WO2023153221A1 - 情報処理装置、情報処理方法、およびプログラム - Google Patents

情報処理装置、情報処理方法、およびプログラム Download PDF

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Publication number
WO2023153221A1
WO2023153221A1 PCT/JP2023/002384 JP2023002384W WO2023153221A1 WO 2023153221 A1 WO2023153221 A1 WO 2023153221A1 JP 2023002384 W JP2023002384 W JP 2023002384W WO 2023153221 A1 WO2023153221 A1 WO 2023153221A1
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WIPO (PCT)
Prior art keywords
action
user
information processing
robot
information
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Ceased
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PCT/JP2023/002384
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English (en)
French (fr)
Japanese (ja)
Inventor
文彦 飯田
至 清水
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Sony Group Corp
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Sony Group Corp
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Priority to US18/834,656 priority Critical patent/US20250123633A1/en
Priority to JP2023580164A priority patent/JPWO2023153221A1/ja
Publication of WO2023153221A1 publication Critical patent/WO2023153221A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G05D1/645—Vehicle-induced nuisance abatement, e.g. minimising noise or visual impact
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/16—Devices for psychotechnics; Testing reaction times ; Devices for evaluating the psychological state
    • A61B5/165—Evaluating the state of mind, e.g. depression, anxiety
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G05D2105/285—Specific applications of the controlled vehicles for transportation of freight postal packages
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/60—Open buildings, e.g. offices, hospitals, shopping areas or universities
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present disclosure relates to an information processing device, an information processing method, and a program, and more particularly to an information processing device, an information processing method, and a program that enable a socially acceptable robot system to be realized.
  • Patent Document 1 by specifying the traveling direction of the target person based on the image taken from the surveillance camera, the mobile body that provides the service to the target person is centered on the target person.
  • a moving object management method is disclosed for searching for a route for moving around a range that is covered by a moving object.
  • the robot When communication with an unspecified number of users is assumed, the robot is required to act according to the target user's receptivity to the robot.
  • the present disclosure has been made in view of this situation, and enables the realization of a robot system that is accepted by society.
  • the information processing apparatus includes action parameters for determining an action guideline for the mobile body, which are set based on the acceptability for the mobile body set for each of one or more users and the action purpose of the mobile body.
  • the information processing apparatus includes an action planning unit that plans the action of the moving object based on the above.
  • an information processing apparatus sets an action guideline for the mobile body set based on the acceptability for the mobile body set for each of one or more users and the action purpose of the mobile body.
  • the information processing method plans the behavior of the moving object based on the determined behavior parameters.
  • a program stores in a computer an acceptability for a moving body set for each of one or more users, and an action parameter for determining an action guideline for the moving body, which is set based on the action purpose of the moving body. is a program for executing a process of planning the action of the moving body based on
  • Behavior of the mobile is planned.
  • FIG. 1 is a diagram showing an overview of a robot system to which technology according to the present disclosure can be applied;
  • FIG. It is a block diagram which shows the hardware structural example of an information processing apparatus.
  • 2 is a block diagram showing a functional configuration example of an information processing device;
  • FIG. 10 is a diagram showing an example of the degree of acceptability of a robot for each user; 10 is a flowchart for explaining the flow of robot action planning processing; 10 is a flowchart for explaining a specific example of route calculation; It is a figure which shows the example of a movement path
  • FIG. 10 is a diagram showing another example of a moving route;
  • 2 is a block diagram showing an example of functional configurations of an information processing device and a robot;
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2020-144591
  • a service is provided to the target person by specifying the direction of travel of the target person based on the image captured by the surveillance camera.
  • a moving body management method is disclosed for searching for a route for moving a moving body while avoiding a range centered on a target person.
  • the robot is required to act according to the target user's receptivity to the robot.
  • the number of times of interaction between the transport robot and the pedestrian is limited to about one to several times. In such interactions, it is necessary to evaluate the user's intimacy with the robot and maximize the parameters that can be evaluated, thereby maximizing social acceptability and moving efficiency.
  • FIG. 1 is a diagram showing an overview of a robot system to which technology according to the present disclosure can be applied.
  • the robot system in FIG. 1 is configured to include a wearable device 10, a robot 20, a sensor group 30, and an information processing device 100.
  • the public space means not only highly public spaces such as roads, stations, airports, and shopping malls, but also spaces where an unspecified number of users U can exist, such as company warehouses and houses where families live. you can
  • the wearable device 10 is worn on the wrist, arm, head, etc. of the user U.
  • the wearable device 10 is configured, for example, as a smart watch worn on the wrist or smart glasses worn like eyeglasses.
  • the wearable device 10 may be configured as a handheld small terminal that can be carried by the user U, such as a smart phone.
  • the wearable device 10 has a function of performing biometric sensing of the user U, and acquires the user U's biometric information.
  • the biometric information includes at least one of user U's heartbeat information, pulse information, perspiration information, respiration information, and exercise information.
  • the acquired biological information is transmitted to the information processing apparatus 100 via a network such as the Internet by a predetermined communication method including short-range wireless communication.
  • the robot 20 is configured as a mobile body according to the present disclosure.
  • the robot 20 is configured as a robot that autonomously moves from a first point to a second point based on an action plan by the information processing device 100 in a public space where an unspecified number of users U are present.
  • the robot 20 is assumed to be a vehicle-type mobile body that runs on the ground, such as a transport robot. may be configured as
  • the robot 20 is equipped with sensors such as a camera and a ranging sensor, and acquires sensor information by sensing the surrounding environment.
  • the robot 20 can search for a route to a destination by simultaneously estimating its own position and creating an environment map by SLAM (Simultaneous Localization and Mapping) using the acquired sensor information.
  • SLAM Simultaneous Localization and Mapping
  • the acquired sensor information is transmitted to the information processing apparatus 100 via a network such as the Internet by a predetermined communication method including short-range wireless communication, if necessary.
  • Some of the sensors mounted on the robot 20 may be configured to be able to acquire the biometric information of the user U as acquired by the wearable device 10 .
  • the robot 20 moves in public space based on a given action purpose under the control of a company or individual.
  • the robot 20 is given various tasks and roles as its action purpose by the company or individual who manages it.
  • the purpose of the action of the robot 20 includes, for example, a home delivery business of collecting and delivering parcels, an advertising business of disseminating information widely while moving, and the like.
  • the number of robots 20 is not limited to one, and a plurality of robots may exist.
  • the sensor group 30 is sensors and devices fixedly installed in a public space where an unspecified number of users U are present.
  • the sensor group 30 is configured to include, for example, surveillance cameras.
  • the sensor group 30 acquires sensor information by sensing public space.
  • the acquired sensor information is transmitted to the information processing apparatus 100 via a network such as the Internet.
  • Some of the sensors and devices that make up the sensor group 30 may be configured to be able to acquire the biological information of the user U that is acquired by the wearable device 10 .
  • the information processing device 100 is an information processing device to which the technology according to the present disclosure can be applied, and is configured by a computer such as a PC (Personal Computer), for example.
  • a computer such as a PC (Personal Computer), for example.
  • the information processing apparatus 100 is wired or wirelessly connected to the wearable device 10, the robot 20, and the sensor group 30, collects information from each configuration, and executes various processes. In addition, the information processing apparatus 100 transmits execution results of various processes to each component and controls each component as necessary.
  • FIG. 2 is a block diagram showing a hardware configuration example of the information processing apparatus 100. As shown in FIG.
  • the information processing device 100 has a CPU (Central Processing Unit) 111, a RAM (Random Access Memory) 112, a ROM (Read Only Memory) 113, a HDD (Hard Disk Drive) 114, a communication interface 115, and an input/output interface 116. Each unit of the information processing apparatus 100 is connected by a bus 117 .
  • CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • HDD Hard Disk Drive
  • the CPU 111 operates based on programs stored in the ROM 113 or HDD 114 and controls each section. For example, the CPU 111 loads programs stored in the ROM 113 or HDD 114 into the RAM 112 and executes processes corresponding to various programs.
  • the ROM 113 stores a boot program such as a BIOS (Basic Input Output System) executed by the CPU 111 when the information processing device 100 is started, a program depending on the hardware of the information processing device 100, and the like.
  • BIOS Basic Input Output System
  • the HDD 114 is a computer-readable recording medium that non-temporarily records programs executed by the CPU 111 and data used by such programs. Specifically, the HDD 114 is a recording medium that records the program according to the present disclosure, which is an example of the program data D114.
  • the communication interface 115 is an interface for connecting the information processing device 100 to an external network 150 such as the Internet.
  • the CPU 111 receives data from another device or transmits data generated by the CPU 111 to another device via the communication interface 115 .
  • the input/output interface 116 is an interface for connecting the input/output device 160 and the information processing apparatus 100 .
  • CPU 111 receives data from an input device such as a keyboard or mouse via input/output interface 116 .
  • the CPU 111 also transmits data to an output device such as a display, speaker, or printer via the input/output interface 116 .
  • the input/output interface 116 may function as a media interface for reading a program or the like recorded on a predetermined recording medium (media).
  • Media include, for example, optical recording media such as DVD (Digital Versatile Disc) and PD (Phase change rewritable Disk), magneto-optical recording media such as MO (Magneto-Optica disk), tape media, magnetic recording media, semiconductor memories, etc. is.
  • optical recording media such as DVD (Digital Versatile Disc) and PD (Phase change rewritable Disk)
  • magneto-optical recording media such as MO (Magneto-Optica disk)
  • tape media magnetic recording media
  • magnetic recording media semiconductor memories, etc.
  • the CPU 111 of the information processing device 100 implements various functions by executing programs loaded on the RAM 112 .
  • the HDD 114 also stores programs and various data according to the present disclosure.
  • CPU 111 reads and executes program data D 114 from HDD 114 , but these programs may be obtained from other devices via external network 150 .
  • the information processing apparatus 100 may be configured by a plurality of devices performing distributed processing instead of being configured by a single device. Further, the information processing apparatus 100 may refer not only to internal data stored inside, but also to external data held in an external server or the like via the external network 150 .
  • FIG. 3 is a block diagram showing a functional configuration example of the information processing apparatus 100. As shown in FIG.
  • an emotion estimation unit 211 an action estimation unit 212, a task situation acquisition unit 213, an acceptability setting unit 214, and an action parameter setting unit 215, and an action planner 216 are implemented.
  • the emotion estimation unit 211 estimates the user's emotion with respect to the robot 20 by using machine learning, for example, based on biological information such as heartbeat information and perspiration information acquired by the wearable device 10 worn by the user.
  • biological information such as heartbeat information and perspiration information acquired by the wearable device 10 worn by the user.
  • the biometric information may be acquired by the sensors mounted on the robot 20 or the sensor group 30 installed in public spaces.
  • the emotion estimation unit 211 estimates that the user is in a positive and secure state with respect to the robot 20 as the user's emotion.
  • the emotion estimation unit 211 estimates that the user is in an unfavorable and anxious state with respect to the robot 20 as the user's emotion.
  • the emotion information representing the estimated user's emotion is supplied to the acceptability setting unit 214 and stored/accumulated in a storage area (not shown).
  • a storage area (not shown), along with the emotion information, the environment when the user's emotion was estimated and the type of the target robot 20 may be stored and accumulated.
  • the behavior estimation unit 212 uses biological information (exercise information) obtained by the wearable device 10 worn by the user, sensors mounted on the robot 20, and sensors obtained by the sensor group 30 installed in public spaces. User behavior is estimated based on sensor information. Behavior information representing the estimated user behavior is supplied to the acceptability setting unit 214 .
  • the behavior estimation unit 212 estimates whether the user is in a moving state or in a stationary state based on the captured images from the monitoring cameras that constitute the sensor group 30 . Also, when the user is in a moving state, the behavior estimation unit 212 estimates the moving direction of the user.
  • the behavior estimation unit 212 estimates whether the user is acting alone or in a group. In addition, when the user is taking a group action, the action estimation unit 212 estimates with what kind of member composition the user is taking the group action.
  • the task status acquisition unit 213 acquires the user's task status.
  • the obtained task information representing the user's task status is supplied to the acceptability setting unit 214 .
  • the task status acquisition unit 213 acquires task information indicating the presence or absence of a user's task (scheduled) from a schedule management application (calendar application) installed on a smartphone or the like owned by the user.
  • a schedule management application (calendar application) installed on a smartphone or the like owned by the user.
  • the acceptability setting unit 214 sets the acceptability of the robot 20 for each user based on the emotion information from the emotion estimation unit 211, the action information from the action estimation unit 212, and the task information from the task situation acquisition unit 213. .
  • the degree of acceptability is an index representing the degree of receptivity with which the user accepts the existence of the robot 20 .
  • FIG. 4 is a diagram showing an example of the acceptability of the robot for each user at a certain timing.
  • three users A, B, and C show their acceptability set based on their past emotions, current emotions, actions, and task situations.
  • User A's past emotions toward the robot are positive, and his current emotions are also positive.
  • User A is acting alone and in a stationary state. Furthermore, User A currently has no tasks. In this case, since User A has been favorable to robots both in the past and present, and is in a calm state, it is estimated that the receptivity to robots is high, and user A's receptivity is set to "high.” .
  • User B's past emotions toward the robot are negative, and his current emotions are also negative. Also, user B is taking a group action and is in a moving state. In addition, User B has tasks at the moment. In this case, user B has not been favorable to the robot either in the past or at present, and is traveling with a group of people for a certain schedule. is set to "low".
  • User C's past emotions toward the robot are neutral, and his current emotions are positive. Moreover, the user C is acting alone and is in a moving state. In addition, User C has tasks at the moment. In this case, although user C currently favors robots, since he is traveling alone for a certain schedule, it is estimated that user C's receptivity to robots is moderate. is set to "Medium".
  • each user's degree of acceptability for the robot is set based on each user's emotion information, behavior information, and task information.
  • the set acceptability for each user is provided to the action planner 216 .
  • the user's acceptability is indicated by three levels of "high”, “middle”, and “low”, but it may be indicated by a score value or a score value threshold value. It may be indicated by a binary value based on the magnitude relationship with respect to .
  • the user's acceptability may be set, for example, when the robot 20 starts to act (move) according to the action purpose, but may be updated in real time while the robot 20 is moving, or may be set in advance. may be updated at regular intervals.
  • the action parameter setting unit 215 sets action parameters for determining action guidelines for the robot 20 based on the action purpose of the robot 20 and supplies the action parameters to the action planning unit 216 .
  • the action purpose of the robot 20 can be set in advance by the company or individual who manages the robot 20 and input to the information processing apparatus 100, as described above.
  • the action planning unit 216 determines the action of the robot 20 based on the acceptability of each user set by the acceptability setting unit 214 and the action guideline of the robot 20 determined by the action parameters set by the action parameter setting unit 215. to plan Specifically, the action planning unit 216 calculates the movement route of the robot 20 based on the acceptability of each user and the action guideline of the robot 20 determined by the action parameters, and outputs it to the robot 20 .
  • step S1 the emotion estimation unit 211 estimates each user's emotion with respect to the robot 20 based on the biological information acquired by the wearable device 10 worn by each user in the public space.
  • step S2 the behavior estimating unit 212 collects biometric information obtained by the wearable device 10 worn by each user, sensors mounted on the robot 20, and sensors 30 installed in public spaces. Based on the sensor information obtained, the user's behavior is estimated.
  • step S3 the task status acquisition unit 213 acquires the task status of each user.
  • step S4 the acceptability setting unit 214 determines the emotion of each user estimated by the emotion estimation unit 211, the behavior of each user estimated by the behavior estimation unit 212, and the behavior of each user acquired by the task situation acquisition unit 213. Each user's acceptability for the robot 20 is set based on the task status.
  • step S ⁇ b>5 the action parameter setting unit 215 sets action parameters for determining action guidelines for the robot 20 based on the action purpose of the robot 20 .
  • two action guidelines are defined as the action guideline for the robot 20 according to the action purpose of the robot.
  • the action parameter setting unit 215 sets the importance ratio between the first action guideline and the second action guideline as the action parameter.
  • step S6 the action planning unit 216, based on the acceptability for each user set by the acceptability setting unit 214 and the action guideline of the robot 20 determined by the action parameters set by the action parameter setting unit 215, Plan the actions of the robot 20 .
  • the action planning unit 216 reflects the positional relationship with each user based on the acceptability according to the importance ratio of the first action guideline and the second action guideline set as the action parameter. A moving path of the robot 20 is calculated.
  • the first action guideline is defined as an action guideline that emphasizes the action efficiency of the robot 20
  • the second action guideline is defined as an action guideline that emphasizes harmony with the surrounding environment of the robot 20. do.
  • the action efficiency of the robot 20 is the movement efficiency and the task execution efficiency for achieving the action purpose, and the harmony of the robot 20 with the surrounding environment is to minimize the psychological load on the surrounding users.
  • the action planning unit 216 calculates a moving route that is closer to the shortest route regardless of the positional relationship with the user as the importance ratio of the first action guideline is higher. Also, the higher the importance ratio of the second action guideline, the action planning unit 216 passes through a position closer to a user with a high receptivity and farther away from a user with a lower receptivity, regardless of the travel distance or safety. Calculate the route of movement. As a result, it is possible to achieve both the action efficiency of the robot 20 and harmony with the surrounding environment.
  • the action parameter that is, the weighting ratio between the first action guideline and the second action guideline set based on the action purpose of the robot 20 is defined in advance for the action purpose.
  • the first action guideline (behavior efficiency) and the second action guideline ( harmony with surrounding environment) is set to 10:0 (action efficiency emphasis 100%).
  • the first action guideline (behavior efficiency) and the second action guideline are used.
  • the weight ratio of the action guideline (harmony with the surrounding environment) is set to 5:5 (50% for action efficiency, 50% for harmony with surrounding environment).
  • the weight ratio between the first action guideline (action efficiency) and the second action guideline (harmony with the surrounding environment) is 1:9 (10% for action efficiency and 10% for surrounding environment). 90% of harmony with the environment).
  • step S51 the action parameter setting unit 215 recognizes users around the robot 20 based on sensor information acquired by the sensors mounted on the robot 20 and the sensor group 30 installed in public spaces. do.
  • step S52 the action parameter setting unit 215 determines whether there is a user to be considered based on the recognition result.
  • the user to be considered here is, for example, a user who is within a predetermined range including the route connecting the first point to the second point along which the robot 20 moves, and for whom the acceptability is set. be.
  • step S52 If it is determined in step S52 that there is a user to be considered, the action parameter setting unit 215 acquires the action purpose of the robot 20 in step S53.
  • step S54 the action parameter setting unit 215 determines whether or not the name of the company that manages the robot 20 is known to surrounding users or the like based on the acquired action purpose.
  • step S54 If it is determined in step S54 that the name will be known, the process proceeds to step S55, and the action parameter setting unit 215 determines the importance of action efficiency (first action guideline) and harmony with the surrounding environment (second action guideline). Set the ratio.
  • the ratio of emphasis on behavior efficiency and harmony with the surrounding environment is set to 5:5 (50% emphasis on behavior efficiency, 50% emphasis on harmony with surrounding environment).
  • step S54 determines whether or not interaction with the user will occur for the acquired action purpose.
  • step S56 If it is determined in step S56 that an interaction with the user will occur, the process proceeds to step S55, and the action parameter setting unit 215 sets the action efficiency (first action guideline) and harmony with the surrounding environment (second action guideline). Set the importance ratio.
  • the ratio of emphasis on action efficiency and harmony with the surrounding environment is set to 1:9 (10% emphasis on action efficiency, 90% emphasis on harmony with surrounding environment).
  • step S52 determines whether there is no user to be considered, or if it is determined in step S56 that no interaction with the user will occur. the process proceeds to step S57.
  • step S57 the action parameter setting unit 215 sets the importance ratio of action efficiency (first action guideline) to the maximum (100% for action efficiency emphasis).
  • step S55 or step S57 the process proceeds to step S58, and the action planning unit 216 calculates the movement route of the robot 20 according to the set importance ratio. At this time, based on the acceptability of the users to be considered who are present around the robot 20, the movement path of the robot 20 reflecting the positional relationship with each user is calculated.
  • a route R10 indicated by a solid line is calculated as the movement route of the robot 20.
  • the route R10 forms a straight line that is the shortest route from the start point Ps to the goal point Pg. It is the shortest route to move while keeping a certain distance.
  • route R20 is a route that passes through a position close to user A with high receptivity and far from user B with low receptivity.
  • the route R30 is calculated according to the ratio of the action efficiency and the harmony with the surrounding environment. For example, according to the importance ratio, a route that is the arithmetic mean of the route R10 when the emphasis on action efficiency is set to 100% and the route R20 when the emphasis on harmony with the surrounding environment is set to 100% is calculated.
  • a route R30 indicated by a dashed line is a route in which 50% emphasis is placed on action efficiency and 50% emphasis is placed on harmony with the surrounding environment.
  • the action of the robot 20 is planned based on the acceptability of the robot 20 set for each user and the action parameters that determine the action guidelines of the robot 20 .
  • the robot 20 can take actions according to the user's receptivity to the robot 20, and it is possible to realize a robot system that is accepted by society.
  • the moving route of the robot 20 reflecting the positional relationship with each user based on the acceptability is calculated according to the importance ratio of the first action guideline and the second action guideline. It is possible to realize both the action efficiency of 20 and harmony with the surrounding environment.
  • Use cases for route calculations such as those mentioned above include corporate activities and advertisements targeting specific user segments.
  • the robot 20 passes each user who can be a target, it preferentially passes around users who are highly favored, thereby increasing engagement and realizing corporate activities and advertisements that are accepted by society. becomes.
  • a route R50 may be calculated that only considers passing near .
  • the weighting ratio of harmony between action efficiency and surrounding environment may be changed according to the number of users to be considered (users existing around the robot 20). This is realized by the behavior parameter setting unit 215 recognizing the number of users existing around the robot 20 based on sensor information from the sensors mounted on the robot 20 or the sensor group 30, for example.
  • the importance ratio of harmony with the surrounding environment may be set high.
  • a predetermined (defined) importance ratio may be set in a specific area as the importance ratio of harmony between action efficiency and the surrounding environment. This is realized by the action parameter setting unit 215 recognizing the position of the robot 20 based on sensor information from sensors mounted on the robot 20, for example.
  • the robot 20 moves in an urban area, regardless of whether or not there are users around the robot 20, the importance ratio of harmony with the surrounding environment is set high. Also, in places with heavy traffic, a high weighting ratio for action efficiency is set in consideration of safety.
  • the robot 20 may be configured as an information processing device to which the technology according to the present disclosure can be applied by including the action planning unit 216 .
  • the robot 20 can plan its own action based on the acceptability for each user set by the information processing device 100 and the action guideline of the robot 20 determined by the action parameter.
  • the action planning unit 216 calculates a movement route that reflects the positional relationship with each user based on the degree of acceptability. , a movement path that also reflects the positional relationship between the robots 20 may be calculated.
  • the technology according to the present disclosure can take the configuration of cloud computing in which a single function is shared by multiple devices via a network and processed jointly.
  • each step described in the flowchart above can be executed by a single device, or can be shared by a plurality of devices.
  • one step includes multiple processes
  • the multiple processes included in the one step can be executed by one device or shared by multiple devices.
  • the technology according to the present disclosure can be configured as follows.
  • An information processing device comprising an action planning unit that plans the (2)
  • the information processing apparatus according to (1) wherein the acceptability is set based on at least the user's emotion with respect to the mobile object.
  • the information processing apparatus according to (2), wherein the user's emotion is estimated based on the user's biological information.
  • the biological information is acquired by at least one of a wearable device worn by the user, sensors mounted on the mobile object, and a sensor group provided in a space where the user exists.
  • Information processing equipment (6)
  • the acceptability is set based on the user's emotion, the user's behavior, and the user's task status,
  • the information according to (5), wherein the behavior of the user is estimated based on other sensor information acquired by at least one of the wearable device, the sensors mounted on the mobile body, and the sensor group processing equipment.
  • (7) The information processing apparatus according to any one of (1) to (6), wherein a weighting ratio between a first action guideline and a second action guideline is set as the action parameter.
  • the first action guideline is an action guideline that emphasizes the action efficiency of the moving body
  • the second action guideline is an action guideline that emphasizes harmony with the surrounding environment of the moving body.
  • the action planning unit calculates a movement route of the moving body reflecting a positional relationship with the user based on the acceptability, according to the importance ratio.
  • the action planning unit calculates the movement route passing through a position closer to the user with high acceptability and farther from the user with low acceptability as the importance ratio of the second action guideline is higher.
  • the action planning unit calculates the movement route reflecting only the positional relationship with the user having the acceptability higher than a certain level, according to the number of the users existing around the moving body. Or the information processing apparatus according to (10). (12) The information processing apparatus according to any one of (8) to (11), wherein the weighting ratio changes according to the number of users existing around the moving object. (13) The information processing apparatus according to any one of (8) to (11), wherein a predetermined weighting ratio is set in a specific area. (14) any one of (8) to (11), wherein the weighting ratio of the second action guideline is set high when a specific name related to the action purpose is known to the user while the mobile body is moving The information processing device according to .
  • Action of the mobile body based on the acceptability for the mobile body set for each of one or more users and action parameters for determining the action guideline of the mobile body, which are set based on the action purpose of the mobile body plan a program to get things done.

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