Control device, control method, and control system

Abstract

The present invention provides a control device, a control method, and a control system. The present invention provides a robot that provides appropriate hospitality to visitors. The control device controls a self-propelled robot, comprising: a facility personnel identification mechanism that identifies the location of facility personnel within a facility; a visitor identification mechanism that identifies the location of a visitor within the facility; and a control mechanism that instructs the self-propelled robot to move. If the control mechanism determines that a facility personnel identified by the visitor identification mechanism is not within a predetermined range near a visitor identified by the visitor identification mechanism, the control mechanism causes the robot to move within the predetermined range.

Description

Technical Field

[0001] The present invention relates to a control device, a control method and a control system for a robot capable of driving itself. Background Art

[0002] Various technologies related to robot control systems using guide robots have been proposed (Patent Document 1). In the robot control system described in Patent Document 1, a guide robot (communication robot) listens to visitors' needs or guides them around an exhibition venue, for example.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Patent No. 6142306 Summary of the Invention

[0006] Problems that the invention needs to solve

[0007] In facilities where visitors need to wait inside to receive their pre-ordered goods or services, they may spend their time there. Therefore, facilities are expected to provide visitors with appropriate hospitality, and a technology that enables this by using a limited number of guidance robots is desired.

[0008] Methods used to solve problems

[0009] An object of the present invention is to provide a guide robot that provides appropriate hospitality to visitors.

[0010] According to one embodiment of the present invention,

[0011] A control device is provided for controlling a robot capable of moving independently, wherein:

[0012] The control device comprises:

[0013] a facility personnel identification authority, which determines the location of facility personnel;

[0014] Visitor identification agencies, which determine the location of visitors; and

[0015] a control mechanism that instructs the robot to move autonomously,

[0016] The control unit moves the robot into the predetermined range when it is determined that the facility personnel identified by the facility personnel identification unit is not within a predetermined range near the visitor identified by the visitor identification unit.

[0017] In addition, according to one embodiment of the present invention,

[0018] A control method is provided, which is executed by a control device for controlling a robot capable of driving itself, and is characterized in that:

[0019] The control method includes:

[0020] a facility personnel determination step in which the location of the facility personnel is determined;

[0021] a visitor determining step of determining the location of the visitor; and

[0022] a control step of instructing the robot capable of autonomous movement;

[0023] In the control step, when the control device determines that the facility personnel identified by the facility personnel identification step does not exist within a predetermined range near the visitor detected by the visitor identification step, it instructs the robot to move within the predetermined range.

[0024] According to the present invention, a guide robot that provides appropriate hospitality to visitors can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic configuration diagram of the robot management system according to this embodiment.

[0026] Figure 2 It is schematically represented Figure 1 A three-dimensional image of a guide robot.

[0027] Figure 3 Yes Figure 1 A block diagram of the composition of the robot management system.

[0028] Figure 4 Yes Figure 3 A block diagram of the structure of the control server.

[0029] Figure 5 This is a flowchart showing an example of the robot dispatch process executed by the control server.

[0030] Figure 6 Yes Figure 5 A flowchart of an example of a visitor identification process.

[0031] Figure 7 This is a diagram showing an example of a table for estimating the visitor's status.

[0032] Figure 8This is a diagram showing the positional relationship between visitors and facility staff.

[0033] Figure 9 This is a flowchart showing an example of the robot dispatch process executed by the control server.

[0034] Description of reference numerals:

[0035] 1: Exhibition hall; 3: Guide robot; 4: Control server; 11: Camera; 306: Simulated eye; 305: Display unit. DETAILED DESCRIPTION

[0036] The following embodiments are described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention involved in the technical solution. In addition, not all combinations of features described in the embodiments are required for the invention. Any combination of two or more of the multiple features described in the embodiments can be made. In addition, the same reference numbers are marked for the same or similar components, and repeated descriptions are omitted.

[0037] Below, refer to Figures 1 to 9 The robot management device according to this embodiment will now be described. The robot management device according to this embodiment determines whether a guide robot should be dispatched to a detected person based on images of the facility captured by a camera installed within a facility such as a store. For example, if the detected person is a visitor or other guest, and facility personnel, store staff, or a guide robot are not in the vicinity of the detected guest, and the user is determined to need to be greeted, the guide robot is dispatched to the guest.

[0038] In this way, a guide robot is dispatched to the guest who needs to be attended to and communicates with them, thereby avoiding the situation where the guest feels that they are not being noticed by the facility staff and feels stressed or just passes the time.

[0039] Examples of facilities that utilize guide robots as described above include retail stores that sell various goods, art museums, museums, galleries, exhibition halls, and other art-related facilities, science museums, memorial halls, exhibitions, and seminars. Examples of retail stores that sell various goods include department stores, supermarkets, and specialty stores. Examples of specialty stores include various specialty stores and motor vehicle dealerships. In addition, motor vehicle dealerships provide not only the sale of motor vehicles but also various services such as maintenance and leasing of motor vehicles. In the following embodiment, an example is described in which a robot management device is configured by a control server, and the control server is installed in a motor vehicle dealership, so that a guide robot located in a showroom of the motor vehicle dealership is dispatched to a visitor to the showroom.

[0040] Figure 1 FIG. 1 is a schematic diagram of a robot management system 100 that uses a control server 4 constituting a robot management device according to an embodiment of the present invention. Figure 1 As shown, in a robot management system 100 using a server device (control server) 4 according to this embodiment, a self-propelled guide robot 3 is deployed in a showroom 1 of a motor vehicle dealership where display vehicles 2 are displayed. Visitors to the showroom 1 are then identified based on images of the showroom interior captured by multiple imaging devices 11 installed on the ceiling 10 of the showroom 1. For example, each visitor and showroom staff (facility personnel) are identified based on their facial images as reflected in the images of the showroom interior. Alternatively, for example, each visitor and showroom staff are identified based on their facial images as reflected in the images of the showroom interior.

[0041] Furthermore, based on the exhibition hall image, it is determined whether there is an exhibition hall staff member near the visitor, and the guidance robot is controlled to move to the visitor who does not have facility staff nearby.

[0042] For example, Figure 1 As shown, if three visitors, A, B, and C, visit exhibition hall 1, where facility personnel (staff members) D and E are present, server device 4 identifies visitors A, B, and C and staff members D and E based on images of the exhibition hall captured by multiple cameras 11. For example, server device 4 may identify people wearing specific clothing, such as uniforms, as staff members and all other people as visitors. Then, assume that staff member D receives visitor A, staff member E receives visitor B, but no staff member receives visitor C.

[0043] Here, regarding the guide robot 3, Figure 2 While explaining. Figure 2 It schematically represents the composition Figure 1 The perspective view of the guide robot 3 of the robot management system 100 is shown in FIG. Figure 2 As shown, the guide robot 3 is formed in an upright, roughly gourd-shaped configuration, with a narrowed portion 302 at its center, a head portion 301 at the top, and a torso portion 303 at the bottom. The head 301 of the guide robot 3 is approximately two heads larger than the torso 303, resulting in a cute and gentle overall shape. In this embodiment, the guide robot 3 is approximately 110 cm tall.

[0044] In addition, the guide robot 3 is constructed without arms and legs, and is able to move freely in any direction of 360 degrees, such as front, back, left, right, and tilt directions, by means of a traveling device 304 provided at the lower end of the trunk portion 303. It should be noted that the description of the specific structure of the traveling device 304 is omitted here. In this way, the guide robot 3 has a shape in which the head 301 is slightly larger than the trunk portion 303 and has no arms and legs, for example, a shape that is easy for a child to hug and easy to communicate with. In addition, the guide robot 3 enables the traveling device 304 to swing in the front-back direction and the left-right direction while performing actions, so that visitors can easily perceive the approach, etc., and the guide robot 3 can make actions that facilitate communication with the visitor, etc.

[0045] The guide robot 3's head 301 is provided with a horizontally elongated, roughly oval-shaped face 305. This face 305 is configured to display the guide robot 3's facial expressions, simple text images, and the like. In this embodiment, the guide robot 3's face 305 includes a pair of simulated eyes 306, which represent eyes. These simulated eyes 306 are configured to display a variety of facial expressions. For example, by varying the shape of the simulated eyes 306, expressions such as joy, anger, sorrow, and happiness can be expressed. In this embodiment, a simulated mouth 307 is also displayed, representing a mouth. By varying the shapes of the simulated eyes 306 and the simulated mouth 307, variations in facial expressions can be easily distinguished.

[0046] Furthermore, the guidance robot 3 is configured to move the position of a pair of simulated eyes 306 on its face 305. The guidance robot 3 expresses the movement of its gaze by changing the position of its simulated eyes 306 within its face 305. By changing the position of its simulated eyes 306 in front of the visitor, the guidance robot 3 guides the visitor's gaze. By rotating the guidance robot 3 in conjunction with the movement of the visitor's gaze, for example, this facilitates guiding the visitor's gaze.

[0047] A guide robot 3, constructed as described above, is dispatched to the visitor's location to provide simple guidance, asking about their needs, requesting drinks, or asking which facility staff member they would like to receive them. Furthermore, by capturing the visitor's image and identifying them as a past visitor, facility staff can obtain information about past sales and services, thereby improving the quality of their service. To effectively implement this type of robot dispatch guidance service for automobile dealerships, in this embodiment, a robot management system 100 is configured using a server device 4 as described below.

[0048] Figure 3 Yes Figure 1 The block diagram of the main components of the robot management system 100 is shown in FIG. Figure 4 Yes Figure 3 The main parts of the server device 4 are shown in FIG. Figure 1 As shown, the robot management system 100 according to this embodiment includes an imaging device 11 installed on a ceiling 10 of a showroom 1 of a car dealership, an autonomous guide robot 3 arranged in the showroom 1, and a server device 4 of the car dealership.

[0049] like Figure 3 As shown, the imaging device 11, the guide robot 3, and the server device 4 are connected to a communication network 5 such as a wireless communication network, the Internet, or a telephone line network. Figure 3 For convenience, only one photographing device 11 is shown. Figure 1 As shown, there are actually multiple shooting devices 11. Figure 3 Although only one guide robot 3 is shown, a plurality of guide robots 3 can be provided.

[0050] like Figure 3 As shown, the photographing device 11 includes: a communication unit 111, a photographing unit 112, a sensor unit 113, a storage unit 114, and a control unit 115. The communication unit 111 is configured to be able to wirelessly communicate with the server device 4 and the guide robot 3 via the communication network 5. The photographing unit 112 is a camera having photographing elements such as CCD and CMOS, and is configured to be able to photograph visitors who have visited the exhibition hall 1. The sensor unit 113 is a sensor such as a motion body sensing sensor and a human body sensing sensor, and is configured to be able to detect the position and movement of visitors who have visited the exhibition hall 1 in the exhibition hall. A plurality of photographing units 112 and sensor units 113 are arranged on the ceiling 10 of the exhibition hall 1, so that visitors who have visited the exhibition hall 1 can be photographed and sensed no matter where they are in the exhibition hall 1.

[0051] The storage unit 114 includes volatile or nonvolatile memory (not shown). The storage unit 114 stores various programs and data executed by the control unit 115. For example, the storage unit 114 temporarily stores images of the exhibition hall captured by the imaging unit 112 and location information of visitors detected by the sensor unit 113.

[0052] The control unit 115 has a CPU and performs predetermined processing based on signals received from outside the shooting device 11 via the communication unit 111 and various programs stored in the storage unit 114. The communication unit 111 outputs predetermined control signals to the shooting unit 112, the sensor unit 113 and the storage unit 114.

[0053] For example, the control unit 115 transmits images captured by the camera unit 112 and the locations of visitors, facility personnel, and other individuals detected by the sensor unit 113 to the server device 4 at a predetermined interval. Alternatively, in response to a capture instruction from the server device 4, the camera unit 112 captures an image, and the sensor unit 113 detects the location of the visitor, and transmits the image and location information to the server device 4. This allows the server device 4 to acquire images of the interior of the exhibition hall 1 (exhibition hall images). By analyzing the exhibition hall images, the server device 4 can identify visitors and facility personnel included in the acquired images.

[0054] like Figure 3 As shown, the guide robot 3 has a functional configuration including a communication unit 31, an input unit 32, an output unit 33, an imaging unit 34, a travel unit 35, a sensor unit 36, a storage unit 37, and a control unit 38. The communication unit 31 is configured to be able to wirelessly communicate with the server device 4 and the imaging device 11 via the communication network 5. The input unit 32 includes various switch buttons (not shown) that can be operated during maintenance, etc., and a microphone (not shown) that can input the voice of visitors, etc.

[0055] The output unit 33 includes a speaker (not shown) capable of outputting voice and a display unit 331 capable of displaying images. The display unit 331 constitutes the face 305 of the guide robot 3, and displays the pair of simulated eyes 306, text images, and the like. The display unit 331 can be configured to display the pair of simulated eyes 306, text images, and the like, and can be composed of, for example, a liquid crystal panel, a projector, and a screen.

[0056] The imaging unit 34 is a camera having an imaging element such as a CCD or CMOS, and is configured to capture images of visitors visiting the exhibition hall 1. The imaging unit 34 is, for example, mounted on the head 301 of the guide robot 3. Mounting the imaging unit 34 on the head 301 facilitates capturing images of visitors' faces. Furthermore, from the perspective of capturing images of visitors' faces, it is preferable to mount the imaging unit 34 near the pair of simulated eyes 306 of the guide robot 3.

[0057] The travel unit 35 is composed of the aforementioned travel device 304 that enables the guide robot 3 to move autonomously. The travel unit 35 is configured to include a battery and a motor, and the motor is driven by the power of the battery to travel. The travel unit 35 can be constructed using well-known electric technology. The sensor unit 36 ​​includes various sensors, such as a travel speed sensor, an acceleration sensor, and a gyroscope sensor, which detect the travel and stop status of the guide robot 3; an obstacle sensor, a human body sensor, and a moving body sensor, which detect the surrounding status of the guide robot 3.

[0058] The storage unit 37 includes volatile or nonvolatile memory (not shown). The storage unit 37 stores various programs and data executed by the control unit 38. Furthermore, the storage unit 37 temporarily stores data related to visitor hospitality. For example, the storage unit 37 temporarily stores visitor requests inquired about by the guidance robot 3 and explanations provided to the visitor by the guidance robot 3.

[0059] As an example of the functional configuration of the memory, the storage unit 37 stores a showroom database 371 and a communication database 372. The showroom database 371 stores data corresponding to, for example, the display vehicles 2 and tables arranged within the showroom 1. The guide robot 3 refers to the showroom database 371 when moving within the showroom. The communication database 372 stores data related to voice recognition and voice output processing performed by the guide robot 3 when attempting to communicate with visitors. The guide robot 3 refers to the communication database 372 when attempting to communicate with visitors.

[0060] The control unit 38 has a CPU and performs predetermined processing based on signals received from the outside of the guide robot 3 via the communication unit 31, signals input via the input unit 32, signals detected by the sensor unit 36, various programs and data stored in the storage unit 37, etc., and outputs predetermined control signals to the communication unit 31, the output unit 33, the shooting unit 34, the driving unit 35 and the storage unit 37.

[0061] For example, the control unit 38 outputs a control signal to the travel unit 35 and the storage unit 37 based on a signal received from the server device 4 via the communication unit 31 and a signal detected by the sensor unit 36. This processing by the control unit 38 dispatches the guide robot 3 to the visitor. Furthermore, for example, the control unit 38 outputs a control signal to the imaging unit 34 and the communication unit 31 based on a signal received from the server device 4 via the communication unit 31. This processing by the control unit 38 captures the visitor's face and transmits the captured facial image to the server device 4.

[0062] Furthermore, for example, the control unit 38 outputs a control signal to the output unit 33 (display unit 331) based on a signal received from the server device 4 via the communication unit 111. This processing by the control unit 38 changes the facial expression of the guide robot 3 or the line of sight of the pair of simulated eyes 306. Furthermore, for example, the control unit 38 outputs a control signal to the output unit 33 and the storage unit 37 based on a signal received via the input unit 32. This processing by the control unit 38 enables the guide robot 3 to communicate with the visitor.

[0063] like Figure 4As shown, the server device 4 includes a communication unit 41, an input unit 42, an output unit 43, a storage unit 44, and a control unit 45. The server device 4 can utilize a virtual server functional configuration on the cloud, or can also disperse each functional configuration.

[0064] The communication unit 41 is configured to be able to communicate wirelessly with the imaging device 11 and the guide robot 3 via the communication network 5 (see Figure 3 The input unit 42 includes various switches operable by the user, such as a touch panel and a keyboard, and a microphone for voice input. It should be noted that the user referred to herein is, in this embodiment, a salesperson (facility staff) at a motor vehicle dealership. The output unit 43 includes, for example, a monitor capable of displaying text and images, and a speaker capable of voice output.

[0065] The storage unit 44 includes volatile or nonvolatile memory (not shown). The storage unit 44 stores various programs and data executed by the control unit 45. The storage unit 44, as a functional component of memory, includes a guide robot database (DB) 441, an exhibition hall DB 442, a visitor DB 443, and a facility personnel DB 444.

[0066] The guide robot DB 441 stores basic information and maintenance information related to the guide robot 3, such as the robot ID of the guide robot 3 used for the robot dispatch guide service. The showroom DB 442 stores data corresponding to the display vehicles 2, tables, and other configurations located within the showroom 1. It should be noted that the showroom database 442 has the same structure as the showroom database 371 stored in the storage unit 37 of the guide robot 3, but may have either structure. Furthermore, the showroom DB 442 stores the position and posture of the camera 11 located within the showroom 1.

[0067] Visitor DB 443 stores visitor information of visitors to exhibition hall 1. This visitor information includes basic visitor information such as address, name, age, occupation, and gender, as well as facial images and visit history. The visit history includes not only the content of the visit but also pre-conference chats.

[0068] In addition, the visitor DB443 can store information indicating the visit mark of the visitor who visited the exhibition hall 1 and the time of stay in the exhibition hall 1. In one example, by receiving, etc., the visitor or the facility staff inputs information related to the visitor's needs via the guide robot 3 or an external device, thereby being able to obtain information indicating the time of stay in the exhibition hall 1. In addition, in the case where the visitors constitute a group and visit, the visitor DB443 can be associated with the visitor team and store the visitor. For example, in the case where the visitor visits as a family team, the visitor can be associated with the family team and stored, and in the case where the visitor visits as a friend team, the visitor can be associated with the friend team and stored. In this way, the visitor sometimes belongs to multiple teams, and a visitor map can be formed in the visitor DB443.

[0069] The control unit 45 has a processor such as a CPU, and performs predetermined processing based on signals received via the input unit 42, signals received from the outside of the server device 4 via the communication unit 41, and various programs and various data stored in the storage unit 44, and outputs control signals to the communication unit 41, the output unit 43, and the storage unit 44.

[0070] like Figure 4 As shown, the control unit 45 is a functional structure responsible for the processor, and has a facility image acquisition unit 451, a robot image acquisition unit 452, a robot line of sight indication unit 453, a visitor determination unit 454, a facility personnel determination unit 455, a state inference unit 456, and a robot movement indication unit 457.

[0071] The in-facility image acquisition unit 451 acquires images of the interior of the exhibition hall captured by the multiple cameras 11 installed in the exhibition hall 1. Specifically, the in-facility image acquisition unit 451 receives, via the communication unit 41, image data (including still images and video) of the interior of the exhibition hall 1 (the space where the display vehicles 2 are displayed) captured by the multiple cameras 11. In this embodiment, the in-facility image acquisition unit 451 causes the multiple cameras 11 to capture images of the interior of the exhibition hall and acquires the captured images of the interior of the exhibition hall. Specifically, the in-facility image acquisition unit 451 receives, via the communication unit 41, a control signal that causes the multiple cameras 11 to capture images of the exhibition hall 1, and receives, via the communication unit 41, the image data of the interior of the exhibition hall captured by the multiple cameras 11.

[0072] The robot image acquisition unit 452 acquires images, including a facial image of a visitor, captured by the guidance robot 3 positioned in the exhibition hall 1. Specifically, the robot image acquisition unit 452 receives input, via the communication unit 41, of image data (including still images and video) including the facial image of the visitor captured by the guidance robot 3. In this embodiment, the robot image acquisition unit 452 causes the guidance robot 3 to capture the visitor's face and acquires images including the captured facial image. Specifically, the robot image acquisition unit 452 outputs, via the communication unit 41, a control signal causing the guidance robot 3 to capture the visitor's face, and receives input, via the communication unit 41, of image data including the facial image of the visitor captured by the guidance robot 3.

[0073] The robot sight line instruction unit 453 instructs the sight line direction of the pair of artificial eyes 306 of the guidance robot 3 . Specifically, the robot sight line instruction unit 453 outputs a control signal instructing the position and movement of the pair of artificial eyes 306 of the guidance robot 3 to the guidance robot 3 via the communication unit 41 .

[0074] When the control signal is input via the communication unit 31, the guide robot 3 controls the display unit 331 based on the input control signal, so that the position of the pair of simulated eyes 306 changes. That is, the line of sight is moved. When the guide robot 3 moves its line of sight, the visitor is attracted by the line of sight of the guide robot 3 and looks in the direction of the line of sight of the guide robot 3. In this way, the guide robot 3 can guide the visitor's line of sight by moving its line of sight, thereby prompting the visitor to change his position or posture. For example, by directing the line of sight of the guide robot 3 toward the camera 11, the visitor's line of sight can be directed toward the camera 11. Then, when the visitor looks at the camera 11, the camera 11 can capture the visitor's face.

[0075] Visitor identification unit 454 identifies visitors to exhibition hall 1 based on the exhibition hall images acquired by facility image acquisition unit 451. For example, visitor identification unit 454 extracts people from the exhibition hall images and further extracts (recognizes) facial images from the extracted people. Visitor data stored in visitor database 443 is then searched for visitor data with a facial image that matches the extracted facial image, and the visitor is identified. If no visitor data with a facial image that matches the extracted facial image exists, the visitor is stored in visitor database 443 as a new visitor.

[0076] If a facial image cannot be extracted (recognized) from the person extracted from the image within the exhibition hall and the visitor is determined to be unidentified, the visitor identification unit 454 outputs a control signal to the robot movement instruction unit 457. Upon receiving this control signal, the robot movement instruction unit 457 instructs the guide robot 3 to move, causing the guide robot 3 to be dispatched to the person in question. The robot image acquisition unit 452 then instructs the guide robot 3 to capture the person's face. An image, including the facial image of the person captured by the guide robot 3, is input to the robot image acquisition unit 452 via the communication unit 41. The visitor identification unit 454 uses the facial image of the person input to the robot image acquisition unit 452 to identify the visitor using the same method as described above.

[0077] Furthermore, the visitor identification unit 454 determines the location of a person extracted from the exhibition hall image. For example, the control server 4 may pre-store the location and shooting range of the camera 11 installed in the exhibition hall DB 442 and within the facility, and determine the visitor's location based on the exhibition hall image and the location and shooting range of the camera 11 that captured the image. Alternatively, the control server 4 may detect a person based on sensor information acquired by the sensor unit 113 of the camera 11, and determine whether the detected person is a visitor based on the exhibition hall image acquired by the camera unit 112 of the camera 11.

[0078] The facility personnel identification unit 455 detects whether a facility personnel appears in the image of the exhibition hall, for example, by performing image recognition processing on the image of the exhibition hall obtained by the camera 11. For example, the control server 4 can determine which facility personnel appears in the image of the exhibition hall based on the facial image of the facility personnel stored in the facility personnel DB 444. Alternatively, the facility personnel identification unit 455 can determine whether the person appearing in the image of the exhibition hall is a facility personnel based on predetermined markings such as the uniforms and accessories of the facility personnel. It should be noted that the facility personnel identification unit 455 can detect people based on the sensor information obtained by the sensor unit 113, just like the visitor identification unit 454, and determine whether the detected person is a facility personnel based on the image of the exhibition hall obtained by the camera 112.

[0079] In addition, when the facility personnel has a transmitter, the facility personnel identification unit 455 can obtain the transmitter's location information or the signal strength of the reference signal sent from the transmitter based on multiple receivers (not shown) installed in the facility, thereby determining the location of the facility personnel.

[0080] The state inference unit 456 infers the visitor's state, including the visitor's emotion as determined by the visitor identification unit 454. For example, based on the visitor's facial image captured by at least one of the camera 11 and the guide robot 3, the state inference unit 456 infers whether the visitor is smiling, angry, or otherwise expressing an emotion. Furthermore, based on the visitor's dynamic image, the state inference unit 456 detects that the visitor is looking around or making gestures such as shaking their legs, and infers that the visitor is in a state such as anxiety or anger, indicating a need for hospitality. Furthermore, the state inference unit 456 detects that the remaining amount of the visitor's drink is running low, and infers that the visitor is thirsty, requiring a drink.

[0081] The user can infer each visitor's mood based on their behavior and actions. For example, the user's mood can be inferred based on facial images and movements extracted from images of the exhibition hall. For example, if the visitor appears angry, looks around, or appears restless, such as by shaking their legs, the user can be inferred to be in a bad mood. On the other hand, if the visitor appears happy or is chatting with others, the user can be inferred to be in a good mood.

[0082] Based on the positional relationship between the visitor and facility personnel determined by the visitor identification unit 454 and the facility personnel identification unit 455, the robot movement instruction unit 457 instructs the guide robot 3 to move, causing the guide robot 3 to be dispatched to the visitor's location. Specifically, the robot movement instruction unit 457 transmits control information, including information regarding the movement path that the guide robot 3 should follow, to the guide robot 3 via the communication unit 41. This information regarding the movement path may include information regarding the guide robot 3's destination and information regarding the guide robot 3's actions, such as going straight and turning right 30 degrees.

[0083] At this time, when the robot movement instruction unit 457 is moving along the movement path instructed by the control server 4, if it receives an instruction to stay at the location, it will pause its movement along the movement path and stay at the location. In this way, the guide robot 3 can be moved near a visitor who is in a bad mood or needs to be treated, and can communicate with the visitor, thereby preventing the visitor's mood from getting worse.

[0084] Furthermore, if the visitor identification unit 454 determines that the visitor cannot be identified based on the exhibition hall interior image, the robot movement instruction unit 457 instructs the guidance robot 3 to move, causing the guidance robot 3 to be dispatched to the vicinity of the visitor determined to be unidentifiable. For example, when a control signal indicating that the visitor cannot be identified is input from the visitor identification unit 454, the robot movement instruction unit 457 instructs the guidance robot 3 to move, causing the guidance robot 3 to be dispatched to the vicinity of a person extracted from the exhibition hall interior image by the visitor identification unit 454. This allows the acquisition of an image of the unidentifiable visitor and the identification of the visitor based on a newly acquired image, or allows the acquisition of image data of a first-time visitor. In this case, the robot movement instruction unit 457 instructs the guidance robot 3 to move so that the visitor, determined to be unidentifiable, can be identified based on the exhibition hall interior image acquired by the facility interior image acquisition unit 451, thereby prompting a change in the position or posture of the visitor. For example, the robot movement instruction unit 457 instructs the guidance robot 3 to move so that the visitor determined to be unidentifiable is positioned or oriented toward the imaging device 11 .

[0085] Furthermore, the robot sightline instruction unit 453 can guide the visitor's sightline by indicating the sightline direction of the pair of simulated eyes 306 of the guidance robot 3, thereby prompting the visitor to change their position or posture. For example, by moving the sightline direction of the pair of simulated eyes 306 toward the camera 11, the visitor's sightline can be preferably directed toward the camera 11. In this case, the robot movement instruction unit 457 can facilitate sightline guidance by, for example, causing the guidance robot 3 to rotate in conjunction with the sightline movement.

[0086] Furthermore, the robot gaze instruction unit 453 controls the pair of simulated eyes 306 of the guidance robot 3 so that they face the visitor's face as detected by the imaging unit 34, allowing the visitor to feel that their eyes are meeting those of the guidance robot 3. Consequently, even when the visitor's face moves during a conversation with the guidance robot 3, the simulated eyes 306 of the guidance robot 3 can follow the visitor's face, allowing the visitor to feel assured that the guidance robot 3 is listening to what they are saying.

[0087] <First embodiment>

[0088] Figure 5 Yes means through Figure 3 Flowchart of an example of a guide robot dispatch process executed by the control unit 45 of the server device 4. Figure 6 Yes means through Figure 3 This is a flowchart of an example of visitor identification processing executed by the control unit 45 of the server device 4 . Figure 7This is a diagram showing an example of a table in which points indicating the user status and the necessity of reception used in the process of specifying the visitor's status are associated with the points. Figure 8 This is a diagram showing an example of the positional relationship between visitors and facility staff. Figure 5 The illustrated processing, for example, starts when the exhibition hall 1 opens its door, and is executed at predetermined time intervals until the door closes.

[0089] like Figure 5 As shown, first, in step S1 (referred to as S1, and the same applies to subsequent processing steps), the facility interior image acquisition unit 451 sends a shooting instruction to the multiple imaging devices 11 installed in the exhibition hall 1, captures images of the exhibition hall, and obtains the exhibition hall interior images from the imaging devices 11. In this case, the exhibition hall images and the identifiers of the imaging devices 11 that captured the images are acquired together.

[0090] Next, the location of the facility personnel is determined in S2. For example, in S2, by calculating the similarity between the facial image of the person shown in the image in the exhibition hall acquired in S1 and the facial image of the facility personnel stored in the facility personnel DB 444, it is possible to determine which image shows the facility personnel. Alternatively, by comparing the image of the person shown in the image in the exhibition hall with the image of the sign held by the facility personnel, such as clothing or jewelry, it is possible to determine which image shows the facility personnel. In addition, the location of the facility personnel is determined based on the camera 11 that captured the image showing the facility personnel, its position, and its orientation. It should be noted that, as described above, when the facility personnel has a transmitter, the location of the facility personnel can be determined without using the image acquired by the camera 11.

[0091] It should be noted that, when the location of the facility staff is determined based on the exhibition hall image in S2, the facility staff identification unit 455 may determine the direction of the facility staff's face, thereby being able to identify which visitor the facility staff is currently receiving.

[0092] Next, in S3, the server device 4 determines the location of the visitor based on the exhibition hall image acquired in S1. For example, in S3, by comparing the facial image of the person shown in the exhibition hall image acquired in S1 with the facial images of visitors stored in the visitor DB 443, it is possible to determine which image shows a facility employee.

[0093] In S3, such as Figure 6As shown, first, in S31, the person existing in the facility is extracted based on the exhibition hall image acquired in S1 through the processing in the visitor identification unit 454. Here, the camera 11 corresponding to the exhibition hall image in which the person is extracted is determined. Then, in S32, the control server 4 obtains the visitor's face image based on the visitor DB 443. In one example, in S32, personal information such as the visitor's gender and age can be obtained. That is, in S32, the visitor information of the visitor that can be identified is obtained. Then, in S33, based on the visitor information acquired in S32 and the exhibition hall image acquired in S31, it is determined which visitor is at which position. For example, based on the camera 11 that captured the exhibition hall image in which the person was detected and its posture, it is possible to determine the person's location. In addition, by calculating the similarity between the facial images of people in the exhibition hall image and the facial images included in the visitor information through image processing, it is possible to determine whether the visitor with the facial image with the highest similarity exists in the exhibition hall.

[0094] It should be noted that when it is impossible to extract the image of a person's face from the image in the exhibition hall, it is possible to only determine the visitor's position, instruct the guide robot 3 to move to that position, obtain the visitor's facial image based on the shooting unit 34 of the guide robot 3, and determine the visitor based on the facial image received from the guide robot 3.

[0095] Furthermore, in S3, the visitor identification unit 454 may also identify the orientation of the face of the identified visitor, thereby acquiring the direction in which the visitor is looking.

[0096] It should be noted that, when the server device 4 identifies a specific visitor as being within the facility through reception or the like, it may pre-extract a facial image of the visitor identified as being within the facility and compare the image captured by the camera 11 with the extracted facial image of the visitor. This allows for rapid identification of the visitor.

[0097] Next, in S4, the server device 4 determines a visitor that the facility staff has not received based on the positional relationship between the facility staff and the visitor determined in S2, and determines to move the guide robot with the visitor as the moving destination. Figure 8 An example of the positional relationship between facility staff and visitors is shown, and the process of identifying visitors who have not been received by facility staff will be described.

[0098] exist Figure 8 In the figure, six visitors 801, 802, 803, 804, 805, and 806, facility staff 811, 812, and 813, and guide robots 821 and 822 are present in the facility.

[0099] Here, facility staff 811 is talking with visitors 801 and 802 , facility staff 812 is talking with visitor 803 , facility staff 813 is talking with visitor 804 , and guide robot 821 is guiding visitor 805 .

[0100] In this case, any of facility staff members 811-813 and guidance robot 821 is within the predetermined range of visitors 801-805, represented by the dotted lines. By determining the locations of the visitors, facility staff members, and guidance robots, it is possible to detect that neither facility staff member nor guidance robot is attending to visitor 806. Consequently, control server 4 can decide to dispatch guidance robot 822 to visitor 806. The predetermined range can be a circle with a radius of 3 meters centered on the visitor, within the visitor's line of sight, or at a distance of 5 meters or less from the visitor, and can be arbitrarily set for the system.

[0101] It should be noted that, when there are no facility personnel nearby but there are multiple visitors, the guide robot 3 can move in sequence near the multiple visitors. In this way, multiple visitors can be received by one guide robot 3. In such a case, the control server 4 can instruct the guide robot 3 to move to the visitor who is close to the location of the guide robot 3. Alternatively, in order to provide goods or services to each visitor, when the necessary remaining time, the stay time of the visitor after visiting the facility, and other waiting times of the visitors can be obtained, a control signal can be sent in the order of the length of the waiting time to move the guide robot 3 to the visitor DB 443 of the control server 4. In this way, the guide robot 3 can give priority to receiving visitors who have stayed for a longer time and visitors who are expected to wait for a long time, and can avoid the situation where visitors feel unhappy due to staying too long.

[0102] Next, in S5, the robot movement instruction unit 457 sends a control signal to the guidance robot 822, causing the guidance robot 822 to move within a predetermined range near the visitor. In one example, the control signal includes information about the guidance robot's movement destination, i.e., the location of the visitor to be received. In another example, the control signal includes information about the movement path of the guidance robot 822, including the area within the predetermined range near the visitor.

[0103] It should be noted that the guidance robot 3 does not need to stop near the visitor, and the control server 4 may also perform the following steps S6 to S9 when the guidance robot 3 passes near the visitor. This can avoid the visitor feeling oppressed by the guidance robot 3 stopping near the visitor.

[0104] Note that, in S5, the control server 4 may instruct the guidance robot's imaging unit 34 to capture images at predetermined time intervals and transmit them to the control server 4. This allows the guidance robot 3 to perform the visitor's emotional estimation described later after S7 even while it is moving.

[0105] Next, in S6, the control server 4 determines whether the guide robot 3 has moved easily within the visitor's vicinity as planned. For example, during S6, the control server 4 continues to obtain the guide robot 3's position within the exhibition hall and calculates the distance to the visitor's position determined in S3 to determine whether the guide robot 3 has moved within the visitor's vicinity. The predetermined range within the visitor's vicinity can be, for example, a predetermined range within 3 meters of the visitor, or a range within 5 meters of the visitor where the camera unit 34 can capture the visitor's face.

[0106] If it is determined that the guide robot 3 has moved near the visitor ("YES" in S6), the control server 4 advances the process to S7 and causes the imaging unit 34 of the guide robot 3 to capture an image of the visitor. Thus, even if the visitor cannot be identified in the image of the exhibition hall captured by the imaging device 11, an image showing the visitor can be captured from a closer distance, thereby improving the accuracy of visitor recognition by the control server 4.

[0107] Next, the control server 4 advances the process to S8, and estimates the visitor's condition based on the image acquired by the guide robot 822. The image acquired in S8 may be a still image or a moving image.

[0108] For example, in S8, the visitor's state can be inferred based on their facial expressions, such as frowning or smiling, or based on predetermined postures, such as folding their arms or shaking their legs. This allows the control server 4 to determine that prompt reception is necessary via the guidance robot 822 or facility personnel, and to promptly provide service before the visitor becomes uncomfortable.

[0109] Furthermore, for example, in S8, the control server 4 can determine the remaining amount of food and beverages provided to the visitor. For example, in a motor vehicle dealership, visitors may be provided with refreshments such as drinks and snacks while waiting for service, such as vehicle inspection, or before being greeted by facility staff. In such cases, after a visitor finishes their drink, they may desire more. Therefore, the control server 4 determines the remaining amount of the visitor's drink based on the image captured by the guidance robot 3, thereby determining whether the visitor needs to be provided with a more drink.

[0110] Next, the control server 4 advances the process to S9 to determine whether it is necessary for the guidance robot 3 to receive the visitor.

[0111] For example, in S8, it is determined whether the remaining amount of the visitor's drink is less than a predetermined threshold. Alternatively, it is determined whether the visitor is looking around. In such cases, the guidance robot 3 can receive a request for a refill or provide information related to the visitor's interests, so it can be determined that the guidance robot 3 is necessary for reception. On the other hand, if the visitor is smiling or operating a smartphone, it is determined that the guidance robot 3 is not necessary for reception.

[0112] In one example, in S8, the necessity of reception is set as a predetermined value based on the visitor's expression and posture, and the value is counted based on the visitor's expression and posture. When the statistical value exceeds a threshold, it is determined that reception is necessary.

[0113] Figure 7 An example of a point table showing the necessity of hospitality associated with the user's status is shown. Figure 7 The table shown is stored in the storage unit 44 of the control server 4. Figure 7 In the example, if a visitor is laughing, talking, making a phone call, or operating a smartphone, it is best not to receive the visitor through the guide robot 3, so a negative value is taken as the necessity of reception. On the other hand, if a visitor is crying, looking around, shaking his legs, the remaining amount of his drink is below the threshold, or he shows an angry expression, it is best to receive the visitor through the guide robot 3, so a positive value is taken as the necessity of reception. If the number of items that meet the visitor's requirements is more than 10 among these items, it can be determined that reception is necessary. It should be noted that the number of items that are judged as necessary can be appropriately set according to the type of facility and the services provided. Figure 7 Shows the user status, points, and threshold required for reception.

[0114] If it is determined that the guidance robot 3 needs to attend to the visitor ("Yes" in S9), the control server 4 advances the process to S10, and instructs the guidance robot 3 to attend to the matter determined to require attention. For example, the simulated eyes 306 displayed on the display unit of the guidance robot 3 can be shown as paying attention to the visitor's drink. This can prompt the visitor to add a drink. In this case, the control server 4 can play a voice guidance such as "Do you need more drinks?" through the speaker (not shown) of the output unit 33 of the guidance robot 3. This can inform the guidance robot 3 that the remaining amount of the visitor's drink is getting low and prompt the visitor to add a drink.

[0115] In addition, in S9, when the control server 4 determines that the visitor needs to be received by looking around, the simulated eyes 306 displayed on the display unit of the guide robot 3 will be displayed as paying attention to the visitor, and voice messages such as "Are you having trouble?" can be played through the speaker (not shown) of the output unit 33.

[0116] On the other hand, when the guidance robot 3 determines that reception is not necessary (No in S9), the control server 4 advances the process to S10 and sends a control signal to move the guidance robot 3 outside the predetermined range near the visitor.

[0117] As described above, according to this embodiment, the server instructs the guidance robot to move toward a visitor who is not surrounded by facility staff. This allows the robot to identify the situation of a visitor who has been overlooked by facility staff. Furthermore, this prevents visitors from feeling left alone and unattended, allowing them to enjoy a comfortable stay in the facility.

[0118] Furthermore, according to this embodiment, the guidance robot moves near the visitor and captures the visitor's image, thereby being able to determine that the visitor should be given a drink or that the visitor is unhappy.

[0119] <Second embodiment>

[0120] In the first embodiment, we described the process of dispatching a guidance robot to a visitor who is not near facility staff. However, even when a visitor wishes to be greeted by a facility staff member, they may not be interested in interacting with the guidance robot. In the second embodiment, we describe the process of determining whether to intervene with the visitor using the guidance robot based on an image of the visitor captured by the guidance robot.

[0121] It should be noted that description of the same processes, configurations, and functions as those of the first embodiment will be omitted.

[0122] Figure 9 The processing according to the second embodiment is shown. Note that the processing from S1 to S8 is the same as that of the first embodiment, and therefore the description thereof will be omitted.

[0123] In S81, the control server 4 infers the visitor's reaction to the guidance robot 3 based on the visitor's image captured in S7. For example, the control server 4 infers the visitor's line of sight based on the image captured in S7 and determines whether the guidance robot 3 is in the visitor's line of sight.

[0124] Next, in S9, it is determined whether the visitor needs to be received. If it is determined that the visitor needs to be received, the control server 4 advances the process to S91 and determines whether the response to the guidance robot is good.

[0125] For example, if the guide robot 3 is determined to be within the visitor's line of sight in S81, the visitor is determined to be interested in the guide robot 3, and the visitor's reaction is determined to be favorable, causing the process to proceed to S10. Alternatively, if the guide robot 3 is determined to be within the visitor's line of sight and the visitor's expression is smiling, the visitor's reaction is determined to be favorable, causing the process to proceed to S10. In another example, if the guide robot 3 is within the visitor's line of sight and the visitor is speaking toward the guide robot 3, the visitor's reaction may be determined to be favorable, causing the process to proceed to S10.

[0126] On the other hand, if it is determined in S81 that the guide robot 3 is not within the visitor's line of sight, the visitor is determined to be not interested in the guide robot 3, and the reaction is determined to be unfavorable, and the process proceeds to S11. Alternatively, if it is determined in S81 that the guide robot 3 is not within the visitor's line of sight, and the visitor continues to talk with other visitors or operate their smartphone even when the guide robot 3 is nearby, the reaction is determined to be unfavorable, and the process proceeds to S11. In another example, even if the guide robot 3 is within the visitor's line of sight in S81, if the visitor's expression is determined to be angry or frowning, the reaction is determined to be unfavorable, and the process proceeds to S11.

[0127] This can prevent the guidance robot 3 from greeting the visitor when the visitor desires reception from facility staff rather than the guidance robot 3 .

[0128] Next, in S10, if the visitor DB 443 of the storage unit 44 stores information that can determine the time required to provide the visitor with goods or services, the control server 4 can transmit this information to the guidance robot 3 and notify the visitor of the remaining time required via the display unit 331 or the speaker. This allows the visitor to know the remaining time required and alleviate the visitor's anxiety.

[0129] As described above, according to this embodiment, it is possible to provide appropriate customer service to visitors to a motor vehicle dealership's showroom 1 using a limited number of guidance robots 3. For example, by dispatching a guidance robot 3 to a visitor who has been waiting for a long time and is feeling down, and engaging in conversation, the visitor's mood can be improved or prevented from further deteriorating. This allows subsequent conversations with the waiting customer by sales staff (e.g., salespersons) at the motor vehicle dealership to proceed smoothly.

[0130] In addition, for example, when multiple guide robots 3 are arranged in the showroom 1, it may give visitors a sense of oppression and will also increase the cost on the motor vehicle dealership side, but by dispatching guide robots 3 to visitors who are not received by facility staff, efficient communication can be achieved using a limited number of guide robots 3.

[0131] Furthermore, for example, the guidance robot 3 can be configured to pre-inquire about the visitor's needs or provide simple guidance. For example, the guidance robot 3 can pre-inquire about the needs of visitors who have been waiting for a long time or are expected to wait for a long time, or provide simple guidance. This allows for efficient customer service by subsequent sales staff (e.g., salespeople).

[0132] In this manner, by using the control server 4 according to the present embodiment, for example, efficient and smooth customer service using a limited number of guidance robots 3 can be realized.

[0133] <Other Implementation Methods>

[0134] The present invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

[0135] For example, in S8, the visitor's status is estimated based on images captured by the guidance robot 3. In one example, the control server 4 can acquire speech using the microphone included in the guidance robot 3's sensor unit 36 ​​and estimate the visitor's status based on the speech. This allows for a more accurate estimation of the visitor's status based on the visitor's own speech, conversations with other visitors, and words spoken to the guidance robot 3.

[0136] Summary of implementation plans

[0137] 1. The above embodiment is a control device (4) for controlling a robot (3) capable of moving autonomously, characterized in that:

[0138] The control device (4) comprises:

[0139] a facility personnel determination mechanism (455) that determines the location of facility personnel;

[0140] a visitor determination mechanism (454) that determines the location of the visitor; and

[0141] a control mechanism (457) that instructs the robot capable of autonomous movement,

[0142] The control unit moves the robot into the predetermined range when it is determined that the facility personnel identified by the facility personnel identification unit is not within the predetermined range near the visitor identified by the visitor identification unit.

[0143] This makes it possible to dispatch a guide robot to a visitor to whom no facility staff is nearby, and provide the visitor with a guide robot that provides appropriate hospitality.

[0144] 2. In the control device of the above embodiment, it is characterized in that:

[0145] The visitor identifying unit identifies the location of the visitor based on images acquired from a plurality of imaging devices (11).

[0146] This makes it possible to determine the location of a visitor using image recognition technology.

[0147] 3. In the control device of the above embodiment, it is characterized in that:

[0148] The facility personnel identification unit identifies the position of the facility personnel based on images acquired from a plurality of imaging devices.

[0149] Thus, image recognition technology can be used to determine the location of facility personnel.

[0150] 4. In the control device of the above embodiment, it is characterized in that

[0151] The facility personnel identification unit identifies the location of the facility personnel based on the signal strength of a wireless signal output by a transmitter possessed by the facility personnel.

[0152] This makes it possible to pinpoint the location of facility personnel using positioning technologies such as wireless communication.

[0153] 5. In the control device of the above embodiment, it is characterized in that:

[0154] The control device further includes a storage unit (44) for storing information on the length of stay in the facility for each visitor.

[0155] The control unit moves the robot to a predetermined range near a visitor who has stayed longer among the visitors identified by the visitor identification unit.

[0156] This makes it possible to preferentially dispatch a guide robot to visitors who have stayed longer and are likely to feel unhappy.

[0157] 6. In the control device of the above embodiment, it is characterized in that

[0158] The control mechanism further includes a robot determining mechanism for determining positions of a plurality of autonomous robots.

[0159] When the control mechanism determines that there is no facility personnel identified by the facility personnel identification mechanism and no robot identified by the robot identification mechanism within a predetermined range near the visitor identified by the visitor identification mechanism, the control mechanism moves any one of the multiple robots into the predetermined range.

[0160] This prevents a plurality of robots from moving near a visitor and causing the visitor to feel oppressive.

[0161] 7. In the control device of the above embodiment, it is characterized in that:

[0162] The robot has a photographing unit (34),

[0163] The control unit transmits an instruction to photograph the visitor to the robot that has moved near the visitor detected by the visitor identification unit.

[0164] This makes it possible to identify the status of visitors who have passed by the facility without being noticed by the staff.

[0165] 8. In the control device of the above embodiment, it is characterized in that:

[0166] The robot has a display unit (331),

[0167] The control mechanism further includes an image acquisition mechanism (452) for acquiring an image captured by the imaging unit of the robot.

[0168] When the control unit determines that the visitor's drink is less than a predetermined amount based on the image acquired by the image acquisition unit, the control unit displays a message on the display unit of the robot notifying that the visitor's drink is less than a predetermined amount.

[0169] This can prompt the visitor to add drinks.

[0170] 9. In the control device of the above embodiment, it is characterized in that

[0171] After the robot moves to the vicinity of the visitor, if it is determined that the facility staff has been detected moving to the vicinity of the visitor, the control unit instructs the robot to move away from the vicinity of the visitor.

[0172] This allows facility staff to take over reception from the guide robot.

[0173] 10. The control method of the above embodiment is executed by a control device that controls a robot capable of self-propelled movement.

[0174] The control method includes:

[0175] a facility personnel determination step in which the location of the facility personnel is determined;

[0176] a visitor determining step of determining the location of the visitor; and

[0177] a control step of instructing the robot capable of autonomous movement;

[0178] In the control step, when the control device determines that the facility personnel identified by the facility personnel identification step does not exist within a predetermined range near the visitor detected by the visitor identification step, the control device instructs the robot to move within the predetermined range.

[0179] This makes it possible to dispatch a guide robot to a visitor to whom no facility staff is nearby, and provide the visitor with a guide robot that provides appropriate hospitality.

[0180] 11. The robot control system of the above embodiment is characterized in that:

[0181] The robot control system has:

[0182] The control device according to any one of embodiments 1 to 9 above;

[0183] a photographing device capable of communicating with the control device; and

[0184] The robot can communicate with the control device and can move independently.

[0185] This makes it possible to dispatch a guide robot to a visitor to whom no facility staff is nearby, and provide the visitor with a guide robot that provides appropriate hospitality.

Claims

1. A control device for controlling a robot capable of moving autonomously. It is characterized in that The control device comprises: a facility personnel determination authority, which determines the location of facility personnel within the facility; a visitor determination mechanism that determines the location of a visitor within the facility; and a control mechanism that instructs the robot capable of autonomous movement; When the control unit determines that the facility personnel identified by the facility personnel identification unit is not within a predetermined range near the visitor identified by the visitor identification unit, the control unit moves the robot into the predetermined range. After the robot moves to the vicinity of the visitor, if it is detected that the facility staff has moved to the vicinity of the visitor, the control mechanism instructs the robot to move away from the vicinity of the visitor.

2. The control device according to claim 1, characterized in that The visitor identifying unit identifies the location of the visitor based on images acquired from a plurality of imaging devices.

3. The control device according to claim 1, characterized in that The facility personnel identification unit identifies the position of the facility personnel based on images acquired from a plurality of imaging devices.

4. The control device according to claim 1, characterized in that The facility personnel identification unit identifies the location of the facility personnel based on the signal strength of a wireless signal output by a transmitter possessed by the facility personnel.

5. The control device according to claim 1, characterized in that The control device further includes a storage unit that stores information on the length of stay in the facility for each visitor. The control unit moves the robot to a predetermined range near a visitor who has stayed longer among the visitors identified by the visitor identification unit.

6. The control device according to claim 1, characterized in that The control mechanism further includes a robot determining mechanism for determining positions of a plurality of autonomous robots. The control mechanism moves any one of the multiple robots into the predetermined range when it is determined that the facility personnel identified by the facility personnel identification mechanism and the robot identified by the robot identification mechanism are not within the predetermined range near the visitor identified by the visitor identification mechanism.

7. The control device according to claim 1, characterized in that The robot has a photographing unit. The control unit transmits an instruction to photograph the visitor to the robot that has moved near the visitor detected by the visitor identification unit.

8. The control device according to claim 7, characterized in that: The robot has a display unit. The control mechanism further includes an image acquisition mechanism that acquires an image captured by the imaging unit of the robot. When the control unit determines that the visitor's drink is less than a predetermined amount based on the image acquired by the image acquisition unit, the control unit displays a message on the display unit of the robot notifying that the visitor's drink is less than a predetermined amount.

9. A control system, characterized in that: The control system comprises: The control device according to any one of claims 1 to 8; a photographing device capable of communicating with the control device; and The robot can communicate with the control device and can move independently.

10. A control method, the control method being executed by a control device for controlling a robot capable of driving itself, It is characterized in that The control method includes: a facility personnel determination step in which the location of the facility personnel is determined; a visitor determining step of determining the location of the visitor; and a control step of instructing the robot capable of autonomous movement; In the control step, when the control device determines that the facility personnel identified in the facility personnel identification step is not within a predetermined range near the visitor detected in the visitor identification step, the control device instructs the robot to move within the predetermined range. After the robot moves to the vicinity of the visitor, if the control device detects that the facility staff has moved to the vicinity of the visitor, the control device instructs the robot to move away from the vicinity of the visitor.

Images