JP7434635B1 - Information processing device, information processing method and program - Google Patents

Abstract

[Problem] To reduce the annoyance felt by people around a mobile robot. An information processing device 2 includes an acquisition unit 231 that acquires a captured image of a person present around a mobile robot, and a target person who is a person present on a travel route along which the mobile robot moves. Contents of control to output a sound urging the person to move, the relative position between the target person determined from the captured image and a non-target person who is located at a location other than the movement route. and a transmitter 233 that controls the mobile robot based on the control content determined based on the relationship. [Selection diagram] Figure 3

Description

The present invention relates to an information processing device, an information processing method, and a program.

In recent years, mobile robots that move autonomously have become popular. Patent Document 1 discloses a technique in which, when a mobile robot detects an obstacle such as a person or an object while moving, the mobile robot outputs a voice urging the mobile robot to move the obstacle.

Japanese Patent Application Publication No. 2020-151070

However, with conventional technology, if there are multiple people around the mobile robot, even if the mobile robot outputs a voice, it is difficult to tell who is the person you want to move. There have been cases in which people find the sounds output by mobile robots to be annoying.

The present invention has been made in view of these points, and it is an object of the present invention to reduce the annoyance felt by people around a mobile robot.

An information processing device according to a first aspect of the present invention includes an acquisition unit that acquires a captured image of a person existing around a mobile robot, and an acquisition unit that acquires a captured image of a person existing around a mobile robot; Contents of control for outputting a sound urging a human target person to move, the target person being determined from the captured image and a non-human being located at a location other than the movement route. and a robot control unit that controls the mobile robot based on the control content determined based on the relative positional relationship with the subject.

The information processing device may further include a determining unit that determines the content of the control based on a relative positional relationship between the target person and the non-target person, and the robot control unit The mobile robot may be controlled by transmitting control information indicating the control content determined by the mobile robot to the mobile robot.

The robot control unit may control the mobile robot based on the control content in which a position directly facing the subject is determined as an output position at which the sound is output.

The robot control unit may control the mobile robot based on the control content in which a position closer to the target person than to the non-target person is determined as an output position for outputting the sound.

The robot control unit controls the mobile robot based on the control content in which a position closer to a position directly facing the target person than a position directly facing the non-target person is determined as an output position for outputting the sound. May be controlled.

The robot control unit is configured to control the mobile robot based on the control content in which the direction of the mobile robot facing the target person rather than the non-target person is determined as the output direction when outputting the voice. Robots may also be controlled.

The robot control unit controls the mobile robot based on the control content determined when it is determined that the distance from the target person to the non-target person exceeds a predetermined threshold based on the positional relationship. may be controlled.

The robot control unit controls the mobile robot not to output the sound when determining that the distance from the target person to the non-target person does not exceed a predetermined threshold based on the positional relationship. You can.

The robot control unit controls the mobile robot based on the control content in which the voice pattern corresponding to the target person's attribute is determined from among a plurality of voice patterns determined for each person's attribute. You may.

The robot control unit is configured to control the robot control unit in which the voice pattern corresponding to the attribute of a person whose priority is relatively high among the attributes of the target person and the attributes of the non-target person is determined. The mobile robot may be controlled based on the control content.

The acquisition unit may acquire information indicating the condition of the subject, and the robot control unit may control the control determined based on the condition of the subject indicated by the information acquired by the acquisition unit. The mobile robot may be controlled based on the content.

An information processing method according to a second aspect of the present invention includes the steps of acquiring a captured image of a person present around a mobile robot, which is executed by a computer; control content for outputting a voice urging the target person, who is located at the target person, to move, the target person who is located at a location other than the target person determined by the captured image and the travel route; and controlling the mobile robot based on the control content determined based on the relative positional relationship with a non-target person who is a person.

A program according to a third aspect of the present invention includes a computer, an acquisition unit that acquires a captured image of a person existing around a mobile robot, and a computer that is located on a travel route along which the mobile robot moves. Control content for outputting a sound urging the target person to move, the target person being located at a location other than the target person determined by the captured image and the movement route. The mobile robot is caused to function as a robot control unit that controls the mobile robot based on the control content determined based on the relative positional relationship with the non-target person.

According to the present invention, it is possible to reduce the annoyance felt by people around a mobile robot.

FIG. 1 is a diagram for explaining an overview of an information processing system. FIG. 2 is a diagram schematically showing the functional configuration of a mobile robot. 1 is a diagram schematically showing the functional configuration of an information processing device. FIG. 2 is a diagram schematically representing the state around a mobile robot. FIG. 2 is a diagram schematically representing the state around a mobile robot. FIG. 2 is a diagram schematically representing the state around a mobile robot. FIG. 2 is a diagram schematically representing the state around a mobile robot. FIG. 2 is a sequence diagram showing the flow of processing of the information processing system.

[Overview of information processing system S]
FIG. 1 is a diagram for explaining an overview of the information processing system S. As shown in FIG. The information processing system S is a system used to control the mobile robot 1. The information processing system S includes a mobile robot 1 and an information processing device 2.

The mobile robot 1 is a robot that moves autonomously. The mobile robot 1 is used for predetermined purposes (eg, package delivery, cleaning, security, etc.). The mobile robot 1 moves along a predetermined route within a predetermined facility, for example. The predetermined facility is a building equipped with one or more elevators, and is, for example, a commercial facility such as a shopping mall, a residential facility such as an apartment, or a complex facility including a commercial floor and a residential floor. The movement route that the mobile robot 1 moves includes a route that moves from one floor to another via an elevator. The mobile robot 1 is equipped with various sensors for autonomous movement, such as a camera used to detect surrounding conditions. The mobile robot 1 is capable of communicating with the information processing device 2 .

The information processing device 2 is a device that controls the mobile robot 1, and is, for example, a server. The information processing device 2 is capable of communicating with the mobile robot 1.

The movement route that the mobile robot 1 moves includes a place where the movement of people or objects (for example, shopping carts, strollers, etc.) is given priority, and a place where the movement of the mobile robot 1 is given priority (hereinafter referred to as "target area"). ) exists. The target area is, for example, a place where the mobile robot 1 waits to board an elevator, and the mobile robot 1 detects whether the elevator car has arrived at the floor where the mobile robot 1 is present. It's a place to do. The mobile robot 1 detects that the elevator car has arrived at the floor where the mobile robot 1 is present, for example, by detecting that the elevator door is open. The mobile robot 1 may detect that the elevator car has arrived at the floor where the mobile robot 1 is present by acquiring an arrival notification from the information processing device 2 indicating that the elevator car has arrived.

Note that the target area is not limited to the place where the mobile robot 1 waits to board the elevator, but also the place where the mobile robot 1 waits to board the elevator car after arriving at the floor where the mobile robot 1 is located (for example, near the elevator door). (a location within an elevator car), or a location where the mobile robot 1 exits the elevator car (for example, a location near an elevator door). When the mobile robot 1 is moving to the target area, if there are obstacles such as people or objects in the target area, the mobile robot 1 cannot move to the target area. It is necessary to move existing obstacles.

However, even if the mobile robot 1 outputs a voice prompting the user to move an obstacle, it may be difficult to know to whom the voice is directed. In the example shown in FIG. 1, a person H1 and a person H2 exist around the mobile robot 1. The person H1 is a person who exists in the area R and is a target person (hereinafter referred to as a "target person") who is encouraged to move. The person H2 is a person who exists outside the area R and is not a target for movement (hereinafter referred to as a "non-target person"). Area R is a target area where the mobile robot 1 waits to board the elevator, and is provided near the door D of the elevator on which the mobile robot 1 boards.

When the mobile robot 1 outputs a voice urging movement, the person H1 to be moved recognizes that the voice is directed toward itself, and the person H2 who is not the person to be moved recognizes that the voice is directed toward itself. It is desirable to recognize that it is not a voice. For example, when the mobile robot 1 outputs a sound at the position P1, there is no need to move because the sense of distance between the mobile robot 1 and the person H1 is similar to that between the mobile robot 1 and the person H2. There is a high probability that the person H2 will misunderstand the voice as being directed at him/herself. On the other hand, when the mobile robot 1 outputs sound at position P2, the sense of distance between the mobile robot 1 and the person H1 is closer than that between the mobile robot 1 and the person H2. The probability of mistaking the sound for being uttered by someone else is lowered.

In this way, the ease of understanding to whom the sound output by the mobile robot 1 is directed changes depending on the position where the mobile robot 1 outputs the sound. When the mobile robot 1 outputs sound, it is necessary to consider the position where the mobile robot 1 outputs the sound. Therefore, the information processing system S controls the mobile robot 1 according to the positional relationship of the plurality of people around the mobile robot 1.
The flow of processing executed by the information processing system S will be described below.

First, the information processing device 2 acquires a captured image from the mobile robot 1 ((1) in FIG. 1). The captured image is an image of a person present around the mobile robot 1.

The information processing device 2 determines the control content of the mobile robot 1 based on the relative positional relationship between the person H1 and the person H2 included in the captured image acquired from the mobile robot 1 ((2 in FIG. 1) ). The control content is the content by which the mobile robot 1 is controlled to output a voice urging the target person to move. The control content is, for example, control content related to an operation of moving the mobile robot 1 to a position where it is to output audio (for example, position P2 shown in FIG. 1, or a route for moving the mobile robot 1 to position P2, etc.). be.

The information processing device 2 then controls the mobile robot 1 based on the determined control details ((3) in FIG. 1). In the example shown in FIG. 1, the mobile robot 1 moves to a position P2 and outputs sound based on the control details regarding the movement. By doing so, the information processing system S makes it easier to understand to whom the voice outputted by the mobile robot 1 is directed, and reduces the annoyance felt by people around the mobile robot 1. be able to.

Note that the mobile robot 1 may have the functions of the information processing device 2. In this case, the mobile robot 1 determines the control content based on the relative positional relationship of the target person and the non-target person, and operates based on the determined control content.
The configurations of the mobile robot 1 and the information processing device 2 will be described below.

[Configuration of mobile robot 1]
FIG. 2 is a diagram schematically showing the functional configuration of the mobile robot 1. As shown in FIG. The mobile robot 1 includes an imaging section 11 , an audio output section 12 , a driving section 13 , a communication section 14 , a storage section 15 , and a control section 16 . In FIG. 2, arrows indicate main data flows, and there may be data flows that are not shown in FIG. In FIG. 2, each functional block shows the configuration of a functional unit, not the configuration of a hardware (device) unit. Therefore, the functional blocks shown in FIG. 2 may be implemented within a single device, or may be implemented separately within multiple devices. Data may be exchanged between functional blocks via any means such as a data bus, a network, or a portable storage medium.

The imaging unit 11 is a camera that captures a captured image. The audio output unit 12 is a speaker that outputs audio. The drive unit 13 is a transmission device including a motor, gears, etc. for moving the mobile robot 1 by driving wheels and the like. The communication unit 14 is a communication interface for connecting to a network, and has a communication controller for receiving data from an external terminal and an external server.

The storage unit 15 includes a ROM (Read Only Memory) that stores the BIOS (Basic Input Output System) of the computer that implements the mobile robot 1, a RAM (Random Access Memory) that serves as a work area for the mobile robot 1, and an OS (OS). It is a large-capacity storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores a variety of information that is referred to during the execution of the operating system (Operating System), application programs, and the application programs.

The storage unit 15 stores information indicating a travel route along which the mobile robot 1 moves. The movement route includes the target area. Note that the information indicating the travel route does not need to be stored in the storage unit 15. For example, the mobile robot 1 may move according to a movement route (progressing direction) calculated by the information processing device 2. Further, for example, the storage unit 15 stores facility premises information and information indicating the destination of the mobile robot 1, and the mobile robot 1 calculates the destination based on the premises information and the destination. You may move according to the moving route (progressing direction).

The control unit 16 is a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) of the mobile robot 1, and controls the detection unit 161 and the transmission unit 162 by executing a program stored in the storage unit 15. , functions as an acquisition unit 163 and a robot control unit 164.

The detection unit 161 acquires a captured image captured by the imaging unit 11, analyzes the captured image, and detects a subject (object) included in the captured image. For example, the detection unit 161 detects, for each object included in the captured image, the relative position of the object with respect to the position where the captured image was captured.

Furthermore, the detection unit 161 determines the movement route, that is, the direction of movement of the mobile robot 1, the location where the mobile robot 1 is located, etc., based on analysis of the captured image captured by the imaging unit 11, sensing by radar, etc. To detect. After detecting the direction of travel, if the detection unit 161 detects that an obstacle exists in the direction of travel, it may detect a new direction of travel for avoiding the obstacle.

The transmitting unit 162 transmits a control request to the information processing device 2 to control the mobile robot 1 to prompt the movement of the obstacle when an obstacle exists in the target area. The control request includes a captured image that includes an obstacle detected by the detection unit 161, specifically, a captured image that includes a target person and a non-target person. The control request may further include information indicating the positions of the target person and the non-target person, the position coordinates of the mobile robot 1, and the like. The information indicating the positions of the target person and the non-target person is, for example, information measured by a distance measuring sensor (not shown) such as LiDAR (Light Detection And Ranging) included in the mobile robot 1.

Specifically, the transmitting unit 162 transmits a control request to the information processing device 2 when the detecting unit 161 detects that an obstacle exists in the target area. The transmitter 162 may transmit a control request to the information processing device 2 at predetermined intervals when an obstacle exists in the target area.

The robot control unit 164 controls the mobile robot 1. The robot control unit 164 controls, for example, the output of audio by the audio output unit 12 and the movement of the mobile robot 1 by the drive unit 13 as controls for the mobile robot 1 . The robot control unit 164 moves the mobile robot 1 in the direction of movement detected by the detection unit 161, for example, via the drive unit 13.

Furthermore, when an obstacle exists in the target area, the robot control unit 164 controls the mobile robot 1 based on the control content to output a voice urging the obstacle to move. Specifically, first, the acquisition unit 163 acquires the control information transmitted by the information processing device 2 in response to the transmission unit 162 transmitting a control request to the information processing device 2 . The control information is information indicating control content, and includes, for example, information indicating control content related to operation (for example, output position, etc.).

Then, the robot control unit 164 controls the mobile robot 1 based on the control content indicated by the control information acquired by the acquisition unit 163. For example, the robot control unit 164 moves the mobile robot 1 via the drive unit 13 to an output position indicated by the control details regarding the operation, and outputs the sound to the audio output unit 12.

For example, the robot control unit 164 causes the audio output unit 12 to output a predetermined voice. The robot control unit 164 may cause the audio output unit 12 to output audio based on the control content indicated by the control information. The control information in this case includes information indicating control details regarding audio.

[Configuration of information processing device 2]
FIG. 3 is a diagram schematically showing the functional configuration of the information processing device 2. As shown in FIG. The information processing device 2 includes a communication section 21, a storage section 22, and a control section 23. In FIG. 3, arrows indicate main data flows, and there may be data flows that are not shown in FIG. In FIG. 3, each functional block shows the configuration of a functional unit, not the configuration of a hardware (device) unit. Therefore, the functional blocks shown in FIG. 3 may be implemented within a single device, or may be implemented separately within multiple devices. Data may be exchanged between functional blocks via any means such as a data bus, a network, or a portable storage medium.

The communication unit 21 is a communication interface for connecting to a network, and has a communication controller for receiving data from an external terminal and an external server.

The storage unit 22 stores a ROM that stores the BIOS, etc. of a computer that implements the information processing device 2, a RAM that serves as a work area of the information processing device 2, an OS, an application program, and various information that is referenced when the application program is executed. This is a large capacity storage device such as an HDD or SSD for storing data.

The control unit 23 is a processor such as a CPU or a GPU of the information processing device 2, and functions as an acquisition unit 231, a determination unit 232, and a transmission unit 233 by executing a program stored in the storage unit 22.

The acquisition unit 231 acquires a captured image of a person present around the mobile robot 1. Specifically, the acquisition unit 231 acquires a control request including a captured image from the mobile robot 1. The acquisition unit 231 may acquire control requests from the mobile robot 1 at predetermined intervals.

The transmitting unit 233 functions as a robot control unit, and has control contents to output a voice urging a target person, who is a person who is on the movement route of the mobile robot 1, to move, and includes: The mobile robot 1 is controlled based on the control content determined based on the relative positional relationship between the target person and a non-target person who is present at a location other than the movement route. Specifically, the information processing device 2 controls the mobile robot 1 by executing the following two steps.

As a first step, the determining unit 232 determines the control content based on the relative positional relationship between the target person and the non-target person determined from the captured image acquired by the acquisition unit 231. For example, first, when the acquisition unit 231 acquires a control request, the determination unit 232 analyzes the captured image included in the control request and identifies the position of the target person and the position of the non-target person. Then, the determining unit 232 determines the control details regarding the operation (for example, the output position for outputting the sound, etc.) based on the relative positional relationship between the specified target person and non-target person. The determining unit 232 determines the control content regarding the movement based on the relative positional relationship between the target person and the non-target person, which is specified by the information indicating the positions of the target person and the non-target person included in the control request. You can.

When determining the positions of each of the plurality of non-target persons, the determining unit 232 determines the control content based on the relative positional relationship between the non-target person selected from the plurality of non-target persons and the target person. Good too. For example, the determining unit 232 selects a non-target person who is located relatively close to the target person's position (for example, a non-target person who is closest to the target person's position).

Note that the information processing device 2 may have the function of the detection unit 161 of the mobile robot 1. For example, the control unit 23 includes a detection unit (not shown). In this case, first, the acquisition unit 231 acquires a captured image captured by the imaging unit 11 of the mobile robot 1. The detection unit of the information processing device 2 analyzes the captured image acquired by the acquisition unit 231 and detects the object included in the captured image and the traveling direction of the mobile robot 1. Then, the determining unit 232 determines the content of control, triggered by the detection unit detecting the presence of an obstacle in the target area.

As a second step, the transmitting unit 233 controls the mobile robot 1 by transmitting control information indicating the control content determined by the determining unit 232 to the mobile robot 1. In the mobile robot 1, when the acquisition unit 163 acquires the control information, the robot control unit 164 moves to an output position based on the control content regarding the operation included in the control information and causes the audio output unit 12 to output audio. .

At the output position, when the mobile robot 1 outputs the voice while facing the target person, it becomes easy to understand that the voice is directed toward the target person. Therefore, the information processing device 2 causes the mobile robot 1 to output voice at a position facing the target person.

Specifically, the transmitting unit 233 controls the mobile robot 1 based on the control content in which the position facing the subject is determined as the output position where the voice is output. First, the determining unit 232 determines the position directly facing the subject as the output position (control content regarding the movement). For example, the determining unit 232 analyzes the captured image acquired by the acquiring unit 231 and determines, as the output position, a position directly facing the target person but not directly facing the non-target person.

Then, the transmitting unit 233 transmits control information indicating the output position determined by the determining unit 232 to the mobile robot 1, thereby causing the mobile robot 1 to move to a position directly facing the subject and output audio. let By doing so, the information processing device 2 can make it easier to understand that the voice output by the mobile robot 1 is the voice uttered to the target person.

Note that if there is a person or object at a position directly facing the target person, the mobile robot 1 cannot output sound at the position directly facing the target person. In this case, the information processing device 2 may cause the mobile robot 1 to output audio at a position close to the target person.

Specifically, the transmitting unit 233 controls the mobile robot 1 based on the control content in which a position closer to the target person than to the non-target person is determined as the output position for outputting the sound. First, the determining unit 232 determines a position closer to the target person than to the non-target person as the output position. For example, the determining unit 232 analyzes the captured image acquired by the acquiring unit 231 and determines whether an obstacle (for example, a non-target person or an object other than the non-target person) is present at a position directly facing the target person. , a position closer to the target person than to the non-target person is determined as the output position. Then, the transmitting unit 233 transmits control information indicating the output position determined by the determining unit 232 to the mobile robot 1, so that the target person is located closer to the mobile robot 1 than the non-target person. Move it and output the sound.

FIG. 4 is a diagram schematically showing the state around the mobile robot 1. As shown in FIG. In the example shown in FIG. 4, a person H2 who is a non-target person exists in a position directly facing a person H1 who is a target person who exists in area R which is a target area. In this case, the determining unit 232 determines a position P3 where the person H1 is closer than the person H2 as the output position. Then, the transmitter 233 causes the mobile robot 1 to move to position P3 and output audio. By doing so, the information processing device 2 can make it easier to understand that the voice output by the mobile robot 1 is directed toward the target person.

The information processing device 2 may cause the mobile robot 1 to output audio at a position close to the position facing the target person. Specifically, the transmitter 233 controls the mobile robot 1 based on the control content in which a position closer to the position directly facing the target person than the position directly facing the non-target person is determined as the output position for outputting the sound. Control.

First, the determination unit 232 determines, as the output position, a position that is closer to the position directly facing the target person than to the position directly facing the non-target person. Then, by transmitting control information indicating the output position determined by the determining unit 232 to the mobile robot 1, the transmitting unit 233 transmits the control information indicating the output position determined by the determining unit 232 to the mobile robot 1. The corresponding position is moved to a position closer to the other position and the sound is output.

FIG. 5 is a diagram schematically showing the state around the mobile robot 1. As shown in FIG. In the example shown in FIG. 5, a person H1 who is a target person and a person H2 who is a non-target person are facing the directions shown by the arrows. In this case, the determining unit 232 determines as the output position a position P4 that is closer to the position directly facing the target person than the position directly facing the non-target person. Then, the transmitter 233 causes the mobile robot 1 to move to position P4 and output audio. By doing so, the information processing device 2 can make it easier to understand that the voice output by the mobile robot 1 is directed toward the target person.

The information processing device 2 may consider not only the output position but also the output direction when the mobile robot 1 outputs the sound. Specifically, the transmitting unit 233 determines whether the mobile robot 1 faces toward the target person rather than toward the non-target person based on the control content determined as the output direction when outputting the voice. Control 1.

First, the determining unit 232 determines as the output orientation the orientation of the mobile robot 1 that faces the target person rather than the non-target person. Then, the transmitting unit 233 transmits control information indicating the output position and output direction determined by the determining unit 232 to the mobile robot 1, thereby causing the mobile robot 1 to move to the output position. At the same time, the audio is output in an output direction that is directed toward the target person rather than the non-target person.

FIG. 6 is a diagram schematically showing the state around the mobile robot 1. As shown in FIG. In the example shown in FIG. 6, the determining unit 232 determines a position P5 where the target person is closer than the non-target person as the output position, and a direction D that faces the target person more than the non-target person as the output direction. decide. Then, the transmitter 233 causes the mobile robot 1 to move to the position P5, face in the direction D, and output audio. By doing so, the information processing device 2 can make it easier to understand that the voice output by the mobile robot 1 is directed toward the target person.

The information processing device 2 may cause the mobile robot 1 to output a voice based on people existing around the mobile robot 1. For example, first, when the acquisition unit 231 acquires a control request, the determination unit 232 further determines the control content regarding the sound for urging the subject to move. The control contents regarding the audio include, for example, the content of the audio, the volume, the speed of the audio, and the like. For example, the information processing device 2 has predetermined control details regarding audio for prompting the subject to move. Then, the transmitter 233 transmits control information including control details regarding the motion and control details regarding the sound to the mobile robot 1, thereby directing the mobile robot 1 to an output position based on the control content regarding the motion. to output audio based on the control details regarding audio.

For example, the storage unit 22 stores audio data indicating control details regarding audio. In this case, the transmitter 233 sends the mobile robot 1 a voice based on the voice data by transmitting control information including voice data corresponding to the voice for prompting the subject to move to the mobile robot 1. Output.

The audio data may be stored in the storage unit 15 of the mobile robot 1. In this case, first, the transmitter 233 transmits to the mobile robot 1 control information including voice identification information for identifying voice data corresponding to the voice for prompting the target person to move. Then, in the mobile robot 1, when the acquisition unit 163 acquires the control information, the robot control unit 164 identifies the voice identification information included in the control information from among the plurality of voice data stored in the storage unit 15. The audio output unit 12 is caused to output audio based on the audio data.

Here, the volume that is easy to hear may differ between elderly people and young people. Therefore, the information processing device 2 may cause the mobile robot 1 to output a voice in a voice pattern according to the attributes of the target person. The audio pattern is, for example, a pattern of at least some of the types of audio, the speed of audio, and the volume of audio. For example, in the information processing device 2, voice patterns are defined for each person's attributes; for example, voice patterns of anime characters (types of voice) are defined for children, and voice patterns for elderly people are defined. A voice pattern with slow voice (voice speed) and high volume is defined.

In this case, the transmitting unit 233 controls the mobile robot 1 based on the control content in which the voice pattern corresponding to the target person's attribute is determined from among the plurality of voice patterns determined for each person's attribute. do. Specifically, first, the determining unit 232 determines, as the control content, a voice pattern corresponding to the target person's attribute from among a plurality of voice patterns defined for each person's attribute. The determining unit 232 analyzes the captured image acquired by the acquiring unit 231 and identifies the attributes of the subject.

Then, the transmitting unit 233 sends the mobile robot 1 information indicating the voice pattern determined by the determining unit 232 (for example, voice data or voice identification information) to the mobile robot 1. 232 outputs audio using the determined audio pattern. By doing so, the information processing device 2 can cause the mobile robot 1 to output a voice that is easy for the target person to hear.

Note that when a plurality of people are present in the target area, it is desirable that the mobile robot 1 outputs audio in a voice pattern that is easy for each of the plurality of people to hear. Therefore, the information processing device 2 may cause the mobile robot 1 to output a voice in a voice pattern according to the priority order of each person's attributes. For example, the information processing device 2 has a predetermined priority order of attributes of people (for example, an elderly person has a high priority, a young person has a low priority, etc.).

In this case, the transmitting unit 233 transmits a control in which a voice pattern corresponding to the attribute of a person whose priority is relatively high among the attributes of the target person and the attributes of the non-target person is determined. The mobile robot 1 is controlled based on the content. Specifically, first, the determining unit 232 determines a voice pattern corresponding to the attribute of a person whose priority is relatively high among the attributes of the target person and the attributes of the non-target person. do. For example, the determining unit 232 analyzes the captured image acquired by the acquiring unit 231, identifies the attributes of each of the target person and the non-target person, and determines the priority order among the identified attributes of the target person and the attributes of the non-target person. Determine the voice pattern corresponding to the attributes of a person who has a relatively high value.

Then, the transmitting unit 233 transmits information indicating the voice pattern determined by the determining unit 232 to the mobile robot 1, thereby causing the mobile robot 1 to output voice in the voice pattern determined by the determining unit 232. . By doing so, the information processing device 2 can output a voice in a voice pattern according to the priority order of attributes of each person present around the mobile robot 1.

Even if the mobile robot 1 outputs sound at the output position determined as above, it is easy to understand to whom the sound is being emitted depending on the distance from the target person to the non-target person. may differ. For example, if the target person is far away from the non-target person, there is a low probability that the non-target person will misunderstand the sound as being directed at him or herself, but If the distance is short, there is a high probability that the non-target person will misunderstand the sound as being directed at him/herself. Therefore, the information processing device 2 may cause the mobile robot 1 to output audio depending on the distance from the target person to the non-target person.

Specifically, the transmitter 233 determines that the distance from the target person to the non-target person exceeds a predetermined threshold based on the relative positional relationship between the target person and the non-target person. The mobile robot 1 is controlled based on the control contents. The predetermined threshold value is a value determined to determine whether the distance from the target person to the non-target person is short. If the distance from the target person to the non-target person exceeds a predetermined threshold, the determining unit 232 determines the control content regarding the audio to cause the mobile robot 1 to output the audio.

On the other hand, if the transmitter 233 determines that the distance from the target person to the non-target person does not exceed a predetermined threshold based on the relative positional relationship between the target person and the non-target person, the mobile robot 1 Control so that audio is not output. Specifically, if the determining unit 232 determines that the distance from the target person to the non-target person does not exceed a predetermined threshold, the transmitting unit 233 controls the mobile robot 1 not to output audio. .

FIG. 7 is a diagram schematically showing the state around the mobile robot 1. As shown in FIG. In the example shown in FIG. 7, a person H1 who is a target person exists in area R which is a target area, and a person H2 and a person H3 who are non-target people exist outside area R. In the example shown in FIG. 7A, the distance from person H1 to person H2 and the distance from person H1 to person H3 each exceed a predetermined threshold. In this case, the determining unit 232 determines a position P6, where the person H1 is closer than the people H2 and H3, as the output position, and determines the control details regarding the sound to be output by the mobile robot 1. Then, the transmitter 233 causes the mobile robot 1 to move to the position P6 and output a voice based on the control content regarding the voice.

In the example shown in FIG. 7B, the distance from person H1 to person H2 and the distance from person H1 to person H3 do not exceed predetermined thresholds. In this case, the determining unit 232 determines a position P6 where the person H1 is closer than the people H2 and H3 as the output position. Note that when the transmitter 233 controls the mobile robot 1 not to output audio, it may decide to prohibit the mobile robot 1 from outputting audio. Then, the transmitter 233 causes the mobile robot 1 to move to the position P6, but does not output audio. By doing so, the information processing device 2 can prevent a situation in which it is difficult to understand to whom the voice output by the mobile robot 1 is directed.

Even if the mobile robot 1 outputs sound at the output position determined as described above, the subject may not be able to hear the sound. For example, if the target person is wearing earphones or headphones, or is talking on a smartphone, etc., even if the mobile robot 1 outputs audio at a low volume, the target person may not be able to hear the audio. There is. Therefore, the determining unit 232 may determine the control content depending on the condition of the subject.

Specifically, first, the acquisition unit 231 acquires status information indicating the condition of the subject. The status information may be a captured image or may be the voice of the subject collected by a microphone (not shown) included in the mobile robot 1. Then, the transmitting unit 233 controls the mobile robot 1 based on the control content determined based on the state of the subject indicated by the state information acquired by the acquiring unit 231. More specifically, first, the determination unit 232 identifies the condition of the subject based on the status information acquired by the acquisition unit 231 (for example, analysis of captured images, presence or absence of speech by the subject, etc.). do. Then, the determining unit 232 determines the content of control based on the condition of the identified subject.

For example, when the subject is wearing a device such as earphones, the determining unit 232 determines to increase the volume as the control content regarding audio. By doing so, the information processing device 2 can cause the mobile robot 1 to output audio with control details depending on the condition of the subject.

Note that when the target person is on the phone or having a conversation, if the mobile robot 1 outputs audio and interrupts the target person's call or conversation, the target person may feel uncomfortable. When the target person is on the phone or having a conversation, the unit 232 may decide to prohibit the mobile robot 1 from outputting audio as the control content.

The information processing device 2 may cause the mobile robot 1 to stop outputting the sound if the target person is present in the target area even if the mobile robot 1 outputs the sound based on the control details. Specifically, the determining unit 232 determines, as the second control content, to stop outputting the audio based on the determined first control content. By doing so, the information processing device 2 can prevent the mobile robot 1 from increasing the discomfort that may be given to a person due to repeated voice output. In addition, the information processing device 2 can be used by people who cannot hear the voice output from the mobile robot 1 (for example, people with hearing impairments) or people who cannot understand the language of the voice output by the mobile robot 1 (for example, people from foreign countries). This can prevent people (such as people) from being repeatedly encouraged to move.

[Processing of information processing system S]
Next, the flow of processing of the information processing system S will be explained. FIG. 8 is a sequence diagram showing the flow of processing of the information processing system S. This process starts when the detection unit 161 of the mobile robot 1 detects the presence of an obstacle in the target area (S1). When the detection unit 161 detects that an obstacle exists in the target area, the transmission unit 162 transmits a control request to the information processing device 2 (S2).

In the information processing device 2, when the acquisition unit 231 acquires a control request from the mobile robot 1, the determination unit 232 determines the positions of the target person and non-target person identified by analyzing the captured images included in the control request. Control details are determined based on the relationship (S3). The transmitting unit 233 transmits control information including the control content determined by the determining unit 232 to the mobile robot 1 (S4).

In the mobile robot 1, when the acquisition unit 163 acquires the control information, the robot control unit 164 moves to the output position included in the control information and causes the audio output unit 12 to output sound. Control the robot 1 (S5).

[Effects of this embodiment]
As explained above, the information processing device 2 determines the control content based on the positional relationship between the target person and the non-target person, and controls the mobile robot 1 based on the determined control content. By doing so, it becomes easy to understand to whom the voice outputted by the mobile robot 1 is uttered, and it is possible to reduce the annoyance felt by people around the mobile robot 1.

Furthermore, the present invention makes it possible to contribute to Goal 9 of the Sustainable Development Goals (SDGs) led by the United Nations, "Create a foundation for industry and technological innovation."

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist. be. For example, all or part of the device can be functionally or physically distributed and integrated into arbitrary units. In addition, new embodiments created by arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiment resulting from the combination have the effects of the original embodiment.

1 Mobile robot 11 Imaging section 12 Audio output section 13 Drive section 14 Communication section 15 Storage section 16 Control section 161 Detection section 162 Transmission section 163 Acquisition section 164 Robot control section 2 Information processing device 21 Communication section 22 Storage section 23 Control section 231 Acquisition unit 232 Determination unit 233 Transmission unit S Information processing system

Claims (10)

an acquisition unit that acquires a captured image of a person present around the mobile robot;
Control content that controls the output of a voice urging the target person, who is present on the travel route of the mobile robot, to move, and the movement to an output position where the voice is outputted, , the output position is determined based on the relative positional relationship between the target person obtained from the captured image and the non-target person who is present at a location other than the movement route; a robot control unit that controls output of the voice by the mobile robot and movement to the output position based on the control content including a position closer to the target person than the mobile robot;
An information processing device having: an acquisition unit that acquires a captured image of a person present around the mobile robot;
Control content for controlling the output of a voice urging the target person, who is present on the movement route of the mobile robot, to move, and the movement to an output position where the voice is output, The output position determined based on the relative positional relationship between the target person determined by the captured image and the non-target person who is present at a location other than the movement route, a robot control unit that controls output of the voice by the mobile robot and movement to the output position based on the control content including a position closer to a position directly facing the target person than a position directly facing the subject; ,
An information processing device having : an acquisition unit that acquires a captured image of a person present around the mobile robot;
Control content for controlling the output of a voice urging the target person, who is present on the movement route of the mobile robot, to move, and the movement of directing the target person in the output direction when outputting the voice. The output orientation is determined based on the relative positional relationship between the target person determined from the captured image and the non-target person who is located at a location other than the movement route. A robot that controls the output of the voice by the mobile robot and the movement toward the output direction based on the control content including the direction of the mobile robot facing the target person rather than the target person. a control unit ;
An information processing device having : an acquisition unit that acquires a captured image of a person present around the mobile robot;
Outputting a voice urging the target person, who is present on the travel route of the mobile robot, to move, moving to an output position where the voice is output, and output direction when outputting the voice. control content for controlling at least one of the movements of the target person, the target person determined from the captured image, and the non-target person who is located at a location other than the movement route; output of the voice by the mobile robot based on the control content determined when it is determined that the distance from the target person to the non-target person exceeds a predetermined threshold based on the positional relationship. , a robot control unit that controls at least one of movement to the output position and movement toward the output direction;
An information processing device having : an acquisition unit that acquires a captured image of a person present around the mobile robot;
Outputting a voice urging the target person, who is present on the travel route of the mobile robot, to move, moving to an output position where the voice is output, and output direction when outputting the voice. control content for controlling at least one of the movements of the target person, the target person determined from the captured image, and the non-target person who is located at a location other than the movement route; In the control content, it is determined that the mobile robot does not output the sound when it is determined that the distance from the target person to the non-target person does not exceed a predetermined threshold based on the positional relationship . a robot control unit that controls at least one of the output of the voice by the mobile robot, the movement to the output position, and the movement in the output direction, based on the robot control unit ;
An information processing device having : The robot control unit is configured to control the mobile robot based on the control content in which the voice pattern corresponding to the target person's attribute is determined among a plurality of voice patterns determined for each person's attribute. control audio output,
The information processing device according to any one of claims 1 to 5 . The robot control unit is configured to control the robot control unit in which the voice pattern corresponding to the attribute of a person whose priority is relatively high among the attributes of the target person and the attributes of the non-target person is determined. controlling the output of the voice by the mobile robot based on the control content;
The information processing device according to claim 6 . The acquisition unit acquires information indicating the condition of the subject,
The robot control unit controls output of the voice by the mobile robot based on the control content determined based on the state of the subject indicated by the information acquired by the acquisition unit.
The information processing device according to any one of claims 1 to 5. computer executes
acquiring a captured image of a person present around the mobile robot;
Control content that controls the output of a voice urging the target person, who is present on the travel route of the mobile robot, to move, and the movement to an output position where the voice is outputted, , the output position is determined based on the relative positional relationship between the target person obtained from the captured image and the non-target person who is present at a location other than the movement route; controlling output of the voice by the mobile robot and movement to the output position based on the control content including a position closer to the target person than the target person ;
An information processing method having computer,
an acquisition unit that acquires a captured image of a person present around the mobile robot; and an output of a voice urging the target person, who is the person present on the route along which the mobile robot moves, to move. and control details for controlling the movement to the output position where the sound is output, the target person determined by the captured image and the non-target person who is located at a location other than the movement route. The output position of the voice by the mobile robot is based on the control content including a position closer to the target person than the non-target person as the output position determined based on the relative positional relationship of the robot. , a robot control unit that controls movement to the output position;
A program to function as

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