WO2023189105A1

WO2023189105A1 - Information processing device, information processing method, and program

Info

Publication number: WO2023189105A1
Application number: PCT/JP2023/007237
Authority: WO
Inventors: 喜恵堀内; 直之佐藤; 郁人吉川; 紀明高木; 曜介志水
Original assignee: ソニーグループ株式会社
Priority date: 2022-03-29
Filing date: 2023-02-28
Publication date: 2023-10-05

Abstract

An information processing device (PR) includes: a path planning unit (21) and a speed planning unit (22). The path planning unit (21) plans a path for a guiding robot (MB) in accordance with the movement goal of a guided subject. The speed planning unit (22) plans the speed for the guiding robot (MB) in order to realize the planned path, while taking into consideration constraints or nearby congestion expected at the time of movement.

Description

Information processing device, information processing method and program

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

The development of robots that interact with people is progressing. For example, Patent Documents 1 to 3 propose a robot (hereinafter referred to as a leading robot) that guides a user while planning a movement in a shopping center or the like.

JP 2017-204193 Publication Japanese Patent Application Publication No. 2008-145383 Japanese Patent Application Publication No. 2012-185581

In the conventional method, a travel route is planned that connects multiple transit points set by the user in the shortest possible time. Since speed settings and route searches do not take into account surrounding congestion and possible restrictions when traveling, rational movement plans are not always possible.

Therefore, the present disclosure proposes an information processing device, an information processing method, and a program that can perform a rational movement plan.

According to the present disclosure, there is provided a route planning unit that plans a route for a lead robot according to the purpose of movement of a person to be led; An information processing device is provided, comprising: a speed planning section that performs a speed planning of the leading robot. Further, according to the present disclosure, there are provided an information processing method in which the information processing of the information processing device is executed by a computer, and a program that causes the computer to realize the information processing of the information processing device.

FIG. 3 is a diagram showing an example of the configuration of a leading robot. It is a figure which shows an example of the process flow regarding a movement plan. FIG. 2 is a diagram illustrating an example of a cart robot leading a family of customers at a supermarket. FIG. 2 is a diagram illustrating an example of a robot that guides passengers to a boarding gate at an airport. FIG. 2 is a diagram showing an example of a guide robot in a shopping mall. FIG. 2 is a diagram illustrating an example of a robot that guides exhibits in an art museum. FIG. 1 is a diagram illustrating an example of a hardware configuration of an information processing device.

Below, embodiments of the present disclosure will be described in detail based on the drawings. In each of the following embodiments, the same portions are given the same reference numerals and redundant explanations will be omitted.

Note that the explanation will be given in the following order.
[1. Configuration of lead robot]
[2. Information processing method]
[3. Application example]
[3-1. Cart robot leading families with customers at the supermarket]
[3-2. A robot that guides passengers to the boarding gate at the airport]
[3-3. Shopping mall guide robot]
[3-4. A robot that guides museum exhibits]
[4. Hardware configuration example]
[5. effect]

[1. Configuration of lead robot]
FIG. 1 is a diagram showing an example of the configuration of a leading robot MB.

The leading robot MB is an autonomous mobile robot that leads one or more users to be guided (hereinafter referred to as leading targets). The lead subject may be a single person or a group including multiple people. The lead robot MB moves autonomously while recognizing its surroundings (external world) based on sensor information. The lead robot MB includes a sensor unit SE, an information processing device PR, and a body actuator AC.

<<Sensor part>>
The sensor unit SE includes a plurality of sensors for sensing the outside world. For example, the sensor unit SE includes a camera, a depth sensor, a laser ranging sensor, a receiving device that receives various information transmitted from a beacon, and the like.

<<Information processing device>>
Information processing device RR recognizes the outside world based on sensor information acquired from sensor unit SE. The information processing device PR plans the movement route of the lead robot MB based on information from the outside world, and controls the body of the lead robot MB based on the planned movement route. The information processing device PR includes a recognition section 10, a movement planning section 20, and a body control section 30.

<Recognition part>
The recognition unit 10 recognizes the outside world based on sensor information acquired from the sensor unit SE. The recognition unit 10 includes an environmental situation recognition unit 11 , a user recognition unit 12 , an action recognition unit 13 , and an obstacle recognition unit 14 .

The environmental situation recognition unit 11 recognizes the situation (environmental situation) in which the lead robot MB is placed. The environmental situation includes the location where the lead robot MB is, the degree of congestion around the lead robot MB, and the actions required of the lead robot MB at the location where the lead robot MB is located. Based on the sensor information, the environmental situation recognition unit 11 acquires information on the location of the lead robot MB (location information), information on the degree of congestion, information on the requested operation, etc. as information indicating the environmental situation.

For example, the environmental situation recognition unit 11 estimates the degree of surrounding congestion by analyzing images from a camera built into the leading robot MB. The environmental situation recognition unit 11 may estimate the degree of congestion by analyzing information obtained from cameras, infrared sensors, etc. installed in the surrounding environment. The environmental situation recognition unit 11 may obtain data on the number of people in the room from a gate in the facility and estimate the degree of crowding in the room.

The environmental situation recognition unit 11 acquires location information of the lead robot MB using SLAM (Simultaneous Localization and Mapping). For example, the environmental situation recognition unit 11 uses a laser sensor to acquire environmental features of the surrounding environment in advance. The environmental situation recognition unit 11 estimates where the lead robot MB is located in the map by comparing the environmental features acquired during the movement of the lead robot MB with the environmental features acquired in advance (feature matching).

The environmental situation recognition unit 11 may acquire location information of the lead robot MB by communicating with a beacon or UWB (Ultra Wide Band) system installed in the surrounding environment. The environmental situation recognition unit 11 may acquire the location information of the lead robot MB using dead reckoning. For example, if the lead robot MB has wheels for movement, the position of the lead robot MB is estimated based on the number of rotations of the wheels. When the leading robot MB has legs for movement, the position of the leading robot MB is estimated based on the drive amount of the actuator that moves the legs.

The environmental situation recognition unit 11 may use a combination of the above-mentioned methods (SLAM, communication with beacons, etc., dead reckoning) (sensor fusion). As a result, more accurate location information of the leading robot MB can be obtained.

The environmental situation recognition unit 11 recognizes requested actions such as presentation of store information and advertising information to the lead target person based on information from beacons and the like installed in the surrounding environment.

The user recognition unit 12 recognizes the lead target person and acquires information such as the position and movement speed of the lead target person. For example, the user recognition unit 12 acquires an image around the leading robot MB from a camera built into the leading robot MB or a camera installed in the surrounding environment of the leading robot MB. The user recognition unit 12 recognizes the leading target person in the image using a method such as deep learning or feature value matching.

The user recognition unit 12 may recognize the leading subject using a depth sensor. For example, the user recognition unit 12 recognizes a human-like moving object near the leading robot MB as a leading target person, and performs identification by tracking this moving object. Humanity can be determined by size or by using machine learning.

The user recognition unit 12 may recognize the lead target person by communicating with a terminal (user-side terminal) held by the lead target person. For example, the user recognition unit 12 determines the approximate direction of the person using wireless communication with a user-side terminal (for example, Bluetooth (registered trademark) connection with a smartphone or communication with a UWB tag). The user recognition unit 12 recognizes the moving object existing in the determined direction as the leading subject. Since the accuracy of determining the direction based on the communication strength is low, it may be combined with a recognition method using a camera image or a recognition method using a depth sensor. As a result, the leading subject can be recognized with high accuracy.

The user recognition unit 12 acquires gait data from the user side terminal, and recognizes the leading subject by comparing the walking speed estimated from the gait data with the walking speed estimated from the camera image. good. Gait data can be acquired from an IMU (Inertial Measurement Unit) sensor of a smartphone or the like. When combined with a recognition method using a depth sensor, more accurate recognition of the leading subject can be achieved.

The behavior recognition unit 13 recognizes the behavior of the lead subject. Recognized actions include both those performed as a means of communicating intentions (gestures) and those performed for purposes other than communicating intentions (actions other than gestures).

For example, the behavior recognition unit 13 uses deep learning to recognize the behavior of the lead subject reflected in the camera. If the user-side terminal is attached to the hand or arm of the person to be led and the action is performed by movement of the hand or arm, the action recognition unit 13 analyzes the motion data acquired from the user-side terminal and guides the person. The target person's behavior may also be recognized.

The obstacle recognition unit 14 recognizes obstacles that the leading robot MB must avoid. For example, the obstacle recognition unit 14 recognizes the shape of obstacles existing around the leading robot MB and the distance to the obstacles using a laser ranging sensor.

<Movement Planning Department>
The movement planning unit 20 plans the movement of the lead robot MB based on the information about the outside world recognized by the recognition unit 10. The movement plan includes a plan regarding the movement path and movement speed of the lead robot MB. Movement plans are made taking into account the external situation and the individual circumstances of the person to be led. The movement planning section 20 includes a route planning section 21 and a speed planning section 22.

The route planning unit 21 plans a route for the leading robot MB according to the movement purpose of the leading target person based on information on an event scheduled by the leading target person (event information). The event information includes information indicating the purpose of movement and information indicating an outline of the planned action. For example, event information related to shopping includes a shopping location and a shopping list. Event information regarding the exhibition includes the location of the exhibition and a list of exhibits. Event information is extracted from user input information. The user input information may be input by the person to be led, or may be input by a management user such as an event management company.

Upon acquiring the event information, the route planning unit 21 sets a plurality of waypoints to complete the event. For example, when event information related to shopping is acquired, the route planning unit 21 identifies a shopping facility from the shopping location information and acquires map information of the shopping facility from a server or the like. The route planning unit 21 identifies the location of the sales floor corresponding to the product on the shopping list from the map information, and sets the identified location as a stopover.

The route planning unit 21 plans a travel route that passes through each waypoint. The route planning unit 21 plans a route by taking into account individual circumstances that may be involved in the movement plan. Individual circumstances that should be taken into consideration include the preferences of the person to be led, the constraints that may be expected when traveling, and the schedule of the person to be led. For example, individual circumstances are stored in a database in a server. The route planning unit 21 identifies circumstances to be considered in route planning from information such as the gender and age of the person to be led and event information. The route planning unit 21 acquires information corresponding to the identified circumstances from the server.

For example, the route planning unit 21 plans a route that takes into consideration the intentions of the person to be led. For example, the route planning unit 21 plans a route that passes through one or more waypoints set according to the purpose of movement and one or more waypoints that match the preferences of the person to be led. Alternatively, the route planning unit 21 extracts one or more waypoints that match the preferences of the person to be led from a plurality of waypoints set according to the purpose of travel, and selectively selects the extracted one or more waypoints. Plan your route.

The route planning unit 21 plans a route that takes into account constraints assumed during movement. Possible constraints when moving include ensuring rest areas appropriate for each age group, ensuring toilet breaks for the elderly, and restricting the order of purchases based on the characteristics of the products (products that melt easily, such as ice cream and frozen foods, should be placed last). examples include the order in which artworks should be viewed (e.g., viewed in chronological or related order). Information regarding constraints during movement may be analyzed using AI or the like from information such as the purpose of movement, range of movement, and age of the person to be led, or may be input directly from the person to be led to the lead robot MB. .

For example, the route planning unit 21 determines the order of movement to the plurality of waypoints set in the movement route based on constraints assumed at the time of movement. Alternatively, the route planning unit 21 plans a route that passes through one or more waypoints set according to the purpose of movement and one or more waypoints set according to constraints assumed at the time of movement.

The route planning unit 21 plans a route that takes into account the schedule of the person to be led. For example, the route planning unit 21 sets priorities to a plurality of waypoints set on the travel route. The route planning unit 21 selects one or more transit points to be excluded from the travel route in time for the schedule based on the priority.

The route planning unit 21 plans a route by taking into account the congestion situation recognized by the recognition unit 10. For example, the route planning unit 21 plans the timing of travel to a transit point set in the travel route, taking into consideration the congestion situation at the transit point.

The speed planning unit 22 plans the speed of the lead robot MB in order to realize the route plan, taking into consideration the constraints assumed during movement or the surrounding congestion situation. Restrictions on movement that should be taken into consideration in speed planning include the speed of movement according to age, the schedule of the person to be led, and changes in movement speed based on the relationship between displayed items and the person's intentions. It will be done. Once the travel route is acquired, the speed planning unit 22 plans the travel speed at each stopover point and the travel speed between the stopover points, taking into consideration constraints during movement and surrounding congestion.

Information regarding constraints is, for example, stored in a database in a server. The speed planning unit 22 identifies constraints to be considered in speed planning from information such as the gender and age of the person to be led and event information. The speed planning unit 22 acquires information corresponding to the identified constraints from the server.

For example, the speed planning unit 22 performs a speed plan that takes into account the moving speed of the person to be led who is observed at the time of leading. The speed planning unit 22 performs a speed plan based on a general moving speed according to the age of the leading person until the leading person starts moving. When the leading person starts moving, the leading robot MB performs a speed plan that matches the moving speed of the leading person based on the actual moving speed recognized by the user recognition unit 12.

The speed planning unit 22 performs a speed plan that takes into account the schedule of the person to be led. When the schedule is tight, the moving speed is adjusted based on the allowable moving speed range (tolerable speed range) of the lead subject. The allowable speed range may be set depending on the age of the person to be led, or may be set based on the result of analyzing a video of the person walking by AI or the like.

The speed planning unit 22 performs a speed plan that takes into consideration the product preferences of the lead target. For example, the speed planning unit 22 checks information on stopover points set on the travel route and information on the orientation of the person to be led with the store front travel speed database (see FIG. 5). The store moving speed database stores, for each registered user, the registered user's orientation, the speed at which the registered user moves in front of the store, and the products handled by the store. The speed planning unit 22 determines the speed at which the vehicle travels through the route points based on the verification results. The front-of-store movement speed database may be provided in the information processing device PR, or may be provided in a server external to the information processing device PR.

<Aircraft control section>
The aircraft control unit 30 controls various devices mounted on the aircraft, such as a display unit and a communication unit. The body control unit 30 plans a trajectory for moving the leading robot MB to the target position while avoiding obstacles. The body control unit 30 controls the body actuator AC to move the lead robot MB along a planned trajectory. As the aircraft control method, a method using machine learning may be used, or a method combining a route planning method such as A* and a route following method such as DWA (Dynamic Window Approach) may be used.

When a situation requiring interaction is recognized, the body control unit 30 moves the leading robot MB to a position where it can interact with the leading person. Situations that require interaction include situations in which the person to be led has stopped, situations in which the person to be led has started work that requires collaboration with the lead robot MB, and situations in which the person to be led has made a gesture to call the lead robot MB. Examples include situations in which such actions were taken.

For example, a situation in which the lead target person has stopped is detected based on the position information of the lead target person acquired from the user recognition unit 12. A situation in which cooperation with the lead robot MB is required and a situation in which the lead target person has made a gesture are detected based on information on the lead target person's behavior acquired from the behavior recognition unit 13.

For example, if the person to be led stops, it is expected that the person to be led is in some kind of trouble or is about to perform some kind of action (operation, work). In such a situation, if the lead robot MB approaches the person to be led, it becomes easier to assist the person to be led. Therefore, when the person to be led stops, the body control unit 30 moves the leading robot MB to approach the person to be led.

Note that the actions of the leading robot MB that should be performed when the leading subject stops (motions when stopped) are not limited to those described above. Other possible actions at the time of stopping include waiting at the position of the leading robot MB when the leading person stopped, or moving to a designated location.

If a delay occurs in the schedule of the person to be led, the aircraft control unit 30 can notify the lead candidate of the schedule delay status and call attention to the situation. Furthermore, while the person to be led stays at a waypoint set on the travel route, the body control unit 30 can cause the lead robot MB to wait at a standby position around the waypoint. The standby position may be any position that does not disturb the surroundings. The waiting position may be registered on the in-house map, or may be determined automatically by AI based on in-house information.

<<Aircraft actuator>>
The body actuator AC drives an autonomous movement mechanism (wheels, legs, etc.) built into the lead robot MB under the control of the body control unit 30.

[2. Information processing method]
FIG. 2 is a diagram illustrating an example of a processing flow regarding a movement plan.

The route planning unit 21 plans a route according to the purpose of movement based on the event information (step S1). The aircraft control unit 30 plans a trajectory to avoid surrounding obstacles based on the information acquired from the obstacle recognition unit 14. The body control unit 30 moves the leading robot MB while avoiding obstacles based on the generated trajectory plan (step S2).

The speed planning section 22 sets the moving speed of the leading robot MB based on the moving speed of the leading subject recognized by the user recognition section 12. The speed planning unit 22 adjusts the moving speed of the leading robot MB based on the surrounding congestion situation and constraints assumed during movement (step S3).

The speed planning unit 22 determines whether the moving speed or appropriate moving speed of the lead subject has changed (step S4). Appropriate movement speed means a speed at which you can move comfortably without getting in the way of your surroundings. In a crowded situation, the appropriate movement speed is low, and in a non-crowded situation, the appropriate movement speed is high. The appropriate moving speed is determined, for example, using a database that defines the relationship between congestion conditions and appropriate speeds.

If the moving speed or appropriate moving speed of the leading person has not changed (step S4: No), the process returns to step S3. If the moving speed or the appropriate moving speed of the leading person has changed (Step S4: Yes), the route planning unit 21 determines whether the destination has been changed (Step S5). A destination means a transit point to which the user is scheduled to travel next. The route planning unit 21 determines that the destination has been changed when the position of the lead candidate recognized by the user recognition unit 12 deviates significantly from the planned travel route.

If the destination has been changed (step S5: Yes), return to step S1. If the destination has not been changed (step S5: No), the aircraft control unit 30 determines whether the person to be led has stopped (step S6). Whether or not the leading person has stopped is determined based on the positional information of the leading person recognized by the user recognition unit 12.

If the person to lead has not stopped (step S6: No), the process returns to step S4. If the leading person has stopped (step S6: Yes), the aircraft control unit 30 performs a stop operation (step S7).

After the stop operation is performed, the aircraft control unit 30 determines whether the person to be led has started moving (step S8). If the movement has started (step S8: Yes), the process returns to step S2. If movement is not started (step S8: No), the information processing device PR determines whether or not to end leading (step S9). For example, the information processing device PR determines to end the leading when the person to be led indicates the intention to end by voice or gesture.

If it is determined that leading is to be ended (step S9: Yes), the information processing device PR ends the information processing for leading. If it is determined that the leading is not finished (step S9: No), the process returns to step S8.

[3. Application example]
[3-1. Cart robot leading families with customers at the supermarket]
Below, an example of application of the lead robot MB will be explained. FIG. 3 is a diagram showing an example of a cart robot leading a family of customers at a supermarket.

Leading robot MB leads families with customers at the supermarket. Lead targets include multiple users including mothers and children. The mother inputs the target supermarket and shopping list into the information processing device PR as event information. The event information includes instructions regarding products to be purchased (user product instructions). The shopping list includes items that melt easily, such as ice cream and frozen foods. The route planning unit 21 analyzes the shopping list and plans a travel route that lasts around the stores selling easily meltable products.

The route planning unit 21 accesses the supermarket's product display information database and identifies the location where the products on the shopping list are located. The route planning unit 21 sets the identified locations as transit points and plans a travel route that passes through each transit point in order. The route planning section 21 acquires the congestion situation at the next stopover point from the environmental situation recognition section 11. If the next waypoint is congested, the route planning unit 21 changes the order of movement of the waypoints and plans a route that passes through another waypoint first.

The user recognition unit 12 registers a family member in the aircraft using a camera. The mother registers the mother as a representative user, and registers members other than the mother as non-representative users. The user recognition unit 12 acquires the feature amount of each user from the camera photo and performs tracking. If one or more users continue to be unrecognized, there is a possibility that the unrecognized users have become separated. Therefore, the aircraft control unit 30 issues a notification using audio or the like to urge caution.

The user recognition unit 12 acquires UWB information of the representative user's smartphone from the receiver in the store, and estimates the representative user's moving speed. The speed planning unit 22 performs a speed plan that matches the moving speed of the representative user.

If the representative user stops, there is a possibility that the product will be added to the cart, so the machine control unit 30 moves the lead robot MB closer to the representative user. When the action recognition unit 13 recognizes the representative user's gesture of starting again, the body control unit 30 moves the lead robot MB to a position away from the representative user. The aircraft control unit 30 resumes leading according to the planned movement route while avoiding surrounding obstacles.

[3-2. A robot that guides passengers to the boarding gate at the airport]
FIG. 4 is a diagram showing an example of a robot that guides passengers to a boarding gate at an airport.

The guide robot MB guides the person to be guided (plane passenger: one person) to the boarding gate at the airport. The person to lead inputs information such as the boarding gate, boarding time, and desired actions (meals, purchasing souvenirs) until boarding into the information processing device PR as event information. The event information includes instructions regarding boarding gates, restaurants, and souvenir shops (destination instructions), and schedule information such as boarding time. The route planning unit 21 first performs boarding procedures and plans a travel route that allows the passenger to reach the boarding gate by the boarding time.

The route planning unit 21 acquires airport map information and specifies the locations of boarding procedures, boarding gates, restaurants, and souvenir shops. The route planning unit 21 sets the identified locations as transit points and plans a travel route that passes through each transit point in order.

If you spend a lot of time at a particular store, you may not be able to get to the boarding gate in time. In that case, the route planning unit 21 deletes one or more stores (stopover points) with low priority and replans the travel route. Information regarding the priority (priority information) may be manually set by the person to be led, or may be automatically set based on the intention of the person to be led.

The user recognition unit 12 estimates the moving speed of the leading subject based on IMU (Inertial Measurement Unit) data acquired from the leading subject's smartphone. The speed planning section 22 acquires user recognition information indicating the moving speed of the lead subject from the user recognition section 12 . If there is a possibility that the movement to the boarding gate will not be in time, the speed planning unit 22 increases the movement speed of the lead robot MB.

For example, the speed planning unit 22 accesses a general user speed database that defines standard travel speeds and allowable speed ranges for each age, and extracts the allowable speed range corresponding to the age of the lead subject. The speed planning unit 22 sets the movement speed of the lead robot MB to a speed greater than the movement speed of the lead subject within the allowable speed range.

When it is detected that the lead target person has stopped moving based on the user recognition information, the aircraft control unit 30 allows the lead target person to check the boarding time and register the store he/she wants to move to from the terminal of the lead robot MB. Bring the leading robot MB close to the person to be led so that the robot can do so. When the boarding time is approaching, the aircraft control unit 30 starts the lead robot MB while notifying the person to be led by sound or light, and urges the person to be led to move.

[3-3. Shopping mall guide robot]
FIG. 5 is a diagram showing an example of a guide robot for a shopping mall.

The guide robot MB guides the guide target (one shopper) to recommended stores that match his or her preferences in a large shopping mall. The lead target person inputs information such as the target shopping mall and the type of product (clothes) he or she wishes to purchase into the information processing device PR as event information.

The route planning unit 21 acquires in-house information from the server and identifies the location of the store that sells the target product. The route planning unit 21 extracts one or more stores that match the preferences of the lead candidate from the multiple specified stores. The route planning unit 21 sets the extracted stores as transit points and plans a travel route that passes through each transit point in order.

Stores are extracted using, for example, a user-oriented database. In the user preference database, information such as product groups that match the registered user's preferences is defined for each registered user. The route planning unit 21 extracts stores based on the degree of similarity between the products handled by the stores and the product groups registered in the user-oriented database.

If the target person is elderly, it is assumed that securing rest areas and toilets will be a constraint on realizing a comfortable shopping experience. The route planning unit 21 adds one or more resting places or restrooms as waypoints so that the person to be led can go to a resting place or restroom when desired. The route planning unit 21 plans a travel route that passes through one or more waypoints for shopping (stores that handle target products) and one or more waypoints (rest areas or restrooms) set based on constraints.

The speed planning unit 22 obtains the standard movement speed for the age of the lead subject from the general user database, and sets the obtained movement speed as the initial value of the speed plan. After the leading target person starts moving, the speed planning unit 22 performs a speed plan that matches the moving speed of the leading target person acquired from the user recognition information.

The speed planning unit 22 slows down the movement speed of the lead robot MB in front of stores (including display shelves) where other users with similar tastes have stopped, so that the lead target person can browse the products. The moving speed in front of the store is determined using, for example, a moving speed database in front of the store.

The store moving speed database stores, for each registered user, the registered user's orientation, the speed at which the registered user moves in front of the store, and the products handled by the store. The speed planning unit 22 compares information on the products handled by the store and information regarding the orientation of the person to be led with a database of movement speeds in front of the store, and determines the speed at which the store moves in front of the store based on the comparison results.

If the store where the lead target person has stopped is too small for the lead robot MB to enter, the body control unit 30 causes the lead robot MB to wait at a designated stopping place in front of the store. When it is detected that the person to be led has stepped out of the store based on the user recognition information, the body control unit 30 starts the leading robot MB and resumes leading.

[3-4. A robot that guides museum exhibits]
FIG. 6 is a diagram showing an example of a robot that guides exhibits in an art museum.

The lead robot MB guides exhibits at the museum. The person to be led may be one person or a group of multiple people. At the art museum, one guide robot MB is assigned to each person to be guided. All leading robots MB are integrated and controlled by one management computer. The functions of the information processing apparatus PR shown in FIG. 1 are handled by a management computer. The lead target person inputs information about the target art museum, exhibition, etc. into the management computer as event information.

The route planning unit 21 accesses the exhibit database and obtains information such as the location of the exhibit, the year in which the exhibit was produced, and the relationship between the exhibits. The route planning unit 21 sets the locations of the exhibits as transit points and plans a travel route that allows the exhibits to be viewed in chronological order of production or related order.

The route planning unit 21 acquires the position information of all the lead robots MB, and adjusts the movement route of each lead robot MB so that a plurality of lead robots MB do not stay at the same waypoint at the same time. For example, the route planning unit 21 makes the time at which each leading robot MB arrives at a specific exhibit different, so that congestion at a popular exhibit (specific exhibit) can be avoided.

The speed planning unit 22 sets the movement speed of the lead robot MB to an appropriate movement speed according to the congestion situation. If the location of the exhibit set as the next waypoint is crowded, the speed planning unit 22 reduces the movement speed of the lead robot MB and adjusts the timing of movement to the next waypoint. This prevents congestion at the next stopover.

Those eligible for guidance will register when entering the museum. Identification information such as the name and facial image of the person to be led is registered in the registrant database. The management computer can recognize when a registered lead target person has stopped in front of an exhibit from the images from the in-house camera installed next to the exhibit. When it is recognized that the leading subject has stopped, the management computer sends a stop command to the leading robot MB of the recognized leading subject.

When the area in front of the exhibit becomes crowded, the management computer sends movement promotion commands in order from the lead robot MB that reached the exhibit location first. When the leading robot MB obtains the movement promotion command, it uses sound, light, etc. to urge the person to be guided to move, and resumes leading.

[4. Hardware configuration example]
FIG. 7 is a diagram illustrating an example of the hardware configuration of the information processing apparatus PR.

Information processing by the information processing apparatus PR is realized by, for example, the computer 1000. The computer 1000 includes a CPU (Central Processing Unit) 1100, a RAM (Random Access Memory) 1200, a ROM (Read Only Memory) 1300, and an HDD (Hard Dimensions). skDrive) 1400, a communication interface 1500, and an input/output interface 1600. Each part of computer 1000 is connected by bus 1050.

The CPU 1100 operates based on a program (program data 1450) stored in the ROM 1300 or the HDD 1400, and controls each part. For example, CPU 1100 loads programs stored in ROM 1300 or HDD 1400 into RAM 1200, and executes processes corresponding to various programs.

The ROM 1300 stores boot programs such as a BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started, programs that depend on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable non-temporary recording medium that non-temporarily records programs executed by the CPU 1100 and data used by the programs. Specifically, the HDD 1400 is a recording medium that records the information processing program according to the embodiment, which is an example of the program data 1450.

Communication interface 1500 is an interface for connecting computer 1000 to external network 1550 (eg, the Internet). For example, CPU 1100 receives data from other devices or transmits data generated by CPU 1100 to other devices via communication interface 1500.

The input/output interface 1600 is an interface for connecting the input/output device 1650 and the computer 1000. For example, CPU 1100 receives data from an input device such as a keyboard or mouse via input/output interface 1600. Further, the CPU 1100 transmits data to an output device such as a display device, speaker, or printer via the input/output interface 1600.

Additionally, the input/output interface 1600 may function as a media interface that reads a program recorded on a predetermined recording medium. Media includes, for example, optical recording media such as DVD (Digital Versatile Disc), PD (Phase Change Rewritable Disk), magneto-optical recording medium such as MO (Magneto-Optical Disk), tape medium, magnetic recording medium, or semiconductor memory, etc. It is.

For example, when the computer 1000 functions as the information processing apparatus PR according to the embodiment, the CPU 1100 of the computer 1000 executes the information processing program loaded onto the RAM 1200 to realize the functions of each part described above. Furthermore, the HDD 1400 stores information processing programs, various models, and various data according to the present disclosure. Note that although the CPU 1100 reads and executes the program data 1450 from the HDD 1400, as another example, these programs may be obtained from another device via the external network 1550.

[5. effect]
The information processing device includes a route planning section and a speed planning section. The route planning unit plans a route for the leading robot according to the purpose of movement of the leading person. The speed planning unit plans the speed of the lead robot in order to realize the route plan, taking into consideration the constraints assumed during movement or the surrounding congestion situation. In the information processing method of the present disclosure, the processing of the information processing device is executed by a computer. A program of the present disclosure causes a computer to implement processing of an information processing device.

According to this configuration, a rational movement plan is performed according to the purpose of movement, constraints assumed during movement, surrounding congestion, etc.

The route planning department plans a route that takes into consideration the preferences of the person to be led.

According to this configuration, rational route planning is performed that takes into account the intentions of the person to be led.

The route planning unit plans a route that passes through one or more waypoints set according to the purpose of travel and one or more waypoints that match the preferences of the person to be led.

The route planning unit extracts one or more waypoints that match the preferences of the person to be led from a plurality of waypoints set according to the purpose of travel. The route planning unit plans a route that selectively passes through one or more of the extracted route points.

According to this configuration, a rational movement plan is made that takes into consideration the intentions of the person to be led.

The route planning unit plans a route that takes into account constraints assumed during movement.

According to this configuration, a rational route plan is performed that takes into account the constraints assumed during movement.

The route planning unit determines the order of movement to the plurality of waypoints set in the movement route based on constraints assumed at the time of movement.

The route planning unit plans a route that passes through one or more waypoints set according to the purpose of movement and one or more waypoints set according to constraints assumed at the time of movement.

The route planning department plans a route that takes into account the schedule of the person to be led.

According to this configuration, rational route planning that takes schedules into account is performed.

The route planning unit sets priorities for multiple stopover points set on the travel route. The route planning unit selects one or more transit points to be excluded from the travel route in time for the schedule based on the priority.

The route planning unit plans the timing of travel to the transit points set in the travel route, taking into consideration the congestion status of the transit points.

According to this configuration, a rational route plan is performed that takes into consideration the congestion situation at transit points.

The speed planning unit performs a speed plan that takes into account the moving speed of the person to be led that was observed during the lead.

According to this configuration, a rational speed plan is performed that takes into consideration the moving speed of the person to be led.

The speed planning department makes a speed plan that takes into account the schedule of the person to be led.

According to this configuration, rational speed planning that takes the schedule into consideration is performed.

The information processing device has a store front movement speed database. The store moving speed database stores, for each registered user, the registered user's orientation, the speed at which the registered user moves in front of the store, and the products handled by the store. The speed planning section compares information on stopover points set on the travel route and information on the orientation of the person to be led with the store front travel speed database. The speed planning unit determines the speed at which the vehicle travels through the waypoints based on the verification results.

According to this configuration, a rational speed plan is performed that takes into consideration the intentions of the person to be led.

The information processing device has a body control section. The body control unit moves the leading robot to approach the leading person when the leading person stops.

According to this configuration, it becomes easier for the person to be led to interact with the lead robot. Possible situations in which the person to be led stops are when the person to be led encounters some sort of trouble, or when the person to be led performs some kind of act. In such a situation, the lead robot approaches the person to be led, making it easier to assist the person to be led.

The aircraft control unit notifies the lead target person of the schedule delay status.

According to this configuration, prompt movement of the person to be led is encouraged.

The aircraft control unit causes the lead robot to wait at a standby position around the way point while the person to be led stays at the way point set on the travel route.

According to this configuration, the lead robot is less likely to get in the way of those around it.

Note that the effects described in this specification are merely examples and are not limiting, and other effects may also exist.

[Additional notes]
Note that the present technology can also adopt the following configuration.
(1)
a route planning department that plans the route of the lead robot according to the purpose of movement of the person to be led;
a speed planning unit that plans the speed of the leading robot to realize the route plan while taking into account constraints assumed during movement or surrounding congestion;
An information processing device having:
(2)
The route planning unit performs the route planning in consideration of the preferences of the person to be led.
The information processing device according to (1) above.
(3)
The route planning unit plans the route through one or more waypoints set according to the purpose of movement and one or more waypoints that match the intention of the person to lead.
The information processing device according to (2) above.
(4)
The route planning unit extracts one or more waypoints that match the preferences of the person to be guided from a plurality of waypoints set according to the travel purpose, and selectively selects the extracted one or more waypoints. performing the route planning via the
The information processing device according to (2) above.
(5)
The route planning unit performs the route planning taking into consideration the constraints assumed during movement.
The information processing device according to (1) above.
(6)
The route planning unit determines the order of movement to a plurality of stopover points set in the movement route based on the constraints assumed at the time of movement.
The information processing device according to (5) above.
(7)
The route planning unit plans the route via one or more waypoints set according to the purpose of movement and one or more waypoints set according to the constraints assumed during movement.
The information processing device according to (5) above.
(8)
The route planning unit performs the route planning taking into consideration the schedule of the lead target person.
The information processing device according to (1) above.
(9)
The route planning unit sets priorities for a plurality of stopover points set in the travel route, and selects one or more stopover points to be excluded from the travel route in time for the schedule based on the priority. ,
The information processing device according to (8) above.
(10)
The speed planning unit performs the speed plan taking into consideration the moving speed of the leading subject.
The information processing device according to (1) above.
(11)
The route planning unit plans the timing of travel to the transit points set in the travel route, taking into consideration the congestion status of the transit points.
The information processing device according to (1) above.
(12)
The speed planning unit performs the speed plan taking into consideration the schedule of the leading person.
The information processing device according to (1) above.
(13)
For each registered user, there is a store front movement speed database that stores in association with the registered user's orientation, the speed at which the registered user moves in front of the store, and the products handled by the store,
The speed planning unit compares information on stopover points set in the travel route and information regarding the orientation of the lead candidate with the store-front movement speed database, and determines the speed at which the stopover points are to be traveled based on the check result. determine,
The information processing device according to (1) above.
(14)
comprising a body control unit that moves the leading robot to approach the leading target person when the leading target person stops;
The information processing device according to any one of (1) to (13) above.
(15)
The aircraft control unit notifies the schedule delay status of the lead target person.
The information processing device according to (14) above.
(16)
The body control unit causes the lead robot to wait at a standby position around the way point while the lead target person stays at a way point set on the travel route.
The information processing device according to (14) above.
(17)
Plan the route of the lead robot according to the purpose of movement of the person to be led,
Planning the speed of the leading robot to realize the route plan while taking into account constraints assumed during movement or surrounding congestion;
An information processing method executed by a computer, comprising:
(18)
Plan the route of the lead robot according to the purpose of movement of the person to be led,
Planning the speed of the leading robot to realize the route plan while taking into account constraints assumed during movement or surrounding congestion;
A program that allows a computer to accomplish something.

21 Route planning unit 22 Speed planning unit 30 Aircraft control unit MB Leading robot PR Information processing device

Claims

a route planning department that plans the route of the lead robot according to the purpose of movement of the person to be led;
a speed planning unit that plans the speed of the leading robot to realize the route plan while taking into account constraints assumed during movement or surrounding congestion;
An information processing device having:
The route planning unit performs the route planning in consideration of the preferences of the person to be led.
The information processing device according to claim 1.
The route planning unit plans the route through one or more waypoints set according to the purpose of movement and one or more waypoints that match the intention of the person to lead.
The information processing device according to claim 2.
The route planning unit extracts one or more waypoints that match the preferences of the person to be guided from a plurality of waypoints set according to the travel purpose, and selectively selects the extracted one or more waypoints. performing the route planning via the
The information processing device according to claim 2.
The route planning unit performs the route planning taking into consideration the constraints assumed during movement.
The information processing device according to claim 1.
The route planning unit determines the order of movement to a plurality of stopover points set in the movement route based on the constraints assumed at the time of movement.
The information processing device according to claim 5.
The route planning unit plans the route via one or more waypoints set according to the purpose of movement and one or more waypoints set according to the constraints assumed during movement.
The information processing device according to claim 5.
The route planning unit performs the route planning taking into consideration the schedule of the lead target person.
The information processing device according to claim 1.
The route planning unit sets priorities for a plurality of stopover points set in the travel route, and selects one or more stopover points to be excluded from the travel route in time for the schedule based on the priority. ,
The information processing device according to claim 8.
The route planning unit plans the timing of travel to the transit points set in the travel route, taking into consideration the congestion status of the transit points.
The information processing device according to claim 1.
The speed planning unit performs the speed plan taking into consideration the moving speed of the leading subject observed at the time of leading.
The information processing device according to claim 1.
The speed planning unit performs the speed plan taking into consideration the schedule of the leading person.
The information processing device according to claim 1.
For each registered user, there is a store front movement speed database that stores in association with the registered user's orientation, the speed at which the registered user moves in front of the store, and the products handled by the store,
The speed planning unit compares information on stopover points set in the travel route and information regarding the orientation of the lead candidate with the store-front movement speed database, and determines the speed at which the stopover points are to be traveled based on the check result. determine,
The information processing device according to claim 1.
comprising a body control unit that moves the leading robot to approach the leading target person when the leading target person stops;
The information processing device according to claim 1.
The aircraft control unit notifies the schedule delay status of the lead target person.
The information processing device according to claim 14.
The body control unit causes the lead robot to wait at a standby position around the way point while the lead target person stays at a way point set on the travel route.
The information processing device according to claim 14.
Plan the route of the lead robot according to the purpose of movement of the person to be led,
Planning the speed of the leading robot to realize the route plan while taking into account constraints assumed during movement or surrounding congestion;
An information processing method executed by a computer, comprising:
Plan the route of the lead robot according to the purpose of movement of the person to be led,
Planning the speed of the leading robot to realize the route plan while taking into account constraints assumed during movement or surrounding congestion;
A program that allows a computer to accomplish something.