Guidance control device, guidance control method, and program

Abstract

To allow an autonomous mobile device to perform an appropriate voice guidance.SOLUTION: An guidance control device includes a storage unit and a guidance control unit. The storage unit stores guidance control information which includes: guidance execution conditions specifying at least a place where an autonomous mobile device autonomously traveling in a travel space is present and a travel direction when the autonomous travel device enters the place; and guidance content information indicating a content of guidance. The guidance control unit performs control for the autonomous mobile device to execute guidance of the content based on the guidance content information when the guidance execution conditions are satisfied.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a guidance control device, a guidance control method, and a program. [Background technology]

[0002] A technology is known in which a moving body creates an environmental map by estimating its own position while moving through a moving space, and then generates a route to a final destination using the created environmental map, thereby enabling the moving body to move autonomously (autonomous movement) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-047680 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, when an autonomously movable vehicle (autonomous mobile device) is moving autonomously, it is preferable to enable the autonomous mobile device to provide voice guidance (audio guidance) to a person. In this case, it is preferable to enable the autonomous mobile device to provide accurate audio guidance.

[0005] In consideration of the above-mentioned problems, an object of the present invention is to enable an autonomous mobile device to provide accurate voice guidance. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is a guidance control device that includes a memory unit that stores guidance control information including guidance execution conditions that specify at least the location of an autonomous mobile device that moves autonomously in a moving space and the direction of travel when the autonomous mobile device enters the location, and guidance content information that indicates the content of the guidance, and a guidance control unit that controls the autonomous mobile device to execute guidance based on the guidance content information in response to the guidance execution conditions being satisfied.

[0007] One aspect of the present invention is a guidance control method in a guidance control device, the guidance control method including a storage step in which a storage unit stores guidance control information including guidance execution conditions that specify at least a location where an autonomous mobile device that moves autonomously in a moving space is located and a direction of travel when the autonomous mobile device enters the location, and guidance content information that indicates the content of the guidance, and a guidance control step in which a guidance control unit controls the autonomous mobile device to execute guidance of content based on the guidance content information in response to the guidance execution conditions being satisfied.

[0008] One aspect of the present invention is a program for causing a computer to function as a memory unit that stores guidance control information including guidance execution conditions that specify at least the location of an autonomous mobile device that moves autonomously in a mobile space and the direction of travel when the autonomous mobile device enters the location, and guidance content information that indicates the content of the guidance, and a guidance control unit that controls the autonomous mobile device to execute guidance based on the guidance content information in response to satisfaction of the guidance execution conditions. Effect of the Invention

[0009] According to the present invention, it is possible for an autonomous mobile device to provide accurate voice guidance. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of the appearance of an autonomous mobile device according to an embodiment of the present invention; [Diagram 2]1 is a diagram showing an example of the appearance of an autonomous mobile device according to an embodiment of the present invention; [Diagram 3] FIG. 2 is a diagram illustrating an example of a functional configuration of an autonomous mobile device according to the present embodiment. [Figure 4] FIG. 4 is a diagram showing an example of guidance control information in the present embodiment. [Diagram 5] 5A to 5C are diagrams illustrating a specific example of guidance control in the present embodiment. [Figure 6] 5 is a flowchart showing an example of a processing procedure executed by an autonomous mobile device in the present embodiment in relation to voice guidance. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> [Exterior of the autonomous mobile device] The autonomous mobile device (an example of a guidance control device) of this embodiment will be described below. In the following description, the autonomous mobile device of this embodiment will be used to guide a visually impaired user to a desired destination in a moving space such as a museum, a hospital, or other facility. The autonomous mobile device of this embodiment has a handle-shaped grip portion. By holding the grip portion and walking along with the movement of the autonomous mobile device moving to a destination, the user can be guided to the destination by the autonomous mobile device.

[0012] An example of the external appearance of an autonomous mobile device 100 of this embodiment will be described with reference to Figures 1 and 2. Figure 1 is a perspective view of the autonomous mobile device 100 as seen from the front left side. Figure 2 is a perspective view of the autonomous mobile device 100 as seen from the rear left side.

[0013] A grip unit 150 is provided on the right side surface of the main body of the autonomous mobile device 100. The grip unit 150 is a portion that is held by a user who wishes to receive guidance, and the user is adapted to hold the grip unit 150, for example, with the left hand. By holding the grip unit 150, the user can walk while following the movement of the autonomous mobile device 100.

[0014] Furthermore, the grip unit 150 is provided with a force sensor, which allows the user to operate the grip unit 150 by applying force in any direction. The grip unit 150 may also be provided with a predetermined number of buttons. The user can cause the autonomous mobile device 100 to execute a predetermined operation by applying force to the grip unit 150 in any direction, including the front, back, left, and right, or by pressing a button.

[0015] The autonomous mobile device 100 in the figure is equipped with two front wheels 131-L, 131-R corresponding to the left and right, and two rear wheels 132-L, 132-R corresponding to the left and right. In this case, of the front wheels 131-L, 131-R and the rear wheels 132-L, 132-R, the front wheels 131-L, 131-R may be passive wheels, and the rear wheels 132-L, 132-R may be drive wheels.

[0016] The autonomous mobile device 100 is also provided with a speaker 131. The autonomous mobile device 100 can perform various notifications by outputting voice or electronic sounds to the user from the speaker 131. In this embodiment, such notifications include the autonomous mobile device 100 providing guidance about a predetermined place in the mobile space.

[0017] Furthermore, two-dimensional sensors 111-1 and 111-2 are provided in autonomous mobile device 100. Two-dimensional sensor 111-1 is provided on the front left of autonomous mobile device 100, and two-dimensional sensor 111-2 is provided on the rear right of autonomous mobile device 100. In other words, two-dimensional sensors 111-1 and 111-2 are provided diagonally in the planar direction of autonomous mobile device 100.

[0018] Two-dimensional sensor 111-1 provided on the left front of autonomous mobile device 100 detects the two-dimensional shape of the surroundings from the left lateral direction to the front of autonomous mobile device 100. Two-dimensional sensor 111-2 provided on the right rear of autonomous mobile device 100 detects the two-dimensional shape of the surroundings from the right lateral direction to the rear of autonomous mobile device 100.

[0019] The two-dimensional sensors 111-1 and 111-2 may be LiDAR (Light Detection and Ranging). That is, the two-dimensional sensors 111-1 and 111-2 each include a laser light emitting unit and a light receiving unit that receives the reflected laser light, and measure distance based on the time from when the emitting unit irradiates the surroundings with pulsed laser light until the light receiving unit receives the reflected light. The autonomous mobile device 100 uses the measurement results to generate surrounding environment data indicating the shape of the surrounding environment, and estimates its own position on the self-position estimation map.

[0020] Furthermore, ultrasonic sensors 112-L and 112-R are provided on the left and right sides of the front of the autonomous mobile device 100. The ultrasonic sensors 112-L and 112-R radiate ultrasonic waves to the surroundings, measure the time it takes for the radiated ultrasonic waves to reflect and return, and measure the distance to surrounding objects based on the measured time. The ultrasonic sensors 112-L and 112-R assist the two-dimensional sensors 111-1 and 111-2 in detecting the two-dimensional shape of the surroundings. In other words, it is difficult for the two-dimensional sensors 111-1 and 111-2 using LiDAR to detect the shape of the surroundings where light passes through. Therefore, the ultrasonic sensors 112-L and 112-R are configured to detect the shape of the light-passing parts. By correcting the two-dimensional shape detected by two-dimensional sensors 111-1 and 111-2 using the two-dimensional shape detected by ultrasonic sensors 112-L and 112-R, it is possible to accurately grasp the surrounding two-dimensional shape, including areas that do not transmit light as well as areas that transmit light.

[0021] The autonomous mobile device 100 is also provided with a three-dimensional sensor 113. The three-dimensional sensor 113 detects the three-dimensional shape of surrounding objects. LiDAR (Light Detection and Ranging) may also be used for the three-dimensional sensor 113. The three-dimensional sensor 113 may also be used to assist in detecting the shape of the surrounding environment.

[0022] The autonomous mobile device 100 is also provided with a depth camera 114. The depth camera 114 can be used, for example, to detect steps in the surrounding environment.

[0023] [Path planning for autonomous mobile devices] The autonomous mobile device 100 of this embodiment stores a map for self-position estimation and a map for route planning as maps used for autonomous movement (maps for autonomous movement). The self-location estimation map is a map used by the autonomous mobile device 100 to estimate its own location during autonomous movement. The self-location estimation map is obtained based on surrounding environment data obtained by detecting the entire movement space of the autonomous mobile device 100 in advance using the two-dimensional sensor 111. The route planning map is a map used for planning a route to a destination during autonomous movement of the autonomous mobile device 100. While the self-location estimation map is, for example, a two-dimensional map at a predetermined height from the floor of the movement space, the route planning map is a map that reflects objects that are obstacles to the movement of the autonomous mobile device 100 in the height direction of the movement space. The autonomous mobile device 100 estimates its own position in the moving space by comparing surrounding environment data obtained by detection using the two-dimensional sensor 111 during autonomous movement within the moving space with a map for self-position estimation. Furthermore, when autonomously moving, the autonomous mobile device 100 refers to a route planning map to calculate a route that can be traveled from the current position to the destination without coming into contact with surrounding objects. In addition, in the case of this embodiment, the spatial occupation range of the autonomous mobile device 100 may be set to include the presence of the accompanying person, taking into consideration that the autonomous mobile device 100 may be accompanied by a visually impaired person. The autonomous mobile device 100 may plan a route such that the spatial occupation range set in this manner does not come into contact with surrounding objects shown on the route planning map.

[0024] [Example of functional configuration of autonomous mobile device] 3 shows an example of the functional configuration of the autonomous mobile device 100. The autonomous mobile device 100 includes, as hardware, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and storage devices such as a hard disk drive (HDD) and a solid state drive (SSD). The functions of the autonomous mobile device 100 shown in the figure are realized by a CPU included in the hardware of the autonomous mobile device 100 executing a program. The autonomous mobile device 100 in the figure includes a sensor unit 101, a mobile mechanism unit 102, a user interface unit 103, a control unit 104, and a storage unit 105.

[0025] The sensor unit 101 includes a predetermined sensor that detects the surrounding environment (surrounding objects and obstacles) and detects information for estimating the self-position. In correspondence with Fig. 1 and Fig. 2, the sensor unit 101 includes two-dimensional sensors 111-1 and 111-2, and ultrasonic sensors 112-L and 112-R. The sensor unit 101 may further include a three-dimensional sensor 113, a depth camera 114, and the like.

[0026] The movement mechanism unit 102 is a drive mechanism that enables movement of the autonomous moving device 100. The movement mechanism unit 102 may be configured to be capable of causing the autonomous moving device 100 to move forward or backward, as well as to change direction to the left or right, based on information input from the user interface unit 103 or the control unit 104.

[0027] The user interface unit 103 includes a portion related to an input device that allows a user to operate. Specifically, the user interface unit 103 includes a grip unit 150 and a configuration that allows an operation of applying force to the grip unit 150 in the forward / backward and left / right directions using a force sensor. The user interface unit 103 also includes operators such as buttons provided on the grip unit 150, the main body of the autonomous mobile device 100, etc. Furthermore, the user interface unit 103 includes a portion that outputs information to the user. Specifically, the user interface unit 103 includes a speaker 131 (FIG. 1) as a portion that outputs information to the user, and a portion that causes the speaker to output sound.

[0028] The control unit 104 executes various controls in the autonomous mobile device 100. The control unit 104 includes a movement control unit 141 and a guidance control unit 142.

[0029] The movement control unit 141 controls the autonomous movement of the autonomous mobile device 100. The movement control unit 141 compares the surrounding environment detected by the sensor unit 101 with the self-position estimation map to estimate the current self-position of the autonomous mobile device 100, and calculates a route from the current position to the destination using the route planning map. The movement control unit 141 controls the autonomous mobile device 100 to move while tracing the calculated route with the estimated self-position.

[0030] The guidance control unit 143 executes control related to audio guidance for a person accompanying the autonomous mobile device 100 based on the guidance control information stored in the guidance control information storage unit 152 .

[0031] The storage unit 105 stores various types of information corresponding to the autonomous moving device 100. The storage unit 105 includes an autonomous movement map storage unit 151 and a guidance control information storage unit 152.

[0032] The autonomous movement map storage unit 151 stores a map for self-position estimation and a map for route planning corresponding to a movement space as a map for autonomous movement. The map for autonomous movement is used by the movement control unit 141 to perform autonomous movement control.

[0033] The guidance control information storage unit 152 stores guidance control information. The guidance control information is information indicating control content for causing the autonomous mobile device 100 to execute voice guidance in response to each guidance target location (guidance point) defined in the movement space.

[0034] Fig. 4 shows an example of guidance control information stored in the guidance control information storage unit 152. One record (one row) of the table in the figure is guidance control information corresponding to one guidance point. The guidance control information corresponding to one guidance point includes fields for the point name, a voice-enabled notation, a reference position, a trigger range (an example of a spatial range based on the reference position), a reference direction, and a tag.

[0035] The point name field stores the name (point name) of the guidance point where the corresponding voice guidance is provided.

[0036] The field of the voice-enabled notation stores a text indicating the notation content corresponding to the voice guidance. When synthesizing the voice guidance, the text in the language indicated as the voice-enabled notation is used.

[0037] The reference position field stores coordinates as a reference position on a map for self-location estimation (or a map for route planning) corresponding to a point where the corresponding voice guidance is provided. The trigger range field stores the trigger range. The trigger range is a spatial range set based on a reference position, and is a range in which the corresponding voice guidance should be provided. The corresponding voice guidance is started, for example, when the device reference position set in the autonomous mobile device 100 reaches within the trigger range.

[0038] The reference direction field stores a reference direction. The reference direction is a direction to be compared with the moving direction of the autonomous mobile device 100 when it enters the trigger range in determining whether or not to provide the corresponding voice guidance.

[0039] The tag field stores tags assigned corresponding to voice guidance control. A tag is meta information assigned to one or more corresponding voice guidance. Specifically, in the figure, the tags include a direction specification tag ("direction match", "direction difference") and a guidance interruption possibility tag ("guidance interruption possible", "guidance interruption not possible" (an example of guidance interruption possibility information)). The “direction agreement” tag describes the condition (guidance condition) for executing voice guidance as “the reference direction and the moving direction of the autonomous mobile device 100 when it enters the trigger range must match.” The "directional difference" tag describes the guidance condition as "the angular difference between the reference direction and the moving direction of the autonomous mobile device 100 when it enters the trigger range falls within a predetermined range." In the figure, the angular difference is ±90°. In this case, it is specifically set as "directional difference_±90°." For example, the guidance condition is "the angular difference between the reference direction and the moving direction of the autonomous mobile device 100 when it enters the trigger range falls within a predetermined angle range based on ±90°." The “Guidance can be interrupted” tag describes that “if the autonomous mobile device 100 reaches a trigger range corresponding to another voice guidance before the corresponding voice guidance has ended, the current voice guidance may be interrupted and the other voice guidance may be started.” The “no interruption of guidance” tag describes that “even if the autonomous mobile device 100 reaches a trigger range corresponding to another voice guidance before the corresponding voice guidance has ended, the previous voice guidance may be continued without being interrupted until the corresponding voice guidance ends.”

[0040] In addition, in the guidance control information in the same figure, the location where voice guidance is provided is specified by the point coordinates as a reference position and a trigger range, but for example, an area divided by dividing the building BL into a grid may be specified as the location where voice guidance is provided. The trigger range, the reference direction, and the direction specification tag in this embodiment are examples of guidance execution conditions.

[0041] [Guidance control example] A specific example of guidance control corresponding to the contents of guidance control information will be described with reference to Fig. 5. Fig. 5 shows a schematic diagram of symbols 10 (10-1, 10-2) corresponding to two pieces of guidance control information set corresponding to a map of a building BL as a moving space. In the figure, the map of the building BL is shown corresponding to the east-west-north-south directions. Note that the dashed lines shown at a certain distance from the walls of the building BL are interference areas where it is determined that no route should be set when the autonomous mobile device 100 plans a route.

[0042] 5 indicates the setting contents of the corresponding guidance control information. That is, the symbol 10 includes a point name indication 11, a reference position indication 12, a reference direction indication 13, a trigger range indication 14, and a tag indication 15. The point name indicator 11 indicates the point name. The reference position indicator 12 indicates the reference position. The reference direction marker 13 indicates a reference direction. In the figure, the reference direction marker 13 indicates a direction set as the reference direction by the direction indicated by the tip of an arrow. The trigger range indicator 14 indicates the trigger range. In the example shown in the figure, the trigger range indicator 14 is a circle centered on the reference position indicated by the reference position indicator 12. The shape of the trigger range is not limited to a circle, and may be, for example, an ellipse or a square with the reference position as the reference. The tag indicator 15 indicates the content of the tag that has been added.

[0043] Here, the autonomous mobile device 100-1 has entered the trigger range indicated by the trigger range indicator 14 of the symbol 10-1 in the traveling direction indicated by the arrow A. The tag of the guidance control information corresponding to the symbol 10-1 indicates "direction agreement." In this case, the reference direction in the guidance control information corresponding to the symbol 10-1 and the traveling direction of the autonomous mobile device 100-1 are identical. In this case, the autonomous mobile device 100-1 executes voice guidance such as "There is a conference room on your right" in response to the point name "Conference room" at the timing when the autonomous mobile device 100-1 enters the trigger range. Also, the tag of the guidance control information corresponding to the symbol 10-1 indicates “guidance interruption possible.” Therefore, if the autonomous mobile device 100-1 enters a trigger range corresponding to other guidance control information before the current voice guidance is finished, the autonomous mobile device 100-1 interrupts the current voice guidance and provides voice guidance corresponding to the guidance control information corresponding to the newly entered trigger range.

[0044] Furthermore, the autonomous mobile device 100-2 has entered the trigger range indicated by the trigger range indicator 14 of the symbol 10-1 in the traveling direction indicated by the arrow B. In this case, the reference direction in the guidance control information corresponding to the symbol 10-1 and the traveling direction of the autonomous mobile device 100-1 are opposite to each other and do not match. Since the tag of the guidance control information corresponding to the symbol 10-1 is "direction match," when the reference direction and the traveling direction of the autonomous mobile device 100-1 do not match in this way, the autonomous mobile device 100-1 does not provide voice guidance.

[0045] Moreover, the guidance control information corresponding to the symbol 10-2 has a reference direction of southward and a tag indicating "directional difference_±90°." In this case, the autonomous mobile device 100 executes voice guidance when entering the trigger range from an eastward or westward traveling direction that corresponds to an angle difference of ±90° with respect to the southward direction. 5, the autonomous mobile device 100-3 moves from a traveling direction to the west as indicated by the arrow C and enters the trigger range indicated by the trigger range indicator 14 of the symbol 10-2. In this case, the condition of "directional difference is -90°" with respect to the reference direction is satisfied, so the autonomous mobile device 100, in response to entering the trigger range, provides voice guidance such as "There is a ladies' restroom on the left" in response to the point name "Restroom Women." 5, the autonomous mobile device 100-4 moves from the westward direction as indicated by the arrow D and enters the trigger range indicated by the trigger range indicator 14 of the symbol 10-2. In this case, the condition of "directional difference is +90°" with respect to the reference direction is met, so the autonomous mobile device 100 provides voice guidance such as "There is a ladies' restroom on the right" in response to the entry into the trigger range. Also, the tag of the guidance control information corresponding to the symbol 10-2 indicates "guidance cannot be interrupted." Therefore, even if the autonomous mobile devices 100-3 and 100-4 enter a trigger range corresponding to other guidance control information before the current voice guidance is finished, the current voice guidance may be continued without interrupting the current voice guidance, for example, until the spoken content of the voice guidance is completed.

[0046] [Example of processing procedure] An example of a processing procedure executed by the autonomous mobile device 100 in relation to voice guidance will be described with reference to the flowchart of Fig. 6. The processing in Fig. 6 is executed when the autonomous mobile device 100 is autonomously moving toward a destination based on an autonomous movement map (a map for self-location estimation, a map for route planning).

[0047] Step S100: In the autonomous mobile device 100, the guidance control unit 142 acquires the current self-position that the mobile control unit 141 estimates.

[0048] Step S102: The guidance control unit 142 determines whether or not the self-position acquired in step S100 is included in any trigger range of the guidance control information stored in the guidance control information storage unit 152. In other words, the guidance control unit 142 determines whether or not the autonomous mobile device 100 has entered a trigger range corresponding to any of the guidance control information.

[0049] Step S104: If it is determined in step S102 that the autonomous mobile device 100 has entered the trigger range, the guidance control unit 142 determines whether or not the previously started voice guidance has not ended and is still being executed.

[0050] Step S106: If the voice guidance started in the last step S114 is currently in progress, the guidance control unit 142 determines whether the currently in progress voice guidance can be interrupted by referring to the tag of the guidance control information corresponding to the previously started voice guidance.

[0051] Step S108: If it is determined in step S106 that the voice guidance is not interruptible (cannot be interrupted), the guidance control unit 142 executes the previously started voice guidance until a series of sequences is completed, and then returns to the process of step S100. Completion of the sequence here may mean, for example, completion of output of a voice in which all utterance contents corresponding to the voice guidance have been spoken.

[0052] Step S110: If it is determined in step S108 that the voice guidance can be interrupted, the guidance control unit 142 interrupts the previously started voice guidance.

[0053] Step S112: If it is determined in step S104 that the previously started voice guidance is not being executed, or after the process of step S110, the guidance control unit 142 determines whether or not the (current) traveling direction when it is determined in step S102 that the autonomous mobile device 100 has entered the trigger range satisfies the direction condition (direction specification tag and reference direction) indicated by the guidance control information corresponding to the trigger range that was the target of the entry in step S102. If the direction condition is not satisfied, the process returns to step S100.

[0054] Step S114: If it is determined in step S112 that the direction condition is satisfied, the guidance control unit 142 executes voice guidance based on the voice-enabled notation of the guidance control information corresponding to the trigger range that is the subject of the determination in step S102. At this time, the guidance control unit 142 may synthesize a voice based on the voice-enabled notation of the guidance control information, and cause the sound output unit of the user interface unit 103 to output the voice obtained by the synthesis.

[0055] In the above embodiment, the autonomous mobile device 100 has a handle, and the visually impaired person holds the handle while accompanying the autonomous mobile device 100 in its movement, and provides audio guidance to the visually impaired person. The autonomous mobile device 100 of the present embodiment is not limited to this. The autonomous mobile device 100 of the present embodiment may be, for example, a robot that guides visitors to appropriate locations, or a robot that leads visitors to facilities such as museums and provides audio explanations of artworks.

[0056] The guidance provided by the autonomous mobile device 100 is not limited to audio guidance, and may be provided, for example, by display. Furthermore, the guidance provided by the autonomous mobile device 100 may be provided by a combination of audio and display.

[0057] The function of the guidance control unit 142 may be provided in a device such as a server communicatively connected to the autonomous mobile device 100. In this case, the device such as the server may control the autonomous mobile device 100 to execute guidance by transmitting commands or the like to the autonomous mobile device 100 via communication.

[0058] In addition, a program for realizing the functions of the autonomous mobile device 100, the map-related information processing device 200, etc. described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing as the autonomous mobile device 100, the map-related information processing device, etc. described above. Here, "reading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. The "computer system" here includes hardware such as an OS and peripheral devices. In addition, the "computer system" may include multiple computer devices connected via a network including a communication line. The recording medium also includes a recording medium provided inside or outside and accessible from a distribution server to distribute the program.

[0059] [SDGs Goal Note] The "Sustainable Development Goals (SDGs)" are 17 international goals that were adopted at the United Nations Summit in September 2015. The site management system, site management method, and program according to this embodiment can contribute to the achievement of the 17 SDGs, for example, goal 9. "Build resilient infrastructure, promote industry, innovation and infrastructure." [Explanation of symbols]

[0060] 100 Autonomous moving device, 101 Sensor unit, 102 Moving mechanism unit, 103 User interface unit, 104 Control unit, 105 Memory unit, 141 Moving control unit, 142 Guidance control unit, Autonomous moving map memory unit 151, 152 Guidance control information memory unit

Claims

1. a storage unit that stores guidance control information including guidance execution conditions that specify at least a location where an autonomous mobile device that moves autonomously in a moving space is located and a traveling direction when the autonomous mobile device enters the location, and guidance content information that indicates the content of the guidance; a guidance control unit that controls the autonomous mobile device to execute guidance based on the guidance content information in response to the guidance execution condition being satisfied; A guidance control device comprising:

2. The guidance content information indicates a speech content corresponding to the voice guidance, The guidance control unit controls the autonomous mobile device to provide voice guidance based on guidance content information. The guidance control device according to claim 1 .

3. The guidance control unit controls the autonomous mobile device to perform guidance when a predetermined relationship exists between a traveling direction of the autonomous mobile device when the autonomous mobile device enters the range of the location and a reference position, determining that the guidance execution condition is satisfied. The guidance control device according to claim 1 or 2.

4. The guidance control information includes guidance interruption information indicating whether or not the currently executed guidance can be interrupted, When a guidance execution condition corresponding to another piece of guidance control information is satisfied while guidance based on one piece of guidance control information is being executed, the guidance control unit suspends the currently executed guidance if guidance interruption availability information of the one piece of guidance control information indicates that the guidance can be interrupted, and continues the currently executed guidance until completion if guidance interruption availability information of the one piece of guidance control information indicates that the guidance cannot be interrupted. The guidance control device according to claim 1 or 2.

5. A guidance control method in a guidance control device, a storage step in which the storage unit stores guidance control information including guidance execution conditions that specify at least a location where an autonomous mobile device that moves autonomously in a moving space is located and a traveling direction when the autonomous mobile device enters the location, and guidance content information that indicates the content of the guidance; a guidance control step of controlling the autonomous mobile device to execute guidance of content based on the guidance content information in response to the guidance execution condition being satisfied by a guidance control unit; A guidance control method comprising:

6. Computer, a storage unit that stores guidance control information including guidance execution conditions that specify at least a location where an autonomous mobile device that moves autonomously in a moving space is located and a traveling direction when the autonomous mobile device enters the location, and guidance content information that indicates the content of the guidance; a guidance control unit that controls the autonomous mobile device to execute guidance based on the guidance content information in response to the guidance execution condition being satisfied; A program to function as a

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