JP7383976B2 - Procedure agency robot, terminal, procedure agency method, procedure processing method, and program - Google Patents

Description

The present invention relates to a procedural proxy robot, a terminal, a procedural proxy method, a procedural processing method, and a program.

With advances in robot technology and sensor technology, autonomous mobile robots equipped with various sensors have begun to be used in the real world. For example, Patent Document 1 discloses a robot that can perform secure operations even when the owner is not present. More specifically, this robot performs authentication processing before exchanging information with the owner or visitor. This robot is configured to exchange information or accept various commands only when the authentication process with the owner or visitor is successful.

Patent Document 2 discloses a mobile robot that can recognize the location where it is located, provide information services tailored to the location, and perform monitoring. According to the same document, this robot has functions such as facial recognition and IC card reading to identify users, functions to recognize its own position by reading IDs on RF tags, and input devices such as cameras and microphones. It has a function to collect information using a DB, and a function to display and reproduce information referenced from a facility information DB using an output device such as a display or speaker.

Japanese Patent Application Publication No. 2002-254372 Japanese Patent Application Publication No. 2003-241833

The following analysis is given by the inventor. In recent years, as both husband and wife are working and the number of nuclear families has increased, an increasing number of people are finding it difficult to submit and receive various documents at government offices and financial institutions. In addition, it is now possible to apply for delivery of various rental items and luggage via the Internet, but it is difficult to pick up or return rental items or luggage due to return deadlines and costs. There are cases where you have to go to a store, etc.

As described in the background technology, considering the increasing functionality of robots, it is conceivable that robots will be able to perform these procedures on behalf of the user in the future. However, at present, there is no established authentication procedure for confirming an unknown robot as a messenger (agent) of a specific user.

For example, the robot disclosed in Patent Document 1 is capable of receiving packages on behalf of the owner when the user is away at home. However, this robot can only authenticate visitors based on pre-registered authentication information (see paragraphs 0042-0045). In other words, this robot is not equipped with the ability to go to an unknown third party, demonstrate its legitimacy and what it has been authorized by its owner, and perform procedures.

An object of the present invention is to provide a procedure robot, a terminal, a procedure proxy method, a procedure processing method, and a program that can perform various procedures on behalf of users.

According to the first viewpoint, a means for moving to a place specified by a user , a means for recording time-series data of the process of moving to the place specified by the user, and a means for moving to a place specified by the user, Requesting the terminal to execute the accepted procedure by showing the terminal information proving the user's identity, information indicating the details of the procedure accepted by the user , and the time series data. A procedure agent robot is provided.

According to the second perspective, the above-mentioned procedural agent robot receives information that proves the user's identity, information that indicates the content of the procedure assigned by the user , and moves to the location specified by the user. time-series data recorded during the process, means for requesting and confirming the contents, information proving the user's identity, information indicating the content of the procedure commissioned by the user, and the time-series A terminal is provided , comprising: data; and means for executing a procedure requested by the procedure proxy robot when the validity of the data is confirmed.

According to a third viewpoint, the device can be mounted on a mobile body capable of moving to a location specified by a user , and includes a CPU, a memory, a storage device, and a communication interface, and the CPU is connected to the storage device. By expanding the program stored in the memory into the memory and executing it, time-series data of the process of moving to the location specified by the user is acquired and stored in the storage device, and the program is moved to the specified location. Information certifying the identity of the user stored in the storage device, information indicating the content of the procedure accepted by the user , and the time series data are transmitted to the installed terminal via the communication interface. A procedure proxy terminal for transmitting , is provided.

According to the fourth viewpoint, the procedural agent robot moves to a location specified by the user; and while moving, records time-series data of the process of moving to the location specified by the user; Displaying information certifying the identity of the user, information indicating the contents of the procedure accepted by the user , and the time series data to the terminal placed at the specified location, and requesting execution of a commissioned procedure. This method is tied to a specific machine, a procedural robot that moves to a location specified by the user and performs procedures on the user's behalf.

According to the fifth viewpoint, a terminal that can communicate with a procedure agent terminal that has moved to a location specified by the user provides the procedure agent terminal with information that proves the user's identity and information that has been accepted by the user. a step of requesting and confirming information indicating the content of the procedure and time series data recorded during the process of moving to a location specified by the user, and information proving the identity of the user; , a step of executing the procedure requested by the procedure proxy terminal when the validity of the information indicating the content of the procedure accepted by the user and the time series data is confirmed. A processing method is provided. This method is tied to a specific machine, which is a terminal that performs procedures in response to requests from the above-mentioned procedural proxy robot.

According to the sixth viewpoint, a program for realizing the functions of the procedure proxy robot, terminal, and procedure proxy terminal described above is provided. A program is input into a computer device from an input device or an external device via a communication interface, is stored in a storage device, drives a processor according to predetermined steps or processing, and outputs the processing results step by step, including intermediate states as necessary. It can be displayed on a display device or communicated with the outside through a communication interface. A computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and, if necessary, a display device, which can be connected to each other by a bus. Additionally, this program can be recorded on a computer readable (non-transitory) storage medium.

According to the present invention, there are provided a procedure proxy robot, a terminal, a procedure proxy method, a procedure processing method, and a program that contribute to enriching the means that can perform various procedures on behalf of users.

FIG. 1 is a diagram showing the configuration of an embodiment of the present invention. FIG. 1 is a diagram showing the overall configuration of a first embodiment of the present invention. FIG. 2 is a functional block diagram showing detailed configurations of a mobile object and a counter terminal according to the first embodiment of the present invention. FIG. 2 is a sequence diagram for explaining the operation (outward path 1) of the first embodiment of the present invention. FIG. 3 is a sequence diagram for explaining the operation (outward path 2) of the first embodiment of the present invention. FIG. 3 is a sequence diagram for explaining the operation (return trip) of the first embodiment of the present invention. It is a figure showing the whole composition of a 2nd embodiment of the present invention. FIG. 2 is a functional block diagram showing detailed configurations of a mobile object and a counter terminal according to a second embodiment of the present invention. FIG. 3 is a functional block diagram showing detailed configurations of a mobile object and a counter terminal according to a third embodiment of the present invention. 1 is a diagram showing the configuration of a computer installed in a procedure agent robot, a terminal, a procedure agent terminal, and a counter terminal according to the present invention; FIG.

First, an overview of an embodiment of the present invention will be described with reference to the drawings. Note that the drawing reference numerals added to this summary are added to each element for convenience as an example to aid understanding, and are not intended to limit the present invention to the illustrated embodiment. Furthermore, connection lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional connections. The unidirectional arrows schematically indicate the main signal (data) flow, and do not exclude bidirectionality. The program is executed via a computer device, and the computer device includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device. Further, this computer device is configured to be able to communicate with equipment (including a computer) inside or outside the device via a communication interface, regardless of whether it is wired or wireless. Also, ports or interfaces are provided at the input/output connection points of each block in the figure, but they are not shown. Furthermore, in the following description, "A and/or B" is used to mean A or B, or A and B.

In one embodiment, the present invention can be realized by a combination of a procedural robot 10 and a terminal 20, as shown in FIG. More specifically, the procedure surrogate robot 10 includes means for moving to a location designated by the user (transfer means 11), and means for requesting execution of an assigned procedure (procedure request unit 12). The means (procedure requesting unit 12) for requesting the execution of the accepted procedure sends information proving the user's identity and information proving the user's identity to the terminal 20 located at the specified location. request that the requested procedure be carried out by providing information indicating the content of the procedure.

On the other hand, if the validity of the information proving the user's identity and the information indicating the content of the procedure accepted by the user is confirmed, the terminal 20 carries out the procedure requested by the procedure agent robot. It includes means for executing (procedure execution unit 22). Further, as a premise, the terminal 20 requests the procedure robot 10 for information proving the identity of the user and information indicating the content of the procedure accepted by the user, and confirms the content. A means (confirmation unit 21) is provided.

The user instructs the procedure acting robot 10 to move to the location where the terminal 20 is located and the content of the procedure requested to the terminal 20 (content of the request). In addition, in order to show that the procedural proxy robot 10 is a procedural proxy robot that has been correctly commissioned, the user must provide information that proves the user's identity and information that indicates the content of the procedure that has been commissioned by the user. input.

Upon receiving the instruction, the procedure acting robot 10 moves to the location where the terminal 20 is located and requests the terminal 20 to execute the procedure.

The terminal 20 that has received the request requests the procedure acting robot 10 for information that proves the identity of the user and information that indicates the content of the procedure accepted by the user. Then, when the validity of the information proving the user's identity and the information indicating the content of the procedure accepted by the user is confirmed, the terminal 20 carries out the procedure requested by the procedure agent robot. Execute.

When the procedure surrogate robot 10 completes the procedure, it returns to the user and reports that the procedure has been completed. This allows the user to know that the procedure requested to the procedural proxy robot 10 has been completed.

By adopting the procedure described above, the user can perform the intended procedure on the terminal 20 without having to personally go to the location where the terminal 20 is located. Various procedures can be considered for this procedure. For example, the procedure robot 10 can be made to submit and receive various documents at the counters of government offices and financial institutions. These various documents may be paper media or may be stored in electronic media. In addition, in recent years, specific documents are often exchanged via the Internet, but by having the procedure robot 10 perform the procedures as in this embodiment, there is a risk of data eavesdropping, data hacking, and data falsification. This makes it possible to significantly reduce the

Furthermore, the above procedures can also cover the receipt and return of various rental items and luggage. By having the processing agent robot 10 perform the procedures as in this embodiment, it is possible to receive benefits such as rental fees and package pickup discounts without having to go to a physical store.

[First embodiment]
Next, a first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 2 is a diagram showing the overall configuration of the first embodiment of the present invention. Referring to FIG. 2, a mobile object (processing agent robot) 100 that can shuttle between a user 900 and a counter terminal 200 located at a store or the like is shown. In this embodiment, a mobile object (procedure surrogate robot) 100 moves to the installation location of the counter terminal 200 and performs the procedure on behalf of the user 900.

In the following description, the mobile object (procedure surrogate robot) 100 will be described as a UAV (Unmanned Aerial Vehicle; also referred to as a drone) capable of autonomous flight. This mobile object (procedure processing robot) 100 may be the property of the user 900, or may be lent to the user 900 by the company that installed the counter terminal 200 or a government agency.

Further, in this embodiment, a UAV is used as the procedure robot. However, as will be clear from the explanation that will be given later, the transportation means of the procedure robot is not limited to flight. In addition, other robots capable of autonomous movement or automated guided vehicles (AGVs) may also be used as the procedure proxy robots.

FIG. 3 is a functional block diagram showing the detailed configuration of the mobile object and counter terminal of this embodiment. Referring to FIG. 3, detailed configurations of a mobile object (procedure acting robot) 100 and a counter terminal 200 are shown.

The moving object (procedure acting robot) 100 includes a rotor 110 as a moving means and a procedure requesting section 120. The procedure requesting section 120 includes a user information storage section 121, a destination information storage section 122, a time series data recording section 123, and an assignment content storage section 124.

The user information storage unit 121 receives and stores information that proves the user's identity (hereinafter also referred to as "user information") from the user 900. Various types of information can be used as information to prove the user's identity. For example, static information such as a facial image of the user 900, a fingerprint, glow information, and a signature of the user 900 can be used as the information to prove the user's identity. Moreover, instead of these static information, a moving image of the user 900, audio data of the user's 900's voice recorded, time-series data of the user's 900's body temperature, pulse, etc. can also be used. Furthermore, in order to show the validity of this information, it is also preferable to add various types of signatures and time stamps to these data. Since these data are used for verification at the counter terminal 200, it is assumed that the data collected in advance is also registered in the counter terminal 200.

The business destination information storage unit 122 stores location information of the counter terminal 200 and identification information (ID and MAC address) of the counter terminal 200 as information related to the business destination. The position information of the counter terminal 200 is used as a destination when the mobile object (processing robot) 100 moves to the location where the counter terminal 200 is located. The identification information (ID and MAC address) of the counter terminal 200 is used when the mobile object (procedure agent robot) 100 identifies the counter terminal 200.

The time-series data recording unit 123 records time-series data such as sensor values that change while the mobile object (procedure robot) 100 moves toward the counter terminal 200. The time-series data includes at least one of position information (route) of the moving object (procedure acting robot) 100 during movement, environmental information, and a gravity sensor. Environmental information includes temperature, illuminance, humidity, and the like. This time-series data is used to prove that during the process of the mobile object (procedure acting robot) 100 moving toward the counter terminal 200, there has been no substitution or data rewriting. Furthermore, it is preferable to add various types of signatures and time stamps to this time-series data as well.

The requested content storage unit 124 stores the content of the procedure requested by the user 900 (hereinafter also referred to as "assigned content") to the mobile object (procedure acting robot) 100 specified by the device ID (identification information), etc. Remember. By confirming the details of this procedure, the counter terminal 200 can confirm the details that the mobile object (procedure acting robot) 100 has received from the user 900. The contents of this procedure include various things. For example, a procedure for receiving data such as a resident's card, a seal impression certificate, various certificate documents, etc. specified by a document number issued in advance from the counter terminal 200 can be cited. Further, procedures for submitting various reports to the counter terminal 200 can be mentioned. Further, the procedure for submitting these various notifications may include receiving receipts and related documents for these various notifications from the counter terminal 200. Furthermore, it is preferable to add various types of signatures and time stamps to the data indicating the contents of the assignment.

The procedure requesting unit 120 shows the various types of information described above to the counter terminal 200 and requests the counter terminal 200 to execute a procedure. Note that various near field communication methods can be used as a communication interface between the mobile object (processing robot) 100 and the counter terminal 200. Furthermore, instead of these wireless communication methods, a wired method may be used in which the mobile object (processing robot) 100 is connected to a dock provided at the counter terminal 200 or connected via a predetermined communication cable. From the viewpoint of security and communication speed, the latter wired method can be preferably used.

The counter terminal 200 includes a confirmation section 210 and a procedure execution section 220. The confirmation unit 210 includes a user information confirmation unit 211, a time series data confirmation unit 213, and an assignment content confirmation unit 214.

The user information confirmation unit 211 requests the mobile object (procedure acting robot) 100 for information to prove the identity of the user 900, and uses the information to prove the user's identity set in advance on the counter terminal 200 side. Verify. Then, depending on whether the two match, the user information confirmation unit 211 confirms the legitimacy of the requester of the mobile object (procedure proxy robot) 100.

The time-series data confirmation unit 213 requests time-series data from the mobile object (procedure acting robot) 100 and confirms the validity of the time-series data of the moving object (procedure acting robot) 100. For example, if the transition (route information) of the location information presented by the mobile object (procedure robot) 100 does not match the route from the user 900 to the counter terminal 200, the time series data confirmation unit 213 (actual robot) 100 is denied. Furthermore, if the environmental information presented by the moving object (procedure acting robot) 100 does not match the weather information etc. on the way, the time series data confirmation unit 213 denies the legitimacy of the moving object (procedure acting robot) 100. Furthermore, when time-series data of a gravity sensor is presented as time-series data, the time-series data confirmation unit 213 checks the continuity of the time-series data of the gravity sensor, etc., and if an abnormality is found, (Procedure acting robot) Denies the legitimacy of 100.

The accepted content confirmation unit 214 requests the mobile object (procedure robot) 100 for the device ID (identification information) of the mobile object (procedure robot) 100 and the details of the procedure that the user 900 has requested from the procedure robot. and check its consistency.

The confirmation unit 210 executes the procedure requested by the user 900 to the mobile object (procedure acting robot) 100 based on the confirmation results in the user information confirmation unit 211, time-series data confirmation unit 213, and assignment content confirmation unit 214. Determine whether or not. When the user 900 decides to execute the procedure requested by the mobile object (procedure acting robot) 100, the confirmation unit 210 requests the procedure execution unit 220 to execute the procedure.

When the procedure execution unit 220 is requested to execute a procedure by the confirmation unit 210, the procedure execution unit 220 executes the procedure confirmed by the acceptance content confirmation unit 214. At this time, the procedure execution unit 220 notifies the mobile object (procedure acting robot) 100 of the authentication information (ID) of the counter terminal.

Next, the operation of the first embodiment described above will be described in detail with reference to the drawings. In the following description, an example will be given in which data storing personal information is received from a counter terminal 200 using a mobile object (procedure acting robot) 100. In addition, in the following explanation, the user 900 has applied in advance to receive data at the counter terminal 200 via the Internet, etc., and has obtained the location information of the counter terminal 200 and the identification information (ID and MAC address) of the counter terminal 200. It will be explained as follows.

FIG. 4 is a sequence diagram for explaining the operation (outward path 1) of the first embodiment of the present invention. Referring to FIG. 4, first, identity authentication is performed between the user 900 and the mobile object (procedure acting robot) 100 (step S001). This personal authentication is for the mobile object (procedure robot) 100 to authenticate the user, and uses general personal authentication methods such as various biometric authentications and two-step authentication using the user's terminal. be able to.

Next, the user 900 inputs information to prove the identity of the user 900 into the mobile object (procedure robot) 100, and stores it in the mobile object (procedure robot) 100 (step S002).

Next, the user 900 inputs the location information of the place where the counter terminal 200 is installed and the identification information of the counter terminal 200 as a business destination to the mobile object (procedure processing robot) 100, and (acting robot) 100 (step S003).

Next, the user 900 inputs the data receiving procedure specified by the document number issued in advance to the counter terminal 200 as the task content to the mobile object (procedure agency robot) 100, and 100 (step S004).

When the setting of each data is completed, the mobile object (procedure acting robot) 100 starts moving toward the location where the counter terminal 200 is installed (step S005). Further, the mobile object (procedure acting robot) 100 starts recording time-series data specified in advance (step S006). Here, a description will be given assuming that three pieces of information are recorded as time-series data: position information (route) during movement, environmental information, and gravity sensor.

FIG. 5 is a continuation of FIG. 4. Referring to FIG. 5, when the mobile object (processing agent robot) 100 arrives at the destination (the location where the counter terminal 200 is installed) (step S010), it connects to the counter terminal 200 wirelessly or by wire, and performs the procedure. (Step S011). Thereafter, the authentication process of the mobile object (processing agent robot) 100 is started according to the procedure described later.

Next, the mobile object (procedure acting robot) 100 transmits user information in response to a request from the counter terminal 200 (step S012).

Next, the mobile object (procedure acting robot) 100 transmits time-series data in response to a request from the counter terminal 200 (step S013).

Next, in response to the request from the counter terminal 200, the mobile object (procedure robot) 100 transmits the details of the procedure (content of the request) requested by the user 900 to the mobile object (procedure agent robot) 100 (step S014). ).

The counter terminal 200 executes the procedure requested by the mobile object (procedure robot) 100 based on the information received from the mobile object (procedure robot) 100 and the information obtained from the user 900 in advance. It is confirmed whether or not (step S015).

Specifically, the counter terminal 200 checks the information received from the mobile object (processing agent robot) 100 from the following viewpoints.

[Authentication of user 900]
The counter terminal 200 compares the user information received from the mobile object (processing robot) 100 with the user information set in advance on the counter terminal 200 side. Depending on whether the two match, the counter terminal 200 recognizes the user 900 as the requester of the mobile object (procedure surrogate robot) 100.

[Authentication of procedural robot]
The counter terminal 200 confirms the validity of the time series data received from the mobile object (processing robot) 100. For example, if the transition (route information) of the location information presented by the mobile object (procedure robot) 100 does not match the route from the user 900 to the counter terminal 200, the counter terminal 200 Denies the legitimacy of 100. Similarly, if the environmental information does not match the weather information etc. on the way, or if an abnormality is recognized in the continuity of the time-series data of the gravity sensor, the counter terminal 200 determines whether the mobile object (processing agent robot) 100 is valid or not. to deny.

[Verification of appointment details]
The counter terminal 200 receives the device ID (identification information) of the mobile object (procedure robot) 100 and the content of the procedure requested to the procedure robot specified by this identification information. Check consistency with For example, if the identification information of the mobile object (procedure robot) 100 and the identification information of the mobile object (procedure agent robot) 100 specified in the acceptance content do not match, the counter terminal 200 denies the validity of the acceptance content. do.

As a result of each of the above determinations, if it is determined that the procedure requested by the mobile object (procedure agent robot) 100 is to be executed, the counter terminal 200 executes the procedure requested by the mobile object (procedure agent robot) 100. Here, since the provision of data specified by a document number etc. issued in advance is requested, the counter terminal 200 transmits the data to the mobile object (procedure agent robot) 100 (step S016). .

As described above, the mobile object (procedure acting robot) 100 can accept the procedure requested by the user 900 on behalf of the user 900. In addition, since the counter terminal 200 also confirms the identity of the user 900, the authenticity of the mobile object (procedure processing robot) 100, and the contents of the request, there may be cases where the procedure deviates from the contents accepted by the user 900. I don't even do it.

Furthermore, in this embodiment, the mobile object (procedure robot) 100 receives data from the counter terminal 200 and returns to the user 900, in which case the mobile object (procedure robot) 100 is hacked, replaced, etc. This allows you to confirm that there are no The following describes the flow from when the mobile object (procedure robot) 100 returns to the user 900 and reports its legitimacy and that the procedure was correctly performed in response to the user's 900 request.

FIG. 6 is a sequence diagram for explaining the operation (return trip) of the first embodiment of the present invention. Referring to FIG. 6, as described above, when the mobile object (procedure robot) 100 receives data from the counter terminal 200 (step S016), the mobile object (procedure robot) 100 moves to return to the user 900. (Step S020).

Furthermore, the mobile object (procedure acting robot) 100 starts recording time-series data specified in advance, as in the outward journey (step S021). Here, a description will be given assuming that three pieces of information are recorded as time-series data: position information (route) during movement, environmental information, and gravity sensor.

Upon returning to the user 900 (step S022), the mobile object (procedure agent robot) 100 is notified that the procedure has been successfully completed. For example, when the user 900 requests a business ID, the mobile object (processing agent robot) 100 notifies the user 900 of the authentication information (ID) of the counter terminal 200 (step S023).

Next, the mobile object (procedure acting robot) 100 transmits the time series data recorded on the return trip to the terminal of the user 900 (step S024). Here, it is assumed that the mobile object (procedure robot) 100 transmits time-series data to the terminal of the user 900, but it may also be displayed on the display means of the mobile object (procedure robot) 100.

The user 900 confirms the authentication information (ID) and time-series data of the counter terminal 200, and confirms that the mobile object (processing agent robot) 100 has performed the procedure with the correct party and has returned without any problems. Then, the user 900 receives the data received from the counter terminal 200 from the mobile object (procedure surrogate robot) 100 using his own terminal or the like (step S025).

As described above, according to the present embodiment, the mobile object (procedure robot) 100 can be made to receive data from the counter terminal 200 in place of the user 900. The advantages of this embodiment are summarized as follows.

(a) Because data is transferred by a physical moving object (robot that performs procedures), compared to receiving data via the Internet, there are many unspecified malicious acts such as data theft and eavesdropping. can be made less susceptible to

(b) As described in step S015 above, the authentication process of the user 900 and the mobile object (procedure agent robot) itself is performed between the counter terminal 200 and the mobile object (procedure agent robot) 100. Therefore, compared to authentication performed by a person, even if more complicated authentication processing is used, authentication can be completed faster. Simply put, longer passwords and passphrases can be used compared to human authentication.

(c) In this embodiment, instead of a facial image, fingerprint, glow information, signature, etc., as information to prove the user's identity, a video of the user 900, audio data of the user's voice recorded, Time series data such as body temperature and pulse rate of 900 can be used. Using this information can make it more difficult for third parties to impersonate you.

(d) In addition, as mentioned above, since the authenticity of the mobile object (processing agent robot) 100 is confirmed using time series data, if there is any suspicion that the mobile object (processing agent robot) 100 has been replaced, etc. For example, the counter terminal 200 or the user 900 can refuse to send or receive data.

[Second embodiment]
Next, a second embodiment will be described in detail with reference to the drawings, in which the same functions as the first embodiment are achieved by combining a smartphone or a dedicated terminal with a mobile object. FIG. 7 is a diagram showing the overall configuration of the second embodiment of the present invention. The difference from the first embodiment is that the mobile object (processing agent robot) 100 is replaced with a combination of a moving object 100a and a processing agent terminal 100b. In the following explanation, the procedure proxy terminal 100b will be explained as a smartphone in which an application program functioning as the procedure requesting section 120 can be installed. Since the other configurations are the same as those of the first embodiment, the differences will be mainly explained below.

FIG. 8 is a functional block diagram showing detailed configurations of the mobile object 100a, the procedure proxy terminal 100b, and the counter terminal 200 of this embodiment.

The mobile object 100a is a UAV (drone) that can move to a position where the counter terminal 200 is arranged with the procedure proxy terminal 100b loaded or suspended thereon. Note that the instruction to fly to the location where the counter terminal 200 is located may be given by the user 900, or may be given by the procedure agent terminal 100b.

The procedure proxy terminal 100b includes a procedure request section 120 as in the first embodiment. Further, the procedure requesting section 120 includes a user information storage section 121 , a destination information storage section 122 , a time series data recording section 123 , and an assignment content storage section 124 . The operation of each part is the same as that in the first embodiment, so a description thereof will be omitted. Such a procedure proxy terminal 100b can be realized by a smartphone or a dedicated terminal in which an application program that functions as the procedure request unit 120 is installed.

The operation of the second embodiment is similar to the first embodiment. That is, after authenticating the person (S001 in FIG. 4), the procedure agency terminal 100b receives input of user information, subject information, and assignment details from the user 900 (S002 to S004 in FIG. 4). Thereafter, the mobile body 100a starts moving to the location where the counter terminal 200 is placed, with the procedure agency terminal 100b loaded or suspended (S005 in FIG. 4). After starting the movement, the procedure proxy terminal 100b starts recording time-series data similarly to the first embodiment (S006 in FIG. 4).

After arriving at the location where the counter terminal 200 is located (S010 in FIG. 5), the procedure proxy terminal 100b requests the counter terminal 200 to execute a procedure (S011 in FIG. 5). Similar to the first embodiment, the counter terminal 200 requests user information, time series data, and acceptance details from the procedure agent terminal 100b, and determines whether to execute the procedure (S012 to S015 in FIG. 5). . If it is determined to execute the procedure, the counter terminal 200 transmits data to the procedure proxy terminal 100b (S016 in FIG. 5).

The operation in the process of returning to the user 900 from the location where the counter terminal 200 is located is also the same as in the first embodiment. After receiving the data, the mobile object 100a starts moving toward the user 900 with the procedure proxy terminal 100b loaded or suspended (S020 in FIG. 6). After starting the movement, the procedure proxy terminal 100b starts recording time-series data similarly to the first embodiment (S021 in FIG. 6). After arriving at the user 900 (S022 in FIG. 6), the procedure proxy terminal 100b transmits the counter terminal ID and time series data in response to a request from the user 900 (S023 to S24 in FIG. 6). The user 900 then confirms that the procedure proxy terminal 100b installed in the mobile object 100a has carried out the procedure with the correct party and has returned without any problems. Then, the user 900 receives the data received from the counter terminal 200 from the procedure proxy terminal 100b using his or her own terminal (step S025 in FIG. 6).

As mentioned above, in addition to being able to achieve the same functions as the first embodiment by combining smartphones and dedicated terminals with mobile objects, there are It becomes possible to reduce costs.

[Third embodiment]
Next, a third embodiment will be described in which a camera 130 mounted on a moving body (processing robot) is used as a time-series data recording device. FIG. 9 is a functional block diagram showing the detailed configuration of a mobile object (processing agent robot) 100c and a counter terminal according to the third embodiment of the present invention. The difference from the first embodiment is that a camera 130 is mounted on a moving body (procedure surrogate robot) 100. Another difference is that this camera 130 is used for inputting user information into the user information storage section 121a and recording time series data in the time series data recording section 123a. Since the other configurations are the same as those of the first embodiment, the differences will be mainly explained below.

As the camera 130, a camera mounted on a general UAV (drone) can be used. Of course, another camera suitable for inputting user information and recording time-series data may be mounted on the mobile object (procedure robot).

The user information storage unit 121a of this embodiment receives and stores a still image or a moving image of the user's 900's face or entire body as information for proving the user's identity via the camera 130. Further, as in the first embodiment, it is also preferable to add various types of signatures and time stamps to these data in order to indicate the validity of these pieces of information. Since the face and overall data of the user 900 are used for verification at the counter terminal 200, it is assumed that the data acquired in advance is also registered in the counter terminal 200.

The time-series data recording unit 123a records still images or moving images of the moving object (procedure acting robot) 100c while it is moving. Of course, in this embodiment as well, in addition to these still images or moving images, at least one of a moving image while moving, position information (route) while moving, environmental information, and a gravity sensor may be recorded.

The operation of the third embodiment is the same as that of the first embodiment, so a description thereof will be omitted. As is clear from the above description, the camera 130 provided in the mobile object (procedure robot) 100c can be used as an input device for time series data and user information.

Although each embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiments, and may be further modified, replaced, or adjusted without departing from the basic technical idea of the present invention. can be added. For example, the configuration of the device, the configuration of each element, and the form of data representation shown in each drawing are examples to help understand the present invention, and the present invention is not limited to the configuration shown in these drawings.

For example, in the embodiment described above, the mobile objects (procedure robots) 10, 100, 100c and the mobile object 100a are UAVs (Unmanned aerial vehicles), but the mobile objects may be walking robots or unmanned robots. It may also be a transport vehicle or the like.

For example, in the above-described embodiment, the mobile objects (procedure robots) 10, 100, 100c and the mobile object 100a perform procedures on the counter terminal 200, but the mobile objects (procedure robots) The parties requesting execution are not limited to these. For example, a mobile object (procedure robot) can be used to provide data download services, data processing services, and data signature services to the customer terminal in front of the customer. . In addition to the transfer of data, a mobile object (procedure robot) can also be used to perform procedures for renting and returning items such as rental items.

Further, the procedures shown in the first to third embodiments described above are realized by a program that causes a computer (9000 in FIG. 10) that functions as the procedure agent robot 100 and the counter terminal 200 to realize the functions of these devices. It is possible. Such a computer is exemplified by a configuration shown in FIG. 10 that includes a CPU (Central Processing Unit) 9010, a communication interface 9020, a memory 9030, and an auxiliary storage device 9040. That is, the CPU 9010 in FIG. 10 executes the procedure request program and the data confirmation program to update each calculation parameter stored in the auxiliary storage device 9040 and the like.

That is, each part (processing means, function) of the devices shown in the first to third embodiments described above causes a processor installed in these devices to execute each of the above-described processes using its hardware. This can be realized by a computer program.

Finally, preferred embodiments of the present invention will be summarized.
[First form]
(Refer to the procedure agent robot from the first perspective above)
[Second form]
The information stored in the procedure robot described above that indicates the details of the procedure commissioned by the user includes the identification information of the procedure robot and the procedure that the user requested from the procedure robot specified by the identification information. Contents can be included.
[Third form]
The procedure acting robot described above further includes means for recording time-series data during the process of moving to a location specified by the user, and a means for recording the time-series data to a terminal placed at the specified location. and means for requesting execution of the accepted procedure.
[Fourth form]
In the procedure surrogate robot described above, the time-series data may include at least one of a moving image during movement, positional information during movement, environmental information, and a value of a gravity sensor.
[Fifth form]
The above-mentioned procedure agent robot sends an image of the user, signature data of the user, and biometric information of the user as information to prove the user's identity to the terminal placed at the specified location. At least one may be indicated.
[Sixth form]
The above-described procedural proxy robot may use time-stamped data as the data to be shown to the terminal located at the specified location.
[Seventh form]
The procedure acting robot described above further includes means for recording time-series data of the process of returning from the location specified by the user,
The time-series data may also be provided to the user.
[Eighth form]
(Refer to the terminal from the second viewpoint above)
[Ninth form]
(Refer to the procedure proxy terminal from the third perspective above)
[Tenth form]
(Refer to procedure agency method according to the fourth viewpoint above)
[Eleventh form]
(Refer to the procedure processing method according to the fifth viewpoint above)
[12th form]
(Refer to the computer program according to the sixth viewpoint above)
Note that the above-mentioned eighth to twelfth forms can be developed into second to seventh forms similarly to the first form.

It should be noted that the disclosures of the above-mentioned patent documents are incorporated into this book by reference, and can be used as the basis or part of the present invention as necessary. Within the scope of the entire disclosure of the present invention (including the claims), changes and adjustments to the embodiments and examples are possible based on the basic technical idea thereof. In addition, various combinations or selections (parts) of various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) within the framework of the disclosure of the present invention are also available. (including deletion) is possible. That is, it goes without saying that the present invention includes the entire disclosure including the claims and various modifications and modifications that a person skilled in the art would be able to make in accordance with the technical idea. In particular, numerical ranges stated herein should be construed as specifically stating any numerical value or subrange within the range, even if not otherwise stated. Furthermore, each of the disclosures in the documents cited above may be used, in part or in whole, in combination with the statements in this book as part of the disclosure of the present invention, if necessary, in accordance with the spirit of the present invention. It is deemed to be included in the disclosure of this application.

10, 100, 100c Procedure acting robot 11 Moving means 12 Procedure requesting unit 20 Terminal 21 Confirming unit 22 Procedure executing unit 100a Mobile body 100b Procedure acting terminal 110 Rotor 120 Procedure requesting unit 121, 121a User information storage unit 122 Object information storage Parts 123, 123a Time-series data recording unit 124 Assignment content storage unit 130 Camera 200 Counter terminal 210 Confirmation unit 211 User information confirmation unit 213 Time-series data confirmation unit 214 Assignment content confirmation unit 220 Procedure execution unit 900 User 9000 Computer 9010 CPU
9020 Communication interface 9030 Memory 9040 Auxiliary storage device

Claims (12)

a means of moving to a location specified by the user;
means for recording time-series data of the process of moving to a location specified by the user;
Displaying information certifying the identity of the user, information indicating the contents of the procedure accepted by the user , and the time series data to the terminal placed at the specified location, means for requesting the execution of the commissioned procedures;
A procedural robot equipped with Claim 1: The information indicating the content of the procedure commissioned by the user includes identification information of the procedure proxy robot and the content of the procedure requested by the user to the procedure proxy robot specified by the identification information. A robot that handles procedures. 2. The procedural proxy robot according to claim 1 , wherein the time-series data includes at least one of a moving image during movement, position information during movement, environmental information, and a value of a gravity sensor. A claim in which at least one of a photographed image of the user, signature data of the user, and biometric information of the user is shown to the terminal placed at the specified location as information to prove the user's identity. A robot that performs any one of the procedures from 1 to 3 . 5. The procedure acting robot according to claim 1, wherein time-stamped data is used as the data to be displayed to the terminal placed at the specified location. Further, it includes means for recording time-series data of the process of returning from the location specified by the user,
means for providing time-series data of the return process to the user;
The procedure acting robot according to any one of claims 1 to 5 , comprising: A procedure agent robot equipped with a means of moving to a location specified by the user is provided with information that proves the user's identity, information indicating the content of the procedure commissioned by the user, and information specified by the user. time-series data recorded during the process of moving to a location, and a means for requesting and confirming the contents;
The procedure requested by the procedure robot when the validity of the information proving the user's identity, the information indicating the content of the procedure commissioned by the user , and the time series data is confirmed. a means of carrying out the
Terminal with . It can be mounted on a mobile object that can be moved to a location specified by the user.
Comprising a CPU, a memory, a storage device, and a communication interface,
When the CPU expands the program stored in the storage device into the memory and executes it,
acquiring time-series data of the process of moving to a location specified by the user and storing it in the storage device;
Information certifying the user's identity stored in the storage device and information indicating the content of the procedure accepted by the user are sent to the terminal located at the specified location via the communication interface. , and the time series data . The procedural robot is
a step of moving to a location specified by the user;
recording time-series data of the process of moving to a location specified by the user while moving;
Displaying information certifying the identity of the user, information indicating the contents of the procedure accepted by the user , and the time series data to the terminal placed at the specified location, A method for acting on behalf of a procedure, which includes the step of requesting execution of a commissioned procedure. A terminal that can communicate with the procedure proxy terminal that has been moved to the location specified by the user,
Information to prove the identity of the user, information indicating the content of the procedure commissioned by the user, and time-series data recorded during the process of moving to the location specified by the user to the procedure agency terminal. , requesting and verifying its contents;
the procedure requested by the procedure agency terminal when the validity of the information proving the user's identity, the information indicating the content of the procedure accepted by the user , and the time series data is confirmed; A method of processing a procedure, the method comprising : The computer installed in the procedural robot,
A means for moving the procedure agent robot to a location specified by the user;
means for recording time-series data of the process of moving to a location specified by the user;
Information that proves the identity of the user and information indicating the content of the procedure commissioned by the user are sent to the terminal located at the specified location via a communication interface provided by the procedure robot. , and the time-series data . A computer installed in a terminal that can communicate with a procedure proxy robot or procedure proxy terminal that has been moved to a location specified by the user,
The procedure agent robot or the procedure agent terminal records information that proves the identity of the user, information indicating the content of the procedure accepted by the user, and the process of moving to the location specified by the user. a means for requesting and checking the time-series data and its contents;
the procedure requested by the procedure agency terminal when the validity of the information proving the user's identity, the information indicating the content of the procedure accepted by the user , and the time series data is confirmed; A program that functions as a means of executing.

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