WO2020202354A1

WO2020202354A1 - Communication robot, control method for same, information processing server, and information processing method

Info

Publication number: WO2020202354A1
Application number: PCT/JP2019/014263
Authority: WO
Inventors: 直秀小川; 薫鳥羽; 渉瀬下; 山川　浩
Original assignee: 本田技研工業株式会社
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-10-08
Also published as: JPWO2020202354A1; JP7208361B2

Abstract

This communication robot has: an identification means for identifying the state of a first user; a receiving means for receiving, from an external device, state information that indicates the state of a second user communicating with the first user from a distance; a determination means for determining, on the basis of the state of the first user and the state of the second user, whether communication between the first and second user is possible; and a providing means for providing information to the first user. When it is determined that communication between the first and second users is possible, the providing means provides the first user with information that proposes communication between the first and second users.

Description

Communication robot and its control method, information processing server and information processing method

The present invention relates to a communication robot, its control method, an information processing server, and an information processing method.

Conventionally, communication robots capable of communicating with users have been known. Some of these communication robots control the timing and method of intervention (interaction) with the user according to the state of interaction with the user who is gazing at or talking to the robot (patented). Document 1).

Japanese Unexamined Patent Publication No. 2013-237124

However, the robot disclosed in Patent Document 1 is premised on communication between the user and the robot, and it is considered that the robot intervenes in the user in order for the user and the remote user (remote user) to communicate with each other. Absent. That is, there is no known technique for controlling the intervention timing and intervention method by the robot so that the user and the remote user can communicate smoothly.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of controlling intervention behavior for communicating between a user and a remote user.

According to the present invention
A communication robot
Identification means for identifying the state of the first user,
A receiving means for receiving status information indicating the status of the second user who communicates with the first user remotely from an external device, and
A determination means for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a providing means for providing information to the first user, and has
When it is determined that the first user and the second user can communicate with each other, the providing means provides the first user with information proposing communication between the first user and the second user. provide,
A communication robot characterized by this is provided.

According to the present invention, intervention behavior for communicating between a user and a remote user is controlled.

The accompanying drawings are included in the specification, which form a part thereof, show an embodiment of the present invention, and are used together with the description to explain the principle of the present invention.
The figure which shows an example of the communication system which concerns on Embodiment 1 of this invention. Block diagram showing a functional configuration example of the communication robot according to the first embodiment Block diagram showing an example of the software configuration of the communication robot according to the first embodiment The figure which shows an example of the user state table which concerns on Embodiment 1. A flowchart showing a series of operations of the communication control process according to the first embodiment. A flowchart showing a series of operations of the history processing according to the first embodiment. The figure which shows an example of the setting screen which concerns on the user state which concerns on Embodiment 1. The figure which shows an example of the selection screen which selects the user state in which a communication robot intervenes according to Embodiment 1. The figure which shows an example of the communication system which concerns on Embodiment 2. Block diagram showing a functional configuration example of the information processing server according to the second embodiment Block diagram showing an example of the software configuration of the communication robot according to the second embodiment Block diagram showing an example of the software configuration of the information processing server according to the second embodiment A flowchart showing a series of operations of communication control processing in the information processing server according to the second embodiment. A flowchart showing a series of operations of communication control processing in the communication robot according to the second embodiment.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. The following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. In addition, the same or similar configuration will be given the same reference number, and duplicate description will be omitted.

(Embodiment 1)
[System overview]
In the present embodiment, a mode in which a movable communication robot for interpersonal use (hereinafter, simply “robot”) intervenes in the user according to the state of the user so that the user and a remote user can communicate with each other will be described. .. Here, a case where the user (also simply referred to as a target user) with which the robot interacts is a child (child) to be raised will be described as an example. Further, a case where the remote user (also simply referred to as a remote user) is a grandparent who is in a house / place away from the target user will be described as an example. However, the present embodiment is not limited to this, and can be applied to communication of other persons such as when the target user and the remote user are friends. Further, in the present embodiment, the place where the robot and the child communicate with each other will be described assuming a predetermined space (for example, a space in the home such as a children's room or a shared space). Further, the place where the remote user stays will be described as a predetermined remote space (for example, a shared space in the home of the grandparents or a space where the remote user stays).

FIG. 1 shows an example of the communication system 10 according to the present embodiment. In this system, the robot 100 and the target user 110 exist in a predetermined space, and the robot 100 interacts with the target user 110. The robot 100 can communicate with the device 150 (for example, a mobile device) used by the remote user 160 via the network 120. That is, the target user 110 and the remote user 160 can communicate with each other via the robot 100 and the device 150. In the present embodiment, the device 150 used by the remote user 160 is, for example, a smartphone, but is not limited to this, and may include a personal computer, a television, a tablet terminal, a smart watch, a game machine, and the like. Further, a movable communication robot exists instead of the device 150, and the target user 110 and the remote user 160 may communicate with each other via the two communication robots.

[Example of robot function configuration]
FIG. 2 is a block diagram showing a functional configuration example of the robot 100 according to the present embodiment. The control unit 210 included in the robot 100 includes one or more CPUs (Central Processing Units) 211, an HDD (Hard Disk Drive) 212, and a RAM (Random Access Memory) 213. The CPU 211 controls various processes shown below by reading and executing the program stored in the HDD 212. The HDD 212 is a non-volatile storage area, and stores programs corresponding to various processes. A semiconductor memory may be used instead of the HDD. The RAM 213 is a volatile storage area and is used as, for example, a work memory. The control unit 210 may be composed of a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), a dedicated circuit, or the like.

Further, the robot 100 according to the present embodiment includes various parts that serve as an interface for information with the outside. Each part shown below operates based on the control by the control unit 210. The voice input unit 214 is a part for acquiring voice information from the outside, and includes, for example, a microphone. In the present embodiment, the voice input unit 214 acquires the utterance information of the target user in order to make a call, for example. The image pickup unit 215 is a portion for acquiring image information of the user and the surroundings, and includes, for example, a camera. In the present embodiment, for example, an image of a target user is acquired in order to make a video call.

The power supply unit 216 is a part that supplies power to the robot 100 and corresponds to a battery. The audio output unit 217 is a portion for outputting audio information to the outside, and includes, for example, a speaker and the like. In the present embodiment, the voice output unit 217 outputs, for example, the utterance of a remote user. The image display unit 218 is a part for outputting image information, and includes a display and the like. In the present embodiment, the image display unit 218 displays an image of a remote user in order to make a moving image call, for example. The operation unit 219 is a part for performing a user operation on the robot. The image display unit 218 and the operation unit 219 may be collectively configured as, for example, a touch panel display that also functions as an input device.

The notification unit 220 is a part for notifying various information to the outside, and may be, for example, a light emitting unit such as an LED (Light Emitting Diode) or may be integrated with an audio output unit 217. The drive unit 121 is a portion for moving the robot 100, and may include, for example, an actuator, a tire, a motor, an engine, and the like. The sensor unit 222 includes various sensors for acquiring information on the external environment. The sensor may include, for example, a temperature sensor, a humidity sensor, an infrared sensor, a depth sensor, a lidar (LiDAR: Light Detection and Ringing), and the like, and a sensor may be provided according to the information to be acquired. Further, the image pickup unit 215 may be included in the sensor unit 222. The communication unit 223 is a part for communicating with an external device (for example, a device 150 used by a remote user or an external server) via the network 120, and the communication method, communication protocol, and the like are not particularly limited. Further, the communication unit 223 may include a GPS (Global Positioning System) for detecting its own position information.

In the configuration example of FIG. 2, each part is shown by one block, but each part may be physically divided and installed at a plurality of places according to the function and structure of the robot 100. Further, for example, the power supply unit 216 or the like may be configured to be detachable from the robot 100, or may be provided with an interface for adding a part for providing a new function.

The appearance of the robot 100 is not particularly limited, but may be configured according to, for example, a person (for example, a child) assumed as a communication target. Further, the material and size of the robot are not particularly limited.

[Robot software configuration]
FIG. 3 is a diagram showing an example of a software configuration of the robot 100 according to the present embodiment. In the present embodiment, each processing unit is realized by the CPU 211 reading and executing the program stored in the HDD 212 or the like. Further, each DB (database) is configured in HDD 212. The software configuration shows an exemplary configuration example of the present embodiment, and each software configuration such as firmware, OS, middleware, and framework is omitted.

The user state identification unit 301 is a part that identifies the user state of the target user based on the information from the sensor unit 222, the image pickup unit 215, and the voice input unit 214, and the information received from the outside. The user state here will be described later with reference to FIG. It should be noted that not all user states need to be identified by the user state identification unit 301, and a part of the user state may be set externally via the communication unit 223 or via the operation unit 219. It may be set on the robot 100 side. The user status DB 313 stores the user status table. The user status table will be described in detail with reference to FIG. 4, but the correspondence between the identified user status and the communication content between the target user and the remote user according to the user status is defined. There is. The user state processing unit 302 specifies the communication content performed for the identified user state by using the user state identified by the user state identification unit 301 and the user state table stored in the user state DB 310. To do.

Identification of user status may be performed periodically. The user state identification unit 301 stores the user state of the target user, which is periodically identified, and the identified place and time as the action history of the target user in the action history DB 312. When the user state of the target user is periodically identified, if the user state shown in FIG. 4 cannot be identified, the user state is stored as "unidentified" or the like.

The map management unit 303 creates a map of the space in which the robot 100 operates and updates it periodically. The map may be created based on the information acquired by the sensor unit 222 or the imaging unit 215 included in the robot 100, or may be created based on the location information acquired from the outside via the communication unit 223. May be good. The map management unit 303 stores the created or updated map in the map information DB311. In addition, the map management unit 303 provides map information according to the identified user state.

The communication processing unit 304 exchanges information with the outside. For example, the communication processing unit 304 receives state information indicating the state of the remote user, and transmits / receives data of a voice call or a video call for the target user and the remote user to communicate with each other. Alternatively, state information indicating the user state identified for the target user may be transmitted to the external device.

The remote user status acquisition unit 305 acquires status information indicating the user status of the remote user via the network 120. Further, the acquisition of the user state of the remote user may be performed periodically. The user state of the remote user acquired periodically may be stored in the action history DB 312 as the action history of the remote user.

The communication control unit 306 intervenes in the target user based on the user state of the target user identified by the user state identification unit 301 and the user state of the remote user acquired by the remote user state acquisition unit 305. Then, it is controlled to start communication (voice call or video call) between the target user and the remote user. The process by the communication control unit 306 will be described later as a communication control process.

The action history processing unit 307 identifies the pattern of the user state of the target user based on the periodic user state of the target user stored in the action history DB 312 (that is, functions as a pattern identification means). Further, when the user state of the remote user is stored in the action history DB 312, the pattern of the user state of the remote user may be identified based on the user state of the remote user periodically. The movement control unit 308 controls the robot to move to a place where communication is performed according to the identified user state or the like.

[User status]
As described above, the robot of the present embodiment intervenes in the user when the target user is in a predetermined user state and communicates with the remote user so that the target user and the remote user can communicate with each other. suggest. An example of the user state considered by the robot to intervene in the target user will be described.

FIG. 4 shows a user state table 400 showing the user state according to the present embodiment and the content of communication associated with each user state. The user state table 400 is composed of a user state 401, an occurrence timing 402, a communication content 403, and a communication location 404. The user state 401 is a name for identifying the user state, and the occurrence timing 402 indicates a timing for the robot 100 to identify the corresponding user state. The communication content 403 shows an example of the content of the communication performed in the corresponding user state, and the communication place 404 indicates the place where the corresponding communication is performed.

The user state in which "strong emotions are expressed" is a state in which the target user (child) is crying or yelling. The robot 100 identifies this user state based on, for example, voice information. The communication content associated with this user state is what the grandparents speak to (to a crying or yelling child). If grandparents, who are remote users, can intervene in the target user via a robot and talk to the target user, it will be an opportunity to calm the target user and talk honestly. The robot performs this communication at the current position of the target user (child).

The user state of "learning / practice start" is, for example, a state in which a child has started reading aloud, practicing a musical instrument, and practicing dancing. The robot 100 identifies this state when it is input that the learning / practice has been started, for example, through the operation unit 219 of the robot 100 or the terminal of the parents of the child. When the robot 100 is in the vicinity of the child, this state may be identified by the robot 100 recognizing the behavior of the child based on the voice information or the image information. The content of communication for this user state is, for example, that the grandparents confirm the movements and utterances of the child. If grandparents, who are remote users, can intervene in the target user via a robot to listen to reading aloud and watch the practice, it is possible to support the practice of the child on behalf of or in addition to the parent. it can. The robot 100 performs this communication, for example, at the current position of the target user (child).

The user state "immediately before going to bed" is a state in which the target user enters the bed after taking a predetermined action before going to bed. When the robot 100 identifies that the child has taken a predetermined pre-bedtime action such as brushing teeth and finishing the toilet at a predetermined time based on voice information, image information, etc., the robot 100 identifies the user state. .. The content of communication for this user state is, for example, an utterance (reading aloud) by grandparents. If grandparents, who are remote users, can intervene in the target user via a robot and read aloud, the chances of reading aloud can be increased and the labor of parents can be reduced. Robot 100 performs this communication in a shared space or a children's room.

The user state "immediately before going out" is when the target user takes a predetermined action before going out, and then heads to the entrance. When the robot 100 identifies that the child has taken a predetermined outing action such as brushing teeth and preparing a predetermined belonging at a predetermined time based on voice information or image information, the user state is determined. Identify. The content of communication for this user state is, for example, a greeting sent by grandparents. If grandparents, who are remote users, can intervene in the target user via a robot and greet the sending out, it is possible to send out the child on behalf of the parent or in addition to the parent, such as cheering up a word. The robot 100 performs this communication at the entrance.

The user status "immediately before returning home" is the state in which the target user has returned home to the vicinity of the home. The robot 100 receives the GPS signal possessed by the target user at a predetermined frequency via the communication unit 223 to acquire the movement locus of the target user, and when the movement locus approaches a range of a predetermined distance from the home, this Identify the user state. The content of communication for this user state is, for example, a greeting from the grandparents when they return home. At this time, the robot 100 moves to the entrance and waits to intervene in the target user. If grandparents, who are remote users, can intervene in the target user via a robot and greet them, they can welcome the child instead of the parent even in the absence of the parent, reducing the loneliness of the child. be able to. The robot 100 performs this communication at the entrance.

In addition, the user status may include, for example, "watching TV" or "expressing intention to communicate". The user state of "watching TV" is a state in which the target user is watching TV. This state is relatively relaxed and may allow grandparents, who are remote users, to come in and have a conversation. Further, when it is input that the robot 100 wants to communicate (at a predetermined time or the like) via the operation unit 219 of the robot 100 or the terminal of the child's parents, the robot 100 "displays the intention to communicate". ”Identify the state. The communication content in these states is such that the target user and the remote user have a normal conversation, for example. For example, the manifestation of intention to communicate can be set from, for example, the operation screen shown in FIG. 7 displayed on the terminal of the parents of the child. By pressing the radio button 701, it is set that communication is possible at the present time, or that communication is possible "from 20:00 to 21:00". The information input at the terminals of the parents is received by the communication unit 223 of the robot 100, and then used for determining the user status. The set time information may be transmitted to the device of the remote user.

Also, in the above explanation, only the communicable state is shown as the user state. However, it may include a state in which communication is impossible, such as "mealing", "bathing", and "sleeping".

Furthermore, the user state identified by the robot may differ depending on the attributes of the target user. For example, depending on the age, the robot may be set to identify only the user states of "immediately before going out", "immediately before returning home", and "starting learning / practice". The user state to be identified may be selected, for example, via the operation unit 219 of the robot 100 or the terminal of the parents of the child. For example, as in the user state selection screen 800 shown in FIG. 8, the user state to be processed by the robot 100 may be set by adding a check mark 801 to each of the listed user states 802. ..

[User status of remote user]
In the present embodiment, when the robot 100 identifies the user state of the target user described above, the robot 100 acquires the user state of the remote user and considers the user state of the remote user. In the present embodiment, for the sake of simplicity, it is assumed that the user state of the remote user is only a state in which communication is possible or a state in which communication is possible in a predetermined time zone. Such a user state is set by an operation screen similar to the operation screen shown in FIG. 7 on the device 150 used by the remote user. Of course, a robot similar to the robot 100 may exist on the remote user side, and the user state of the remote user may be identified by the robot. In this case, for example, when the remote user is identifying the state of watching TV, the remote user can communicate.

[Communication proposal]
When the robot 100 according to the present embodiment considers the user state of the target user and the user state of the remote user and determines that communication is possible, the robot 100 provides the target user with information that proposes communication with the remote user. provide. Information that proposes communication may be provided by presenting audio or images. These voices and images may include the name of the other party with whom the person communicates and information representing the content of the communication. If the user status is "immediately before going out", the information representing the communication content includes information such as "I have a greeting from my grandmother." In addition, if the user status is "a strong emotion is expressed", the content differs depending on the user status, such as "grandmother will call out".

Further, when the robot 100 intervenes in the target user in order to propose communication to the target user, the robot 100 approaches the target person, goes around the target person, and notifies a predetermined image or voice according to the user state. It may be notified by the unit 220.

[Mapping operation]
The map management unit 303 of the robot 100 creates a map of the operating space by using the peripheral information acquired by the image pickup unit 215, the sensor unit 222, and the like. For example, the map may be updated by recollecting these peripheral information every time a certain period of time elapses. For example, when the arrangement of furniture is changed, the map information may be updated according to the state after the change. Further, the map management unit 303 may acquire information (map information, location information, etc.) from the outside via the communication unit 223 and perform mapping. Further, the map management unit 303 may be configured to detect an object existing in each area and associate the usage of the area. For example, if the area has a bed, the area may be associated with a bedroom, and the area with toys and desks may be associated with a children's room. If the purpose of the area cannot be specified, the configuration may be such that the setting is accepted by the user.

[Communication control processing]
FIG. 5 is a flowchart showing a series of operations of the communication control process of the robot 100 according to the present embodiment. In the present embodiment, this process is realized by the CPU 211 of the robot 100 reading and executing the program stored in the HDD 212. Each processing step is realized, for example, in cooperation with the part of FIG. 2 and the processing unit of FIG. 3, but here, in order to simplify the explanation, the processing subject is comprehensively described as the robot 100.

In S501, the robot 100 monitors the status of the target user. In the present embodiment, the state monitoring is performed in a state in which the target user acts within a range in which the target user can enter the field of view of the imaging unit 215 and a range in which the target user's action sound can be collected. The robot 100 may collect information while moving so that the state monitoring of the target user can be performed more easily.

In S502, the robot 100 determines whether the user is in a predetermined user state. The predetermined user state identified by the robot 100 is the user state described above with respect to FIG. 4, and the robot 100 identifies each user state by the respective methods described with reference to FIG. If the predetermined user state is identified (YES in S502), the robot 100 proceeds to S503, and if not (NO in S502), returns to S501 and continues the state monitoring.

In S503, the robot 100 acquires the user state of the remote user. First, the robot 100 may, for example, transmit state information indicating the user state identified in S502 to the device 150 used by the remote user, or transmit request information requesting the user state of the remote user to the device 150. You may. The robot 100 acquires the state information indicating the user state of the remote user, which is transmitted by the device 150 of the remote user in response to the above information.

In S504, the robot 100 determines whether communication between the target user and the remote user is possible based on the user state of the identified target user and the user state of the remote user. For example, the robot 100 determines that the target user and the remote user can communicate with each other when the identified user state of the target user and the user state of the remote user are both communicable user states. In the example of this embodiment, the user state of the target user shown in FIG. 4 is a communicable state. Therefore, if the remote user is set to be able to communicate on the operation screen shown in FIG. 7, it is determined that the target user and the remote user can communicate with each other. If it is determined that communication is possible (YES in S504), the robot 100 proceeds to S505, and if not (NO in S504), the robot 100 ends this process.

In S505, the robot 100 moves to a place where communication is performed. For example, the robot 100 moves to the place where the target user is when the target user is not nearby. Further, when the communication location of the identified user state is a specific location (that is, it is not the current position of the target user), the communication location is moved to the specific location. For example, when the user state of the identified target user is "immediately before going out" or "immediately before returning home", the robot 100 moves to the "entrance" which is a communication place. That is, the robot 100 can move to a different communication location according to the user state of the identified target user.

In S506, the robot 100 proposes communication to the target user. Specifically, the robot 100 displays information proposing communication on the image display unit 218 or outputs it as voice from the voice output unit 217 in response to the target user approaching a predetermined distance or less. As described above, specific communication proposals include different communication contents depending on the user status. The robot 100 waits to receive a response to a proposal from the target user. For example, the robot 100 receives either "communicate" or "do not communicate" as a response to the proposal by touching the touch panel or by voice.

In S507, the robot 100 determines whether the target user has accepted the communication proposal. When the response to the proposal is "communicate", the robot 100 determines that the target user has accepted the proposal (YES in S507) and proceeds to S508. On the other hand, when the response to the proposal is "no communication" (or may be a timeout) (NO in S507), this process ends.

In S508, the robot 100 transmits a call start request to the remote user's device 150, and waits for a response to the call start request from the device 150. When the remote user's device 150 receives the call start request, it notifies the remote user of the arrival of the call start request (that is, intervenes in the remote user) using voice information or the like, and waits for the remote user to accept the call start. The call start request transmitted by the robot 100 may include the user state of the target user and the communication content. Therefore, the device 150 of the remote user presents the user status and communication contents of the target user, proposes communication, and then accepts the selection of "communicate" or "not communicate" from the remote user. In this case, the remote user can start communication after confirming the user status of the target user.

In S509, when the robot 100 receives the response to the call start request from the device 150, it determines whether the call start request is accepted by the device 150 side. The robot 100 proceeds to S510 when the response is a response that accepts the call start request (YES in S509), and ends this process when the response is not a response that accepts the call start request (NO in S509). To do.

In S510, the robot 100 starts a voice call or a video call between the target user and the remote user, and the communication content according to the user state is executed. In implementing the communication content, the robot 100 uses a voice call or a video call input from the image pickup unit 215, the voice input unit 214, and the device 150 used by the remote user.

When communicating using an image, the target user can set in advance from the operation unit 219 to change the background image in which the private space is reflected (the background is erased or replaced with another image). When the background image is changed, the robot 100 changes the background of the moving image transmitted in the execution of the communication content, and then transmits the changed moving image to the remote user side. Further, the change of the transmitted moving image is not limited to the change of the background image, and the user area may be changed to the avatar. In this case, the robot 100 may recognize the movement of the target user from the image captured by the target user and reflect it in the movement of the avatar. Further, the transmission image is not limited to the change, and the voice spoken by the target user may be converted into another voice, or the ambient sound may be reduced and transmitted. By doing so, it is possible to appropriately adjust the elements that the user feels uncomfortable if the living space of the target user is transmitted as it is. That is, it is possible to adjust the transmitted information to make the communication between the target user and the remote user smoother and more comfortable.

Furthermore, the target user may be able to set different background and avatar settings for each location or for each communication content. In this way, the target user can optimize the degree of exposure of the target user's information for each space or communication of concern.

Although the above example has described the audio or moving image transmitted from the target user side, the audio or moving image transmitted from the remote user side may be changed according to the setting by the remote user. For example, the background of a moving image taken by a remote user may be changed, or the sound may be changed. In this case, after the robot 100 receives the setting by the remote user, the received audio or moving image may be modified and presented, or the robot 100 may change the audio or video on the device side used by the remote user. The image may be received and presented.

In S511, the robot 100 determines whether the call is terminated. For example, when the end operation is received from the operation unit 219 of the robot 100, it is determined that the call is ended and the present process is ended. If not, the call in S510 is continued.

[History processing]
FIG. 6 is a flowchart showing history processing in the robot 100 of the present embodiment. In the present embodiment, this process is realized by the CPU 211 of the robot 100 reading and executing the program stored in the HDD 212. Each processing step is realized, for example, in cooperation with the part of FIG. 2 and the processing unit of FIG. 3, but here, in order to simplify the explanation, the processing subject is comprehensively described as the robot 100.

In S601, the robot 100 acquires the behavior history information of the target user to be analyzed for a period of, for example, 2 weeks, 1 month, 6 months, etc. from the behavior history DB 312. In S602, the robot 100 extracts the behavior pattern of the target user in, for example, a time zone. The robot 100 extracts, for example, a pattern in which user states such as "immediately before going to bed", "immediately before going out", and "immediately before returning home" are identified near a specific time and at a specific place, respectively.

In S603, the robot 100 stores a specific place and a specific place of the extracted action pattern in the action history DB 312 as information for predicting the occurrence timing and the communication place of a predetermined user state.

The robot 100 may refer to the stored information and change the location for monitoring the user status of S501 described above so that the user status can be determined more reliably. That is, it becomes possible to anticipate the occurrence of a user state, anticipate an appropriate place, and more accurately intervene in the user (suggest communication).

Further, the robot 100 may simplify the start of communication when a specific time and a specific place are extracted for the user state such as "immediately before going out" and "immediately before returning home". That is, if the robot 100 moves to the communication location at the scheduled time and the user states of the target user and the remote user can communicate with each other, the confirmation of acceptance of the proposal of S507 and acceptance of the call of S509 is omitted. You may start communication. In this way, it becomes possible to easily start communication such as exchanging a word of greeting.

As described above, in the present embodiment, it is possible to control the intervention behavior for communicating between the user and the remote user.

(Embodiment 2)
Hereinafter, the second embodiment according to the present invention will be described. In the first embodiment, an example in which the robot 100 determines whether or not communication between the two can be performed based on the user state of the identified target user and the user state of the remote user has been described. On the other hand, in the second embodiment, an example in which the information processing server determines whether or not the communication between the two is possible will be described. In the description of the embodiment, the same reference number shall perform the same or substantially the same function, and the overlapping description will be omitted and the differences will be mainly described.

FIG. 9 shows an example of the communication system 90 according to the present embodiment. In addition to the configuration of the first embodiment, the information processing server 900 is added. The robot 100 transmits / receives data to / from the information processing server 900 via the network 120. The device 150 used by the remote user 160 also transmits / receives data to / from the information processing server 900.

[Example of functional configuration of robot and information processing server]
The functional configuration example of the robot 100 of this embodiment is the same as that of the first embodiment. FIG. 10 is a block diagram showing a functional configuration example of the information processing server 900. The control unit 1010 includes one or more CPUs (Central Processing Units) 1011s, an HDD (Hard Disk Drive) 1012, and a RAM (Random Access Memory) 1013. The CPU 1011 controls various processes shown below by reading and executing the program stored in the HDD 1012. The HDD 1012 is a non-volatile storage area, and stores programs corresponding to various processes. A semiconductor memory may be used instead of the HDD. The RAM 1013 is a volatile storage area and is used as, for example, a work memory. The control unit 1010 may be composed of a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), a dedicated circuit, or the like. Further, each component of the control unit 1010 may have a virtualized configuration.

The power supply unit 1014 is a portion that supplies power to the information processing server 900 from the outside. The communication unit 1015 is a part for communicating with the robot 100 and the device 150 used by the remote user via the network 120, and the communication method, communication protocol, and the like are not particularly limited.

[Software configuration of robot 100]
FIG. 11 is a diagram showing an example of a software configuration of the robot 100 according to the present embodiment. In the present embodiment, each processing unit is realized by the CPU 211 reading and executing the program stored in the HDD 212 or the like. Further, each DB (database) is configured in HDD 212. The software configuration shows only the configuration examples necessary for the implementation of this embodiment, and each software configuration such as firmware, OS, middleware, and framework is omitted.

The user state identification unit 301 is a part that identifies the user state of the target user based on the information from the sensor unit 222, the image pickup unit 215, and the voice input unit 214, and the information received from the outside. The user state is the same as that described above in FIG. It should be noted that not all user states need to be identified by the user state identification unit 301, and a part of the user state may be set externally via the communication unit 223 or via the operation unit 219. It may be set on the robot 100 side. The user status DB 313 stores the user status table. As for the user state table, the user state DB 313, which is the same as that of the embodiment, is synchronized with the user state DB of the information processing server 900 when updated by the robot 100, and substantially the same data is held. The user state identified by the user state identification unit 301 is transmitted to the information processing server 900 as state information indicating the user state.

The communication processing unit 304 exchanges information with the outside. For example, the communication processing unit 304 transmits / receives data exchanged with the information processing server 900, and transmits / receives data of a voice call or a video call for communication between the target user and the remote user.

The simple communication control unit 1101 receives information proposing communication from the information processing server 900 and intervenes in the target user. Then, it is controlled to start communication (voice call or video call) between the target user and the remote user. The process by the simple communication control unit 1101 will be described later as a simple communication control process.

The map management unit 303, the action history processing unit 307, the movement control unit 308, and each DB are substantially the same as those in the first embodiment. Each DB is synchronized with the user state DB 1210, the map information DB 1211, and the action history DB 1212 on the information processing server 900 side, and substantially the same data is held.

[Software configuration of information processing server]
FIG. 12 is a diagram showing an example of a software configuration of the information processing server 900 according to the present embodiment. In the present embodiment, each processing unit is realized by the CPU 1011 reading and executing the program stored in the HDD 1012 or the like. Further, each DB (database) is configured in HDD 1012. The software configuration shows only the configuration examples necessary for the implementation of this embodiment, and each software configuration such as firmware, OS, middleware, and framework is omitted.

The user state acquisition unit 1201 is a part that acquires state information indicating the user state from the robot 100. Even when a part of the user state is set from the outside in the robot 100, the state information indicating the set user state is transmitted to the information processing server 900. The user state DB 1210 stores the user state table. The user state DB 1210 is synchronized with the user state DB of the robot 100. The user state processing unit 1202 specifies the communication content performed for the user state by using the user state of the target user acquired by the user state acquisition unit 1201 and the user state table stored in the user state DB 1210. To do.

The communication processing unit 1204 exchanges information with the robot 100 and the device 150 used by the remote user. For example, the communication processing unit 1204 receives state information indicating the state of the remote user, and transmits / receives data of a voice call or a video call for the target user and the remote user to communicate with each other. Alternatively, state information indicating the user state identified for the target user may be transmitted to the external device.

The remote user status acquisition unit 1205 acquires status information indicating the user status of the remote user via the network 120. The communication control unit 1206 causes the robot to intervene in the target user based on the user state of the target user identified by the user state acquisition unit 1201 and the user state of the remote user acquired by the remote user state acquisition unit 1205. Control the robot 100. Then, the robot 100 is controlled so as to start communication (voice call or video call) between the target user and the remote user. The processing by the communication control unit 1206 will be described later as a communication control processing.

[User status]
As described above, in the present embodiment, the information processing server 900 determines whether the target user and the remote user can communicate with each other, and then causes the robot 100 to intervene in the target user to cause the remote user. Propose communication with. However, the user state of the target user identified by the robot 100 is the same as that of the first embodiment.

[User status of remote user]
In the present embodiment, when the predetermined user state of the target user is identified, the information processing server 900 acquires the user state of the remote user and considers the user state of the remote user. In the present embodiment, as in the first embodiment, the user state of the remote user is only a state in which communication is possible or a state in which communication is possible in a predetermined time zone. Such a user state is set by an operation screen similar to the operation screen shown in FIG. 7 on the device 150 used by the remote user. Of course, a robot similar to the robot 100 may exist on the remote user side, and the user state of the remote user may be identified by the robot.

[Method of proposing communication]
When the information processing server 900 according to the present embodiment determines that communication is possible in consideration of the user state of the target user and the user state of the remote user, the robot 100 informs the target user of the remote user. Send information that suggests communication. The robot 100 provides information that proposes communication with a remote user to the target user based on the information received from the information processing server 900. The information proposing communication is provided as in Embodiment 1.

[Communication control processing]
FIG. 13 is a flowchart showing a series of operations of the communication control process in the information processing server 900 according to the present embodiment. In the present embodiment, this process is realized by the CPU 1011 of the information processing server 900 reading and executing the program stored in the HDD 1012. Each processing step is realized, for example, in cooperation with the part of FIG. 10 and the processing unit of FIG. 12, but here, in order to simplify the explanation, the processing subject is comprehensively described as the information processing server 900. ..

In S1301, the information processing server 900 acquires state information indicating the user state of the target user identified by the robot 100. In S1302, the information processing server 900 determines whether the acquired user state is a predetermined user state. The predetermined user state is the user state described above with respect to FIG. The information processing server 900 proceeds to S1303 when it determines that the acquired user state is a predetermined user state (YES in S1302), and returns to S1301 when it does not (NO in S1302).

In S1303, the information processing server 900 acquires the user status of the remote user. First, the information processing server 900 may, for example, transmit the state information indicating the user state identified in S1302 to the device 150 used by the remote user, or send the request information requesting the user state of the remote user to the device 150. May be sent to. The information processing server 900 acquires the state information indicating the user state of the remote user, which is transmitted by the device 150 of the remote user in response to the above information.

In S1304, the information processing server 900 determines whether communication between the target user and the remote user is possible based on the acquired user state of the target user and the user state of the remote user. For example, the information processing server 900 determines that the target user and the remote user can communicate with each other when the user state of the target user and the user state of the remote user are both communicable user states. In the example of this embodiment, the user state of the target user shown in FIG. 4 is a communicable state. Therefore, if the remote user is set to be able to communicate on the operation screen shown in FIG. 7, it is determined that the target user and the remote user can communicate with each other. The information processing server 900 proceeds to S1305 when it is determined that communication is possible (YES in S1304), and ends this process when it is not (NO in S1304).

In S1305, the information processing server 900 transmits the proposal information for the robot 100 to propose communication to the target user to the robot 100. The proposal information includes communication contents that differ depending on the user status.

In S1306, the information processing server 900 determines whether the target user has accepted the communication proposal. For example, the information processing server 900 receives response information indicating a response by the target user from the robot 100. Then, when the response information is "communicate", it is determined that the target user has accepted the proposal (YES in S1306), and the process proceeds to S1307. On the other hand, when the response to the proposal is "no communication" (or may be a timeout) (NO in S1306), this process ends.

In S1307, the information processing server 900 transmits a call start request to the remote user's device 150, and waits for a response to the call start request from the device 150. When the remote user's device 150 receives the call start request, it notifies the arrival of the call start request (that is, intervenes in the remote user) using voice information or the like, and waits for the remote user to accept the call start. The call start request transmitted by the information processing server 900 may include the user status of the target user and the communication content. Therefore, the device 150 of the remote user presents the user status and communication contents of the target user, proposes communication, and then accepts the selection of "communicate" or "not communicate" from the remote user. In this case, the remote user can start communication after confirming the user status of the target user.

In S1308, when the information processing server 900 receives the response to the call start request from the device 150, the information processing server 900 determines whether the call start request is accepted on the device 150 side. If the response is a response that accepts the call start request (YES in S1308), the information processing server 900 proceeds to S1309, and if the response is not a response that accepts the call start request (NO in S1308), the processing is performed. To finish.

In S1309, the information processing server 900 starts a voice call or a video call between the target user and the remote user, and the communication content according to the user state is executed. In implementing the communication content, the information processing server 900 uses a voice call or a video call input from the image pickup unit 215 and the voice input unit 214 of the robot 100 and the device 150 used by the remote user.

When communicating using images, the information processing server 900 can change the background image (erasing the background or replacing it with another image) in which the private space of the target user is reflected. For example, the information processing server 900 acquires the setting information preset by the operation unit 219 of the robot 100 from the robot 100 and changes the background image. When the information processing server 900 has acquired the setting information for changing the background image, the information processing server 900 changes the background of the moving image transmitted from the robot 100 and then transmits the changed moving image to the remote user side.

Further, the change of the transmitted moving image is not limited to the change of the background image, and the user area may be changed to avatar. In this case, the information processing server 900 may recognize the movement of the target user from the image captured by the target user and reflect it in the movement of the avatar. Further, the transmission image is not limited to the change, and the voice spoken by the target user may be converted into another voice, or the ambient sound may be reduced and transmitted. By doing so, it is possible to appropriately adjust the elements that the user feels uncomfortable if the living space of the target user is transmitted as it is. That is, it is possible to adjust the transmitted information to make the communication between the target user and the remote user smoother and more comfortable.

Although the above example has described the audio or moving image transmitted from the target user side, the audio or moving image transmitted from the remote user side may be changed according to the setting by the remote user. For example, the background of a moving image taken by a remote user may be changed, or the sound may be changed. In this case, after the information processing server 900 receives the setting by the remote user, the received audio or moving image may be modified and presented. Further, the information processing server 900 may receive the changed voice or moving image on the device side used by the remote user and transmit it to the robot 100.

In S1310, the information processing server 900 determines whether the call is terminated. For example, when a termination request is received from the robot 100, it is determined that the call is terminated and the present process is terminated. If not, the call in S1309 is continued.

[Simple communication control processing]
FIG. 14 is a flowchart showing a series of operations of the simple communication control process in the robot 100 according to the present embodiment. In the present embodiment, this process is realized by the CPU 211 of the robot 100 reading and executing the program stored in the HDD 212. Each processing step is realized, for example, in cooperation with the part of FIG. 2 and the processing unit of FIG. 3, but here, in order to simplify the explanation, the processing subject is comprehensively described as the robot 100.

In S1401, the robot 100 monitors the status of the target user. In S1402, when the robot 100 identifies a predetermined user state, the robot 100 transmits state information indicating the user state to the information processing server 900.

In S1403, the robot 100 receives the proposal information from the information processing server 900. That is, it means that the information processing server 900 determines that the target user and the remote user can communicate with each other.

In S1404, the robot 100 moves to a place where communication is performed. For example, the robot 100 moves to the place where the target user is when the target user is not nearby. Further, when the communication location of the identified user state is a specific location (that is, it is not the current position of the target user), the communication location is moved to the specific location. For example, when the user state included in the proposal information is "immediately before going out" or "immediately before returning home", the robot 100 moves to the "entrance" which is a communication place. That is, the robot 100 can move to a different communication location according to the user state of the identified target user.

In S1405, the robot 100 proposes communication to the target user based on the proposal information from the information processing server 900. Specifically, the robot 100 displays information proposing communication on the image display unit 218 or outputs it as voice from the voice output unit 217 in response to the target user approaching a predetermined distance or less. As described above, specific communication proposals include different communication contents depending on the user status. The robot 100 waits to receive a response to a proposal from the target user. The robot 100 receives either "communicate" or "does not communicate" as a response to the proposal by touching the touch panel or by voice.

In S1406, the robot 100 transmits the response of the target user to the communication proposal to the information processing server 900. In S1407, the robot 100 receives a call start request from the information processing server 900. In S1408, the robot 100 starts a voice call or a video call between the target user and the remote user, and the communication content according to the user state is executed. In S1409, the robot 100 determines whether the call is terminated. For example, when the end operation is received from the operation unit 219 of the robot 100, it is determined that the call is ended, and the call end request is transmitted to the information processing server 900 to end this process. If not, the call in S1408 is continued.

<Summary of Embodiment>
1. 1. The communication robot (for example, 100) of the above embodiment is
Identification means for identifying the state of the first user (for example, 301, S502) and
Receiving means (for example, 304, S503) that receives state information indicating the state of the second user who communicates with the first user remotely from an external device, and
A determination means (for example, 306) for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a providing means (for example, 217, 218, 306, S506) that provides information to the first user.
When it is determined that the first user and the second user can communicate with each other, the providing means provides the first user with information proposing communication between the first user and the second user. provide.

According to this embodiment, it is possible to provide a communication robot capable of controlling intervention behavior for communicating between a user and a remote user.

2. The communication robot of the above embodiment
A receiving means (for example, 214, 219, S507) that receives a response from the first user to the information provided by the providing means, and
Further having a call control means (for example, 304, S510) for controlling a voice call or a video call between the first user and the second user.
When the call control means indicates that the response from the first user starts communication between the first user and the second user, the voice call via the device used by the second user and the communication robot. Alternatively, a video call is started (for example, S510).

According to this embodiment, the intervention of the communication robot allows the target user and the remote user to start call-based communication as desired.

3. 3. In the communication robot of the above embodiment,
When the response from the first user indicates that the communication between the first user and the second user is started, the call control means transmits a communication start request to the device used by the second user (for example,). S508) If the start request is not accepted by the device used by the second user, the voice call or video call via the device used by the second user and the communication robot is not started (for example, S509). ..

According to this embodiment, communication can be started after finally confirming the convenience of the remote user.

4. In the communication robot of the above embodiment,
The information provided by the providing means further includes the content of communication performed between the first user and the second user.
The providing means makes the communication content different depending on the identified state of the first user (for example, S506).

According to this embodiment, the user can easily grasp what kind of communication was intervened by the robot.

5. In the communication robot of the above embodiment,
The content of communication between the first user and the second user can be set in advance via an operating means (FIG. 8).

According to this embodiment, the content of communication with the remote user can be set according to the target user.

6. In the communication robot of the above embodiment,
The content of the communication is a communication in which the second user returns home by the second user using a voice call or a video call, or is sent by the first user (FIG. 4).

According to this embodiment, grandparents, who are remote users, can intervene in the target user via a robot and talk to the target user to accept or send a child on behalf of the parent even in the absence of the parent. It can reduce the loneliness of children.

7. In the communication robot of the above embodiment,
The communication content is a communication in which the second user speaks to the crying first user using a voice call or a video call (FIG. 4).

According to this embodiment, the grandparents who are remote users intervene in the target user via the robot and talk to the target user, which is an opportunity to calm the target user's feelings or talk obediently.

8. In the communication robot of the above embodiment,
The communication content is a communication in which the second user confirms a movement or utterance performed by the first user using a voice call or a video call (FIG. 4).

According to this embodiment, the grandparents, who are remote users, intervene in the target user via a robot to listen to the reading aloud and watch the practice, so that the child's child can be replaced or joined by the parent. Can support practice.

9. In the communication robot of the above embodiment,
The communication content is a communication in which the first user listens to an utterance by the second user using a voice call (FIG. 4).

According to this embodiment, grandparents who are remote users intervene in the target user via a robot to read aloud, thereby increasing the chance of reading aloud and reducing the labor of parents.

10. The communication robot of the above embodiment
Further having a movement control means (for example, 308) for moving the communication robot to a place where the first user communicates via the communication robot.
The movement control means moves the communication robot to a place where communication is performed predetermined according to the state of the first user.

According to this embodiment, the communication robot can autonomously move to a place where the target user is intervened and communication is proposed.

11. The communication robot of the above embodiment
A storage means for storing state information indicating the state of the first user, which is periodically collected, and
Further having a pattern identification means (for example, 307) for identifying the state pattern of the first user based on the state information stored in the storage means.
The movement control means moves the communication robot to the place according to the state of the first user expected from the pattern of the state of the first user.

According to this embodiment, the communication robot can autonomously move to a place where the target user is intervened and communication is proposed based on the pattern of the user state that occurs regularly.

12. In the communication robot of the above embodiment,
The first user is a child.

According to this embodiment, it is possible to realize a communication robot that supports communication between a child and a remote user and reduces the burden of parenting.

13. In the communication robot of the above embodiment,
The second user is the grandparent of the first user.

According to this embodiment, it is possible to realize a communication robot that supports communication between a user in the home and a remote grandparent.

14. The communication robot of the above embodiment
The device of the second user is a robot capable of identifying the state of the second user.

According to this embodiment, the user state of the remote user can also be identified by the robot.

15. The control method of the communication robot (for example, 100) in the above embodiment is
An identification step (for example, S502) for identifying the state of the first user,
A receiving step (for example, S503) of receiving state information indicating the state of the second user who communicates with the first user remotely from an external device, and
A determination step (for example, S504) for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a providing step (for example, S506) that provides information to the first user.
In the providing process, when it is determined that communication between the first user and the second user is possible, information proposing communication between the first user and the second user is provided to the first user. provide.

According to this embodiment, it is possible to provide a control method of a communication robot capable of controlling intervention behavior for communicating between a user and a remote user.

16. The information processing server (for example, 900) in the above embodiment is
A first acquisition means (for example, 1201) for acquiring information about the state of the first user from the communication robot, and
A second acquisition means (for example, 1205) for acquiring information about the state of the second user from a device used by the second user who communicates with the first user remotely.
A determination means (for example, 1206) for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a transmission means (for example, 1204) for transmitting information to be provided from the communication robot to the first user to the communication robot.
When it is determined that the first user and the second user can communicate with each other, the transmitting means transmits information proposing communication between the first user and the second user to the communication robot. To do.

According to this embodiment, it is possible to provide an information processing server capable of controlling intervention behavior for communicating between a user and a remote user.

17. The information processing method executed by the information processing server in the above embodiment is
The first acquisition step (for example, S1301) of acquiring information about the state of the first user from the communication robot, and
A second acquisition step (for example, S1303) of acquiring information about the state of the second user from a device used by the second user who remotely communicates with the first user.
A determination step (for example, S1304) for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a transmission step (for example, S1305) of transmitting information to be provided from the communication robot to the first user to the communication robot.
In the transmission step, when it is determined that communication between the first user and the second user is possible, information proposing communication between the first user and the second user is transmitted to the communication robot. To do.

According to this embodiment, it is possible to provide an information processing method capable of controlling intervention behavior for communicating between a user and a remote user.

The invention is not limited to the above embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

Claims

A communication robot
Identification means for identifying the state of the first user,
A receiving means for receiving status information indicating the status of the second user who communicates with the first user remotely from an external device, and
A determination means for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a providing means for providing information to the first user, and has
When it is determined that the first user and the second user can communicate with each other, the providing means provides the first user with information proposing communication between the first user and the second user. A communication robot characterized by providing.
A receiving means for receiving a response from the first user to the information provided by the providing means, and
Further having a call control means for controlling a voice call or a video call between the first user and the second user.
When the response from the first user indicates that the communication between the first user and the second user is started, the call control means makes a voice call via the device used by the second user and the communication robot. The communication robot according to claim 1, wherein the video call is started.
When the response from the first user indicates that the communication between the first user and the second user is started, the call control means transmits a communication start request to the device used by the second user. The claim is characterized in that when the start request is not accepted by the device used by the second user, a voice call or a video call via the device used by the second user and the communication robot is not started. The communication robot described in 2.
The information provided by the providing means further includes the content of communication performed between the first user and the second user.
The communication robot according to any one of claims 1 to 3, wherein the providing means is different in the communication content according to the identified state of the first user.
The communication robot according to claim 4, wherein the content of communication between the first user and the second user can be set in advance via an operating means.
The content of the communication according to claim 4 or 5, wherein the communication content is a communication in which the first user returns home by the second user using a voice call or a video call, or is sent by the first user. Communication robot.
The communication robot according to claim 4 or 5, wherein the communication content is a communication in which the second user speaks to the first user who is crying by using a voice call or a video call.
The communication robot according to claim 4 or 5, wherein the communication content is communication in which the second user confirms a movement or utterance performed by the first user using a voice call or a video call.
The communication robot according to claim 4 or 5, wherein the communication content is a communication in which the first user listens to an utterance by the second user using a voice call.
Further having a movement control means for moving the communication robot to a place where the first user communicates via the communication robot.
The communication according to any one of claims 1 to 9, wherein the movement control means moves the communication robot to a place where communication is performed predetermined according to a state of the first user. robot.
A storage means for storing state information indicating the state of the first user, which is periodically collected, and
Further, it has a pattern identification means for identifying the state pattern of the first user based on the state information stored in the storage means.
The communication according to claim 10, wherein the movement control means moves the communication robot to the place according to the state of the first user expected from the pattern of the state of the first user. robot.
The communication robot according to any one of claims 1 to 11, wherein the first user is a child.
The communication robot according to any one of claims 1 to 12, wherein the second user is a grandparent of the first user.
The communication robot according to any one of claims 1 to 13, wherein the device of the second user is a robot capable of identifying the state of the second user.
It is a control method for communication robots.
An identification process that identifies the state of the first user,
A receiving process of receiving status information indicating the status of a second user who remotely communicates with the first user from an external device,
A determination step of determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a providing process for providing information to the first user, and has
In the providing step, when it is determined that communication between the first user and the second user is possible, information proposing communication between the first user and the second user is provided to the first user. A method of controlling a communication robot, which is characterized by providing.
It is an information processing server
The first acquisition means for acquiring information about the state of the first user from the communication robot,
A second acquisition means for acquiring information about the state of the second user from a device used by the second user who remotely communicates with the first user.
A determination means for determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a transmission means for transmitting information to be provided from the communication robot to the first user to the communication robot.
When it is determined that the first user and the second user can communicate with each other, the transmitting means transmits information proposing communication between the first user and the second user to the communication robot. An information processing server characterized by
An information processing method executed by an information processing server.
The first acquisition process for acquiring information about the state of the first user from the communication robot,
A second acquisition step of acquiring information about the state of the second user from a device used by the second user who communicates with the first user remotely.
A determination step of determining whether communication between the first user and the second user is possible based on the state of the first user and the state of the second user.
It has a transmission step of transmitting information to be provided from the communication robot to the first user to the communication robot.
In the transmission step, when it is determined that communication between the first user and the second user is possible, information proposing communication between the first user and the second user is transmitted to the communication robot. An information processing method characterized by doing.