user uses the guidance service, or may be registered when the user uses the guidance service. Further, the user attribute information 332 may be automatically registered based on the personal information recorded in the mobile terminal 14 held by the user and the personal information such as a passport.

Further, in the above embodiment, the case where one user is guided has been described, but the guidance service system 10 of this embodiment can also guide a plurality of users at the same time. Then, when guiding a plurality of users at the same time, an appropriate robot is reserved based on the information in the column of the number of accompanying / transportable persons in the service allowable range information 336. That is, in this embodiment, a universal design robot suitable for the number of users to be guided is reserved.

FIG. 17 shows a service cooperation platform (PF) realized by the hardware of FIGS. 1 to 5 (particularly the processor 20 and memory 26 of the server 12) and the software of FIGS. 6-10, 12, 14, and 16. ) Functional configuration is shown. With reference to FIG. 17, this PF includes an application layer L1 to which a guidance service application, a guidance service application, ... (Detection function of environment sensor 16b), which is formed between the component layer L2 to which the environment sensor 16b belongs, and includes a state management function F1, a position detection function F2, a service cooperation function F3, a database DB, an event queue IC, and a user interface UI. ..

However, the user interface UI may belong to the component layer L2 as a UI component between the mobile terminal 14 or the robot 16 and the user. Further, a new application may be added to the application layer L1 and a new component may be added to the component layer L2.

The state management function F1 is a function for managing the state of each robot, the state of each service, and the like, and controls robot state information 314, service state information 316, service range information 324, and reservation information 326. The position detection function F2 is a function of detecting the current position of the user, and controls the current position information 312. The database DB stores various information required by the service cooperation function F3, here, user attribute information 332, robot information 334, service allowable range information 336, and map information 338.

The event queue IC is for registering a service with a predetermined event as a start condition, and corresponds to the event queue information 318. The user interface UI is for presenting a combination of services that can be linked to the user and selecting a necessary combination, and controls the output information 322. Then, the service cooperation function F3 realizes the guidance service as described above by registering the service in the event queue IC by using the state management function F1 and the position detection function F2 while referring to the database DB.

The features of this example have been outlined above. Hereinafter, the processing of the PF realized by the operation of the processor 20 of the server 12 will be described in detail with reference to the flow charts shown in FIGS. 18 to 20.

The processor 20 of the server 12 has a plurality of tasks under the control of a Linux®-based OS and other OSs, including guidance service processing shown in FIGS. 18 and 19, guidance service processing shown in FIG. 20, and the like. To process.

18 and 19 are flow charts of guidance service processing. For example, when the user inputs to the mobile terminal 14, the guidance service process is executed. When the guidance service process is executed, the processor 20 determines in step S1 whether or not the destination has been set. For example, it is determined whether or not the destination has been input by a touch operation on the touch screen of the mobile terminal 14 or a voice operation using the microphone 36 of the mobile terminal 14. If it is "NO" in step S1, that is, if the destination is not input, the processor 20 determines whether or not it is an end operation in step S3. For example, it is determined whether or not the operation of putting the mobile terminal 14 in the standby state has been performed. If "YES" in step S3, for example, when the user performs an operation to put the mobile terminal 14 in the standby state without inputting the destination, the processor 20 ends the guidance service process. If "NO" is set in step S3, the processor 20 returns to the process of step S1 unless, for example, the operation of putting the mobile terminal 14 into the standby state is performed.

If "YES" in step S1, for example, when the user inputs a destination to the mobile terminal 14, the processor 20 searches for a route to the destination in step S5. That is, an external application is used to find a route based on the user's current location and destination. The processor 20 that executes the process of step S5 functions as a search unit.

Subsequently, in step S7, the processor 20 determines whether or not a search result has been obtained. For example, it is determined whether the external application information 320 is stored as the search result. If "NO" is obtained in step S7, that is, if a route search result cannot be obtained, the processor 20 searches again using the contact information in step S9. For example, the processor 20 accesses the site indicated by each URL stored in the inquiry column of the service tolerance information 336, and confirms whether or not there is a robot that can handle it. Subsequently, in step S11, the processor 20 determines whether or not the search result has been obtained. For example, the search result of the route is obtained by the re-search, and it is determined whether or not it is stored as the external application information 320. If "NO" is obtained in step S11, for example, if no search result is obtained even if the route is re-searched, the processor 20 notifies the error in step S13. For example, an error screen indicating that the route search result could not be obtained is displayed on the display device 32 of the mobile terminal 14. Then, when the process of step 13 is completed, the processor 20 ends the guidance service process. On the other hand, if "YES" in step S11, for example, if the external application information 320 is stored as the search result of the route, the processor 20 proceeds to the process of step S15. The processor 20 that executes the process of step S9 functions as a re-search unit.

If "YES" in step S7, that is, when a route search result is obtained, the processor 20 creates output information 322 based on the search result in step S15. For example, output information 322 is created from the search results according to the output rule described above. Subsequently, in step S17, the processor 20 presents a selectable route. For example, based on the created output information 322, the route selection screen shown in FIG. 11 is displayed on the display device 32 of the mobile terminal 14.

Subsequently, in step S19, the processor 20 determines whether or not the route has been selected. For example, on the route selection screen, it is determined whether the selection key corresponding to the route has been operated. If it is "NO" in step S19, that is, if the selection key is not operated, the processor 20 executes the assistance necessity determination process in step S21. For example, when the necessity determination process is executed, it is determined whether any of the caregiving key and the batch selection key corresponding to each route has been operated. Then, when the caregiving key is operated, the display mode of the corresponding key is changed. Subsequently, in step S23, the processor 20 determines whether or not the operation is the end operation as in step S3. If "YES" in step S3, that is, when the termination operation is performed, the processor 20 terminates the guidance service process. On the other hand, if it is "NO" in step S23, that is, if the end operation has not been performed, the processor 20 returns to the process of step S19. The processor 20 that executes the process of step S21 functions as an assistance determination unit.

If "YES" in step S19, that is, when a route is selected, the processor 20 divides the selected route into service ranges in step S25. For example, the selected route is divided according to the above-mentioned division rule, and the service range information 324 is created. The processor 20 that executes the process of step S25 functions as a division unit.

Subsequently, in step S27, the processor 20 determines whether or not it is necessary to arrange transportation. That is, it is determined whether the selected route includes express travel by taxi, plane or rail. If "NO" in step S27, that is, if transportation arrangements do not need to be arranged, the processor 20 proceeds to the process of step S31. On the other hand, if "YES" in step S27, for example, if the selected route includes movement by taxi, the processor 20 executes the transportation means management process in step S29. For example, when the transportation means management process is executed, by accessing the transportation means management server 102 corresponding to the taxi, the attribute of the user is referred to, and the taxi corresponding to the attribute is arranged. The processor 20 that executes the process of step S27 functions as a determination unit, and the processor 20 that executes the process of step S29 functions as an arrangement unit.

Subsequently, in step S31, the processor 20 reserves a robot for each service range. For example, when the route 2 is selected, as shown by the reservation information 326 in FIG. 16, the service robot 16a having the robot ID “R1” is reserved in the service range indicated by the node 21, and the service range indicated by the node 22 is reserved. A taxi A (universal design robot) is reserved in the service robot A (universal design robot), and a service robot 16a having a robot ID of “R4” is reserved in the service range indicated by the node 23. Then, when the robot is reserved, the guidance service process (see FIG. 20) corresponding to the guidance service application is executed. The processor 20 that executes the process of step S31 functions as a reservation unit.

Subsequently, in step S33, the processor 20 starts guiding the user. For example, a message or the like indicating that guidance is started is displayed on the display device 32 of the mobile terminal 14. Then, when the process of step S33 is completed, the processor 20 ends the guidance service process.

FIG. 20 is a flow chart of guidance service processing. When the robot is reserved in the guidance service process, the guidance service process is executed. When the guidance service process is executed, the processor 20 transmits user information and service range information 324 to each reserved robot in step S51. For example, when a user (AAA) is using a guidance service, the user ID (AAA) and attributes (foreigner) of the user are used as user information. Then, the service range information 324 corresponding to the route selected by the user and the user information are transmitted to each robot described in the reservation information 326. Further, when the route 1 is selected by the user, the service range information 324 shown in FIG. 12A is transmitted to the service robots 16a having the robot IDs “R1” and “R4”. note that,
The robot that receives this information guides the user within its own service range.

Subsequently, in step S53, the processor 20 changes the state of each reserved robot to "corresponding". For example, in the robot state information 314, the state of the service robot 16a whose robot IDs are "R1" and "R4" is changed to "corresponding".

Subsequently, in step S55, the processor 20 determines whether or not the completion notification has been received. When the robot finishes the guidance in the service range, it sends a completion notification to the server 12. That is, in step S55, it is determined whether the robot has terminated the guidance service. If "NO" in step S55, that is, if the guidance notification has not been received, the processor 20 repeats the process of step S55. On the other hand, if "YES" in step S55, that is, if a completion notification is received from the robot that has completed the guidance service, the processor 20 changes the state of the robot that sent the guidance notification to "standby" in step S57. That is, the state of the robot that has finished the guidance is changed to "standby" in the robot state information 314.

Subsequently, in step S59, the processor 20 determines whether or not the states of all the robots have become "standby". That is, it is determined whether all the reserved robots have finished the guidance service, that is, whether the user has arrived at the destination. If "NO" in step S59, that is, if the user has not arrived at the destination, the processor 20 returns to the process of step S55. On the other hand, if "YES" in step S59, that is, if the user has arrived at the destination, the processor 20 ends the guidance service process.

The processor 50 of the service robot 16a processes a plurality of tasks including the guidance process shown in FIG. 21 under the control of a Linux (registered trademark) -based OS and other OSs.

FIG. 21 is a flow chart of the guidance process. For example, when the guidance service process is executed and the user information and the service range information 324 are transmitted to the robot, the guidance process is executed. When the guidance process is executed, the processor 50 creates a movement route within the service range in step S71. That is, within the service range in which the service robot 16a can move, a route for guiding the user is created based on the received service range information 324. For example, when the service robot 16a having the robot ID “R4” receives the service range information 324 shown in FIG. 12 (A), a movement route from the amusement park traffic plaza to the amusement park gate is created. When the creation of the movement route is completed, the service robot 16a moves to the start position of the movement route and waits for the arrival of the user.

Subsequently, in step S73, the processor 50 determines whether or not the user has been confirmed. For example, in step S73, it is determined whether the user corresponding to the received user information is within a predetermined range (for example, 1 meter) centered on the service robot 16a. If "NO" in step S73, for example, if the user is not within the predetermined range of the service robot 16a, the processor 50 repeats the process of step S73. On the other hand, if "YES" in step S73, for example, when the user enters the predetermined range of the service robot 16a, the processor 50 guides the user based on the movement route in step S75. For example, if the above-mentioned robot ID is "R4", the service robot 16a guides the user to the amusement park gate. At this time, if the service robot 16a is a humanoid robot, it will accompany the user to the amusement park gate in a state of leading the user. If the service robot 16a is a wheelchair robot, the user is carried to the amusement park gate with the user on board.

Subsequently, in step S77, the processor 50 determines whether or not the end position has been reached.
That is, it is determined whether the user has been guided to the end position of the created movement route. If it is "NO" in step S77, that is, if it is in the middle of guidance, the processor 50 returns to the process of step S75. On the other hand, if "YES" in step S77, for example, if the service robot 16a having the robot ID "R4" described above guides the user to the amusement park gate, the processor 50 transmits a completion notification in step S79. That is, it is reported to the server 12 that the guidance has been completed. The service robot 16a that has completed the guidance moves to a predetermined standby place. Then, when the process of step S79 is completed, the processor 50 ends the guidance process.

If the user does not wish to be assisted, the user may be guided by the mobile terminal 14, that is, the invisible robot. Specifically, the mobile terminal 14 used by the user is reserved for each service range. That is, the service robots 16a arranged within each service range are not used. However, when traveling by transportation such as a taxi, the mobile terminal 14 is not reserved within the service range.

Then, the above-mentioned guidance process is executed by the processor 30 of the mobile terminal 14. In this case, in the process of step 73, it is determined that the user has been confirmed when the mobile terminal 14 is operated within the corresponding service range. Further, when guiding the user in step S75, the display device 32 displays the surrounding map and the movement route, and the speaker 38 outputs a message voice explaining the movement route.

In this way, when the user does not desire assistance, the mobile terminal 14 owned by the user can guide the user to the destination.

Further, in another embodiment, the user may be guided by a plurality of robots within one service range. For example, when the mobile terminal 14 has a translation function and an interpretation function, the mobile terminal 14 operates as a robot that assists the translation and interpretation during guidance. Then, the user's walking is assisted by the humanoid or wheelchair service robot 16a. In this case, the robot that assists the movement of the user does not need the translation and interpretation functions, so that the options for reserving the robot are increased.

Further, in another embodiment, for example, a user who does not have the mobile terminal 14 may communicate with the waiting service robot 16a and input the destination by voice.

Further, in still another embodiment, the user may input a facility or the like within the current service range as a destination.

Further, in another embodiment, the server 12 may have a function of searching for a route. In this case, the time required to obtain the route search result can be shortened as compared with the case of using an external application.

Further, in another embodiment, if the user does not arrive at the destination even after a certain period of time has passed since the guidance of the user was started, the administrator of the server 12 or the like may be notified.

Further, in still another embodiment, the guiding user may be able to interrupt the guidance service and change the destination. In addition, the guiding user may be able to search for a route again in order to select a different route.

Further, in another embodiment, the universal design robot may include a nursing care robot or the like.

Further, in other embodiments, public transportation such as taxis and railways may be managed by automatic driving. For example, as public transportation managed by autonomous driving, a taxi using an autonomous driving car and a railway having an autonomous driving vehicle can be considered. In addition, self-driving cars and self-driving vehicles are sometimes referred to as transport robots. Needless to say, such a transport robot is also included in the universal design robot of this embodiment.

Further, the plurality of programs described in this embodiment may be stored in the HDD of the server for data distribution and distributed to a system or device having the same configuration as that in this embodiment via a network. In addition, these programs are stored in storage media such as optical discs such as CDs, DVDs, BDs (Blu-ray (registered trademark) Discs), USB memory and memory cards, and the storage media are sold or distributed. You may. Then, when the above-mentioned plurality of programs downloaded through the above-mentioned server, storage medium, or the like are applied to a system having the same configuration as this embodiment, the same effect as that of this embodiment can be obtained.

The specific numerical values given in this specification are merely examples, and can be appropriately changed according to changes in product specifications and the like.

10 ... Guidance service system 12 ... Server 14 ... Mobile terminal (virtual robot)
16a ... Service robot 16c ... Environment sensor (invisible robot)
20, 30, 50 ... CPU
26, 42, 60 ... Memory 32 ... Display device 36, 52 ... Microphone 38, 54 ... Speaker 40, 56 ... Sensor 44, 62 ... Wireless communication circuit 58 ... Motor 100 ... Network 102 ... Transportation management server

Claims (11)

It is a guidance service system that uses a robot that can provide guidance services.
A storage unit that stores service tolerance information including the service available range that can provide guidance services for each robot.
Destination setting unit that sets the destination according to the user's operation,
Wherein when a destination is set, the search unit for searching a route to the destination from the current position of the user,
When a plurality of routes are searched by the search unit, the route presenting unit that presents the plurality of routes to the user so as to be selectable.
First judging section for judging whether the route from the plurality of paths is selected by the user,
When the first determination unit determines that the user has selected a route, the selected route is included in the division unit that divides the selected route into a plurality of service ranges according to a predetermined division rule , and the service allowable range information. A guidance service system including a reservation unit that reserves a robot having a corresponding service provision capability range for each of the plurality of service ranges divided by the division unit based on the service provision range. The guidance service system according to claim 1, wherein the plurality of routes include different means of transportation. An arrangement for arranging the transportation means when the second judgment unit for determining whether or not the transportation means for the selected route needs to be arranged and the second judgment unit determines that the transportation means for the arrangement is necessary. The guidance service system according to claim 1 or 2, further comprising a unit. The storage unit further stores user attribute information indicating user attributes, and stores the user attribute information.
The service permissible range information includes a target attribute type indicating an attribute of a user who can perform a guidance service by the robot.
The reservation unit reserves the robot for the service range divided by the division unit based on the user attribute information of the user who input the destination and the service allowable range information including the target attribute type. The guidance service system according to any one of Items 1 to 3. Before SL robot is, it is possible to further carry out the assistance service,
It is further equipped with an assistance judgment unit that determines whether the assistance service by the robot is necessary.
The guidance service system according to any one of claims 1 to 4, wherein when the caregiving determination unit determines that the caregiving service is necessary, the caregiving service is provided to the user as well as the caregiving service. The service tolerance information further includes contact information for each robot.
Claims 1 to 5 further include a re-search unit that re-searches the route using the information of the contact when the route from the user's current position to the destination cannot be searched by the search unit. The guidance service system described in any of. The robot supports multiple language cultures and
The robot is based on a decision unit that determines the language culture to be used among the plurality of language cultures, a language culture reception unit that accepts input by the language culture determined by the determination unit, and a language culture determined by the determination unit. The guidance service system according to any one of claims 1 to 6, which includes an output unit that outputs a culture. The robot has a generation unit that generates contents to be output to the user, a conversion unit that converts the contents generated by the generation unit into sign language movements, and a sign language output unit that outputs the sign language movements converted by the conversion unit. The guidance service system according to any one of claims 1 to 7, further comprising. A guidance service system that uses robots that can provide guidance services, and that has a storage unit that stores service tolerance information including the service provision range that can provide guidance services for each robot. Processor,
Destination setting unit that sets the destination according to the user's operation,
Wherein when a destination is set, the search unit for searching a route to the destination from the current position of the user,
When a plurality of routes are searched by the search unit, the route presenting unit that presents the plurality of routes to the user so as to be selectable.
The first determination unit, which determines whether or not a route is selected from the plurality of routes by the user.
When the first determination unit determines that the user has selected a route, the selected route is included in the division unit that divides the selected route into a plurality of service ranges according to a predetermined division rule , and the service allowable range information. A guidance service program that functions as a reservation unit for reserving a robot having a corresponding service provision capability range for each of the plurality of service ranges divided by the division unit based on the service provision range. In a guidance service system that uses a robot capable of providing guidance services and has a storage unit that stores service tolerance information including a service provisionable range capable of providing guidance services for each robot . It ’s a guidance service method,
Destination setting step, which sets the destination according to the user's operation
When the destination is set, the search step of searching for a route to the destination from the current position of the user,
The search when multiple paths are searched in the step, the path presenting step of presenting to selectably said user said plurality of paths,
First determination step of determining whether the path has been selected from the plurality of paths by the user,
When it is determined in the first determination step that the user has selected a route, the selected route is included in the division step of dividing the selected route into a plurality of service ranges according to a predetermined division rule , and the service allowable range information. A guidance service method for executing a reservation step of reserving a robot having a corresponding service provision capability range for each of the plurality of service ranges divided in the division step based on the service provision range. It is a guidance service device that uses a robot that can provide guidance services.
A storage unit that stores service tolerance information including the service available range that can provide guidance services for each robot.
Destination setting unit that sets the destination according to the user's operation,
Wherein when a destination is set, the search unit for searching a route to the destination from the current position of the user,
When a plurality of routes are searched by the search unit, the route presenting unit that presents the plurality of routes to the user so as to be selectable.
First judging section for judging whether the route from the plurality of paths is selected by the user,
When the first determination unit determines that the user has selected a route, the selected route is included in the division unit that divides the selected route into a plurality of service ranges according to a predetermined division rule , and the service allowable range information. A guidance service device including a reservation unit that reserves a robot having a corresponding service provision capability range for each of the plurality of service ranges divided by the division unit based on the service provision range.

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